CN105719500A - Time blocking road crossing vehicle speed guiding system and method based on vehicle-road synergism - Google Patents
Time blocking road crossing vehicle speed guiding system and method based on vehicle-road synergism Download PDFInfo
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- CN105719500A CN105719500A CN201610265116.7A CN201610265116A CN105719500A CN 105719500 A CN105719500 A CN 105719500A CN 201610265116 A CN201610265116 A CN 201610265116A CN 105719500 A CN105719500 A CN 105719500A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
Abstract
The invention discloses a time blocking road crossing vehicle speed guiding system and method based on vehicle-road synergism. The vehicle speed guiding system comprises a road side unit and a vehicle-mounted unit, wherein the road side unit comprises a road side information acquisition module, a road side positioning module and a road side information communication module, and the vehicle-mounted unit comprises a vehicle-mounted information acquisition module, a vehicle-mounted positioning module, a vehicle-mounted information communication module, a data processing module and an information display module. The time blocking road crossing vehicle speed guiding method based on the vehicle-road synergism adopts the vehicle speed guiding system, information acquired by the road side information acquisition module and the vehicle-mounted information acquisition module is input into a vehicle speed guiding model, advisory speed which can be referenced is calculated, and a driver is assisted to smoothly pass through a road crossing in the current green light phase position by virtue of the information display module.
Description
Technical field
The present invention relates to intelligent transportation field.System and method is guided more particularly, to a kind of time obturation crossing speed collaborative based on bus or train route.
Background technology
In recent years, along with the development of communication technology, sensor technology, bus or train route coordination technique becomes the study hotspot of field of traffic.Utilize bus or train route coordination technique can be effectively improved the traffic efficiency of urban road especially crossing, Real-Time Sharing intersection signal timing information and vehicle running state information, crossing speed guide can for sail into vehicle efficiently, safety crossing technical support is provided.
Crossing is the multiple district of vehicle accident, according to investigations data statistics in urban road, and China occurs the vehicle accident in crossing to account for the 1/3 of road traffic accident.Making a dash across the red light in crossing is the major reason occurred that causes the accident, including vehicle rob row at a high speed by intentional red light violation behavior and unpredictable green light or amber light end time and cause be not intended to red light violation behavior.Simultaneously as whether crossing can be passed through during the unpredictable green light of driver, there is driver and hesitate phenomenon, have impact on the traffic efficiency of crossing.In bus or train route cooperative surroundings, speed guides is a kind of effective ways solving intersection safety, efficiency.
In the speed guiding of crossing, generally utilize the crossing timing information obtained and vehicle traveling information at present, set up speed pilot model and make vehicle keep safe distance to pass through crossing.Existing method is deposited not enough both ways, and speed pilot model lays particular emphasis on the vehicle efficiency by crossing or safety on the one hand, it is impossible to realize intersection efficiency and both balanced accurate speeds of safety guide；On the other hand, the input parameter required for existing method is more, causes that pilot model is complicated, and computational efficiency is low.
Accordingly, it is desirable to provide a kind of time obturation crossing speed collaborative based on bus or train route guides system and method.
Summary of the invention
It is an object of the present invention to provide a kind of time obturation crossing speed collaborative based on bus or train route and guide system.
Further object is that and a kind of time obturation crossing speed bootstrap technique collaborative based on bus or train route is provided.
For reaching above-mentioned purpose, use for reference high-speed railway intelligence train obturation control thought, introduce " time is inaccessible " constrained procedure in crossing, from carrying out being divided into multiple off-period section during by the crossing green light persistent period according to safe bus head, each off-period section can arrange a car to pass through crossing.Based on the crossing speed bootstrap technique of " time is inaccessible ", when guarantee is sailed vehicle safety into, efficiently passed through crossing, simplify speed bootstrap technique.
