CN105489023B - The vehicle early warning system and method for non-mandrel roller level-crossing under low visibility - Google Patents
The vehicle early warning system and method for non-mandrel roller level-crossing under low visibility Download PDFInfo
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- CN105489023B CN105489023B CN201610066995.0A CN201610066995A CN105489023B CN 105489023 B CN105489023 B CN 105489023B CN 201610066995 A CN201610066995 A CN 201610066995A CN 105489023 B CN105489023 B CN 105489023B
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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
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
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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
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
-
- 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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
Abstract
The invention discloses a kind of vehicle early warning system and method for non-mandrel roller level-crossing under low visibility, including safe speed computing module, warning information release module, vehicle detection module and visibility detection module, wherein：Visibility detection module is arranged at target intersection, detect the visibility of intersection, the vehicle detection module has detected whether vehicle process according to changes of magnetic field, current Vehicle Speed is transferred to safe speed computing module, the safe speed computing module is calculated according to the traveling-position of safe speed calculation formula, the visibility of current intersection and vehicle, whether be safe velocity, and send a signal to warning information release module if judging vehicle.The present invention is based on the visibility conditions in the regional extent of energy effective detection intersection, to that will carry out speed suggestion and effective early warning of imminent vehicle collision by the vehicle of the intersection.
Description
Technical field
The present invention relates to a kind of vehicle early warning system and method for non-mandrel roller level-crossing under low visibility.
Background technology
Current Chinese Urbanization progress is quickly propelled, highway system of the simultaneous between each region it is further
Extension, inevitably occurs in that the level-crossing of a considerable number of no signal management and control in highway construction.And this
A little intersections are usually located at the rural areas such as the combination area of city and country, small towns joint portion, and the vehicle in the region generally has travel speed
It hurry up, the features such as driving behavior is barbarous.And when there is low visibility weather situation in above-mentioned intersection region, such as dense fog, heavy snow,
Heavy rain, haze etc., have lacked the management of intersection signal by the vehicle at above-mentioned crossing, it is impossible to actively avoid vehicle in advance
Collision, which results in the generation of accident.
The low visibility situations such as the collision problem and dense fog, severe snow, haze of intersection have been concerned about existing document more
Under speed speed limit problem, but do not consider：
(1) under the conditions of low visibility, the safe speed meter of the non-mandrel roller level-crossing differentiated based on potential conflict
Calculation problem；
(2) under the conditions of low visibility, the non-mandrel roller level-crossing of environmental condition and potential conflict is considered
Safe early warning problem.
And when being in low visibility condition present invention is generally directed to non-mandrel roller level-crossing, intersection can be relied on
Nearby set visibility detector judges that current visibility conditions and wagon detector detection will be by intersections
Vehicle, and consider environmental condition and potential conflict, carry out vehicle safety early warning and the issue of safe speed.
The content of the invention
The present invention is in order to solve the above problems, it is proposed that the vehicle of non-mandrel roller level-crossing under a kind of low visibility
Early warning system and method, the present invention detect the current visual condition in intersection by visibility detection module, and pass through vehicle detection
Module detection will be sent to speed computing module by the crossing vehicle speed, calculate the car that will occur intersection conflict
Safe velocity, and be transferred in time warning information issue with receiving module be distributed to driver, so as to reach no letter
The vehicle collision processing of number intersection.
To achieve these goals, the present invention is adopted the following technical scheme that：
The vehicle early warning system of non-mandrel roller level-crossing under a kind of low visibility, including visibility detection module,
Vehicle detection module safe speed computing module and warning information release module, wherein：
The visibility detection module is arranged at target intersection, detects the visibility of intersection, the vehicle detection mould
Root tuber detects car speed according to changes of magnetic field, and current Vehicle Speed is transferred into safe speed computing module, the peace
Full speed computing module is counted according to the traveling-position of safe speed calculation formula, the visibility of current intersection and vehicle
Calculate, whether be safe velocity, and send a signal to warning information release module if judging vehicle.
