CN105448094B - A kind of retrograde warning based on bus or train route coordination technique and risk averse method - Google Patents
A kind of retrograde warning based on bus or train route coordination technique and risk averse method Download PDFInfo
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- CN105448094B CN105448094B CN201511033852.1A CN201511033852A CN105448094B CN 105448094 B CN105448094 B CN 105448094B CN 201511033852 A CN201511033852 A CN 201511033852A CN 105448094 B CN105448094 B CN 105448094B
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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
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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
- G08G1/0137—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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of retrograde warning based on bus or train route coordination technique and risk averse method, comprise the following steps：S1:All vehicle broadcast sports status messages；S2:Roadside unit obtains information of vehicles in communication coverage；S3:Determine road R residing for each vehicle, track L and travel direction D；S4:Pass through the corresponding lane direction D of road R, track L matching residing for each vehiclem；S5:Contrast the travel direction D and corresponding lane direction D of each vehiclemBetween angle whether be more than preset angle angle value；It is then, to perform step S6；Otherwise, go back to and perform step S2；S6:It is defined as the vehicle that drives in the wrong direction；S8:Compare the t for the scheme of turning aroundtrWhether the t for continuing retrograde scheme is more thanrm；It is then, to continue to drive in the wrong direction；Otherwise, turn around.Beneficial effects of the present invention are to realize to reduce risk of collision caused by vehicle drives into wrong track and recover road safety prevailing state as early as possible using bus or train route coordination technique, so as to lift road level of security and traffic efficiency.
Description
Technical field
The present invention relates to car networking field, and in particular to a kind of retrograde warning and risk averse based on bus or train route coordination technique
Method.
Background technology
Car networking is by Internet technology, and the various information transfers of itself can be converged to centre by all vehicles
Manage device.By computer technology, the information of these a large amount of vehicles can be analyzed and processed, so as to calculate different vehicle most
Good route, issue and report road conditions and adjustment signal lamp cycle.
The bus or train route coordination technique V2X of car networking includes car and car (V2V), Che Yulu (V2I, Vehicle to
Infrastructure), car and people (V2P), car and center (V2C) etc. interconnect, and realize car self-organization network and a variety of different
Communication and roaming between network forming network, real-time, serviceability and network ubiquitous are ensured in function and performance, while it is
The entity of public network and private network.Che Yulu (V2I), i.e. bus or train route coordination technique are the roadside unit and car by being arranged on highway side
Or vehicle on board units connection, roadside unit connected by internet, realizes that car carries out information exchange with internet.
Among daily life, have often and do not drive in the wrong direction because driver does not pay attention to one-way road and lead to the tragedy of traffic accident.With regard to mesh
Preceding conventional way is to transmit road area traffic phase to driver in traffic signs such as road edge pattern symbol, words
Information is closed, and driver is when driving, can have no time because driving demand power concentrates on front or does not notice that both sides of the road are relevant
The road signs information of driving safety, so not only bring driving risk, it is also possible to violate road traffic regulation or law.
In addition, there is driver to be driven in the wrong direction error by visual determination, or regard normally travel vehicle as retrograde vehicle bring to oneself need not
The fear wanted.Or because sighting distance cause can not judge front whether have retrograde vehicle, when vehicle distances close to confirm undoubtedly when it is wrong
Optimal avoidance time is crossed.
In the existing method for preventing that vehicle is retrograde, driver can only be realized concern roadside traffic sign by itself and be believed
Breath, road relevant information residing for driver's acquisition travel route can not be aided in judge whether itself is in by a kind of effective means
Drive in the wrong direction or whether there is retrograde vehicle to threaten itself safety and how to hide the risk driven in the wrong direction and brought, so as to give driver's abundance
Reaction time avoid risk to prevent initiation accident.