The present invention adopts following technical proposals:
A kind of time obturation crossing speed collaborative based on bus or train route guides system, and this speed guides system to include roadside unit and board units.Roadside unit, including trackside information acquisition module, trackside locating module and information communication module, wherein trackside information acquisition module, for gathering the traffic signal timing information that crossing, institute's side unit place is current；Trackside locating module, is used for gathering roadside unit place Intersections GPS position information；Trackside information communication module, for being transferred to board units by traffic signal timing information and described signal lights GPS position information.Board units, including on-vehicle information acquisition module, vehicle positioning module, on-vehicle information communication module, data processing module and information display module, wherein on-vehicle information acquisition module, for gathering the speed and acceleration information of sailing intersection vehicles into；Vehicle positioning module, for gathering the GPS position information sailing intersection vehicles into；On-vehicle information communication module, for receiving the information of described trackside information communication module transfer；Data processing module, for being processed by the data message in described on-vehicle information acquisition module and on-vehicle information communication module, obtains suggestion speed based on time obturation constrained procedure；Information display module, for displaying the information processed through described data processing module.
Preferably, Intersections timing information is green light phase place residue duration Tg。
Preferably, trackside information communication module and on-vehicle information communication module are the wireless communication module matched each other, and wireless communication module includes but not limited to adopt WiFi or LiFi wireless communication module.
Preferably, roadside unit is arranged on trackside Intersections transverse arm or column.
Preferably, vehicle-mounted data processing module is Single Chip Microcomputer (SCM) system.
Preferably, information display module is vehicular meter panel display.
Preferably, information display module is the display device being external on Vehicular instrument panel.
Preferably, information display module is be external on Vehicular instrument panel and with virtual form, display information is shown to the display device on vehicle front windshield.
A kind of method that time obturation crossing speed collaborative based on bus or train route guides system to carry out speed guiding, the method constraints includes:
(1), finally distribute by during being constantly in green light phase place；
(2), final guiding speed must not be higher than road speed limit.
In the information input speed pilot model that trackside information acquisition module and on-vehicle information acquisition module are gathered by the method, calculate can be for reference suggestion speed, assist driver to pass through crossing in current green light phase place by information display module.The method specifically includes following steps:
S1: trackside information acquisition module gathers the green light phase place residue duration T that crossing, described roadside unit place is currentg。
S2: trackside locating module gathers described roadside unit place Intersections GPS position information, it is thus achieved that signal lights GPS location coordinate is (xL, yL), xLFor its abscissa, yLFor its vertical coordinate, and using this positional information as described intersection parking line position information.
S3: described traffic signal timing information green light phase place is remained duration T by trackside information communication modulegWith described signal lights GPS location coordinate (xL, yL) it is transferred to described board units.
S4: the speed V of crossing jth car is sailed in on-vehicle information acquisition module collection into0jWith acceleration a.
S5: crossing jth car GPS position information is sailed in vehicle positioning module collection into, it is thus achieved that sail crossing jth car GPS location coordinate (x intoV, yV), xVFor its abscissa, yVFor its vertical coordinate.
S6: the data message in described on-vehicle information acquisition module and on-vehicle information communication module is processed by data processing module, obtains suggestion speed based on time obturation constrained procedure, wherein, comprises the steps: based on time obturation constrained procedure
S601: calculate the distance L of jth spacing intersection parking linej
S602: from current green light phase time T0Rise, from t during with safe bus headsFor interval by current green light Phase Duration TgDividing, form n off-period section, there is 1 car or be absent from car in each off-period section, i-th time period finish time TiFor:
Ti=T0-i*ts
Off-period section [the T formed0,T1]、[T1,T2]、…、[Ti-1,Ti]、…、[Tn-1,Tn] as vehicle by alternative period of crossing, wherein, 0≤i≤n, 0≤Ti≤T0；
S603: judge moment T0Whether 1st car nearest apart from crossing is in dead ship condition:
If so, then T0=Tg-ts-tq, tqFor the startup lost time of stopped vehicle, otherwise, T0=Tg-ts；
S604: for the 1st car, off-period section [T0,T1] pass through the alternative period of crossing for it, it is judged that in this alternative period, can vehicle with less than speed limit VmaxSpeed by crossing, satisfy condition then advise that speed is by crossing, otherwise select parking or using next off-period section as the new alternative period；For follow-up jth car, select off-period section [Ti, Ti-ts] guide vehicle by crossing as by the alternative period of crossing, wherein, TiFor-1 car of jth by inaccessible finish time period shared by crossing；
