CN104916152B - The intersection vehicles right-hand rotation guiding system and its bootstrap technique cooperateed with based on bus or train route - Google Patents

Abstract

The present invention relates to a kind of intersection vehicles right-hand rotation guiding system cooperateed with based on bus or train route and its bootstrap technique, the guiding system includes roadside device and Surveillance center and at least one mobile unit, when vehicle enters the intersection communication range of roadside device, vehicle-mounted main control module is according to the static information of this car, vehicle run location information, intersection traffic status information residing for the travel direction and car speed of vehicle and this car carries out analysis judgement, if judging, motor vehicle and non-motor vehicle conflict or motor vehicle can occur in future time to conflict with motor vehicle, then the analysis of vehicle-mounted main control module draws safe speed needed for turning right to reminding module and speed control module, the safe speed needed for driver's right-hand rotation is pointed out by reminding module, vehicle-mounted main control module can monitor whether vehicle is travelled by institute to safe speed simultaneously, speed control module automatically controls the speed of vehicle if monitoring that vehicle is not travelled by safe speed.

Description

Intersection vehicle right turning guiding system and guiding method based on vehicle-road cooperation

Technical Field

The invention belongs to a vehicle-road coordination and safety control technology in an intelligent traffic system, and relates to an intersection vehicle right-turning guiding system and a guiding method thereof based on the vehicle-road coordination.

Background

No special right-turn phase is set at most signalized intersections in cities, interference and collision phenomena of right-turn vehicles, adjacent straight-going vehicles, street-crossing pedestrians and non-motor vehicles are quite common, and the traffic safety and the traffic efficiency of the whole intersection are seriously influenced. In the past, researches have been proposed to set a special right turn phase to solve the potential safety hazard caused by the right turn of vehicles, but the potential safety hazard is inevitably wasted for intersections with small traffic flow. With the rapid development and application of electronic information and wireless communication technology, a 'vehicle-road cooperation' System, hereinafter referred to as CVIS, based on vehicle-road communication has become an effective means for solving traffic problems.

The existing patents are found by searching for the existing patents, which mainly aim at giving early warning and prompting to vehicles, pedestrians, non-motor vehicles and the like when the vehicles turn right in dangerous areas at intersections, and the problem of turning right of the vehicles cannot be fundamentally solved. For example, chinese patent application No. 201410461619.2 discloses an early warning system for right turn of a truck, which performs data transmission instruction by vehicle-mounted and road-based arrangement and using a zigbee network mode, thereby realizing warning of drivers and pedestrians; chinese patent application No. 201320171998.8 discloses a truck right turn danger area early warning system based on vehicle-road coordination, which can alarm vehicles driving into a road when pedestrians and non-motor vehicles cross the road, thereby avoiding accidents.

The prior road intersection auxiliary vehicle driving safety device is a warning device, has single function, cannot fundamentally avoid traffic accidents, and is difficult to realize real driving safety.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide an intersection vehicle right turn guiding system based on vehicle-road coordination, which has strong precaution and can improve the driving safety without changing a cross signal timing scheme.

The intersection vehicle right turning guiding system based on vehicle-road cooperation comprises road side equipment, a monitoring center and at least one vehicle-mounted equipment; information is transmitted between the vehicle-mounted equipment and the road side equipment, between the vehicle-mounted equipment and between the road side equipment and the monitoring center through a wireless communication network;

each vehicle-mounted device comprises a vehicle-mounted main control module, and a vehicle basic information storage module, a GPS positioning module, a driving intention acquisition module, a vehicle speed control module and a prompt module which are respectively in signal connection with the vehicle-mounted main control module; the vehicle basic information storage module stores static information of the vehicle in advance; the GPS positioning module collects the running position information of the vehicle; the driving intention acquisition module acquires the driving direction of the vehicle in real time; the vehicle speed acquisition module acquires the vehicle speed in real time; the vehicle speed control module controls the speed of the vehicle; the prompting module prompts a driver of a safe vehicle speed required by the right turning of the vehicle, and comprises a vehicle speed information display screen and a voice playing module;

the roadside equipment comprises a roadside main control module, an intersection basic information storage module, a signal state acquisition module and a non-motor vehicle and pedestrian information acquisition module; the intersection basic information storage module stores basic road condition information in advance; the signal state acquisition module acquires a signal lamp state and countdown time; the non-motor vehicle and pedestrian information acquisition module acquires position and speed information of the non-motor vehicle and the pedestrian; the roadside main control module analyzes the signal lamp state, the countdown time, the position and the speed information of the non-motor vehicles and the pedestrians to form intersection traffic state information;

when a vehicle enters the intersection communication range of the road side equipment, information interaction is carried out between the vehicle-mounted equipment and the road side equipment and between the vehicle-mounted equipment and the vehicle-mounted equipment, the vehicle-mounted main control module carries out analysis and judgment according to static information, vehicle running position information, vehicle running direction and vehicle speed of the vehicle and intersection traffic state information of the vehicle, which are acquired by the vehicle basic information storage module, the GPS positioning module, the running intention acquisition module and the vehicle speed acquisition module, if the situation that motor vehicle and non-motor vehicle conflict or motor vehicle and motor vehicle conflict can occur in the future time is judged, the vehicle-mounted main control module analyzes and obtains the safe vehicle speed required by right turning to the prompting module and the vehicle speed control module, the prompting module prompts the driver to turn right at the required safe vehicle speed, and the vehicle-mounted main control module monitors whether the vehicle runs according to the given safe vehicle speed, and if the vehicle is monitored not to run according to the safe vehicle speed, the vehicle speed control module automatically controls the speed of the vehicle.

Further, the vehicle-mounted main control module analyzes and obtains the safe vehicle speed required by the right turn by the following calculation method, including the following conditions:

(1) when the inlet direction of the right-turning vehicle is green and no pedestrian passes through the sidewalk, the safe vehicle speed v required by the right-turning vehicle to turn right_RGThe calculation method is as follows:

wherein, t_R1Indicating the time, L, at which the right-turning vehicle reaches the stop line_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RZIndicating a right-turn vehicle fromTime to start turning right to drive off the crossroad sidewalk, t_GSIndicating the remaining time of green light, S, in the direction of entry of the right-turn vehicle_RThe turning radius of the right-turning vehicle during right turning is represented, the roadside device sends the information to the vehicle-mounted device of the right-turning vehicle, and a (t) represents the acceleration required by the right-turning vehicle to achieve the safe vehicle speed;

(2) when the inlet direction of the right-turning vehicle is green and non-motor vehicles and pedestrians are on the sidewalk, the safe vehicle speed v required by the right-turning of the vehicle_RGYThe calculation method is as follows:

wherein, t_R1Indicating the time, v, at which the right-turning vehicle reaches the stop line_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance from the stop line when a right-turn vehicle enters the intersection zone communication range, S_RIndicating the turning radius of the right-turning vehicle, the roadside apparatus transmits this information to the on-board apparatus of the right-turning vehicle, t_RZIndicating the time, t, from the start of the right turn to the time of driving off the intersection sidewalk_GXThe time of the last pedestrian or non-motor vehicle passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last pedestrian or non-motor vehicle is far from the right-turning vehicle, thenWherein S is_GXIndicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_GXRepresenting speed of pedestrians or non-motor vehicles, L_GXRepresenting the length of the crosswalk;

(3) when the inlet direction of the right-turning vehicle is red light, the safety vehicle speed v required by the right-turning of the vehicle_RRYThe calculation method is as follows:

wherein v is_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RXThe time of the last pedestrian or non-motor vehicle of the sidewalk in the adjacent direction passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last pedestrian or non-motor vehicle is far from the right-turning vehicle, thenWherein S is_RXIndicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_RXRepresenting speed of pedestrians or non-motor vehicles, L_RXRepresenting the length of the crosswalk;

(4) when the conflict between the machine and the vehicle and the conflict between the people and the vehicle are eliminated, the safe vehicle speed v required by the right turning of the vehicle_RThe calculation method is divided into the following two cases:

if the right-turn vehicle arrives at the intersection before the straight-ahead vehicle, the target equation is as follows:

the constraint conditions are as follows:

wherein L is_RZIndicating a safe distance, L, after the merging of a right-turning vehicle and a straight-driving vehicle_RIndicating the distance, v, from the stop line when a right-turn vehicle enters the communication range of the intersection area_RRXRepresenting the safe speed, t, required for a right-turning vehicle to leave the intersection before a straight-ahead vehicle_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZRepresenting the speed of a straight-ahead vehicle,/_RIndicating the body length of a right-turning vehicle, a_RRepresenting the acceleration, v, of a vehicle turning to the right_RIndicating the speed of the vehicle turning to the right, t₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minRepresents the maximum acceleration and the minimum acceleration allowed by the vehicle running;

if the straight-going vehicle reaches the intersection after the right-turning vehicle, the right-turning vehicle has

The constraint conditions are as follows:

wherein L is_RZIndicating the safe distance, t, after the merging of the right-turning vehicle and the straight-going vehicle_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZIndicating the speed of the straight-ahead vehicle, L_RIndicating the distance, l, from the stop line when a right-turn vehicle enters the intersection zone communication range_ZIndicating the body length of a straight-ahead vehicleDegree of a_RRepresenting the acceleration, v, of a vehicle turning to the right_RIndicating the speed, v, of a vehicle turning to the right_RRHIndicating the safe speed, t, required for a straight-ahead vehicle to leave the intersection after a right-turn vehicle₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minWhich represents the maximum acceleration and the minimum acceleration that can be allowed for the vehicle to travel.

