CN106503476A - The urban road fingerpost future range of consideration ambient light illumination change determines method - Google Patents
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Abstract
The invention discloses a kind of urban road fingerpost future range of consideration ambient light illumination change determines method, for the visual function problem that ambient light illumination affects driver, design train experiment, probe into the driver's vision function rule of ambient light illumination and velocity variations coupling influence, set up the fingerpost recognition time model with regard to ambient light illumination and speed, on this basis, according to the essential condition of safe driving, fingerpost distance of visual cognition model is set up.Based on the fingerpost recognition distance model that sets up, and the effectiveness arranged with reference to fingerpost is required, determines urban road fingerpost minimum future range model.Instant invention overcomes existing fingerpost distance of visual cognition under low-light (level) increases, but the actual defect that future range is set when abundant according to illumination, can be used for determining urban road fingerpost future range under different illumination, so as to improve traffic safety.
Description
Technical field
The invention belongs to traffic safety technology field, is related to impact of the ambient light illumination to driver's vision function, it is a kind of
The urban road fingerpost future range of consideration ambient light illumination change determines method.
Background technology
Fingerpost is important traffic signss on urban road, and it is transmitted to traffic participant and road with word and symbol
The related instruction in road or guidance information.The future range of fingerpost be affect its effectiveness important indicator, if its preposition away from
From too short, driver may be caused to implement in front of point, to complete the operation such as lane change, deceleration in mark, so as to weaken mark effect
Effect, affects urban traffic control level and service quality.
At present, with regard to the research of urban transportation mark minimum future range, mainly according to mark distance of visual cognition, before indicating
Put distance and vehicle and point is found to the relation of the operating range three of action end point from mark, but these researchs are determining mark
Have differences in terms of recognizing read time.For example, Lu Jian etc. is in paper " the determination side of roadside speed limit signs on ordinary road set location
Only point out in method " (Chang An University's journal, 2011) that recognizing the time for reading mark typically takes the 2.0-3.0 seconds, but do not do deep point
Analysis.Jiang Jun etc. paper " based on driver depending on recognize characteristic urban road fingerpost arrange " (Southeast China University's journal, 2010
Year) in, professional driver and non-professional driver is proposed in frontlighting and backlight environment for concrete number mesh of not going the same way by testing
Fingerpost recognizes read time, and determines the future range of fingerpost according to experimental data.Although Jiang Jun etc. considers environment
Illumination recognizes the impact of read time to driver's mark, but illumination environment is arranged relatively generally, is only divided into two kinds of frontlighting and night
Situation, do not probe into driver in the low-light (level) environment such as dusk recognize read time characteristic, and cannot determine beyond experiment packet
Mark recognizes read time, causes future range to determine that method lacks universality.However, Feng Zhongxiang etc. is in paper " dynamic low-light (level) ring
The reasonable road speed of Jing Zhong highways determines method " in (Chinese Highway journal, 2015), by Experimental Research, driver is dynamic
The recognition time in state low-light (level) environment to different colours object " E ", as a result find object color, ambient light illumination and vehicle
Travel speed can affect recognition time (including mark recognize read time) of the driver to object " E ".Due to " E " shape pattern and finger
Road sign aims at the aspects such as size, shape and has differences, and therefore, its recognition time model for determining cannot be used for determining fingerpost
Future range.
For these reasons, contrived experiment of the present invention probes into ambient light illumination, travel speed to the fingerpost recognition time
Coupling influence, sets up the mark recognition time model with regard to ambient light illumination and travel speed, and recognition time model is used for really
Determine fingerpost future range, so as to improve the traffic safety in low-light (level) environment.
Content of the invention
The technical problem to be solved in the present invention is：In the existing method for determining urban road fingerpost future range,
Read time research is recognized to mark not enough, have ignored the coupling influence of travel speed and ambient light illumination to driver's recognition time；Cause
This, the present invention proposes a kind of consideration environment and shines according to the fingerpost recognition time model determined in dynamic low-light (level) environment
The urban road fingerpost future range of degree change determines method.