S605: judge TiWhether the moment remains green light phase place, if so, then carries out next step and judges；Otherwise, cause danger to prevent it from making a dash across the red light, guide it to stop before stop line；
S606: judge jth car by original speeds whether early than TiMoment passes through intersection parking line, namely
If so, then in order to prevent itself and front truck from colliding, need to carry out slowing down guides, it is ensured that it is at [Ti, Ti-ts] period, guiding speed was by intersection parking line:
In formula, V0jFor sailing the speed of crossing jth car into, a is the acceleration sailing crossing jth car into, tiPass through according to the distribution inaccessible period for jth car the time of intersection parking line, and ti=T0-Ti；
Otherwise, in order to improve vehicle by efficiency, need to be accelerated guiding, it is ensured that it is at TiMoment passes through intersection parking line, and guiding speed is:
S607: judge that whether speed pilot model gained suggestion speed is lower than road Maximum speed limit Vmax:
If so, crossing jth car is then sailed into according to suggestion speed VjTraveling can at distribution off-period section [Ti, Ti-ts] by intersection parking line, and this suggestion speed is supplied to driver by information display module；
Otherwise, jth car next one off-period section [T is distributed toi-ts, Ti-2ts] by intersection parking line, return S605 step, continue to judge.
S7: the suggestion speed processed through described data processing module is exported and shows by information display module.
Beneficial effects of the present invention is as follows:
1, wireless communication technology being applied to intersection, current communication module performance is good, price is low；
2, the green light persistent period is divided into off-period section, it may be achieved speed precisely guides passes through crossing；
3, it is a kind of aid decision-making system, it is to avoid force to interfere the driver behavior of driver；
4, speed boot policy is visual and understandable.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
The time obturation crossing speed that Fig. 1 is illustrated based on bus or train route collaborative guides system and method fundamental diagram.
Fig. 2 illustrates roadside unit structured flowchart.
Fig. 3 illustrates board units structured flowchart.
Fig. 4 illustrates the logical flow chart of time obturation constrained procedure.
Detailed description of the invention
In order to be illustrated more clearly that the present invention, below in conjunction with preferred embodiments and drawings, the present invention is described further.Parts similar in accompanying drawing are indicated with identical accompanying drawing labelling.It will be appreciated by those skilled in the art that following specifically described content is illustrative and be not restrictive, should not limit the scope of the invention with this.
The time obturation crossing speed that Fig. 1 is illustrated based on bus or train route collaborative guides system and method fundamental diagram.A kind of time obturation crossing speed collaborative based on bus or train route guides system, and this speed guides system to include roadside unit and board units.Fig. 2 illustrates roadside unit structured flowchart.Roadside unit, including trackside information acquisition module, trackside locating module and information communication module, wherein trackside information acquisition module, for gathering the traffic signal timing information that crossing, institute's side unit place is current；Trackside locating module, is used for gathering roadside unit place Intersections GPS position information；Trackside information communication module, for being transferred to board units by traffic signal timing information and described signal lights GPS position information.Fig. 3 illustrates board units structured flowchart.Board units, including on-vehicle information acquisition module, vehicle positioning module, on-vehicle information communication module, data processing module and speed display module, wherein on-vehicle information acquisition module, for gathering the speed and acceleration information of sailing intersection vehicles into；Vehicle positioning module, for gathering the GPS position information sailing intersection vehicles into；On-vehicle information communication module, for receiving the information of described trackside information communication module transfer；Data processing module, for being processed by the data message in described on-vehicle information acquisition module and on-vehicle information communication module, obtains suggestion speed based on time obturation constrained procedure；Information display module, for displaying the information processed through described data processing module.
Intersections timing information is green light phase place residue duration Tg。
Trackside information communication module and on-vehicle information communication module are the wireless communication module matched each other, and adopt the wireless communication techniques such as WiFi or LiFi.Data processing module is Single Chip Microcomputer (SCM) system, and roadside unit is arranged on trackside Intersections transverse arm or column.Board units is arranged on vehicle, and information display module is vehicular meter panel display or the display device being external on Vehicular instrument panel, it is also possible to for being external on Vehicular instrument panel and display information being shown to the display device on vehicle front windshield with virtual form.