The warning information release module includes control unit and is laid in the controllable flash of light railway spike of every driveway both sides
Group is constituted, and control unit internal reservoir has early warning railway spike frequency algorithm, and the controllable flash of light railway spike group of control unit control work works,
The controllable flash of light railway spike group includes multiple controllable flash of light railway spikes being arranged side by side.Vehicle detection module detection current lane traveling
Vehicle speed of operation be safe speed when, control unit issue normal work instruction flash of light railway spike is flashed according to constant frequency
For warning driver's site of road；When vehicle detection module detects dangerous speed, the early warning mechanism quilt of control unit
Activation, the railway spike that glistens is drawn according to the safe speed combination early warning railway spike frequency algorithm drawn lights order and single railway spike
Lighting time, so as to visually reach the purpose that guiding driver is actively slowed down.
The visibility detection module, can actually be shown according to the horizontal visibility section Shi meter De Er formula announced to locality
Degree is calculated, and is then carried out adjustment and is redefined low visibility standard, completes to store Current standards after adjustment.
The vehicle detection module is arranged on crossing inlet road.
A kind of method for early warning based on said system, comprises the following steps：
(1) visibility detection module is attached to target intersection, detects the visibility of current intersection, and according to locality
Weather actual state and the progress adjustment of application level visibility empirical equation simultaneously redefine low visibility standard；
(2) vehicle detection module analyzes the change according to caused changes of magnetic field during actual vehicle multipass detector
Signal, calculates Current vehicle travel speed, is sent to safe speed computing module；
(3) anticipation is made when safe speed computing module gets Current vehicle travel speed, is calculated according to safe speed
Whether the traveling-position of formula, current visibility and vehicle is judged, be safe velocity under current visibility conditions,
If it is not, then prediction occurring.
In the step (1), the visibility empirical equation used according to intersection calculates and obtains current visibility.
In the step (3), calculated for the vehicle safety speed travelled on same direction road, build anti-rear end collision safety
Speed formula, vn+1' (t+1)=f [vn+1(t)-vn(t),L(V)(t),an+1(α, β) (t)], L (V) (t) --- car before and after t
Visual range；V represents visibility in formula；an+1--- (n+1)th car deceleration, deceleration and parameter alpha, β are relevant, and wherein α is represented
Coefficient of road adhesion, β represents vehicle braking performances.
In the step (3), calculated for the safe speed for intersecting conflict traffic, build intersection anti-collision safety speed
Formula, vn+1" (t+1)=f [minLn+1(i),vn+1(t)-vn(t), a (α, β) (t)], v in formulan+1" (t+1) --- t+1 moment n+
1 car anti-collision safety speed；Ln+1(i) --- distance of i-th of conflict point apart from n+1 car.
In the step (3), the control condition for intersection is more than or equal to for the time difference that two cars reach intersection
When minimum time headway adds the traveling of running time of the front truck from stop line to conflict point and rear car from stop line to conflict point
Between difference.
In the step (3), the computational methods of safe speed are vn+1(t+1)=min [vn+1’(t+1),vn+1”(t+1)]。
In the step (3), early warning railway spike frequency algorithm is fn+1=Light { CompareTo [C, fn],vn+1(t+1),
Σ T (i) }, flash of light railway spike flicker frequency is constant when C is warning module normal work in formula；fnIt is pre- for last round of safe speed
Alert frequency；Σ T (i) light order for flash of light railway spike.
In the step (3), on being described as follows for early warning frequency：When vehicle current vehicle speed is more than safe speed, by pre-
Alert railway spike frequency algorithm draws early warning frequency, and simultaneously by with driver's opposite direction one by one according to showing that early warning frequency lights simultaneously
Circulation, forms visual difference guiding driver and actively slows down.
The flash color of the railway spike is blueness, and the maximum functional that can be only achieved warning module with frequency collective effect is imitated
Benefit.