Furthermore, the vehicle-mounted device further comprises a vehicle-mounted wireless communication module in signal connection with the vehicle-mounted main control module, the roadside device further comprises a roadside wireless communication module in signal connection with the roadside main control module, the vehicle-mounted wireless communication module and the roadside wireless communication module respectively transmit information through a wireless communication network, and each vehicle-mounted device sends the position and the movement information of the vehicle to the vehicle-mounted wireless communication modules of the vehicle-mounted devices of other vehicles through the vehicle-mounted wireless communication module of the vehicle.

Further, the in-vehicle apparatus further includes an interface unit connected to the vehicle.

Furthermore, the prompt module comprises a vehicle speed information display screen and/or a voice playing module, wherein the vehicle speed information display screen is in signal connection with the vehicle-mounted main control module to display the safe vehicle speed required by the right turning of the vehicle, and the voice playing module is in signal connection with the vehicle-mounted main control module to play the safe vehicle speed required by the right turning of the vehicle.

Further, the static information includes the model, size and owner information of the vehicle, and the basic road condition information includes intersection geometry, road canalization and signal timing scheme.

Further, the vehicle speed control module controls a brake pedal for driving the vehicle.

Further, the non-motor vehicle and pedestrian information acquisition module comprises a non-motor vehicle and pedestrian video detector and a non-motor vehicle and pedestrian identification module, the non-motor vehicle and pedestrian video detector monitors a non-motor vehicle lane and a sidewalk in real time to obtain a monitoring video, the obtained monitoring video is sent to the non-motor vehicle and pedestrian identification module, and the non-motor vehicle and pedestrian identification module identifies a moving target of the monitoring video to obtain position and speed information of the non-motor vehicle and the pedestrian.

The invention also provides a guiding method of the intersection vehicle right-turning guiding system based on vehicle-road cooperation, wherein the guiding system comprises road side equipment installed at the intersection and vehicle-mounted equipment carried on a motor vehicle, and the guiding method comprises the following steps:

step one, vehicle-mounted equipment of a right-turning vehicle acquires position and motion information of the vehicle in real time, and immediately receives signal lamp states, non-motor vehicles, pedestrians and other vehicle information sent by road side equipment and other vehicle-mounted equipment of the right-turning vehicle when the vehicle enters an intersection communication area;

step two, according to the information of the signal lamp state, the non-motor vehicles, the pedestrians and other vehicles collected by the vehicle-mounted equipment of the right-turning vehicle in the step one, the vehicle-mounted equipment of the right-turning vehicle judges the signal lamp state of the entrance direction of the right-turning vehicle and the motion state of the non-motor vehicles and the pedestrians on the sidewalk, if the signal lamp state is a green lamp, the step three is executed, and if the signal lamp state is a red lamp, the step five is executed;

step three, if the vehicle is in a green light state and no moving object exists on the sidewalk, the vehicle-mounted equipment of the right-turning vehicle calculates the safe vehicle speed v required by the right-turning vehicle according to the remaining time of the green light_RGAt the end of the green light, the right-turn vehicle follows the safe speed v_RGDriving away from the intersection, otherwise, executing the step four;

step four, if the green light is provided and the sidewalk is provided with the non-motor vehicles and the pedestrians, the vehicle-mounted equipment of the right-turning vehicle calculates the safe vehicle speed v required by the right-turning of the vehicle according to the motion states of the non-motor vehicles and the pedestrians on the sidewalk_RGYUnder the condition of ensuring that pedestrians safely pass through the intersection, right-turning vehicles quickly pass through the intersection and drive away from the intersection;

step five, according to the signal lamp state and the information of the non-motor vehicles, pedestrians and other vehicles collected by the vehicle-mounted equipment of the right-turning vehicle in the step one, the vehicle-mounted equipment of the right-turning vehicle judges that the inlet direction of the right-turning vehicle is a red light and the motor vehicles and the pedestrians pass through the sidewalk, and then the vehicle-mounted equipment of the right-turning vehicle calculates the safe vehicle speed v required by the right-turning of the vehicle according to the motion states of the non-motor vehicles and the pedestrians on the sidewalk_RRYIf the vehicle-mounted equipment monitors that the vehicle does not press the safe vehicle speed v_RRYIf the vehicle runs, the step eight is executed;

step six, the vehicle-mounted equipment of the right-turning vehicle judges that the inlet direction of the right-turning vehicle is red light and no motor vehicles or pedestrians pass through the sidewalk, but confluence conflict can occur with straight-going vehicles in the adjacent direction, and if the fact that the right-turning vehicle can reach a conflict area before the straight-going vehicles is detected, the vehicle-mounted equipment of the right-turning vehicle can calculate the safe vehicle speed v required by the right-turning of the vehicle according to the motion state of the straight-going vehicles_RRXIf the vehicle-mounted equipment monitors that the vehicle does not press the safe vehicle speed v_RRXIf the vehicle runs, the step eight is executed;

step seven, if the fact that the straight running vehicle reaches the conflict area after the right-turning vehicle meets is detected, the vehicle-mounted equipment of the right-turning vehicle can calculate the safe vehicle speed v required by the right-turning vehicle according to the motion state of the straight running vehicle_RRHIf the vehicle-mounted equipment detects that the vehicle does not press the safe vehicle speed v_RRHIf the vehicle runs, the step eight is executed;

step eight, if the vehicle is detected not to run according to the safe vehicle speed, the vehicle-mounted equipment forcibly controls a brake pedal of the vehicle to enable the vehicle to reach the safe vehicle speed;

and step nine, judging whether the vehicle is driven away from the intersection, if not, executing the step one, otherwise, ending the right turn guidance of the vehicle.

Further, in the third step, the safe vehicle speed v_RGThe calculation method is as follows:

wherein, t_R1Indicating the time, L, at which the right-turning vehicle reaches the stop line_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RZIndicating the time, t, from the start of the right turn to the time of driving off the intersection sidewalk_GSIndicating the remaining time of green light, S, in the direction of entry of the right-turn vehicle_RThe turning radius of the right-turning vehicle during right turning is represented, the roadside device sends the information to the vehicle-mounted device of the right-turning vehicle, and a (t) represents the acceleration required by the right-turning vehicle to achieve the safe vehicle speed;

in the fourth step, the safe vehicle speed v_RGYThe calculation method is as follows:

wherein, t_R1Indicating the time, v, at which the right-turning vehicle reaches the stop line_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance from the stop line when a right-turn vehicle enters the intersection zone communication range, S_RIndicating the turning radius of the right-turning vehicle, the roadside apparatus transmits this information to the on-board apparatus of the right-turning vehicle, t_RZIndicating the time, t, from the start of the right turn to the time of driving off the intersection sidewalk_GXThe time of the last pedestrian or non-motor vehicle passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last pedestrian or non-motor vehicle is far from the right-turning vehicle, thenWherein,S_GXindicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_GXRepresenting speed of pedestrians or non-motor vehicles, L_GXRepresenting the length of the crosswalk;

in the fifth step, the safe vehicle speed v_RRYThe calculation method is as follows:

wherein v is_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RXThe time of the last pedestrian or non-motor vehicle of the sidewalk in the adjacent direction passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last pedestrian or non-motor vehicle is far from the right-turning vehicle, thenWherein S is_RXIndicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_RXRepresenting speed of pedestrians or non-motor vehicles, L_RXRepresenting the length of the crosswalk;

in the sixth step, the safe vehicle speed v_RRXThe calculation method is as follows: if the right-turn vehicle arrives at the intersection before the straight-ahead vehicle, the target equation is as follows:

the constraint conditions are as follows:

wherein L is_RZIndicating a safe distance, L, after the merging of a right-turning vehicle and a straight-driving vehicle_RIndicating the distance, v, from the stop line when a right-turn vehicle enters the communication range of the intersection area_RRXRepresenting the safe speed, t, required for a right-turning vehicle to leave the intersection before a straight-ahead vehicle_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZRepresenting the speed of a straight-ahead vehicle,/_RIndicating the body length of a right-turning vehicle, a_RRepresenting the acceleration, v, of a vehicle turning to the right_RIndicating the speed of the vehicle turning to the right, t₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minRepresents the maximum acceleration and the minimum acceleration allowed by the vehicle running;

in the seventh step, the safe vehicle speed v_RRHThe calculation method is as follows:

the constraint conditions are as follows:

wherein L is_RZIndicating the safe distance, t, after the merging of the right-turning vehicle and the straight-going vehicle_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZIndicating the speed of the straight-ahead vehicle, L_RIndicating right-turn vehicleDistance between vehicle entering communication range of intersection area and stop line, l_ZIndicating the body length of a straight-running vehicle, a_RRepresenting the acceleration, v, of a vehicle turning to the right_RIndicating the speed, v, of a vehicle turning to the right_RRHIndicating the safe speed, t, required for a straight-ahead vehicle to leave the intersection after a right-turn vehicle₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minWhich represents the maximum acceleration and the minimum acceleration that can be allowed for the vehicle to travel.

By the scheme, the invention at least has the following advantages:

(1) the vehicle right turn guiding system can receive danger information sent by roadside equipment when a right turn vehicle enters 100-150 m before an intersection, wherein the danger information comprises signal lamp information and information of other vehicles, non-motor vehicles and pedestrians, and can provide safe vehicle speed for a driver, so that the driver has enough time to take danger avoiding measures and ensure that the vehicle safely and quickly passes through the intersection;

(2) the vehicle right turning guide system can realize information exchange between vehicles and road infrastructure, does not need to change a signal timing scheme at an intersection, and has simple and reliable technology;

(3) the vehicle right-turning guiding system and the guiding method thereof can provide the safe vehicle speed required by the right-turning of the vehicle for the driver, and greatly eliminate the nervous psychology when the driver of the vehicle enters the intersection; under the condition that the driver is not concentrated, the vehicle can be forcibly controlled, unnecessary collision accidents are avoided, and the driving safety level of the intersection is greatly improved;

(4) the vehicle right-turning guiding system and the guiding method thereof are suitable for early warning and vehicle speed guiding of vehicles in any road traffic state, are particularly suitable for uncontrolled intersections and intersections with poor sight distances, have very strong practicability, can improve the safety level of the intersections and the passing efficiency, and make a contribution to reducing the emission pollution of the intersections.

(5) The vehicle right-turning guiding system can realize seamless connection with a city management department, and the management department acquires road traffic state and vehicle running state information in real time, thereby really realizing integration of traffic monitoring, management and control.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

FIG. 1 is a schematic diagram of road intersection roadside equipment and vehicle-mounted equipment;

FIG. 2 is a block diagram of a system for guiding right turn of vehicles at a road intersection;

FIG. 3 is a schematic view of a vehicle guidance device interface for right-turning vehicles at a pathway intersection;

FIG. 4 is a flow chart of steps of a method for right turn guidance of vehicles at a pathway intersection in accordance with the present invention;

FIG. 5 is a schematic diagram illustrating a calculation of a safe vehicle speed when a right-turning vehicle is driven away from an intersection before a straight-going vehicle in step six according to the embodiment of the invention;

fig. 6 is a schematic diagram illustrating calculation of safe vehicle speed after a vehicle turns right and then drives away from the intersection in the sixth step according to the embodiment of the present invention.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

Referring to fig. 1 to 4, a system for guiding right turn of vehicles at an intersection based on vehicle-road coordination according to a preferred embodiment of the present invention includes a road-side device 2, a monitoring center 3, and at least one vehicle-mounted device 1, where information is transmitted between the vehicle-mounted device 1 and the road-side device 2, between the vehicle-mounted device 1 and the vehicle-mounted device 1, and between the road-side device 2 and the monitoring center 3 through a wireless communication network 4.

Each vehicle-mounted device 1 comprises a vehicle-mounted main control module 11, a vehicle basic information storage module 12, a GPS positioning module 13, a driving intention acquisition module 14, a vehicle speed acquisition module 15, a vehicle speed control module 16, a prompt module 17 and an interface unit for connecting the vehicle-mounted device 1 to a vehicle, wherein the vehicle basic information storage module 12, the GPS positioning module 13, the driving intention acquisition module 14, the vehicle speed acquisition module 15, the vehicle speed control module 16 and the prompt module 17 are respectively in signal connection; the vehicle basic information storage module 17 stores static information of the vehicle in advance, wherein the static information includes the model, the size, the owner information and the like of the vehicle; the GPS positioning module 13 collects the running position information of the vehicle; the driving intention acquisition module 14 acquires the driving direction of the vehicle in real time; the vehicle speed acquisition module 15 acquires the vehicle speed in real time; the vehicle speed control module 16 controls the vehicle speed; the prompting module 17 prompts the driver of the safe vehicle speed required by the right turn of the vehicle, and the vehicle speed control module 16 controls a brake pedal for driving the vehicle.

The roadside device 2 comprises a roadside main control module 21, an intersection basic information storage module 22, a signal state acquisition module 23 and a non-motor vehicle and pedestrian information acquisition module 24; the intersection basic information storage module 22 stores basic road condition information in advance, wherein the basic road condition information includes intersection geometric shapes, geometric dimensions, road canalization, signal timing schemes and the like; the signal state acquisition module 23 acquires a signal lamp state and countdown time; the non-motor vehicle and pedestrian information acquisition module 24 acquires position and speed information of the non-motor vehicle and the pedestrian, specifically: the non-motor vehicle and pedestrian information acquisition module 24 comprises a non-motor vehicle and pedestrian video detector and a non-motor vehicle and pedestrian identification module, the non-motor vehicle and pedestrian video detector monitors a non-motor vehicle lane and a sidewalk in real time to obtain a monitoring video, the obtained monitoring video is sent to the non-motor vehicle and pedestrian identification module, and the non-motor vehicle and pedestrian identification module identifies a moving target of the monitoring video to obtain position and speed information of the non-motor vehicle and the pedestrian; the roadside main control module 21 analyzes the signal lamp state, the countdown time, the position and the speed information of the non-motor vehicles and the pedestrians to form intersection traffic state information.

When a vehicle enters the intersection communication range of the roadside device 2, information interaction is carried out between the vehicle-mounted device 1 and the roadside device 2, and between the vehicle-mounted device 1 and the vehicle-mounted device 1, the vehicle-mounted main control module 11 analyzes and judges the static information of the vehicle, the vehicle running position information, the vehicle running direction and the vehicle speed and the intersection traffic state information of the vehicle, which are acquired by the vehicle basic information storage module 17, the GPS positioning module 13, the running intention acquisition module 14 and the vehicle speed acquisition module 15, if the collision between the vehicle and the non-vehicle or the collision between the vehicle and the vehicle is judged to occur in the future time, the vehicle-mounted main control module 11 analyzes and obtains the safe vehicle speed required by right turn to the prompting module 17 and the vehicle speed control module 16, the prompting module 17 prompts the driver to turn right at the safe vehicle speed required by the right turn, and simultaneously the vehicle-mounted main control module 11 monitors whether the vehicle runs at the, if the vehicle is monitored not to run according to the safe vehicle speed, the vehicle speed control module 16 automatically controls the speed of the vehicle.

