CN105448094A - Wrong-direction running warning and risk avoiding method based on vehicle and road cooperation technology - Google Patents
Wrong-direction running warning and risk avoiding method based on vehicle and road cooperation technology Download PDFInfo
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- CN105448094A CN105448094A CN201511033852.1A CN201511033852A CN105448094A CN 105448094 A CN105448094 A CN 105448094A CN 201511033852 A CN201511033852 A CN 201511033852A CN 105448094 A CN105448094 A CN 105448094A
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- vehicle
- retrograde
- roadside unit
- road
- warning
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/091—Traffic information broadcasting
Abstract
The invention discloses a wrong-direction running warning and risk avoiding method based on the vehicle and road cooperation technology, and the method comprises the following steps: S1, broadcasting the movement state information of all vehicles; S2, obtaining the information of vehicles in a communication range through a road side unit; S3, determining a road R, a lane L and a running direction D of each vehicle; S4, matching a passing direction Dm of the corresponding lane through the road R and lane L of each vehicle; S5, judging whether an angle between the running direction D of each vehicle and the passing direction Dm of the corresponding lane is greater than a preset angle or not: executing step S6 if the angle is greater than the preset angle, or else, executing step S2; S6, determining a vehicle running in a wrong direction; S8, judging whether ttr of a turn-round scheme is greater than trm of a wrong-direction running scheme or not: continuing the running in the wrong direction if the ttr of the turn-round scheme is greater than the trm of the wrong-direction running scheme, or else, turning round. The beneficial effects of the invention are that the method reduces the collision risks, caused by that a vehicle enters into a wrong lane, through the vehicle and road cooperation technology, and recovers the safe passing state of a road as quickly as possible, thereby improving the passing safety level and efficiency of the road.
Description
Technical field
The present invention relates to car networking arenas, be specifically related to a kind of retrograde warning based on bus or train route coordination technique and risk averse method.
Background technology
Car networking is by Internet technology, and the various information transmission of self can be converged to central processing unit by all vehicles.By computer technology, the information of these a large amount of vehicles can analyzed and process, thus calculate different vehicle best route, issue and report road conditions and adjustment signal lamp cycle.
The bus or train route coordination technique V2X of car networking comprises car and car (V2V), Che Yulu (V2I, VehicletoInfrastructure), the interconnecting of car and people (V2P), Che Yu center (V2C) etc., realize the communication between car self-organization network and multiple heterogeneous network and roaming, function and performance ensure the ubiquitous property of real-time, serviceability and network, and it is the entity of public network and private network simultaneously.Che Yulu (V2I), namely bus or train route coordination technique is that roadside unit by being arranged on highway limit is connected with the board units on vehicle or vehicle, and roadside unit is connected by internet, realizes car and internet carries out information interaction.
In the middle of daily life, often having drives in the wrong direction because driver does not note one-way road leads to the tragedy of traffic accident.Just conventional at present way is, road area traffic-relevant information is transmitted to driver at traffic signs such as road edge pattern symbol, words, and driver when driving, because driving demand power concentrates on the road signs information having no time or not note road both sides surrounding driver safety in front, so not only bring driving risk, also likely violate road traffic regulation or law.In addition, there is driver to be driven in the wrong direction by visual determination and slip up, or normal driving vehicle is regarded as retrograde vehicle to oneself bringing unnecessary fear.Or cannot judge whether front has retrograde vehicle because of sighting distance cause, in time confirming undoubtedly, miss best avoidance time until vehicle distances.
In the existing method preventing vehicle from driving in the wrong direction, driver only pays close attention to roadside road signs information by self consciousness, cannot obtain road relevant information residing for travel route by a kind of effective means driver assistance and judge self whether be in retrograde or whether have retrograde vehicle threaten self safety and how to hide the risk of driving in the wrong direction and bringing, thus the reaction time giving driver's abundance avoids risk in case accidents caused.
Summary of the invention
Road relevant information residing for travel route cannot be obtained by a kind of effective means driver assistance and judge self whether to be in for what solve that the existing method preventing vehicle from driving in the wrong direction exists and drive in the wrong direction or whether have retrograde vehicle to threaten self safety and how to hide the retrograde risk brought, thus the reaction time giving driver's abundance avoids risk in case accidents caused problem, the present invention proposes a kind of retrograde warning based on bus or train route coordination technique and risk averse method.