Beneficial effects of the present invention are：
(1) vehicle collision that the possibility of the unsignalized intersection under the conditions of low visibility occurs is classified as mainly by the present invention
Early warning target；
(2) vehicle can also be introduced into without control that preceding speed of operation carries out speed suggestion with one voice by the present invention, accomplish to prevent in
The vehicle early warning of possible trouble；
(3) based on the visibility in the regional extent of effective detection intersection, to that will be carried out by the vehicle of the intersection
Speed suggestion and effective early warning of imminent vehicle collision；
(4) the driving human psychological work under the conditions of the transport environmental condition of unsignalized intersection, low visibility is fully taken into account
The change for the driving behavior that the factor such as dynamic is caused, gives the miscellaneous function of certain vehicle safe driving.
Brief description of the drawings
Fig. 1 is intersection early warning system layout diagram of the invention；
Fig. 2 is present system logic chart
Fig. 3 is warning module configuration diagram of the present invention
Wherein：1st, vehicle detection module, 2, safe speed computing module, 3, visibility detection module, 4, warning information hair
Cloth and receiving module, 5, blue controllable flash of light railway spike, 6, built-in control unit.
Embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of vehicle early warning method of low visibility non-signalized intersection, comprises the following steps：
Step 1：Visibility detection module is attached to target intersection, according to local weather actual state and application level
Visibility empirical equation --- Koschmieder formula V=, wherein V represent visibility, and H represents absolute altitude (km), represents that optics is thick
Degree, carries out adjustment and redefines low visibility standard, completes to store Current standards after adjustment；
Step 2：Vehicle detection module analyzes the change according to caused changes of magnetic field during actual vehicle multipass detector
Change signal and calculate Current vehicle travel speed with reference to software kit, be sent to safe speed computing module；
Step 3：Anticipation can be made when safe speed computing module gets Current vehicle travel speed, according to accident-free vehicle
Fast calculation formula, vn+1(t+1)=min [vn+1’(t+1),vn+1" (t+1)], such as current vehicle position is located at entering for any direction
Mouth Through Lane is still located at the possible left turn lane that conflicts with the former of other any directions with the presence of other vehicles simultaneously, here
Need to set up one to compare and take small formula, (current vehicle speed of each car, reaches the intersection time to speed=CompareTo, reaches
Conflict point distance), exist between any two and above vehicle and there is the possibility that conflict occurs, then utilize current visibility conditions
Under, speed take it is small after determine whether safe velocity, if it is not, then passing through the intersection under the conditions of built-in low visibility
Mouth conflict calculation formula draws safety traffic speed and is transferred to warning information issue and receiving module issue, if safety traffic
Speed is not processed then.Forecasting Methodology described in the speed and above-mentioned steps three wherein kept straight on right-hand rotation is similar, and it will not go into details.
The structure of safe speed computing module wherein described in step 3：
1. the current visibility determined by step 1, depending on function model used in current intersection；
2. required data parameters can be measured by step 2, and it is sent in safe speed computing module；
3. the safe speed being directed between the vehicle travelled on same direction road is calculated, anti-rear end collision safety speed formula,
vn+1' (t+1)=f [vn+1(t)-vn(t),L(V)(t),an+1(α, β) (t)], L (V) (t) --- car visual range before and after t；
V represents visibility in formula；an+1--- (n+1)th car deceleration, deceleration and parameter alpha, β are relevant, and wherein α represents road surface attachment system
Number, β represents vehicle braking performances.
4. the safe speed that there is conflict traffic for intersection road intersection is calculated, intersection anti-collision safety car is built
Fast formula, vn+1" (t+1)=f [minLn+1(i),vn+1(t)-vn(t), a (α, β) (t)], v in formulan+1' (t+1) --- it is anti-in the same direction
N+1 car knock into the back in the (n+1)th moment safe speed；Ln+1(i) --- i-th of conflict point is apart from n+1 car apart from
5. the necessary condition formula for the guarantee rear car safety that No-shell culture conflicts is combined using this time difference of t,
The condition formula t=for obtaining the guarantee rear car safety No-shell culture suitable for the system is deformed by publicity
CompareTo[h(t),tA,tF,Ln+1(i)], wherein h is minimum time headway (s), tFFor front truck from stop line to conflict point
Running time (s), tAThe running time (s) for being rear car from stop line to conflict point.