The content of the invention
To solve by a kind of effective means driver can not be aided in obtain existing for the existing method for preventing that vehicle is retrograde
Take road relevant information residing for travel route judge itself whether in drive in the wrong direction or whether have retrograde vehicle threaten itself safety with
And how to hide the risk driven in the wrong direction and brought, risk is avoided the sufficient reaction time to prevent triggering asking for accident so as to give driver
Topic, the present invention propose 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 characterised in that
This method comprises the following steps：
S1:All vehicle broadcast sports status messages；
S2:Roadside unit obtains information of vehicles in communication coverage；
S3:Determine road R residing for each vehicle, track L and travel direction D；
S4:Pass through the corresponding lane direction D of road R, track L matching residing for each vehiclem；
S5:Contrast the travel direction D and corresponding lane direction D of each vehiclemBetween angle whether be more than it is default
Angle value；It is then, to perform step S6；Otherwise, go back to and perform step S2；
S6:It is defined as the vehicle that drives in the wrong direction；
S7:The retrograde vehicle generation drives in the wrong direction warning message to prompt driver, and send to drive in the wrong direction warning message described in
Roadside unit, the roadside unit plan that the retrograde vehicle turns around scheme and its to be taken according to present road traffic behavior
Between ttr, the planning retrograde vehicle continues to drive in the wrong direction until leaving reversed carriage scheme and its required time trm；And
S8:Compare the t for the scheme of turning aroundtrWhether the t for continuing retrograde scheme is more thanrm；It is that then, the roadside unit plans it
The driving path of his vehicle and the retrograde vehicle continue to drive in the wrong direction until leaving the path of reversed carriage；Otherwise, the trackside
Unit plans the driving path of other vehicles and the path of turning around of the retrograde vehicle.
Further, the roadside unit plans the driving path of other vehicles and the path tool that turns around of the retrograde vehicle
Body is：
S9:The retrograde warning message of roadside unit broadcast, guides the retrograde vehicle in current location LcSame track
Retrograde direction on front LrTurn around at place；
S10:Detect the LcWith the LrBetween whether have vehicle；It is then, to perform step S11；Otherwise, step S12 is performed；
S11:The retrograde vehicle parking gives way, and treats the LcWith the LrBetween non-retrograde vehicle lane change to adjacent car
Road travels again；
S12:The retrograde vehicle is the same as on track and in the LrOutside vehicle by slowing down, stopping or lane change aids in
The retrograde vehicle turns around；
S13:The retrograde vehicle is travelled to the LrPlace's completion is turned around；And
S14:The roadside unit stops the broadcast of retrograde warning message.
Further, the roadside unit plan other vehicles driving path and the retrograde vehicle continue to drive in the wrong direction it is straight
It is specially to the path for leaving reversed carriage：
S15:The retrograde warning message of roadside unit broadcast, guides the retrograde vehicle from current location LcContinue to drive in the wrong direction
Until leaving reversed carriage；
S16:Detect the LcWith safe distance position LsIn the range of whether have vehicle；It is then, to perform step S17；Otherwise,
Perform step S18；
S17:The retrograde vehicle parking gives way, and treats the LcWith the LsBetween non-retrograde vehicle lane change to adjacent car
Road travels again；
S18:The LsOutside and with track non-retrograde vehicle lane change to adjacent lane；
S19:The retrograde vehicle leaves reversed carriage；And
S16:The roadside unit stops the broadcast of retrograde warning message.
Further, the step S4:Pass through the corresponding lane direction D of road R, track L matching residing for each vehiclem
Specially：Matched by road R, track L residing for each vehicle with the road-track-current direction table stored, to obtain correspondingly
Lane direction Dm。
Further, the retrograde vehicle continues to drive in the wrong direction until leaving reversed carriage and being specially：The retrograde vehicle
Continue to drive in the wrong direction until reversed carriage is left at a certain crossing.
Further, in step S1:All vehicle broadcast sports status messages, the motion state message include vehicle mark
Knowledge, position, speed, direction.
Further, mark of the retrograde warning message including the vehicle that drives in the wrong direction, position, speed, direction.
Further, the roadside unit records the mark of the retrograde vehicle.
Further, whether roadside unit detecting has violation vehicle not travelled by path planning, when there are in violation of rules and regulations
During vehicle, the roadside unit records the mark of the violation vehicle.
Further, the roadside unit docks with vehicle drive credit system, to be punished to the vehicle that drives in the wrong direction.