Fig. 4 illustrates the logical flow chart of time obturation constrained procedure.A kind of time obturation crossing speed bootstrap technique collaborative based on bus or train route comprises the steps:
S1: trackside information acquisition module gathers the green light phase place residue duration T that crossing, described roadside unit place is currentg。
S2: trackside locating module gathers described roadside unit place Intersections GPS position information, it is thus achieved that signal lights GPS location coordinate is (xL, yL), xLFor its abscissa, yLFor its vertical coordinate, and using this positional information as described intersection parking line position information.
S3: described traffic signal timing information green light phase place is remained duration T by trackside information communication modulegWith described signal lights GPS location coordinate (xL, yL) it is transferred to described board units.
S4: the speed V of crossing jth car is sailed in on-vehicle information acquisition module collection into0jWith acceleration a.
S5: crossing jth car GPS position information is sailed in vehicle positioning module collection into, it is thus achieved that sail crossing jth car GPS location coordinate (x intoV, yV), xVFor its abscissa, yVFor its vertical coordinate.
S6: the data message in described on-vehicle information acquisition module and on-vehicle information communication module is processed by data processing module, obtains suggestion speed based on time obturation constrained procedure, wherein, comprises the steps: based on time obturation constrained procedure
S601: calculate the distance L of jth spacing intersection parking linej
S602: from current green light phase time T0Rise, from t during with safe bus headsFor interval by current green light Phase Duration TgDividing, form n off-period section, there is 1 car or be absent from car in each off-period section, i-th time period finish time TiFor:
Ti=T0-i*ts
Off-period section [the T formed0,T1]、[T1,T2]、…、[Ti-1,Ti]、…、[Tn-1,Tn] as vehicle by alternative period of crossing, wherein, 0≤i≤n, 0≤Ti≤T0；
S603: judge moment T0Whether 1st car nearest apart from crossing is in dead ship condition:
If so, then T0=Tg-ts-tq, tqFor the startup lost time of stopped vehicle, otherwise, T0=Tg-ts；
S604: for the 1st car, off-period section [T0,T1] pass through the alternative period of crossing for it, it is judged that in this alternative period, can vehicle with less than speed limit VmaxSpeed by crossing, satisfy condition then advise that speed is by crossing, otherwise select parking or using next off-period section as the new alternative period；For follow-up jth car, select off-period section [Ti, Ti-ts] guide vehicle by crossing as by the alternative period of crossing, wherein, TiFor-1 car of jth by inaccessible finish time period shared by crossing；
S605: judge TiWhether the moment remains green light phase place, if so, then carries out next step and judges；Otherwise, cause danger to prevent it from making a dash across the red light, guide it to stop before stop line；
S606: judge jth car by original speeds whether early than TiMoment passes through intersection parking line, namely
If so, then in order to prevent itself and front truck from colliding, need to carry out slowing down guides, it is ensured that it is at [Ti, Ti-ts] period, guiding speed was by intersection parking line:
In formula, V0jFor sailing the speed of crossing jth car into, a is the acceleration sailing crossing jth car into, tiPass through according to the distribution inaccessible period for jth car the time of intersection parking line, and ti=T0-Ti；
Otherwise, in order to improve vehicle by efficiency, need to be accelerated guiding, it is ensured that it is at TiMoment passes through intersection parking line, and guiding speed is:
S607: judge that whether speed pilot model gained suggestion speed is lower than road Maximum speed limit Vmax:
If so, crossing jth car is then sailed into according to suggestion speed VjTraveling can at distribution off-period section [Ti, Ti-ts] by intersection parking line, and this suggestion speed is supplied to driver by display module；
Otherwise, jth car next one off-period section [T is distributed toi-ts, Ti-2ts] by intersection parking line, return S605 step, continue to judge.
S7: the suggestion speed processed through described data processing module is exported and shows by information display module.