A kind of retrograde warning based on bus or train route coordination technique provided by the invention and risk averse method, it is characterized in that, the method comprises the following steps:
S1: all vehicle broadcast sports status messages;
S2: information of vehicles in roadside unit obtaining communication coverage;
S3: determine road R residing for each vehicle, track L and travel direction D;
S4: mate corresponding lane direction D by road R, track L residing for each vehicle
m;
S5: contrast the travel direction D of each vehicle and corresponding lane direction D
mbetween angle whether be greater than preset angle angle value; Be then, perform step S6; Otherwise, go back to and perform step S2;
S6: be defined as retrograde vehicle;
S7: described retrograde vehicle generates warning message of driving in the wrong direction to point out driver, and send warning message of driving in the wrong direction to described roadside unit, described roadside unit is according to the scheme that turns around of the described retrograde vehicle of present road traffic behavior planning and required time t thereof
tr, plan described retrograde vehicle continuation drive in the wrong direction until leave reversed carriage scheme and required time t thereof
rm; And
S8: the t comparing the scheme of turning around
trwhether be greater than the t continuing scheme of driving in the wrong direction
rm; Be then, described roadside unit plans that the driving path of other vehicles and the continuation of described retrograde vehicle are driven in the wrong direction until leave the path of reversed carriage; Otherwise described roadside unit plans the driving path of other vehicles and the path of turning around of described retrograde vehicle.
Further, described roadside unit plans that the driving path of other vehicles and the path of turning around of described retrograde vehicle are specially:
S9: the retrograde warning message of described roadside unit broadcast, guides described retrograde vehicle at current location L
cfront L on the retrograde direction in same track
rturn around in place;
S10: detect described L
cwith described L
rbetween whether have vehicle; Be then, perform step S11; Otherwise, perform step S12;
S11: described retrograde vehicle parking gives way, and treats described L
cwith described L
rbetween non-retrograde vehicle lane change travel again to adjacent lane;
S12: described retrograde vehicle is with on track and at described L
routside vehicle by slowing down, stopping or lane change carrys out auxiliary described retrograde vehicle and turns around;
S13: described retrograde vehicle travels to described L
rplace completes turns around; And
S14: described roadside unit stops the broadcast of retrograde warning message.
Further, described roadside unit plans that the driving path of other vehicles and the continuation of described retrograde vehicle are driven in the wrong direction until the path leaving reversed carriage is specially:
S15: the retrograde warning message of described roadside unit broadcast, guides described retrograde vehicle from current location L
ccontinue row until leave reversed carriage;
S16: detect described L
cwith safe distance position L
swhether vehicle is had in scope; Be then, perform step S17; Otherwise, perform step S18;
S17: described retrograde vehicle parking gives way, and treats described L
cwith described L
sbetween non-retrograde vehicle lane change travel again to adjacent lane;
S18: described L
soutside and with the non-retrograde vehicle lane change in track to adjacent lane;
S19: described retrograde vehicle leaves reversed carriage; And
S16: described roadside unit stops the broadcast of retrograde warning message.
Further, described step S4: mate corresponding lane direction D by road R, track L residing for each vehicle
mbe specially: show to mate with the road-track-current direction of storage by road R, track L residing for each vehicle, obtain corresponding lane direction D
m.
Further, the continuation of described retrograde vehicle is driven in the wrong direction until leave reversed carriage and be specially: the continuation of described retrograde vehicle is driven in the wrong direction until reversed carriage is left at a certain crossing.
Further, in step S1: all vehicle broadcast sports status messages, described motion state message comprises vehicles identifications, position, speed, direction.
Further, described retrograde warning message comprises the mark of retrograde vehicle, position, speed, direction.
Further, described roadside unit records the mark of described retrograde vehicle.
Further, whether described roadside unit detecting has vehicle in violation of rules and regulations not travel by path planning, when having violation vehicle, and the mark of this violation vehicle of described roadside unit record.
Further, described roadside unit docks with vehicle drive credit system, to punish retrograde vehicle.