The vehicle-mounted main control module 11 analyzes the safety vehicle speed required by the right turn by the following calculation method, and includes the following conditions:

(1) when the inlet direction of the right-turning vehicle is green and no pedestrian passes through the sidewalk, the right-turning vehicle must quickly pass through the intersection before the green light is finished, and at the moment, the safe vehicle speed v required by the right-turning vehicle to turn right_RGThe calculation method is as follows:

wherein, t_R1Indicating the time, L, at which the right-turning vehicle reaches the stop line_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RZIndicating the time, t, from the start of the right turn to the time of driving off the intersection sidewalk_GSIndicating the remaining time of green light, S, in the direction of entry of the right-turn vehicle_RThe turning radius of the right-turning vehicle is shown, the roadside device 2 sends the information to the vehicle-mounted device 1 of the right-turning vehicle, and a (t) shows the acceleration of the right-turning vehicle required for reaching the safe vehicle speed;

(2) when the inlet direction of a right-turning vehicle is a green light and non-motor vehicles and pedestrians exist on a sidewalk, the right-turning vehicle collides with the pedestrians or non-motor vehicles on the sidewalk on the right side in the same direction, if the collision is avoided, the last pedestrian needs to go out of a dangerous area of the sidewalk when the right-turning vehicle reaches a stop line, and at the moment, the safe vehicle speed v required by the right-turning of the vehicle_RGYThe calculation method is as follows:

wherein, t_R1Indicating the time, v, at which the right-turning vehicle reaches the stop line_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance from the stop line when a right-turn vehicle enters the intersection zone communication range, S_RIndicating the turning radius of the right-turning vehicle, the roadside apparatus 2 transmits this information to the on-board apparatus 1, t of the right-turning vehicle_RZIndicating the time, t, from the start of the right turn to the time of driving off the intersection sidewalk_GXThe time of the last pedestrian or non-motor vehicle passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last rowIf the human or non-motor vehicle is far away from the right-turning vehicle, thenWherein S is_GXIndicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_GXRepresenting speed of pedestrians or non-motor vehicles, L_GXRepresenting the length of the crosswalk;

(3) when the inlet direction of the right-turning vehicle is red light, the right-turning vehicle collides with a pedestrian or a non-motor vehicle on the sidewalk with the adjacent direction perpendicular to the stop line, if the collision is avoided, the pedestrian needs to go out of a dangerous area of the sidewalk when the right-turning vehicle reaches the stop line, and at the moment, the safe vehicle speed v required by the right-turning of the vehicle_RRYThe calculation method is as follows:

wherein v is_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RXThe time of the last pedestrian or non-motor vehicle of the sidewalk in the adjacent direction passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last pedestrian or non-motor vehicle is far from the right-turning vehicle, thenWherein S is_RXIndicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_RXRepresenting speed of pedestrians or non-motor vehicles, L_RXRepresenting the length of the crosswalk;

(4) when the conflict between the machine and the non-conflict and the conflict between people and vehicles are eliminated, the right-turning vehicle can also conflict with the vehicles running straight in the adjacent direction, and the right-turning vehicle can not interfere the passing of the straight vehicles according to the regulation of traffic laws, so the right-turning vehicle can avoid the collision with other straight vehicles when passing through the intersection, but in order to improve the passing efficiency of the intersection, the right-turning vehicle does not need to wait for the straight vehicles to completely pass through the intersection, the right-turning vehicle can adjust the speed to drive away from the intersection according to the first-in first-out principle, and the safe speed v required by the right-turning vehicle is required at the moment_RThe calculation method is divided into the following two cases:

if a right-turn vehicle arrives at the intersection before a straight-ahead vehicle, and because the target lanes of the vehicles are the same, the safe distance between the two vehicles after confluence needs to be considered in order to avoid unnecessary collision in a collision area of the two vehicles, and the traffic efficiency also needs to be considered (namely, the distance between the two vehicles keeps the minimum safe distance after confluence of the two vehicles), the target equation is as follows:

the constraint conditions are as follows:

wherein L is_RZIndicating a safe distance, L, after the merging of a right-turning vehicle and a straight-driving vehicle_RIndicating the distance, v, from the stop line when a right-turn vehicle enters the communication range of the intersection area_RRXRepresenting the safe speed, t, required for a right-turning vehicle to leave the intersection before a straight-ahead vehicle_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZRepresenting the speed of a straight-ahead vehicle,/_RIndicating the body length of a right-turning vehicle, a_RRepresenting the acceleration, v, of a vehicle turning to the right_RTo representSpeed of right-turning vehicle, t₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minRepresents the maximum acceleration and the minimum acceleration allowed by the vehicle running;

if the vehicle which turns right arrives at the intersection after the straight-going vehicle drives, in order to completely eliminate the collision after the two vehicles merge, the distance between the two vehicles keeps the minimum safe distance after the two vehicles complete the merge, then

The constraint conditions are as follows:

wherein L is_RZIndicating the safe distance, t, after the merging of the right-turning vehicle and the straight-going vehicle_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZIndicating the speed of the straight-ahead vehicle, L_RIndicating the distance, l, from the stop line when a right-turn vehicle enters the intersection zone communication range_ZIndicating the body length of a straight-running vehicle, a_RRepresenting the acceleration, v, of a vehicle turning to the right_RIndicating the speed, v, of a vehicle turning to the right_RRHIndicating the safe speed, t, required for a straight-ahead vehicle to leave the intersection after a right-turn vehicle₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minWhich represents the maximum acceleration and the minimum acceleration that can be allowed for the vehicle to travel.

The roadside device 2 further comprises a roadside wireless communication module 25 in signal connection with the roadside main control module 21, the vehicle-mounted wireless communication module 18 and the roadside wireless communication module 25 are respectively used for information transmission through the wireless communication network 4, each vehicle-mounted device 1 sends the position and motion information of the vehicle to the vehicle-mounted wireless communication modules 18 of the vehicle-mounted devices 1 of other vehicles through the vehicle-mounted wireless communication module 18 of the vehicle, and the position and motion information of the vehicle are interacted among the vehicle-mounted wireless communication modules 18 of the vehicle-mounted devices 1, so that the right-turning vehicle can know the information of the conflicting vehicle, and the optimal safe vehicle speed of the vehicle can be calculated more effectively.

The prompt module 17 comprises a vehicle speed information display screen 171 and/or a voice playing module 172, wherein the vehicle speed information display screen 171 is in signal connection with the vehicle-mounted main control module 11 to display the safe vehicle speed required by the right turning of the vehicle, and the voice playing module 172 is in signal connection with the vehicle-mounted main control module 11 to play the safe vehicle speed required by the right turning of the vehicle.

The invention relates to a guiding method of a vehicle right turn guiding system at an intersection based on vehicle-road cooperation, wherein the guiding system comprises road side equipment 2 arranged at the intersection, vehicle-mounted equipment 1 arranged on a motor vehicle and a monitoring center 3, the guiding system is the above-mentioned system, so the description is not repeated, the guiding method comprises nine steps, wherein it needs to be described that the vehicle-mounted equipment 1 of the right turn vehicle is connected with a vehicle OBD interface through an interface unit when just being arranged on the vehicle, and at the moment, the vehicle-mounted equipment 1 acquires static information of the vehicle through a vehicle basic information storage module 12 in the vehicle, such as the model, the size and the owner information of the vehicle; after the roadside device 2 is installed at an intersection, basic road condition information is stored through an intersection basic information storage module 22 in the roadside device, wherein the basic road condition information comprises intersection geometric shapes, geometric dimensions, road canalization, a signal timing scheme and the like; in the step of obtaining the static information by the vehicle-mounted device 1, the step of storing the road condition basic information by the road side device 2 may be included in the following step one.

Firstly, the vehicle-mounted equipment 1 of the right-turning vehicle acquires the position and motion information (including the driving direction and the vehicle speed) of the vehicle in real time through a GPS positioning module 13, a driving intention acquisition module 14 and a vehicle speed acquisition module 15 in the vehicle-mounted equipment 1, immediately receives the information of signal lamp states, non-motor vehicles, pedestrians and other vehicles sent by the roadside equipment 2 and other vehicle-mounted equipment 1 of the right-turning vehicle when entering an intersection communication area, wherein the information of the signal lamp states, the non-motor vehicles and the pedestrians is acquired by a signal state acquisition module 23 and a non-motor vehicle and pedestrian information acquisition module 24 in the roadside equipment 2, and then the information is interacted with the vehicle-mounted equipment 1 of the right-turning vehicle through the roadside equipment 2 to obtain the countdown time of the signal lamp, in addition, in the step, the vehicle-mounted equipment 1 can obtain the countdown time of the signal lamp besides the information obtained from the roadside equipment 2, the countdown time is also collected by the signal status collection module 23. The signal lamp state, the non-motor vehicle and pedestrian information and the countdown time can be analyzed by the road side main control module 21 in the road side device 2 to form intersection traffic state information and then transmitted to the vehicle-mounted device 1. The information of the other vehicle is collected by the in-vehicle device 1 in the other vehicle, and then the information is transmitted to the in-vehicle device 1 of the right turn vehicle through the wireless communication network 4.