6. above-mentioned function model is stored in single-chip microcomputer, so as to carry out Automated condtrol.
Structure wherein in step 3 on warning module：
1. the flicker frequency C constants under warning module normal operating conditions are set by current visibility.
2. when detecting that Current vehicle speed of operation is more than safe speed, warning module early warning mechanism is activated, that is, is activated
Early warning railway spike frequency algorithm, fn+1=Light { CompareTo [C, fn],vn+1(t+1), Σ T (i) }, C is warning module in formula
Railway spike flicker frequency of being glistened during normal work is constant；fnFor last round of safe speed early warning frequency；Σ T (i) are flash of light railway spike
Light order.
3. the safe speed v obtained by safe speed computing modulen+1(t+1) it is sent to the built-in control of safe early warning module
In unit.
4. drawing early warning frequency, intersection vehicles early warning is carried out.
Embodiment one：
Work as when unsignalized intersection southing mouthful straight trip direction and western import straight trip direction there are many vehicles to be going into simultaneously
Preceding unsignalized intersection, when first car trigger vehicle detection apparatus when, whole system start working (vehicle enter intersection it
Before, visibility detection means detects the visibility of current intersection and uploads data to safe speed computing module in real time).According to
Start cumulative statistics southing mouthful straight trip direction at the time of the vehicle detection apparatus of first triggering and western import is kept straight on the car in direction
The current driving speed v of time difference t and vehicle betweenn, using these time difference datas among formula, and by the time
Difference presses t1, t2···tnStorage, is used to issue vehicle early warning using these time difference datas as anticipation foundation, here will basis
The influence factors such as number of track-lines, the stop line of specific intersection specifically set safety traffic time difference constant, for convenience of citing here
Setting 5 seconds is the time difference constant, after among the incoming safe speed computing module of data, time difference t of driving safely1, t2···
tnJust start to be compared within 5 seconds with time difference constant etc. data, when there is random time difference t<5, then activate safe speed and calculate
Formula draws the safety traffic speed of minimum, starts simultaneously at progress safe speed early warning frequency and calculates.According to default current line
Sail speed model v=f (vn, t), the two-dimentional relation of setup time difference and current driving speed corresponds to time difference storage current
Travel speed, when anticipation time difference t is that critical time is poor, carries out safe speed v and current driving speed vnIt is compared, if
v<vn, then an intense flash railway spike is circulated one by one according to early warning frequency, such as according to each railway spike frequency per second flashed once with driving
Sail people direction and light one by one and be recycled to vehicle and reach that safe speed recovers normal flicker frequency；If v>=vn, then according to normal
Flicker frequency is without early warning.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deform still within protection scope of the present invention that creative work can make.
Claims (6)
1. a kind of method for early warning based on the vehicle early warning system of non-mandrel roller level-crossing under low visibility, system includes
Safe speed computing module, warning information release module, vehicle detection module and visibility detection module, wherein：
The visibility detection module is arranged at target intersection, detects the visibility of intersection, the vehicle detection module root
Vehicle process has been detected whether according to changes of magnetic field, current Vehicle Speed is transferred to safe speed computing module, it is described
Safe speed computing module is counted according to the traveling-position of safe speed calculation formula, the visibility of current intersection and vehicle
Calculate, whether be safe velocity, and send a signal to warning information release module if judging vehicle；
It is characterized in that：Comprise the following steps：
(1) visibility detection module is attached to target intersection, detects the visibility of current intersection, and according to local weather
Actual state and the progress adjustment of application level visibility empirical equation simultaneously redefine low visibility standard；
(2) vehicle detection module analyzes the variable signal according to caused changes of magnetic field during actual vehicle multipass detector,
Current vehicle travel speed is calculated, safe speed computing module is sent to；
(3) make anticipation when safe speed computing module gets Current vehicle travel speed, according to safe speed calculation formula,
Whether the traveling-position of current visibility and vehicle is judged, be safe velocity under current visibility conditions, if not
It is, then prediction occurring.