Beneficial effects of the present invention utilize car for the retrograde warning based on bus or train route coordination technique with risk averse method
Road coordination technique realizes that vehicle is in when driving in the wrong direction under environment given a warning to car owner and nearby vehicle information and the retrograde vehicle of auxiliary
The function of normally travel, hide risk in time, in addition the illegal activities of the also recordable offence traffic law vehicle of roadside unit.Can
To reduce risk of collision caused by vehicle drives into wrong track and recover road safety prevailing state as early as possible, so as to lift path link
Row level of security and traffic efficiency.
Brief description of the drawings
Fig. 1 is retrograde warning of the present invention based on bus or train route coordination technique and the flow of the embodiment of risk averse method one
Figure.
Fig. 2 is retrograde warning of the present invention based on bus or train route coordination technique and the applied environment figure of risk averse method.
Embodiment
Referring to Fig. 1, retrograde warning and the stream of the embodiment of risk averse method one for bus or train route coordination technique of the present invention
Cheng Tu.
The present invention realizes that warning of driving in the wrong direction is real using bus or train route coordination technique with risk averse method based on bus or train route coordination technique
Existing vehicle is in the work(of given a warning when under retrograde environment to car owner and nearby vehicle information and the retrograde normal vehicle operation of auxiliary
Can, hide risk in time, in addition the illegal activities of the also recordable offence traffic law vehicle of roadside unit.Vehicle can be reduced to sail
Risk of collision caused by entering wrong track and as early as possible recover road safety prevailing state, so as to lifted road level of security and
Traffic efficiency.
In step S1:All vehicle broadcast sports status messages.In the present embodiment, all vehicle broadcast sports states
Message, motion state message include vehicles identifications, position, speed, direction etc..
In step S2:Roadside unit obtains information of vehicles in communication coverage.
In step S3:Determine road R residing for each vehicle, track L and travel direction D.
In step S4:Pass through the corresponding lane direction D of road R, track L matching residing for each vehiclem.In this embodiment party
In formula, corresponding lane direction D is matched by road R, track L residing for each vehiclemSpecially：By residing for each vehicle
Road R, track L match with the road-track-current direction table stored, to obtain corresponding lane direction Dm。
In step S5:Contrast the travel direction D and corresponding lane direction D of each vehiclemBetween angle it is whether big
In preset angle angle value.It is then, to perform step S6；Otherwise, go back to and perform step S2.
In step S6:It is defined as the vehicle that drives in the wrong direction.
In step S7:Vehicle generation of driving in the wrong direction drives in the wrong direction warning message to prompt driver, and sends retrograde warning message to road
Side unit, roadside unit plan turn around scheme and its required time t for the vehicle that drives in the wrong direction according to present road traffic behaviortr, planning
Retrograde vehicle continues to drive in the wrong direction until leaving reversed carriage scheme and its required time trm.Warning message of driving in the wrong direction includes the vehicle that drives in the wrong direction
Mark, position, speed, direction.
In step S8:Compare the t for the scheme of turning aroundtrWhether the t for continuing retrograde scheme is more thanrm.It is then roadside unit planning
The driving path of other vehicles and retrograde vehicle continue to drive in the wrong direction until leaving the path of reversed carriage；Otherwise, roadside unit is advised
Draw the driving path of other vehicles and the path of turning around of retrograde vehicle.In the present embodiment, drive in the wrong direction vehicle continue drive in the wrong direction until
Leaving reversed carriage is specially：Retrograde vehicle continues to drive in the wrong direction until reversed carriage is left at a certain crossing.
In the present embodiment, roadside unit plan other vehicles driving path and retrograde vehicle path of turning around it is specific
For：S9:The retrograde warning message of roadside unit broadcast, the vehicle that drives in the wrong direction is guided in current location LcOn the retrograde direction in same track
Front LrTurn around at place.S10:Detect LcWith LrBetween whether have vehicle；It is then, to perform step S11；Otherwise, step S12 is performed.S11:
The retrograde vehicle parking gives way, and treats the LcWith the LrBetween non-retrograde vehicle lane change travelled again to adjacent lane.S12:
Vehicle drive in the wrong direction with track and in LrOutside vehicle by slow down, stop or lane change come aid in drive in the wrong direction vehicle turn around.S13:It is inverse
Driving is travelled to LrPlace's completion is turned around.S14:Roadside unit stops the broadcast of retrograde warning message.