And step two, according to the information of the signal lamp state, the non-motor vehicle, the pedestrian and other vehicles acquired by the vehicle-mounted equipment 1 of the right-turning vehicle in the step one, the vehicle-mounted main control module 11 of the vehicle-mounted equipment 1 of the right-turning vehicle judges the signal lamp state of the entrance direction of the right-turning vehicle and the motion state of the non-motor vehicle and the pedestrian on the sidewalk, if the signal lamp state is a green lamp, the step three is executed, and if the signal lamp state is a red lamp, the step five is executed.

Step three, if the vehicle is a green light and no moving object exists on the sidewalk, the vehicle-mounted main control module 11 of the vehicle-mounted device 1 for turning the vehicle to the right calculates the safe vehicle speed v required by the vehicle to turn to the right according to the remaining time of the green light_RGAt the end of the green light, the right-turn vehicle follows the safe speed v_RGDriving away from the intersection, otherwise, executing the step four; in this step, the safe vehicle speed v_RGThe driver is prompted by a prompt module 17 of the vehicle-mounted device 1, the prompt module 17 including displaying the safe vehicle speed v in digital form_RGAnd a vehicle speed information display screen 171 and the safe vehicle speed v is played in the form of sound_RGThe voice playing module 172, the voice playingA microphone (see fig. 3) is connected to the module 172 for playing back sound. Of course, in other embodiments, the prompting module 17 may only be provided with one of the vehicle speed information display screen 171 and the voice playing module 172.

Step four, if the vehicle is a green light and the pedestrian and the non-motor vehicle are on the sidewalk, the vehicle-mounted main control module 11 of the vehicle-mounted device 1 for turning the vehicle to the right calculates the safe vehicle speed v required by the right turning of the vehicle according to the motion states of the pedestrian and the non-motor vehicle on the sidewalk_RGYUnder the condition of ensuring that pedestrians safely pass through the intersection, right-turning vehicles quickly pass through the intersection and drive away from the intersection;

step five, according to the signal lamp state and the information of the non-motor vehicles, pedestrians and other vehicles collected by the vehicle-mounted equipment 1 of the right-turning vehicle in the step one, the vehicle-mounted main control module 11 of the vehicle-mounted equipment 1 of the right-turning vehicle judges that the inlet direction of the right-turning vehicle is a red light and that motor vehicles and pedestrians pass through a sidewalk, and then the vehicle-mounted main control module 11 of the vehicle-mounted equipment 1 of the right-turning vehicle calculates the safe vehicle speed v required by the right-turning of the vehicle according to the motion states of the non-motor vehicles and the pedestrians_RRYIf the vehicle-mounted equipment 1 detects that the vehicle does not press the safe vehicle speed v_RRYAnd running, and executing the step eight. In this step, the safe vehicle speed v_RRYThe driver is prompted by a prompt module 17 of the vehicle-mounted device 1, the prompt module 17 including displaying the safe vehicle speed v in digital form_RRYAnd a vehicle speed information display screen 171 and the safe vehicle speed v is played in the form of sound_RRYThe voice playing module 172, a loudspeaker (as shown in fig. 3) for playing sound is connected to the voice playing module 172. Of course, in other embodiments, the prompting module 17 may only be provided with one of the vehicle speed information display screen 171 and the voice playing module 172.

Step six, the vehicle-mounted main control module 11 of the vehicle-mounted device 1 of the right-turning vehicle judges that the entrance direction of the right-turning vehicle is red and no motor vehicles and pedestrians pass through the sidewalk, but confluence conflict occurs with the straight-going vehicles in the adjacent direction, and if the fact that the right-turning vehicle reaches a conflict area before the straight-going vehicles is detected, the vehicle-mounted main control module 11 of the vehicle-mounted device 1 of the right-turning vehicle can reach the conflict area according to the situationCalculating the safe vehicle speed v required by the right turn of the vehicle according to the motion state of the straight-going vehicle_RRXIf the vehicle-mounted equipment 1 detects that the vehicle does not press the safe vehicle speed v_RRXAnd running, and executing the step eight. In this step, the safe vehicle speed v_RRXThe driver is prompted by a prompt module 17 of the vehicle-mounted device 1, the prompt module 17 including displaying the safe vehicle speed v in digital form_RRXAnd a vehicle speed information display screen 171 and the safe vehicle speed v is played in the form of sound_RRXThe voice playing module 172, a loudspeaker (as shown in fig. 3) for playing sound is connected to the voice playing module 172. Of course, in other embodiments, the prompting module 17 may only be provided with one of the vehicle speed information display screen 171 and the voice playing module 172.

Step seven, if it is detected that the straight vehicle reaches the conflict area after the right-turn vehicle meets, the vehicle-mounted main control module 11 of the vehicle-mounted device 1 of the right-turn vehicle can calculate the safe vehicle speed v required by the right-turn vehicle according to the motion state of the straight vehicle_RRHIf the vehicle-mounted main control module 11 of the vehicle-mounted device 1 detects that the vehicle does not press the safe vehicle speed v_RRHAnd running, and executing the step eight. In this step, the safe vehicle speed v_RRHThe driver is prompted by a prompt module 17 of the vehicle-mounted device 1, the prompt module 17 including displaying the safe vehicle speed v in digital form_RRHAnd a vehicle speed information display screen 171 and the safe vehicle speed v is played in the form of sound_RRHThe voice playing module 172, a loudspeaker (as shown in fig. 3) for playing sound is connected to the voice playing module 172. Of course, in other embodiments, the prompting module 17 may only be provided with one of the vehicle speed information display screen 171 and the voice playing module 172.

And step eight, if the vehicle is detected not to run according to the safe vehicle speed, the vehicle speed control module 16 of the vehicle-mounted device 1 forcibly controls a brake pedal of the vehicle to reach the safe vehicle speed.

And step nine, judging whether the vehicle is driven away from the intersection, if not, executing the step one, otherwise, ending the right turn guidance of the vehicle.

There is a need forThe description is as follows: in the third step, the safe vehicle speed v_RGThe calculation method is as follows:

wherein, t_R1Indicating the time, L, at which the right-turning vehicle reaches the stop line_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RZIndicating the time, t, from the start of the right turn to the time of driving off the intersection sidewalk_GSIndicating the remaining time of green light, S, in the direction of entry of the right-turn vehicle_RThe turning radius of the right-turning vehicle is shown, the roadside device 2 sends the information to the vehicle-mounted device 1 of the right-turning vehicle, and a (t) shows the acceleration of the right-turning vehicle required for reaching the safe vehicle speed;

in the fourth step, the safe vehicle speed v_RGYThe calculation method is as follows:

wherein, t_R1Indicating the time, v, at which the right-turning vehicle reaches the stop line_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance from the stop line when a right-turn vehicle enters the intersection zone communication range, S_RIndicating the turning radius of the right-turning vehicle, the roadside apparatus 2 transmits this information to the on-board apparatus 1, t of the right-turning vehicle_RZIndicating the time, t, from the start of the right turn to the time of driving off the intersection sidewalk_GXThe time of the last pedestrian or non-motor vehicle passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last pedestrian or non-motor vehicle is far from the right-turning vehicle, thenWherein S is_GXIndicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_GXRepresenting speed of pedestrians or non-motor vehicles, L_GXRepresenting the length of the crosswalk;

in the fifth step, the safe vehicle speed v_RRYThe calculation method is as follows:

wherein v is_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RXThe time of the last pedestrian or non-motor vehicle of the sidewalk in the adjacent direction passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last pedestrian or non-motor vehicle is far from the right-turning vehicle, thenWherein S is_RXIndicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_RXRepresenting speed of pedestrians or non-motor vehicles, L_RXRepresenting the length of the crosswalk;