The technical scheme is that：
A kind of urban road fingerpost future range of consideration ambient light illumination change determines method, comprises the following steps：
(1) contrived experiment, probes into the visual function rule of driver under dynamic low-light (level) bad border；
Experiment choose typically the fingerpost comprising 4 road names as identification object, with the recognition time of driver (i.e.
Find mark to recognizing the time used by mark that runs through from driver) for visual function measurement index, probe into ambient light illumination and become with speed
Change the coupling influence to the fingerpost recognition time.Wherein, ambient light illumination measurement range is 0.1-600lx, and vehicle reaches mark
It was found that the travel speed of point arranges 6 grades (30km/h, 40km/h, 50km/h, 60km/h, 70km/h, 80km/h).By reality
The different travel speeds of acquisition fingerpost recognition time t corresponding with ambient light illumination is tested, unit of time is s；
(2) the recognition time model of illumination and speed coupling influence, according to experimental data, is set up；
According to the data obtained in (1), the fingerpost recognition time is probed into ambient light illumination using Matlab and travel speed
The Changing Pattern of degree, and driver's recognition time of illumination and speed coupling influence is set up further with three-dimension curved surface analytic process
((v/3.6), i), wherein v represents vehicle and reaches the speed indicated when finding point model t=f, and unit is km/h；I represents environment
Illumination, unit are lx；
(3) driver's mark distance of visual cognition model is set up；
Classical mark is divided into discovery, recognizes reading, judges and action four-stage depending on recognizing process, and this mark is permitted depending on recognizing process
Many scholars adopt.For example, Liu Haoxue is in paper " the ergonomics analysis that highway crossing traffic signss are arranged " (Communication and Transportation Engineering
Journal, calendar year 2001), (Chang An University is learned in paper " the determination method of roadside speed limit signs on ordinary road set location " for Lu Jian etc.
Report, 2011) the mark recognition process is all adopted, and the correlation analysiss of the present invention are also based on the mark of classics depending on recognizing process.
Indicate that distance of visual cognition S is referred to from mark discovery point to traffic sign placement point.Mark is found from driver
Start, with continuing on for vehicle, driver's sight line is gradually increased with the angle α of roadside sign, when α is increased to driver's
When angular threshold of eye θ is equal, indicates and will disappear from the visual field of driver.Therefore, the safety in order to ensure travelling, driver should
Reading work should be recognized by complement mark before marks obliterated, that is, indicate distance of visual cognition S, and be disappeared
Be enough to lower relation：
S-l≥m (1)
Determined according to speed and time reading is recognized apart from l：
L=(v/3.6) * t=(v/3.6) * f ((v/3.6), i) (2)
When reaching marks obliterated point according to driver, its view plane determines disappearance apart from m with the geometrical relationship of tag distance：
Wherein H be indicate central point to driver's view plane vertical line, K be vehicle centre-line to fingerpost side away from θ
For driver's angular threshold of eye, 15 ° are typically taken.
(2) (3) are substituted into (1) Shi Ke get
Therefore, fingerpost minimum recognition distance
(4) the fingerpost future range model with regard to ambient light illumination and speed is set up；
Regarded from classical mark and recognize process, future range D refer to from traffic sign placement point to mark enforcement away from
From.In order to ensure that the effectiveness of traffic sign placement, driver before fingerpost implements point should be completed to recognize reading, decision-making, reaction
With sequence of operations such as action, that is, recognize reading apart from l, decision-making apart from j, reaction distance r, take action apart from d and mark recognition distance S and
Mark future range D should meet following relationship：
S+D≥l+j+r+d (5)
Can determine according to speed and time and reading is recognized apart from l, apart from j, reaction distance r and action are apart from d, concrete public for decision-making
Formula is as follows：
L=(v/3.6) * t=(v/3.6) f ((v/3.6), i) (6)
J=(v/3.6) * tj(7)
R=(v/3.6) * tr(8)
D=n* (v/3.6) * tc+(v2-(v')2)/(2*3.62*a) (9)
Wherein, tjIt is that driver judges decision-making time, trIt is driver reaction time, tcComplete used by a lane change
Time, a are vehicle deceleration, and these parameters can be obtained by document；V is travel speed when vehicle finds mark, and v' is
Speed after the completion of vehicle deceleration, t are recognition time of the driver to fingerpost, are that ambient light illumination i and vehicle find mark
When travel speed v function, n is vehicle lane change number of times, and these parameters can be determined by experiment.