2. method for early warning as claimed in claim 1, it is characterized in that：In the step (1), the Function Modules used according to intersection
Type determines current visibility.
3. method for early warning as claimed in claim 1, it is characterized in that：In the step (3), for being travelled on same direction road
Vehicle between safe speed calculate, build anti-rear end collision safety speed formula, vn+1' (t+1)=f [vn+1(t)-vn(t),L
(V)(t),an+1(α, β) (t)], L (V) (t) is car visual range before and after t；V represents visibility in formula；an+1For (n+1)th
Car deceleration, deceleration and parameter alpha, β are relevant, and wherein α represents coefficient of road adhesion, and β represents vehicle braking performances.
4. method for early warning as claimed in claim 3, it is characterized in that：In the step (3), for the safe speed of conflict traffic
Calculate, set up vn+1" (t+1)=f [minLn+1(i),vn+1(t)-vn(t), a (α, β) (t)], v in formulan+1" (t+1) --- during t+1
Carve n+1 car anti-collision safety speed；Ln+1(i) it is distance of i-th of conflict point apart from n+1 car, a is the deceleration of car, is subtracted
Speed and parameter alpha, β are relevant, and wherein α represents coefficient of road adhesion, and β represents vehicle braking performances.
5. method for early warning as claimed in claim 1, it is characterized in that：In the step (3), the control condition for intersection is
When the time difference that two cars reach intersection adds traveling of the front truck from stop line to conflict point more than or equal to minimum time headway
Between after and running time of the rear car from stop line to conflict point difference.
6. method for early warning as claimed in claim 1, it is characterized in that：An intense flash railway spike is circulated one by one according to early warning frequency, is pressed
Lighted one by one with driver direction according to the frequency of each railway spike flicker per second once and be recycled to vehicle and reach that safe speed recovers
Normal flicker frequency, wherein early warning railway spike flicker frequency fn+1=Light { CompareTo [C, fn],vn+1(t+1), Σ T (i) },
Flash of light railway spike flicker frequency is constant when C is warning module normal work in formula；fnFor last round of safe speed early warning frequency；Σ
T (i) lights order for flash of light railway spike.
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| CN106023652B (en) * | 2016-07-29 | 2018-06-08 | 重庆长安汽车股份有限公司 | Vehicle intersection anti-collision warning method |
| CN106205172B (en) * | 2016-09-07 | 2018-09-21 | 东南大学 | Unsignalized intersection conflict resolution method and system |
| CN106991806A (en) * | 2017-05-05 | 2017-07-28 | 同济大学 | Low visibility highway leader of a group of people's passing method |
| CN108399758A (en) * | 2018-04-25 | 2018-08-14 | 合肥工业大学 | A kind of non-mandrel roller T-shape level-crossing real-time vehicle monitor warning systems answered, generated electricity based on voltage inductance |
| CN108564820B (en) * | 2018-05-31 | 2021-02-12 | 浙江大学宁波理工学院 | Early warning system and early warning method for zebra crossing |
| CN108806330B (en) * | 2018-05-31 | 2021-02-12 | 浙江大学宁波理工学院 | Driving early warning system and method for zebra crossing |
| CN108922177B (en) * | 2018-06-29 | 2021-08-10 | 东南大学 | Speed control system and method for unmanned vehicle passing through intersection |
| CN110956836B (en) * | 2018-09-26 | 2023-05-05 | 华为技术有限公司 | Vehicle running control method and device |
| CN109263652B (en) * | 2018-11-14 | 2020-06-09 | 江铃汽车股份有限公司 | Method for measuring and checking front visual field of driver |
| CN110246361B (en) * | 2018-11-26 | 2021-09-03 | 深圳市城市交通规划设计研究中心股份有限公司 | Parking management method and device based on intelligent spikes and mobile phone terminal |
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| KR100834940B1 (en) * | 2006-12-15 | 2008-06-03 | 엘에스전선 주식회사 | Apparatus for detecting vehicle speed |
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| CN101783081B (en) * | 2009-01-16 | 2012-08-22 | 武汉大学 | Highway rear-end collision prevention early warning system |
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