Beneficial effect of the present invention is that the described retrograde warning based on bus or train route coordination technique and risk averse method utilize bus or train route coordination technique to realize also assisting car owner and the nearby vehicle information that gives a warning when vehicle is under retrograde environment the function of normal vehicle operation of driving in the wrong direction, hide risk in time, roadside unit also can record the illegal activities of offence traffic law vehicle in addition.Vehicle can be reduced sail risk of collision that wrong track causes into and recover road safety as early as possible and to pass through state, thus promote road security level and traffic efficiency.
Accompanying drawing explanation
Fig. 1 the present invention is based on the retrograde warning of bus or train route coordination technique and the process flow diagram of risk averse method one embodiment.
Fig. 2 the present invention is based on the retrograde warning of bus or train route coordination technique and the applied environment figure of risk averse method.
Embodiment
Referring to Fig. 1, is the retrograde warning of bus or train route coordination technique of the present invention and the process flow diagram of risk averse method one embodiment.
The present invention is based on bus or train route coordination technique to realize to drive in the wrong direction for warning utilizes bus or train route coordination technique to realize also assisting car owner and the nearby vehicle information that gives a warning when vehicle is under retrograde environment the function of normal vehicle operation of driving in the wrong direction with risk averse method, hide risk in time, roadside unit also can record the illegal activities of offence traffic law vehicle in addition.Vehicle can be reduced sail risk of collision that wrong track causes into and recover road safety as early as possible and to pass through state, thus promote road security level and traffic efficiency.
In step S1: all vehicle broadcast sports status messages.In the present embodiment, all vehicle broadcast sports status messages, motion state message comprises vehicles identifications, position, speed, direction etc.
In step S2: information of vehicles in roadside unit obtaining communication coverage.
In step S3: determine road R residing for each vehicle, track L and travel direction D.
In step S4: mate corresponding lane direction D by road R, track L residing for each vehicle
m.In the present embodiment, corresponding lane direction D is mated by road R, track L residing for each vehicle
mbe specially: show to mate with the road-track-current direction of storage by road R, track L residing for each vehicle, obtain corresponding lane direction D
m.
In step S5: contrast the travel direction D of each vehicle and corresponding lane direction D
mbetween angle whether be greater than preset angle angle value.Be then, perform step S6; Otherwise, go back to and perform step S2.
In step S6: be defined as retrograde vehicle.
In step S7: vehicle generation of driving in the wrong direction drives in the wrong direction warning message to point out driver, and send warning message of driving in the wrong direction to roadside unit, roadside unit is according to the scheme that turns around of the retrograde vehicle of present road traffic behavior planning and required time t thereof
tr, planning drive in the wrong direction vehicle continuation drive in the wrong direction until leave reversed carriage scheme and required time t thereof
rm.Retrograde warning message comprises the mark of retrograde vehicle, position, speed, direction.
In step S8: the t comparing the scheme of turning around
trwhether be greater than the t continuing scheme of driving in the wrong direction
rm.Be then, roadside unit plans that the driving path of other vehicles and the continuation of retrograde vehicle are driven in the wrong direction until leave the path of reversed carriage; Otherwise roadside unit plans the driving path of other vehicles and the path of turning around of retrograde vehicle.In the present embodiment, the continuation of vehicle of driving in the wrong direction is driven in the wrong direction until leave reversed carriage and be specially: the continuation of the vehicle that drives in the wrong direction is driven in the wrong direction until reversed carriage is left at a certain crossing.
In the present embodiment, roadside unit plans that the driving path of other vehicles and the path of turning around of retrograde vehicle are specially: S9: the retrograde warning message of roadside unit broadcast, guides the vehicle that drives in the wrong direction at current location L
cfront L on the retrograde direction in same track
rturn around in place.S10: detecting L
cwith L
rbetween whether have vehicle; Be then, perform step S11; Otherwise, perform step S12.S11: described retrograde vehicle parking gives way, and treats described L
cwith described L
rbetween non-retrograde vehicle lane change travel again to adjacent lane.S12: the vehicle that drives in the wrong direction is with on track and at L
routside vehicle by slowing down, stopping or lane change assist retrograde vehicle to turn around.S13: the vehicle that drives in the wrong direction travels to L
rplace completes turns around.S14: roadside unit stops the broadcast of retrograde warning message.