(6) (7) (8) (9) are substituted into (5) Shi Ke get
D≥(v/3.6)[f((v/3.6),i)+tj+tr]+n*(v/3.6)*tc+(v2-(v')2)/(2*3.62*a)-Smin
Therefore, fingerpost minimum future range model is：
Dmin=(v/3.6) [f ((v/3.6), i)+tj+tr]+n*(v/3.6)*tc+(v2-(v')2)/(2*3.62*a)-Smin
(5) determine the minimum future range value of fingerpost under dynamic low-light (level) environment；
By 7 groups of illumination value i=0.1,100,200,300,400,500,600 (lx) and 6 groups of velocity amplitude v=30,40,50,
60,70,80 (km/h) combination of two, according to the fingerpost minimum future range model determined in (4), can obtain per group of light
According to future range corresponding with velocity amplitude, the maximum of calculated future range is taken as urban road dynamic low-visibility conditions
The minima of middle fingerpost future range.
The beneficial effects of the present invention is：
Present invention determine that fingerpost recognition time and the mapping relations between ambient light illumination and travel speed, further build
The minimum future range model with regard to ambient light illumination and travel speed is found；By the model, it may be determined that any illumination environment
(comprising low-light (level) environment) and the corresponding future range of travel speed, compensate for the deficiency of forefathers' research.
The present invention affects the visual function problem of driver, design train experiment to probe into driver to containing for ambient light illumination
There are recognition time and ambient light illumination and the relation of travel speed of the fingerpost of 4 road names, on this basis according to driver
The essential condition for completing to recognize fingerpost before marks obliterated reading sets up the city fingerpost that a consideration ambient light illumination changes
Will minimum future range model, determines in method in ambient light illumination impact driving so as to compensate for traditional fingerpost future range
From the aspect of people's visual function, not enough defect, is favorably improved safety of the driver in low-visibility conditions middle rolling car；This
The originality of invention is the minimum future range of the urban road fingerpost for how determining consideration ambient light illumination change.
Description of the drawings
Fig. 1 is the flow chart element that the urban road fingerpost future range of present invention consideration ambient light illumination change determines method
Figure.
Fig. 2 be driver depending on recognizing fingerpost and driver behavior procedure chart, drawn depending on recognizing process according to classical mark.
Specific embodiment
Such as Fig. 1, the urban road fingerpost future range of consideration ambient light illumination change proposed by the present invention determine method
For：
(1) contrived experiment, probes into the visual function rule of driver under dynamic low-light (level) bad border；
Experiment choose typically the fingerpost comprising 4 road names as identification object, with the recognition time of driver (i.e.
Find mark to recognizing the time used by mark that runs through from driver) for visual function measurement index, probe into ambient light illumination and become with speed
Change the coupling influence to the fingerpost recognition time.Wherein, ambient light illumination measurement range is 0.1-600lx, and vehicle reaches mark
It was found that the travel speed of point arranges 6 grades (30km/h, 40km/h, 50km/h, 60km/h, 70km/h, 80km/h).By reality
The different travel speeds of acquisition fingerpost recognition time t corresponding with ambient light illumination is tested, unit of time is s.