in the sixth step, the safe vehicle speed v_RRXThe calculation method is as follows (see fig. 5): if the right-turn vehicle arrives at the intersection before the straight-ahead vehicle, the target lanes of the two vehicles are the same, so that the right-turn vehicle can avoid the intersectionWhen unnecessary collision of two vehicles in a collision area is avoided, the safe distance between the two vehicles after confluence needs to be considered, and the traffic efficiency needs to be considered (namely, the distance between the two vehicles after confluence is kept to be the minimum safe distance), the objective equation is as follows:

the constraint conditions are as follows:

wherein L is_RZIndicating a safe distance, L, after the merging of a right-turning vehicle and a straight-driving vehicle_RIndicating the distance, v, from the stop line when a right-turn vehicle enters the communication range of the intersection area_RRXRepresenting the safe speed, t, required for a right-turning vehicle to leave the intersection before a straight-ahead vehicle_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZRepresenting the speed of a straight-ahead vehicle,/_RIndicating the body length of a right-turning vehicle, a_RRepresenting the acceleration, v, of a vehicle turning to the right_RIndicating the speed of the vehicle turning to the right, t₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minRepresents the maximum acceleration and the minimum acceleration allowed by the vehicle running;

in the seventh step, if the straight-ahead vehicle reaches the intersection after the right-turn vehicle, in order to completely eliminate the collision after the two vehicles merge, and the distance between the two vehicles keeps the minimum safe distance after the two vehicles merge, the safe vehicle speed v is_RRHThe calculation method is as follows (see fig. 6):

the constraint conditions are as follows:

wherein L is_RZIndicating the safe distance, t, after the merging of the right-turning vehicle and the straight-going vehicle_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZIndicating the speed of the straight-ahead vehicle, L_RIndicating the distance, l, from the stop line when a right-turn vehicle enters the intersection zone communication range_ZIndicating the body length of a straight-running vehicle, a_RRepresenting the acceleration, v, of a vehicle turning to the right_RIndicating the speed, v, of a vehicle turning to the right_RRHIndicating the safe speed, t, required for a straight-ahead vehicle to leave the intersection after a right-turn vehicle₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minWhich represents the maximum acceleration and the minimum acceleration that can be allowed for the vehicle to travel.

In summary, the following steps: the intersection vehicle right-turning guiding system and the guiding method based on the vehicle-road cooperation at least have the following advantages:

(1) the vehicle right turn guiding system can receive danger information sent by the roadside device 2 when a right turn vehicle enters 100-150 m before the intersection, wherein the danger information comprises signal lamp information and information of other vehicles, non-motor vehicles and pedestrians, and can provide safe vehicle speed for a driver, so that the driver has enough time to take danger avoiding measures and ensure that the vehicle safely and quickly passes through the intersection;

(2) the vehicle right turning guide system can realize information exchange between vehicles and road infrastructure, does not need to change a signal timing scheme at an intersection, and has simple and reliable technology;

(3) the vehicle right-turning guiding system and the guiding method thereof can provide the safe vehicle speed required by the right-turning of the vehicle for the driver, and greatly eliminate the nervous psychology when the driver of the vehicle enters the intersection; under the condition that the driver is not concentrated, the vehicle can be forcibly controlled, unnecessary collision accidents are avoided, and the driving safety level of the intersection is greatly improved;

(4) the vehicle right-turning guiding system and the guiding method thereof are suitable for early warning and vehicle speed guiding of vehicles in any road traffic state, are particularly suitable for uncontrolled intersections and intersections with poor sight distances, have very strong practicability, can improve the safety level of the intersections and the passing efficiency, and make a contribution to reducing the emission pollution of the intersections.

(5) The vehicle right-turning guiding system can realize seamless connection with a city management department, and the management department acquires road traffic state and vehicle running state information in real time, thereby really realizing integration of traffic monitoring, management and control.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides an intersection vehicle turns right bootstrap system based on vehicle and road is in coordination which characterized in that: the system comprises road side equipment, a monitoring center and at least one vehicle-mounted equipment; information is transmitted between the vehicle-mounted equipment and the road side equipment, between the vehicle-mounted equipment and between the road side equipment and the monitoring center through a wireless communication network;

each vehicle-mounted device comprises a vehicle-mounted main control module, and a vehicle basic information storage module, a GPS positioning module, a driving intention acquisition module, a vehicle speed control module and a prompt module which are respectively in signal connection with the vehicle-mounted main control module; the vehicle basic information storage module stores static information of the vehicle in advance; the GPS positioning module collects the running position information of the vehicle; the driving intention acquisition module acquires the driving direction of the vehicle in real time; the vehicle speed acquisition module acquires the vehicle speed in real time; the vehicle speed control module controls the speed of the vehicle; the prompting module prompts a driver of a safe vehicle speed required by the right turning of the vehicle;

the roadside equipment comprises a roadside main control module, an intersection basic information storage module, a signal state acquisition module and a non-motor vehicle and pedestrian information acquisition module; the intersection basic information storage module stores basic road condition information in advance; the signal state acquisition module acquires a signal lamp state and countdown time; the non-motor vehicle and pedestrian information acquisition module acquires position and speed information of the non-motor vehicle and the pedestrian; the roadside main control module analyzes the signal lamp state, the countdown time, the position and the speed information of the non-motor vehicles and the pedestrians to form intersection traffic state information;

when a vehicle enters the intersection communication range of the road side equipment, information interaction is carried out between the vehicle-mounted equipment and the road side equipment and between the vehicle-mounted equipment and the vehicle-mounted equipment, the vehicle-mounted main control module carries out analysis and judgment according to static information, vehicle running position information, vehicle running direction and vehicle speed of the vehicle and intersection traffic state information of the vehicle, which are acquired by the vehicle basic information storage module, the GPS positioning module, the running intention acquisition module and the vehicle speed acquisition module, if the situation that motor vehicle and non-motor vehicle conflict or motor vehicle and motor vehicle conflict can occur in the future time is judged, the vehicle-mounted main control module analyzes and obtains the safe vehicle speed required by right turning to the prompting module and the vehicle speed control module, the prompting module prompts the driver to turn right at the required safe vehicle speed, and the vehicle-mounted main control module monitors whether the vehicle runs according to the given safe vehicle speed, and if the vehicle is monitored not to run according to the safe vehicle speed, the vehicle speed control module automatically controls the speed of the vehicle.

2. The intersection vehicle right turn guidance system based on vehicle-road coordination according to claim 1, characterized in that: the vehicle-mounted main control module analyzes and obtains the safe vehicle speed required by right turning by the following calculation method, and the method comprises the following conditions:

(1) when the inlet direction of the right-turning vehicle is green and no pedestrian passes through the sidewalk, the safe vehicle speed v required by the right-turning vehicle to turn right_RGThe calculation method is as follows:

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wherein, t_R1Indicating the time, L, at which the right-turning vehicle reaches the stop line_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RZIndicating the time, t, from the start of the right turn to the time of driving off the intersection sidewalk_GSIndicating the remaining time of green light, S, in the direction of entry of the right-turn vehicle_RThe turning radius of the right-turning vehicle during right turning is represented, the roadside device sends the information to the vehicle-mounted device of the right-turning vehicle, and a (t) represents the acceleration required by the right-turning vehicle to achieve the safe vehicle speed;

(2) when the inlet direction of the right-turning vehicle is green and non-motor vehicles and pedestrians are on the sidewalk, the safe vehicle speed v required by the right-turning of the vehicle_RGYThe calculation method is as follows:

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>t</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>&amp;pi;S</mi> <mi>R</mi> </msub> </mrow> <mn>4</mn> </mfrac> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>z</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>t</mi> <mrow> <mi>G</mi> <mi>X</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>

wherein, t_R1Indicating the time, v, at which the right-turning vehicle reaches the stop line_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance from the stop line when a right-turn vehicle enters the intersection zone communication range, S_RIndicating the turning radius of the right-turning vehicle, the roadside apparatus transmits this information to the on-board apparatus of the right-turning vehicle, t_RZIndicating the time, t, from the start of the right turn to the time of driving off the intersection sidewalk_GXThe time of the last pedestrian or non-motor vehicle passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last pedestrian or non-motor vehicle is far from the right-turning vehicle, thenWherein S is_GXIndicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_GXRepresenting speed of pedestrians or non-motor vehicles, L_GXRepresenting the length of the crosswalk;

(3) when the inlet direction of the right-turning vehicle is red light, the safety vehicle speed v required by the right-turning of the vehicle_RRYThe calculation method is as follows:

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>t</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> </mtable> </mfenced>

wherein v is_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RXThe time of the last pedestrian or non-motor vehicle of the sidewalk in the adjacent direction passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last pedestrian or non-motor vehicle is far from the right-turning vehicle, thenWherein S is_RXIndicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_RXRepresenting speed of pedestrians or non-motor vehicles, L_RXRepresenting the length of the crosswalk;

(4) when the conflict between the machine and the non-machine and the conflict between the people and the vehicle are eliminated, the calculation method of the safe vehicle speed required by the right turning of the vehicle is divided into the following two conditions:

if the right-turn vehicle arrives at the intersection before the straight-ahead vehicle, the target equation is as follows:

<mrow> <mi>min</mi> <mi> </mi> <msub> <mi>L</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> <mo>=</mo> <mi>min</mi> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>+</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>X</mi> </mrow> </msub> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>2</mn> </mrow> </msub> </mrow> </msubsup> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mi>d</mi> <mi>t</mi> <mo>-</mo> <msub> <mi>l</mi> <mi>R</mi> </msub> <mo>)</mo> </mrow> </mrow>

the constraint conditions are as follows:

<mrow> <mi>s</mi> <mo>.</mo> <mi>t</mi> <mo>.</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>X</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> <mo>&amp;le;</mo> <mi>v</mi> <mo>&amp;le;</mo> <msub> <mi>v</mi> <mrow> <mi>m</mi> <mi>a</mi> <mi>x</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>a</mi> <mi>min</mi> </msub> <mo>&amp;le;</mo> <mi>a</mi> <mo>&amp;le;</mo> <msub> <mi>a</mi> <mi>max</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>

wherein L is_RZIndicating a safe distance, L, after the merging of a right-turning vehicle and a straight-driving vehicle_RIndicating the distance, v, from the stop line when a right-turn vehicle enters the communication range of the intersection area_RRXRepresenting the safe speed, t, required for a right-turning vehicle to leave the intersection before a straight-ahead vehicle_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZRepresenting the speed of a straight-ahead vehicle,/_RIndicating the body length of a right-turning vehicle, a_RRepresenting the acceleration, v, of a vehicle turning to the right_RIndicating the speed of the vehicle turning to the right, t₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minRepresents the maximum acceleration and the minimum acceleration allowed by the vehicle running;

if the straight-going vehicle reaches the intersection after the right-turning vehicle, the right-turning vehicle has

<mrow> <mi>min</mi> <mi> </mi> <msub> <mi>L</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> <mo>=</mo> <mi>min</mi> <mrow> <mo>(</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>2</mn> </mrow> </msub> </mrow> </msubsup> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mi>d</mi> <mi>t</mi> <mo>-</mo> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>-</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>H</mi> </mrow> </msub> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>l</mi> <mi>Z</mi> </msub> <mo>)</mo> </mrow> </mrow>

The constraint conditions are as follows:

<mrow> <mi>s</mi> <mo>.</mo> <mi>t</mi> <mo>.</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>H</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> <mo>&amp;le;</mo> <mi>v</mi> <mo>&amp;le;</mo> <msub> <mi>v</mi> <mrow> <mi>m</mi> <mi>a</mi> <mi>x</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>a</mi> <mi>min</mi> </msub> <mo>&amp;le;</mo> <mi>a</mi> <mo>&amp;le;</mo> <msub> <mi>a</mi> <mi>max</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>

wherein L is_RZIndicating the safe distance, t, after the merging of the right-turning vehicle and the straight-going vehicle_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZIndicating the speed of the straight-ahead vehicle, L_RIndicating the distance, l, from the stop line when a right-turn vehicle enters the intersection zone communication range_ZIndicating the body length of a straight-running vehicle, a_RRepresenting the acceleration, v, of a vehicle turning to the right_RIndicating the speed, v, of a vehicle turning to the right_RRHIndicating the safe speed, t, required for a straight-ahead vehicle to leave the intersection after a right-turn vehicle₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minWhich represents the maximum acceleration and the minimum acceleration that can be allowed for the vehicle to travel.

3. The intersection vehicle right turn guidance system based on vehicle-road coordination according to claim 1, characterized in that: the vehicle-mounted equipment further comprises a vehicle-mounted wireless communication module in signal connection with the vehicle-mounted main control module, the roadside equipment further comprises a roadside wireless communication module in signal connection with the roadside main control module, the vehicle-mounted wireless communication module and the roadside wireless communication module are respectively used for information transmission through wireless communication networks, and each vehicle-mounted equipment sends the position and the movement information of the vehicle to vehicle-mounted wireless communication modules of vehicle-mounted equipment of other vehicles through the vehicle-mounted wireless communication module of the vehicle.

4. The intersection vehicle right turn guidance system based on vehicle-road coordination according to claim 1, characterized in that: the in-vehicle apparatus further includes an interface unit connected to the vehicle.

5. The intersection vehicle right turn guidance system based on vehicle-road coordination according to claim 1, characterized in that: the prompting module comprises a vehicle speed information display screen and/or a voice playing module, wherein the vehicle speed information display screen is in signal connection with the vehicle-mounted main control module to display the safe vehicle speed required by the right turning of the vehicle, and the voice playing module is in signal connection with the vehicle-mounted main control module to play the safe vehicle speed required by the right turning of the vehicle.

6. The intersection vehicle right turn guidance system based on vehicle-road coordination according to claim 1, characterized in that: the static information comprises the model, the size and the owner information of the vehicle, and the basic road condition information comprises the geometrical shape and the geometrical size of an intersection, the road canalization and the signal timing scheme.

7. The intersection vehicle right turn guidance system based on vehicle-road coordination according to claim 1, characterized in that: the vehicle speed control module controls a brake pedal for driving the vehicle.

8. The intersection vehicle right turn guidance system based on vehicle-road coordination according to claim 1, characterized in that: the non-motor vehicle and pedestrian information acquisition module comprises a non-motor vehicle and pedestrian video detector and a non-motor vehicle and pedestrian identification module, the non-motor vehicle and pedestrian video detector monitors a non-motor vehicle lane and a sidewalk in real time to obtain a monitoring video, the obtained monitoring video is sent to the non-motor vehicle and pedestrian identification module, and the non-motor vehicle and pedestrian identification module identifies a moving target of the monitoring video to obtain position and speed information of the non-motor vehicle and the pedestrian.

9. A guiding method of an intersection vehicle right-turning guiding system based on vehicle-road cooperation is characterized in that: the guidance system comprises road side equipment installed at an intersection and vehicle-mounted equipment carried on a motor vehicle, and the guidance method comprises the following steps:

step one, vehicle-mounted equipment of a right-turning vehicle acquires position and motion information of the vehicle in real time, and immediately receives signal lamp states, non-motor vehicles, pedestrians and other vehicle information sent by road side equipment and other vehicle-mounted equipment of the right-turning vehicle when the vehicle enters an intersection communication area;

step two, according to the information of the signal lamp state, the non-motor vehicles, the pedestrians and other vehicles collected by the vehicle-mounted equipment of the right-turning vehicle in the step one, the vehicle-mounted equipment of the right-turning vehicle judges the signal lamp state of the entrance direction of the right-turning vehicle and the motion state of the non-motor vehicles and the pedestrians on the sidewalk, if the signal lamp state is a green lamp, the step three is executed, and if the signal lamp state is a red lamp, the step five is executed;

step three, if the vehicle is in a green light state and no moving object exists on the sidewalk, the vehicle-mounted equipment of the right-turning vehicle calculates the safe vehicle speed v required by the right-turning vehicle according to the remaining time of the green light_RGAt the end of the green light, the right-turn vehicle follows the safe speed v_RGWhen the vehicle leaves the intersection, the vehicle drives away,otherwise, executing the step four;

step four, if the green light is provided and the sidewalk is provided with the non-motor vehicles and the pedestrians, the vehicle-mounted equipment of the right-turning vehicle calculates the safe vehicle speed v required by the right-turning of the vehicle according to the motion states of the non-motor vehicles and the pedestrians on the sidewalk_RGYUnder the condition of ensuring that pedestrians safely pass through the intersection, right-turning vehicles quickly pass through the intersection and drive away from the intersection;