In the present embodiment, roadside unit plans the driving path of other vehicles and the continuation of retrograde vehicle is driven in the wrong direction until the path leaving reversed carriage is specially: S15: the retrograde warning message of roadside unit broadcast, guides the vehicle that drives in the wrong direction from current location L
ccontinue row until leave reversed carriage.S16: detecting L
cwith safe distance position L
swhether vehicle is had in scope; Be then, perform step S17; Otherwise, perform step S18.S17: described retrograde vehicle parking gives way, and treats described L
cwith described L
sbetween non-retrograde vehicle lane change travel again to adjacent lane.S18:L
soutside and with the non-retrograde vehicle lane change in track to adjacent lane.S19: until the vehicle that drives in the wrong direction leaves reversed carriage.S16: roadside unit stops the broadcast of retrograde warning message.
In the present embodiment, roadside unit records the mark of retrograde vehicle, and whether roadside unit detecting has vehicle in violation of rules and regulations not travel by path planning, when having violation vehicle, and the mark of this violation vehicle of roadside unit record.Roadside unit docks with vehicle drive credit system, to punish retrograde vehicle.
Referring to Fig. 2, is the retrograde warning of bus or train route coordination technique of the present invention and the applied environment figure of risk averse method.
In the present embodiment, the vehicle communication in roadside unit and scope, when warning message is driven in the wrong direction in roadside unit broadcast, scheme one is the scheme of turning around: roadside unit planning drives in the wrong direction vehicle at L
rturning around in place, and plans that other vehicles are noted dodging, and turns to adjacent lane; Scheme two is continue scheme of driving in the wrong direction: the retrograde vehicle of roadside unit planning continues to drive in the wrong direction to a certain crossing and rolls retrograde road away from, and the non-retrograde Vehicular turn adjacent lane that planning is driven in the wrong direction on road travels.Thus reduce vehicle and sail risk of collision that wrong track causes into and recover road safety as early as possible and to pass through state, thus lifting road security level and traffic efficiency.
Beneficial effect of the present invention is utilize bus or train route coordination technique to realize giving a warning to car owner and nearby vehicle when vehicle is under retrograde environment the function of information auxiliary normal vehicle operation of driving in the wrong direction based on the retrograde warning of bus or train route coordination technique and risk averse method, hide risk in time, roadside unit also can record the illegal activities of offence traffic law vehicle in addition.Vehicle can be reduced sail risk of collision that wrong track causes into and recover road safety as early as possible and to pass through state, thus promote road security level and traffic efficiency.
The foregoing is only the preferred embodiments of the present invention; be not limited to the present invention, for a person skilled in the art, within the spirit and principles in the present invention all; any amendment of doing, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1., based on retrograde warning and the risk averse method of bus or train route coordination technique, it is characterized in that, the method comprises the following steps:
S1: all vehicle broadcast sports status messages;
S2: information of vehicles in roadside unit obtaining communication coverage;
S3: determine road R residing for each vehicle, track L and travel direction D;
S4: mate corresponding lane direction D by road R, track L residing for each vehicle
m;
S5: contrast the travel direction D of each vehicle and corresponding lane direction D
mbetween angle whether be greater than preset angle angle value; Be then, perform step S6; Otherwise, go back to and perform step S2;
S6: be defined as retrograde vehicle;
S7: described retrograde vehicle generates warning message of driving in the wrong direction to point out driver, and send warning message of driving in the wrong direction to described roadside unit, described roadside unit is according to the scheme that turns around of the described retrograde vehicle of present road traffic behavior planning and required time t thereof
tr, plan described retrograde vehicle continuation drive in the wrong direction until leave reversed carriage scheme and required time t thereof
rm; And
S8: the t comparing the scheme of turning around
trwhether be greater than the t continuing scheme of driving in the wrong direction
rm; Be then, described roadside unit plans that the driving path of other vehicles and the continuation of described retrograde vehicle are driven in the wrong direction until leave the path of reversed carriage; Otherwise described roadside unit plans the driving path of other vehicles and the path of turning around of described retrograde vehicle.