(2) the recognition time model of illumination and speed coupling influence, according to experimental data, is set up；
According to the data obtained in (1), the fingerpost recognition time is probed into ambient light illumination using Matlab and travel speed
The Changing Pattern of degree, and driver's recognition time of illumination and speed coupling influence is set up further with three-dimension curved surface analytic process
((v/3.6), i), wherein v represents vehicle and reaches the speed indicated when finding point model t=f, and unit is km/h；I represents environment
Illumination, unit are lx.
(3) driver's mark distance of visual cognition model is set up；
Indicate that distance of visual cognition S is referred to from mark discovery point to traffic sign placement point.Mark is found from driver
Start, with continuing on for vehicle, driver's sight line is gradually increased with the angle α of roadside sign, when α is increased to driver's
When angular threshold of eye θ is equal, indicates and will disappear from the visual field of driver.Therefore, the safety in order to ensure travelling, driver should
Reading work should be recognized by complement mark before marks obliterated, that is, indicate recognition distance S, and be disappeared
Be enough to lower relation：
S-l≥m (1)
Determined according to speed and time reading is recognized apart from l：
L=(v/3.6) * t=(v/3.6) * f ((v/3.6), i) (2)
When reaching marks obliterated point according to driver, its view plane determines disappearance apart from m with the geometrical relationship of tag distance：
Wherein H be indicate central point to driver's view plane vertical line, K be vehicle centre-line to fingerpost side away from θ
For driver's angular threshold of eye, 15 ° are typically taken.
(2) (3) are substituted into (1) Shi Ke get
Therefore, fingerpost minimum recognition distance
(4) the fingerpost future range model with regard to ambient light illumination and speed is set up；
Future range D is referred to and is implemented the distance between point from traffic sign placement point to mark.In order to ensure having for traffic sign placement
Effect property, driver before fingerpost implements point should be completed to recognize the sequence of operations such as reading, decision-making, reaction and action, that is, recognize
Read apart from l, apart from j, reaction distance r, taking action, it is following meet apart from d and mark distance of visual cognition S and mark future range D for decision-making
Relation：
S+D≥l+j+r+d (5)
Can determine according to speed and time and reading is recognized apart from l, apart from j, reaction distance r and action are apart from d, concrete public for decision-making
Formula is as follows：
L=(v/3.6) * t=(v/3.6) f ((v/3.6), i) (6)
J=(v/3.6) * tj(7)
R=(v/3.6) * tr(8)
D=n* (v/3.6) * tc+(v2-(v')2)/(2*3.62*a) (9)
Wherein, tjIt is that driver judges decision-making time, trIt is driver reaction time, tcComplete used by a lane change
Time, a are vehicle deceleration, and these parameters can be obtained by document；V is travel speed when vehicle finds mark, and v' is
Speed after the completion of vehicle deceleration, t are recognition time of the driver to fingerpost, are that ambient light illumination i and vehicle find mark
When travel speed v function, n is vehicle lane change number of times, and these parameters can be determined by experiment.
(6) (7) (8) (9) are substituted into (5) Shi Ke get
D≥(v/3.6)[f((v/3.6),i)+tj+tr]+n*(v/3.6)*tc+(v2-(v')2)/(2*3.62*a)-Smin
Therefore, the minimum future range model of fingerpost is：
Dmin=(v/3.6) [f ((v/3.6), i)+tj+tr]+n*(v/3.6)*tc+(v2-(v')2)/(2*3.62*a)-Smin
(5) determine the minimum future range value of fingerpost under dynamic low-light (level) environment；
By 7 groups of illumination value i=0.1,100,200,300,400,500,600 (lx) and 6 groups of velocity amplitude v=30,40,50,
60,70,80 (km/h) combination of two, according to the fingerpost minimum future range model determined in (4), can obtain per group of light
According to future range corresponding with velocity amplitude, the maximum of calculated future range is taken as urban road dynamic low-visibility conditions
The minima of middle fingerpost future range.
The present invention is further illustrated below in conjunction with the accompanying drawings.
