CN105118316B - The curved road safety speed computational methods and caution system cooperateed with based on bus or train route - Google Patents

The curved road safety speed computational methods and caution system cooperateed with based on bus or train route Download PDF

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CN105118316B
CN105118316B CN201510623299.0A CN201510623299A CN105118316B CN 105118316 B CN105118316 B CN 105118316B CN 201510623299 A CN201510623299 A CN 201510623299A CN 105118316 B CN105118316 B CN 105118316B
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road
speed
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curved
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褚端峰
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武汉理工大学
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Abstract

The invention discloses a kind of curved road safety speed computational methods cooperateed with based on bus or train route and caution system, this method comprises the following steps:Calculate the sideslip critical speed of vehicle;Calculate the rollover critical speed of vehicle;Compare the smaller value for obtaining two kinds of critical speeds, and determine safe speed when vehicle enters curved;Calculate safe speed when consideration driver's behavioral trait rear vehicle enters curved.The present invention sets up a kind of method that accurate calculating vehicle enters curved safe speed on the basis of people, car, road three influence is taken into full account.Consider vehicle movement characteristic and driver's behavioral trait, the safe speed using vehicle power theory to vehicle in corner is analyzed.This method, which has, calculates that easy, arithmetic speed is fast, high reliability, and provides theoretical method for the design research and development of curved road safety travelling caution system and support.

Description

The curved road safety speed computational methods and caution system cooperateed with based on bus or train route

Technical field

The present invention relates to traffic safety technology field, more particularly to a kind of curved road safety speed calculating cooperateed with based on bus or train route Method and caution system.

Background technology

Bus or train route cooperative system be based on advanced sensing and the technology such as radio communication, realize car car, bus or train route information it is real-time Dynamic interaction, completes the collection and fusion of transport information, so as to ensure vehicle driving safety under complicated traffic environment, improves road network The New Generation of Intelligent traffic system technology of operational efficiency.Topmost 2 subsystems of bus or train route cooperative system are roadside unit and car Carrier unit, each traffic component units is by roadside unit and board units, in wired or wireless communication mode, to realize vehicle Information transfer between vehicle, vehicle and trackside, and trackside and trackside and shared.

Hypervelocity is one of main inducing of curve traffic accident.Display is counted according to the road traffic accident of the Chinese Ministry of Public Security, About 40% is relevant with hypervelocity in curve traffic accident.The accurate vehicle that calculates enters the safe speed of bend and carries out early warning for subtracting The generation of few traffic accident is significant.Traditional curved road safety speed computational methods only consider turning radius, road surface Factors such as attachment coefficient, and mainly for the skidding accident of pony car, do not consider heavy goods vehicle, car bend rollover with Skidding accident.Meanwhile, this method also less influence for considering driver's behavioral trait to safe speed.

Therefore, a kind of curved road safety speed computational methods cooperateed with based on bus or train route are invented, for curved road safety moving car alarm System has designed and developed highly important function and significance.In other words, the accurate calculating of bend section safe speed is out The premise of curved road safety travelling caution system is sent out, only accurately calculate vehicle enters curved safe speed, can just develop reliable Curved road safety travelling caution system, so as to ensure stability and security of the vehicle in bend sections of road.

With advancing by leaps and bounds for China's road traffic cause, road traffic accident rapidly increases oneself as traffic administration institute face The serious problems faced.Although China's regulatory authorities take many measures in recent years, compared to western developed country, I The accident index such as the road traffic accident rate of state and the ten thousand car death rates is all of a relatively high, and Road Safety Status is still very tight It is high.Shown according to road traffic accident statistical analysis, bend section is black spot, driver Chang Yin drives over the speed limit Enter it is curved cause to trigger traffic accident to lose control of one's vehicle, cause great economy and property loss.Therefore, the driving in enhancing bend section Safety has great practical significance, sets driving safety warning system to be very necessary in expressway bend.

The content of the invention

The technical problem to be solved in the present invention be for defect of the prior art there is provided it is a kind of based on bus or train route cooperate with Curved road safety speed computational methods and caution system.