2., as claimed in claim 1 based on retrograde warning and the risk averse method of bus or train route coordination technique, it is characterized in that, described roadside unit plans that the driving path of other vehicles and the path of turning around of described retrograde vehicle are specially:
S9: the retrograde warning message of described roadside unit broadcast, guides described retrograde vehicle at current location L
cfront L on the retrograde direction in same track
rturn around in place;
S10: detect described L
cwith described L
rbetween whether have vehicle; Be then, perform step S11; Otherwise, perform step S12;
S11: described retrograde vehicle parking gives way, and treats described L
cwith described L
rbetween non-retrograde vehicle lane change travel again to adjacent lane;
S12: described retrograde vehicle is with on track and at described L
routside vehicle by slowing down, stopping or lane change carrys out auxiliary described retrograde vehicle and turns around;
S13: described retrograde vehicle travels to described L
rplace completes turns around; And
S14: described roadside unit stops the broadcast of retrograde warning message.
3., as claimed in claim 1 based on retrograde warning and the risk averse method of bus or train route coordination technique, it is characterized in that, described roadside unit plans that the driving path of other vehicles and the continuation of described retrograde vehicle are driven in the wrong direction until the path leaving reversed carriage is specially:
S15: the retrograde warning message of described roadside unit broadcast, guides described retrograde vehicle from current location L
ccontinue row until leave reversed carriage;
S16: detect described L
cwith safe distance position L
swhether vehicle is had in scope; Be then, perform step S17; Otherwise, perform step S18;
S17: described retrograde vehicle parking gives way, and treats described L
cwith described L
sbetween non-retrograde vehicle lane change travel again to adjacent lane;
S18: outside described Ls and with the non-retrograde vehicle lane change in track to adjacent lane;
S19: described retrograde vehicle leaves reversed carriage; And
S16: described roadside unit stops the broadcast of retrograde warning message.
4., as claimed in claim 1 based on retrograde warning and the risk averse method of bus or train route coordination technique, it is characterized in that, described step S4: mate corresponding lane direction D by road R, track L residing for each vehicle
mbe specially: show to mate with the road-track-current direction of storage by road R, track L residing for each vehicle, obtain corresponding lane direction D
m.
5. as claimed in claim 1 based on retrograde warning and the risk averse method of bus or train route coordination technique, it is characterized in that, the continuation of described retrograde vehicle is driven in the wrong direction until leave reversed carriage and be specially: the continuation of described retrograde vehicle is driven in the wrong direction until reversed carriage is left at a certain crossing.
6., as claimed in claim 1 based on retrograde warning and the risk averse method of bus or train route coordination technique, it is characterized in that, in step S1: all vehicle broadcast sports status messages, described motion state message comprises vehicles identifications, position, speed, direction.
7. as claimed in claim 2 or claim 3 based on retrograde warning and the risk averse method of bus or train route coordination technique, it is characterized in that, described retrograde warning message comprises the mark of retrograde vehicle, position, speed, direction.
8., as claimed in claim 1 based on retrograde warning and the risk averse method of bus or train route coordination technique, it is characterized in that, described roadside unit records the mark of described retrograde vehicle.
9. as claimed in claim 2 or claim 3 based on retrograde warning and the risk averse method of bus or train route coordination technique, it is characterized in that, whether described roadside unit detecting has vehicle in violation of rules and regulations not travel by path planning, when having violation vehicle, and the mark of this violation vehicle of described roadside unit record.
10., as claimed in claim 8 based on retrograde warning and the risk averse method of bus or train route coordination technique, it is characterized in that, described roadside unit docks with vehicle drive credit system, to punish retrograde vehicle.
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|---|---|---|---|
| CN201511033852.1A CN105448094B (en) | 2015-12-31 | 2015-12-31 | A kind of retrograde warning based on bus or train route coordination technique and risk averse method |
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|---|---|---|---|
| CN201511033852.1A CN105448094B (en) | 2015-12-31 | 2015-12-31 | A kind of retrograde warning based on bus or train route coordination technique and risk averse method |
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| CN105448094B CN105448094B (en) | 2017-12-05 |
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| CN109255969A (en) * | 2018-11-13 | 2019-01-22 | 杭州海康威视系统技术有限公司 | A kind of illegal prompt system, method, device and equipment |
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