In the present embodiment, roadside unit plan other vehicles driving path and retrograde vehicle continue drive in the wrong direction until
The path for leaving reversed carriage is specially：S15:The retrograde warning message of roadside unit broadcast, retrograde vehicle is guided from current location
LcContinue row until leaving reversed carriage.S16:Detect LcWith safe distance position LsIn the range of whether have vehicle；It is then, to perform
Step S17；Otherwise, step S18 is performed.S17:The retrograde vehicle parking gives way, and treats the LcWith the LsBetween it is non-drive in the wrong direction
Vehicle lane change travels again to adjacent lane.S18:LsOutside and with track non-retrograde vehicle lane change to adjacent lane.S19:Directly
To driving in the wrong direction, vehicle leaves reversed carriage.S16:Roadside unit stops the broadcast of retrograde warning message.
In the present embodiment, whether the mark of roadside unit record retrograde vehicle, roadside unit detecting have violation vehicle
Do not travelled by path planning, when there are violation vehicle, roadside unit records the mark of the violation vehicle.Roadside unit and car
Drive credit system docking, with to drive in the wrong direction vehicle punish.
Referring to Fig. 2, retrograde warning and the applied environment figure of risk averse method for bus or train route coordination technique of the present invention.
In the present embodiment, roadside unit and the vehicle communication in scope, when roadside unit broadcasts warning message of driving in the wrong direction
When, scheme one is the scheme that turns around：Roadside unit planning drives in the wrong direction vehicle in LrPlace turns around, and plans that other vehicles pay attention to avoiding, and turns
To adjacent lane；Scheme two is to continue scheme of driving in the wrong direction：Roadside unit planning drive in the wrong direction vehicle continue to drive in the wrong direction to a certain crossing roll away from it is inverse
Capable road, and plan the non-retrograde Vehicular turn adjacent lane traveling driven in the wrong direction on road.Wrong car is driven into so as to reduce vehicle
Risk of collision caused by road and road safety prevailing state of recovering as early as possible, so as to lift road level of security and current effect
Rate.
Beneficial effects of the present invention are assisted for the retrograde warning based on bus or train route coordination technique and risk averse method using bus or train route
The information that given a warning when realizing that vehicle is in and driven in the wrong direction under environment with technology to car owner and nearby vehicle simultaneously aids in retrograde vehicle normal
The function of traveling, hide risk in time, in addition the illegal activities of the also recordable offence traffic law vehicle of roadside unit.It can drop
Risk of collision caused by low vehicle drives into wrong track and road safety prevailing state of recovering as early as possible, so as to lift road peace
Complete horizontal and traffic efficiency.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it all should include
Within protection scope of the present invention.
Claims (10)
1. a kind of retrograde warning based on bus or train route coordination technique and risk averse method, it is characterised in that this method includes following
Step：
S1:All vehicle broadcast sports status messages；
S2:Roadside unit obtains information of vehicles in communication coverage；
S3:Determine road R residing for each vehicle, track L and travel direction D；
S4:Pass through the corresponding lane direction D of road R, track L matching residing for each vehiclem；
S5:Contrast the travel direction D and corresponding lane direction D of each vehiclemBetween angle whether be more than predetermined angle
Value；It is then, to perform step S6；Otherwise, go back to and perform step S2；
S6:It is defined as the vehicle that drives in the wrong direction；
S7:The retrograde vehicle generation drives in the wrong direction warning message to prompt driver, and sends retrograde warning message to the trackside
Unit, the roadside unit plan turn around scheme and its required time of the retrograde vehicle according to present road traffic behavior
ttr, the planning retrograde vehicle continues to drive in the wrong direction until leaving reversed carriage scheme and its required time trm；And
S8:Compare the t for the scheme of turning aroundtrWhether the t for continuing retrograde scheme is more thanrm；It is that then, the roadside unit plans other vehicles
Driving path and the retrograde vehicle continue to drive in the wrong direction until leaving the path of reversed carriage；Otherwise, the roadside unit rule
Draw the driving path of other vehicles and the path of turning around of the retrograde vehicle.