Based on the time obturation crossing speed bootstrap technique that bus or train route is collaborative in the present invention, the method obtains Intersections timing information and signal lights GPS location by roadside unit, utilizes trackside information communication module that these information are transferred to the vehicle sailing crossing into.Board units utilizes Intersections timing information, signal lights GPS location, car speed and acceleration, vehicle GPS position, by speed pilot model for vehicle provide can be for reference suggestion speed, to ensure that sailing intersection vehicles into efficient, safe during current green light phase place can pass through crossing.
Specifically, roadside unit gathers traffic signal timing information by trackside information acquisition module, gather signal lights position information as intersection parking line position by trackside locating module.With certain power, roadside unit is gathered information by trackside information communication modules such as such as WiFi, LiFi and be transferred to the vehicle sailing crossing into, make vehicle be able to receive that these information sailing (100～200 meters) in the certain limit of crossing into.Board units utilizes on-vehicle information acquisition module collection vehicle velocity and acceleration, current vehicle location is gathered by vehicle positioning module, and the information transmitted by roadside unit received with on-vehicle information communication module merges, it is input in the speed pilot model of data processing module, sail into vehicle select suitable with safe bus head time from the off-period section for interval, based on time period, calculate the suggestion speed being available for driver's reference.By display module in board units, the suggestion speed provided is supplied to driver, for guide vehicle efficient, safe pass through crossing.
The vehicle of crossing is sailed into during green light phase place, in the certain limit of distance crossing, receive the signal timing dial information and signal lights GPS location that come from roadside unit, board units combines the car speed and acceleration, vehicle GPS position that gather, is input in the speed pilot model of single-chip microcomputer.
Obviously; the above embodiment of the present invention is only for clearly demonstrating example of the present invention; and be not the restriction to embodiments of the present invention; for those of ordinary skill in the field; can also make other changes in different forms on the basis of the above description; here cannot all of embodiment be given exhaustive, every belong to apparent change that technical scheme extended out or the variation row still in protection scope of the present invention.
Claims (10)
1. one kind guides system based on the time obturation crossing speed that bus or train route is collaborative, it is characterised in that described speed guides system to include roadside unit and board units, wherein
Roadside unit, including trackside information acquisition module, trackside locating module and trackside information communication module, wherein
Trackside information acquisition module, for gathering the traffic signal timing information that crossing, described roadside unit place is current；
Trackside locating module, is used for gathering described roadside unit place Intersections GPS position information；
Trackside information communication module, for being transferred to described board units by described traffic signal timing information and described signal lights GPS position information；
Board units, including on-vehicle information acquisition module, vehicle positioning module, on-vehicle information communication module, data processing module and information display module, wherein
On-vehicle information acquisition module, for gathering the speed and acceleration information of sailing intersection vehicles into；
Vehicle positioning module, for gathering the GPS position information sailing intersection vehicles into；
On-vehicle information communication module, for receiving the information of described trackside information communication module transfer；
Data processing module, for being processed by the data message in described on-vehicle information acquisition module and on-vehicle information communication module, obtains suggestion speed based on time obturation constrained procedure；
Information display module, for displaying the information processed through described data processing module.
2. speed according to claim 1 guides system, it is characterised in that described Intersections timing information is green light phase place residue duration Tg。
3. speed according to claim 1 guides system, it is characterized in that, described trackside information communication module and on-vehicle information communication module are the wireless communication module matched each other, and described wireless communication module includes but not limited to adopt WiFi or LiFi wireless communication module.
4. speed according to claim 1 guides system, it is characterised in that described roadside unit is arranged on trackside Intersections transverse arm or column.
5. speed according to claim 1 guides system, it is characterised in that described data processing module is Single Chip Microcomputer (SCM) system.
6. speed according to claim 1 guides system, it is characterised in that described information display module is vehicular meter panel display.
7. speed according to claim 1 guides system, it is characterised in that described information display module is the display device being external on Vehicular instrument panel.
8. speed according to claim 1 guides system, it is characterised in that described information display module is be external on Vehicular instrument panel and with virtual form, display information is shown to the display device on vehicle front windshield.