The technical solution adopted for the present invention to solve the technical problems is:A kind of curved road safety speed cooperateed with based on bus or train route Computational methods, comprise the following steps:

1) the sideslip critical speed of vehicle is calculated:On low attachment road surface and there is the bend of outside superelevation, vehicle breaks away Critical speed vsFor:

In formula:iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope angle on road surface;For the attachment coefficient on road surface;R is curved Road radius;G is acceleration of gravity;

2) the rollover critical speed of vehicle is calculated:Bend on high attachment road surface, the critical speed v that vehicle is turned on one's sider For:

In formula:B is the wheelspan of vehicle, and h is height of C.G., iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope on road surface Angle;R is turning radius, and g is acceleration of gravity;

3) safe speed v when vehicle enters curved is determinedsr;Sideslip is closed on by vehicle, is turned on one's side and is calculated two kinds obtained and face The smaller value of boundary's speed;

vsr=min { vs,vr}

4) the safe speed v considered when driver's behavioral trait rear vehicle enters curved is calculatedsafe

vsafe=kd·vsr

In formula:kdFor driver's factor of influence;Driver's factor of influence is obtained by statistical analysis.

By such scheme, k when driver's factor of influence is fine daydSpan be 0.32~0.38, k when cloudyd Span be 0.24~0.32, the k during greasy weatherdSpan be 0.12~0.18, k during nightdSpan be 0.20 ~0.27.

A kind of curved road safety vehicle speed alarm system cooperateed with based on bus or train route, including:

Database, the road environment information gathered in advance for storing, the road environment information includes bend section The superelevation on road surface, the horizontal slope angle on road surface, the attachment coefficient on road surface, turning radius;

Real time monitoring apparatus, including for camera, weighing platform and the rain sensor of the image information for obtaining vehicle;

Information gathering and computing module, for the vehicle information that is collected according to vehicle type detector come to estimate the wheel of vehicle Away from B, and with reference to the car weight that dynamic weighing platform is collected to estimate vehicle's center of gravity height h;It is also used for being detected according to pavement state The wet and slippery information of road surface sleet that device is collected is to estimate coefficient of road adhesion

Wherein, wheelspan estimation, height of C.G. estimation, coefficient of road adhesion estimation etc., refer to existing technical literature;

Curved road safety speed computing module, for calculating curved road safety speed;

Specifically include:

1) the sideslip critical speed of vehicle is calculated:On low attachment road surface and there is the bend of outside superelevation, vehicle breaks away Critical speed vsFor:

In formula:iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope angle on road surface;For the attachment coefficient on road surface;R is curved Road radius;G is acceleration of gravity;

2) the rollover critical speed of vehicle is calculated:Bend on high attachment road surface, the rollover critical speed v of vehiclerFor:

In formula:B is the wheelspan of vehicle, and h is height of C.G., iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope on road surface Angle;R is turning radius, and g is acceleration of gravity;

3) safe speed v when vehicle enters curved is determinedsr;Sideslip is closed on by vehicle, is turned on one's side and is calculated two kinds obtained and face The smaller value of boundary's speed;

vsr=min { vs,vr}

4) the safe speed v considered when driver's behavioral trait rear vehicle enters curved is calculatedsafe

vsafe=kd·vsr

In formula:kdFor driver's factor of influence;Driver's factor of influence is obtained by statistical analysis;

Safe speed alarming device, for issue vehicle enter it is curved before road speed and warned;The safe speed There are master control system, velocity radar, broadcasting equipment, warning lamp, LED display in alarming device, the master control system is by comparing The result of obtained safe speed and velocity radar is calculated, information warning is generated, and control broadcasting equipment, warning lamp and LED aobvious Display screen shows information warning.

By such scheme, k when driver's factor of influence is fine daydSpan be 0.32~0.38, k when cloudyd Span be 0.24~0.32, the k during greasy weatherdSpan be 0.12~0.18, k during nightdSpan be 0.20 ~0.27.

The beneficial effect comprise that:

The present invention is based on bus or train route collaboration, the lateral bucking event such as rollover, sideslip for vehicle, and by driver's row For the demarcation of characteristic, establish one kind and consider many factors such as road environment, vehicle structure parameter, driver's behavioral trait Curved road safety speed computational methods.