step five, according to the signal lamp state and the information of the non-motor vehicles, pedestrians and other vehicles collected by the vehicle-mounted equipment of the right-turning vehicle in the step one, the vehicle-mounted equipment of the right-turning vehicle judges that the inlet direction of the right-turning vehicle is a red light and the motor vehicles and the pedestrians pass through the sidewalk, and then the vehicle-mounted equipment of the right-turning vehicle calculates the safe vehicle speed v required by the right-turning of the vehicle according to the motion states of the non-motor vehicles and the pedestrians on the sidewalk_RRYIf the vehicle-mounted equipment monitors that the vehicle does not press the safe vehicle speed v_RRYIf the vehicle runs, the step eight is executed;

step six, the vehicle-mounted equipment of the right-turning vehicle judges that the inlet direction of the right-turning vehicle is red light and no motor vehicles or pedestrians pass through the sidewalk, but confluence conflict can occur with straight-going vehicles in the adjacent direction, and if the fact that the right-turning vehicle can reach a conflict area before the straight-going vehicles is detected, the vehicle-mounted equipment of the right-turning vehicle can calculate the safe vehicle speed v required by the right-turning of the vehicle according to the motion state of the straight-going vehicles_RRXIf the vehicle-mounted equipment monitors that the vehicle does not press the safe vehicle speed v_RRXIf the vehicle runs, the step eight is executed;

step seven, if the fact that the straight running vehicle reaches the conflict area after the right-turning vehicle meets is detected, the vehicle-mounted equipment of the right-turning vehicle can calculate the safe vehicle speed v required by the right-turning vehicle according to the motion state of the straight running vehicle_RRHIf the vehicle-mounted equipment detects that the vehicle does not press the safe vehicle speed v_RRHIf the vehicle runs, the step eight is executed;

step eight, if the vehicle is detected not to run according to the safe vehicle speed, the vehicle-mounted equipment forcibly controls a brake pedal of the vehicle to enable the vehicle to reach the safe vehicle speed;

and step nine, judging whether the vehicle is driven away from the intersection, if not, executing the step one, otherwise, ending the right turn guidance of the vehicle.

10. The guidance method of the intersection vehicle right-turn guidance system based on vehicle-road cooperation according to claim 9, characterized in that:

in the third step, the safe vehicle speed v_RGThe calculation method is as follows:

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>t</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <msup> <msub> <mi>&amp;pi;S</mi> <mi>R</mi> </msub> <mn>2</mn> </msup> </mrow> <mn>4</mn> </mfrac> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>t</mi> <mrow> <mi>G</mi> <mi>S</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>

wherein, t_R1Indicating the time, L, at which the right-turning vehicle reaches the stop line_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RZIndicating the time, t, from the start of the right turn to the time of driving off the intersection sidewalk_GSIndicating the remaining time of green light, S, in the direction of entry of the right-turn vehicle_RThe turning radius of the right-turning vehicle during right turning is represented, the roadside device sends the information to the vehicle-mounted device of the right-turning vehicle, and a (t) represents the acceleration required by the right-turning vehicle to achieve the safe vehicle speed;

in the fourth step, the safe vehicle speed v_RGYThe calculation method is as follows:

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>t</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>&amp;pi;S</mi> <mi>R</mi> </msub> </mrow> <mn>4</mn> </mfrac> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>t</mi> <mrow> <mi>G</mi> <mi>X</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>

wherein, t_R1Indicating the time, v, at which the right-turning vehicle reaches the stop line_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance from the stop line when a right-turn vehicle enters the intersection zone communication range, S_RIndicating the turning radius of the right-turning vehicle, the roadside apparatus transmits this information to the on-board apparatus of the right-turning vehicle, t_RZIndicating the time, t, from the start of the right turn to the time of driving off the intersection sidewalk_GXThe time of the last pedestrian or non-motor vehicle passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last pedestrian or non-motor vehicle is far from the right-turning vehicle, thenWherein S is_GXIndicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_GXRepresenting speed of pedestrians or non-motor vehicles, L_GXRepresenting the length of the crosswalk;

in the fifth step, theFull vehicle speed v_RRYThe calculation method is as follows:

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>t</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> </mtable> </mfenced>

wherein v is_R(0) Representing the initial speed of a right-turning vehicle entering the intersection zone communication range, a (t) representing the acceleration required by the right-turning vehicle to achieve safe vehicle speed, L_RIndicating the distance, t, from the stop line when a right-turn vehicle enters the intersection zone communication range_RXThe time of the last pedestrian or non-motor vehicle of the sidewalk in the adjacent direction passing through the dangerous area of the sidewalk is represented, and the calculation method is as follows: if the last pedestrian or non-motor vehicle is approaching a right-turning vehicle, thenIf the last pedestrian or non-motor vehicle is far from the right-turning vehicle, thenWherein S is_RXIndicating the distance, v, of the last pedestrian or non-motor vehicle of the walkway from the end of the walkway_RXRepresenting speed of pedestrians or non-motor vehicles, L_RXRepresenting the length of the crosswalk;

in the sixth step, the safe vehicle speed v_RRXThe calculation method is as follows: if the right-turn vehicle arrives at the intersection before the straight-ahead vehicle, the target equation is as follows:

<mrow> <mi>min</mi> <mi> </mi> <msub> <mi>L</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> <mo>=</mo> <mi>min</mi> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>+</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>X</mi> </mrow> </msub> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>2</mn> </mrow> </msub> </mrow> </msubsup> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mi>d</mi> <mi>t</mi> <mo>-</mo> <msub> <mi>l</mi> <mi>R</mi> </msub> <mo>)</mo> </mrow> </mrow>

the constraint conditions are as follows:

<mrow> <mi>s</mi> <mo>.</mo> <mi>t</mi> <mo>.</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>X</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> <mo>&amp;le;</mo> <mi>v</mi> <mo>&amp;le;</mo> <msub> <mi>v</mi> <mi>max</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>a</mi> <mi>min</mi> </msub> <mo>&amp;le;</mo> <mi>a</mi> <mo>&amp;le;</mo> <msub> <mi>a</mi> <mi>max</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>

wherein L is_RZIndicating a safe distance, L, after the merging of a right-turning vehicle and a straight-driving vehicle_RIndicating the distance, v, from the stop line when a right-turn vehicle enters the communication range of the intersection area_RRXIndicating that the right-turning vehicle precedes straightSafe speed, t, required when a moving vehicle leaves the intersection_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZRepresenting the speed of a straight-ahead vehicle,/_RIndicating the body length of a right-turning vehicle, a_RRepresenting the acceleration, v, of a vehicle turning to the right_RIndicating the speed of the vehicle turning to the right, t₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minRepresents the maximum acceleration and the minimum acceleration allowed by the vehicle running;

in the seventh step, the safe vehicle speed v_RRHThe calculation method is as follows:

<mrow> <mi>min</mi> <mi> </mi> <msub> <mi>L</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> <mo>=</mo> <mi>min</mi> <mrow> <mo>(</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>2</mn> </mrow> </msub> </mrow> </msubsup> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mi>d</mi> <mi>t</mi> <mo>-</mo> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>-</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>H</mi> </mrow> </msub> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>l</mi> <mi>Z</mi> </msub> <mo>)</mo> </mrow> </mrow>

the constraint conditions are as follows:

<mrow> <mi>s</mi> <mo>.</mo> <mi>t</mi> <mo>.</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>H</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> <mo>&amp;le;</mo> <mi>v</mi> <mo>&amp;le;</mo> <msub> <mi>v</mi> <mi>max</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>a</mi> <mi>min</mi> </msub> <mo>&amp;le;</mo> <mi>a</mi> <mo>&amp;le;</mo> <msub> <mi>a</mi> <mi>max</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>

wherein L is_RZIndicating the safe distance, t, after the merging of the right-turning vehicle and the straight-going vehicle_R1Indicating the time, t, for a right-turning vehicle to reach the stop line_R2Indicates the time required for the right-turning vehicle to complete the confluence from the start of the right-turning vehicle_ZIndicating the speed of the straight-ahead vehicle, L_RIndicating the distance, l, from the stop line when a right-turn vehicle enters the intersection zone communication range_ZIndicating the body length of a straight-running vehicle, a_RRepresenting the acceleration, v, of a vehicle turning to the right_RIndicating the speed, v, of a vehicle turning to the right_RRHIndicating the safe speed, t, required for a straight-ahead vehicle to leave the intersection after a right-turn vehicle₀Indicates the initial time, v, at which two vehicles make a wireless communication connection_maxRepresents the maximum allowable vehicle speed, a_maxAnd a_minWhich represents the maximum acceleration and the minimum acceleration that can be allowed for the vehicle to travel.