9. one kind uses the method guiding system to carry out speed guiding based on the time obturation crossing speed that bus or train route is collaborative according to any one of claim 1-8, it is characterised in that the method includes following constraints:
(1), finally distribute by during being constantly in green light phase place；
(2), final guiding speed must not be higher than road speed limit；
The method specifically includes following steps:
S1: trackside information acquisition module gathers the green light phase place residue duration T that crossing, described roadside unit place is currentg；
S2: trackside locating module gathers described roadside unit place Intersections GPS position information, it is thus achieved that signal lights GPS location coordinate is (xL, yL), xLFor its abscissa, yLFor its vertical coordinate, and using this positional information as described intersection parking line position information；
S3: described traffic signal timing information green light phase place is remained duration T by trackside information communication modulegWith described signal lights GPS location coordinate (xL, yL) it is transferred to described board units；
S4: the speed V of crossing jth car is sailed in on-vehicle information acquisition module collection into0jWith acceleration a；
S5: crossing jth car GPS position information is sailed in vehicle positioning module collection into, it is thus achieved that sail crossing jth car GPS location coordinate (x intoV, yV), xVFor its abscissa, yVFor its vertical coordinate；
S6: the data message in described on-vehicle information acquisition module and on-vehicle information communication module is processed by data processing module, obtains suggestion speed based on time obturation constrained procedure；
S7: the suggestion speed processed through described data processing module is exported and shows by information display module.
10. method according to claim 9, wherein said farther includes following steps based on time obturation constrained procedure:
S601: calculate the distance L of jth spacing intersection parking linej
S602: from current green light phase time T0Rise, from t during with safe bus headsFor interval by current green light Phase Duration TgDividing, form n off-period section, there is 1 car or be absent from car in each off-period section, i-th time period finish time TiFor:
Ti=T0-i*ts
Off-period section [the T formed0,T1]、[T1,T2]、…、[Ti-1,Ti]、…、[Tn-1,Tn] as vehicle by alternative period of crossing, wherein, i, j, n are natural number, 0≤i≤n, 0≤Ti≤T0；
S603: judge moment T0Whether 1st car nearest apart from crossing is in dead ship condition:
If so, then T0=Tg-ts-tq, tqFor the startup lost time of stopped vehicle, otherwise, T0=Tg-ts；
S604: for the 1st car, off-period section [T0,T1] pass through the alternative period of crossing for it, it is judged that in this alternative period, can vehicle with less than speed limit VmaxSpeed by crossing, satisfy condition then advise that speed is by crossing, otherwise select parking or using next off-period section as the new alternative period；For follow-up jth car, select off-period section [Ti, Ti-ts] as by the alternative period of crossing, guiding vehicle by crossing, wherein, TiFor-1 car of jth by inaccessible finish time period shared by crossing；
S605: judge TiWhether the moment remains green light phase place, if so, then carries out next step and judges；Otherwise, cause danger to prevent it from making a dash across the red light, guide it to stop before stop line；
S606: judge jth car by original speeds whether early than TiMoment passes through intersection parking line, namely
If so, then in order to prevent itself and front truck from colliding, need to carry out slowing down guides, it is ensured that it is at [Ti, Ti-ts] period, guiding speed was by intersection parking line:
In formula, V0jFor sailing the speed of crossing jth car into, a is the acceleration sailing crossing jth car into, tiPass through according to the distribution inaccessible period for jth car the time of intersection parking line, and ti=T0-Ti；
Otherwise, in order to improve vehicle by efficiency, need to be accelerated guiding, it is ensured that it is at TiMoment passes through intersection parking line, and guiding speed is:
S607: judge that whether speed pilot model gained suggestion speed is lower than road Maximum speed limit Vmax:
If so, crossing jth car is then sailed into according to suggestion speed VjTraveling can at distribution off-period section [Ti, Ti-ts] by intersection parking line, and this suggestion speed is supplied to driver by display module；
Otherwise, jth car next one off-period section [T is distributed toi-ts, Ti-2ts] by intersection parking line, return S605 step, continue to judge.
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