The present invention has considered kinetic characteristics of vehicle and driver's behavioral trait, using vehicle power theory to vehicle Analyzed in the safe speed of corner.It is compared with existing curved road safety speed computational methods, accident-free vehicle of the present invention The computational methods of speed are proposed, when coefficient of road adhesion rises to certain value, can reflect the rollover event that vehicle occurs, so that The curved road safety vehicle speed value for obtaining its calculating shows exclusive saturated phenomenon, easy with calculating, and arithmetic speed is fast, reliably Property it is high the advantages of, be curved road safety travelling caution system design and develop there is provided theoretical method support.

Brief description of the drawings

Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:

Fig. 1 is the algorithm flow chart of the embodiment of the present invention;

Fig. 2 is that the device of the embodiment of the present invention sets schematic diagram.

Embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention It is further elaborated.It should be appreciated that specific embodiment described herein is not used to limit only to explain the present invention The fixed present invention.

As shown in figure 1, curved road safety speed computational methods are to be directed to the lateral mistake such as rollover, sideslip that vehicle occurs in bend Steady event, based on vehicle-subgrade system technology, it is assumed that information exchange, and the driving row by having demarcated can be carried out between vehicle and road Parameter is characterized, on the basis of people, car, road three influence is taken into full account, a kind of accurate vehicle that calculates is set up and enters curved accident-free vehicle The method of speed, this method is mainly included the following steps that:

1) the sideslip critical speed of vehicle is calculated:On low attachment road surface and there is the bend of outside superelevation, vehicle breaks away Critical speed vsFor:

In formula:iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope angle on road surface;For the attachment coefficient on road surface;R is curved Road radius;G is acceleration of gravity;

2) the rollover critical speed of vehicle is calculated:Bend on high attachment road surface, the rollover critical speed v of vehiclerFor:

In formula:B is the wheelspan of vehicle, and h is height of C.G., iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope on road surface Angle;R is turning radius, and g is acceleration of gravity;

3) safe speed v when vehicle enters curved is determinedsr;Sideslip is closed on by vehicle, is turned on one's side and is calculated two kinds obtained and face The smaller value of boundary's speed;

vsr=min { vs,vr}

4) the safe speed v considered when driver's behavioral trait rear vehicle enters curved is calculatedsafe

vsafe=kd·vsr

In formula:kdFor driver's factor of influence;Driver's factor of influence is obtained by statistical analysis.

Driver's behavioral trait is also to influence one of key factor of curved road safety speed, for example, age, driving age, sighting distance Condition, driving habit etc. directly determine control ability of the driver to vehicle, and this Driving control ability shows as driver The behavioral traits such as reaction, judgement and operation to road environment.Therefore, the driver of different behavioral traits, for curved road safety In-mind anticipation value and the acceptance of speed vary with each individual.In other words, conventionally by consider vehicle structure parameter, road environment because The curved road safety speed computational methods that element is set up, must also consider driver's behavioral trait.

Therefore, introducing driver's factor of influence in curved road safety speed computational methods, the calculating of curved road safety speed is set up Optimization method is:

It can be seen that, consider " people-Che-road " it is multifactor under, when vehicle drives into bend, ensure that the bar of driving safety Part is speed v≤vsafe

Demarcated by driver's factor of influence, driver's average influence factor kd, it is 0.34 during fine day, is when cloudy 0.27, it is 0.23 during night, is 0.14 during the greasy weather.Compared to fine day and cloudy day, the road visibility under foggy environment can be obvious Reduction, driver's sighting distance diminishes, and the greasy weather can cause driver's factor of influence significantly to reduce.Meanwhile, in night running, due to duty Industry driver reasonably converts the auxiliary of the road equipments such as high-low beam light, and reflector, graticule, and driver's sighting distance is not Bend speed is produced and significantly affected, is closer to when driver's factor of influence is with the cloudy day.

Usually, driver's behavioral trait is complex, and influence of its individual difference to curved road safety speed is very big.According to Correlation statistical analysis, longer driver of older, driving age accident easily send out bend be often inclined to selection it is less enter curved car Speed, with relatively low accident proneness;And the driver that the age is smaller, the driving age is shorter then shows as higher accident proneness, Enter curved speed often larger, according to individual difference and calibration result, driver's factor of influence kdThe span such as institute of table 1 Show.