2. the retrograde warning based on bus or train route coordination technique and risk averse method as claimed in claim 1, it is characterised in that institute
State roadside unit and plan that the driving path of other vehicles and the path of turning around of the retrograde vehicle are specially：
S9:The retrograde warning message of roadside unit broadcast, guides the retrograde vehicle in current location LcDrive in the wrong direction in same track
Front L on directionrTurn around at place；
S10:Detect the LcWith the LrBetween whether have vehicle；It is then, to perform step S11；Otherwise, step S12 is performed；
S11:The retrograde vehicle parking gives way, and treats the LcWith the LrBetween non-retrograde vehicle lane change to adjacent lane again
Traveling；
S12:The retrograde vehicle is the same as on track and in the LrOutside vehicle by slowing down, stopping or lane change is described to aid in
Retrograde vehicle turns around；
S13:The retrograde vehicle is travelled to the LrPlace's completion is turned around；And
S14:The roadside unit stops the broadcast of retrograde warning message.
3. the retrograde warning based on bus or train route coordination technique and risk averse method as claimed in claim 1, it is characterised in that institute
State roadside unit and plan that the driving path of other vehicles and the retrograde vehicle continue to drive in the wrong direction until leaving the road of reversed carriage
Footpath is specially：
S15:The retrograde warning message of roadside unit broadcast, guides the retrograde vehicle from current location LcContinue drive in the wrong direction until
Leave reversed carriage；
S16:Detect the LcWith safe distance position LsIn the range of whether have vehicle；It is then, to perform step S17；Otherwise, perform
Step S18；
S17:The retrograde vehicle parking gives way, and treats the LcWith the LsBetween non-retrograde vehicle lane change to adjacent lane again
Traveling；
S18:The LsOutside and with track non-retrograde vehicle lane change to adjacent lane；
S19:The retrograde vehicle leaves reversed carriage；And
S16:The roadside unit stops the broadcast of retrograde warning message.
4. the retrograde warning based on bus or train route coordination technique and risk averse method as claimed in claim 1, it is characterised in that institute
State step S4:Pass through the corresponding lane direction D of road R, track L matching residing for each vehiclemSpecially：Pass through each vehicle
Residing road R, track L match with the road-track-current direction table stored, to obtain corresponding lane direction Dm。
5. the retrograde warning based on bus or train route coordination technique and risk averse method as claimed in claim 1, it is characterised in that institute
Retrograde vehicle is stated to continue to drive in the wrong direction until leaving reversed carriage and being specially：The retrograde vehicle continues to drive in the wrong direction until a certain crossing
Leave reversed carriage.
6. the retrograde warning based on bus or train route coordination technique and risk averse method as claimed in claim 1, it is characterised in that
Step S1:All vehicle broadcast sports status messages, the motion state message include vehicles identifications, position, speed, direction.
7. the retrograde warning based on bus or train route coordination technique and risk averse method, its feature exist as claimed in claim 2 or claim 3
In mark of the retrograde warning message including the vehicle that drives in the wrong direction, position, speed, direction.
8. the retrograde warning based on bus or train route coordination technique and risk averse method as claimed in claim 1, it is characterised in that institute
State the mark that roadside unit records the retrograde vehicle.
9. the retrograde warning based on bus or train route coordination technique and risk averse method, its feature exist as claimed in claim 2 or claim 3
In, whether the roadside unit detecting has violation vehicle not travelled by path planning, when there are violation vehicle, the trackside
The mark of the unit record violation vehicle.
10. the retrograde warning based on bus or train route coordination technique and risk averse method as claimed in claim 8, it is characterised in that
The roadside unit docks with vehicle drive credit system, to be punished to the vehicle that drives in the wrong direction.
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| Application Number | Priority Date | Filing Date | Title |
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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 true CN105448094B (en) | 2017-12-05 |
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