Table 1

As shown in Fig. 2 a kind of curved road safety vehicle speed alarm system cooperateed with based on bus or train route, including:

Database, the road environment information gathered in advance for storing, the road environment information includes bend section The superelevation on road surface, the horizontal slope angle on road surface, the attachment coefficient on road surface, turning radius;

Real time monitoring apparatus, including for camera, weighing platform and the rain sensor of the image information for obtaining vehicle;

Real time monitoring apparatus is arranged on the road trackside before bend porch;

Information gathering and computing module, for the vehicle information that is collected according to vehicle type detector come to estimate the wheel of vehicle Away from B, and with reference to the car weight that dynamic weighing platform is collected to estimate vehicle's center of gravity height h;It is also used for being detected according to pavement state The wet and slippery information of road surface sleet that device is collected is to estimate coefficient of road adhesion

Wherein, wheelspan estimation, height of C.G. estimation, coefficient of road adhesion estimation etc., refer to existing technical literature;

Curved road safety speed computing module, for calculating curved road safety speed;

Specifically include:

1) the sideslip critical speed of vehicle is calculated:On low attachment road surface and there is the bend of outside superelevation, vehicle breaks away Critical speed vsFor:

In formula:iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope angle on road surface;For the attachment coefficient on road surface;R is curved Road radius;G is acceleration of gravity;

2) the rollover critical speed of vehicle is calculated:Bend on high attachment road surface, the rollover critical speed v of vehiclerFor:

In formula:B is the wheelspan of vehicle, and h is height of C.G., iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope on road surface Angle;R is turning radius, and g is acceleration of gravity;

3) safe speed v when vehicle enters curved is determinedsr;Sideslip is closed on by vehicle, is turned on one's side and is calculated two kinds obtained and face The smaller value of boundary's speed;

vsr=min { vs,vr}

4) the safe speed v considered when driver's behavioral trait rear vehicle enters curved is calculatedsafe

vsafe=kd·vsr

In formula:kdFor driver's factor of influence;Driver's factor of influence is obtained by statistical analysis;

Safe speed alarming device, for feed back vehicle enter it is curved before road speed and warned;The safe speed There are master control system, velocity radar, broadcasting equipment, warning lamp, LED display in alarming device, the master control system is by comparing The result of obtained safe speed and velocity radar is calculated, information warning is generated, and control broadcasting equipment, warning lamp and LED aobvious Display screen shows information warning.LED display in safe speed alarming device is according to the master control system information received, by the vehicle Real-time speed, the hypervelocity of the counted criticality safety speed of system and the vehicle judge presentation of information on LED display, and Travelled by broadcasting equipment, alarming lamp prompt driver safety.

Said process was completed in 1-2 seconds, it is ensured that presentation of information exists before vehicle is by safe speed alarming device On LED display.

Safe speed alarming device is arranged on the road trackside before bend porch.

Vehicle driver understands the real-time row of oneself according to the information shown on safe speed alarming device LED display Car speed state, and entering the curved preceding reduction speed of adjustment in time with stable in criticality safety vehicle speed range under the conditions of hypervelocity, So as to prevent vehicle enter it is curved after occur accident because speed is too fast or road surface is excessively sliding, reduction vehicle is hidden in the safety for driving into corner Suffer from.

It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted, And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.

Claims (4)

1. a kind of curved road safety speed computational methods cooperateed with based on bus or train route, it is characterised in that comprise the following steps:
1) the sideslip critical speed of vehicle is calculated:Low attachment road surface and have outside superelevation bend, what vehicle breakked away faces Boundary speed vsFor:
In formula:iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope angle on road surface;For the attachment coefficient on road surface;R is bend half Footpath;G is acceleration of gravity;
2) the rollover critical speed of vehicle is calculated:Bend on high attachment road surface, the critical speed v that vehicle is turned on one's siderFor:
<mrow> <msub> <mi>v</mi> <mi>r</mi> </msub> <mo>=</mo> <msqrt> <mrow> <mfrac> <mrow> <mi>B</mi> <mo>+</mo> <mn>2</mn> <msub> <mi>hi</mi> <mi>y</mi> </msub> </mrow> <mrow> <mn>2</mn> <mi>h</mi> <mo>-</mo> <msub> <mi>Bi</mi> <mi>y</mi> </msub> </mrow> </mfrac> <mi>g</mi> <mi>R</mi> </mrow> </msqrt> <mo>;</mo> </mrow>
In formula:B is the wheelspan of vehicle, and h is height of C.G., iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope angle on road surface;R is Turning radius, g is acceleration of gravity;
3) safe speed v when vehicle enters curved is determinedsr;Sideslip is closed on, turn on one's side and calculates two kinds of obtained critical cars by vehicle The smaller value of speed;
vsr=min { vs,vr}
4) the safe speed v considered when driver's behavioral trait rear vehicle enters curved is calculatedsafe
vsafe=kd·vsr
In formula:kdFor driver's factor of influence;Driver's factor of influence is fine day, cloudy day, greasy weather or night by line of sight conditions Between influence data to bend speed carry out statistical analysis acquisition.
2. curved road safety speed computational methods according to claim 1, it is characterised in that driver's factor of influence is K during fine daydSpan be 0.32~0.38, k when cloudydSpan be 0.24~0.32, the k during greasy weatherdValue model Enclose for 0.12~0.18, k during nightdSpan be 0.20~0.27.
3. a kind of curved road safety vehicle speed alarm system cooperateed with based on bus or train route, it is characterised in that including:
Database, the road environment information gathered in advance for storing, the road environment information includes the road surface in bend section Superelevation, the horizontal slope angle on road surface, the attachment coefficient on road surface, turning radius;
Real-time monitoring device, the predominantly hardware including vehicle type detector, dynamic weighing platform and pavement state detector Equipment;
Information gathering and computing module, for the vehicle information that is collected according to vehicle type detector come to estimate the wheelspan B of vehicle, And the car weight collected with reference to dynamic weighing platform is to estimate vehicle's center of gravity height h;It is also used for being adopted according to pavement state detector The wet and slippery information of road surface sleet collected is to estimate coefficient of road adhesion
Curved road safety speed computing module, for calculating curved road safety speed;
Specifically include:
1) the sideslip critical speed of vehicle is calculated:Low attachment road surface and have outside superelevation bend, what vehicle breakked away faces Boundary speed vsFor:
In formula:iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope angle on road surface;For the attachment coefficient on road surface;R is bend half Footpath;G is acceleration of gravity;
2) the rollover critical speed of vehicle is calculated:Bend on high attachment road surface, the critical speed v that vehicle is turned on one's siderFor:
<mrow> <msub> <mi>v</mi> <mi>r</mi> </msub> <mo>=</mo> <msqrt> <mrow> <mfrac> <mrow> <mi>B</mi> <mo>+</mo> <mn>2</mn> <msub> <mi>hi</mi> <mi>y</mi> </msub> </mrow> <mrow> <mn>2</mn> <mi>h</mi> <mo>-</mo> <msub> <mi>Bi</mi> <mi>y</mi> </msub> </mrow> </mfrac> <mi>g</mi> <mi>R</mi> </mrow> </msqrt> </mrow>
In formula:B is the wheelspan of vehicle, and h is height of C.G., iyFor the superelevation on road surface, iy=tan β, β are the horizontal slope angle on road surface;R is Turning radius, g is acceleration of gravity;
3) safe speed v when vehicle enters curved is determinedsr;Sideslip is closed on, turn on one's side and calculates two kinds of obtained critical cars by vehicle The smaller value of speed;
vsr=min { vs,vr}
4) the safe speed v considered when driver's behavioral trait rear vehicle enters curved is calculatedsafe
vsafe=kd·vsr
In formula:kdFor driver's factor of influence;Driver's factor of influence is fine day, cloudy day, greasy weather or night by line of sight conditions Between influence data to bend speed carry out statistical analysis acquisition.
4. curved road safety vehicle speed alarm system according to claim 3, it is characterised in that driver's factor of influence is K during fine daydSpan be 0.32~0.38, k when cloudydSpan be 0.24~0.32, the k during greasy weatherdValue model Enclose for 0.12~0.18, k during nightdSpan be 0.20~0.27.
CN201510623299.0A 2015-09-25 2015-09-25 The curved road safety speed computational methods and caution system cooperateed with based on bus or train route CN105118316B (en)

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