As shown in Fig. 2 the vehicle travelled with a certain speed on urban road, after driver has found fingerpost, meeting
Experience recognizes a series of processes such as reading, decision-making, reaction and action, and driver is only not more than mark in the operating range of this process and regards
Recognize distance and future range sum, just can guarantee that safety.When vehicle is travelled with friction speed in varying environment illumination, drive
The landmark identification time of people can substantially change, and the future range needed for which also correspondingly changes.
Due to Vehicle Speed and ambient light illumination non-constant, therefore, recognition time of the driver to fingerpost
Have differences.And traditional fingerpost minimum future range computational methods deficiency from the aspect of mark recognizes read time, this can lead
The minimum future range for determining is caused to lack effectiveness.The present invention is regarded to driver by Experimental Research ambient light illumination and travel speed
Feel the coupling influence of function, set up the fingerpost recognition time model with regard to ambient light illumination and travel speed, and according to showing the way
The effectiveness of traffic sign placement requires, proposes a fingerpost future range model based on above-mentioned recognition time model, pass through
This model can determine different travel speeds and the ambient light illumination corresponding future range of combination, and then can determine rational minimum
Future range.
As this method is determine urban road fingerpost according to different ambient light illuminations and travel speed preposition
Distance, therefore this method there is using value in urban road traffic safety management aspect.
Claims (2)
1. the urban road fingerpost future range of consideration ambient light illumination change determines method, it is characterized in that including following step
Suddenly：
(1) contrived experiment, probes into the visual function rule of driver under dynamic low-light (level) bad border；
The typically fingerpost comprising 4 road names is chosen in experiment, and, used as identification object, the recognition time with driver is as vision
Function measurement index, probes into ambient light illumination and coupling influence of the velocity variations to the fingerpost recognition time, wherein, ambient light illumination
Measurement range is 0.1-600lx, and vehicle reaches mark and finds that the travel speed of point arranges 6 grades, respectively：30km/h,
40km/h, 50km/h, 60km/h, 70km/h, 80km/h；Different travel speeds finger corresponding with ambient light illumination is obtained by testing
Road sign will recognition time t, unit of time is s；
(2) the recognition time model of illumination and speed coupling influence, according to experimental data, is set up；
According to the data obtained in (1), the fingerpost recognition time is probed into ambient light illumination and travel speed using Matlab
Changing Pattern, and driver's recognition time model of illumination and speed coupling influence is set up further with three-dimension curved surface analytic process
((v/3.6), i), wherein v represents vehicle and reaches the speed indicated when finding point t=f, and unit is km/h；I represents ambient light illumination,
Unit is lx；
(3) driver's mark distance of visual cognition model is set up；
Indicate that distance of visual cognition S is referred to from mark discovery point to traffic sign placement point, from the beginning of finding mark from driver,
As the continuation of vehicle is travelled, driver's sight line is gradually increased with the angle α of roadside sign, when α increases to the visual angle with driver
When threshold θ is equal, indicates and will disappear from the visual field of driver；Therefore, the safety in order to ensure travelling, driver should be
Before marks obliterated, complement mark recognizes reading work, that is, indicate recognition distance S, disappear apart from m and recognize reading apart from l three should meet with
Lower relation：
S-l≥m (1)
Determined according to speed and time reading is recognized apart from l：
L=(v/3.6) * t=(v/3.6) * f ((v/3.6), i) (2)
When reaching marks obliterated point according to driver, its view plane determines disappearance apart from m with the geometrical relationship of tag distance：
Wherein H is the vertical line for indicating central point to driver's view plane, and K is to drive for the side of vehicle centre-line to fingerpost away from, θ
People's angular threshold of eye is sailed, 15 ° are typically taken；
(2) (3) are substituted into (1) Shi Ke get
Therefore, fingerpost minimum recognition distance
(4) the fingerpost future range model with regard to ambient light illumination and speed is set up；
Future range D is referred to and is implemented the distance between point from traffic sign placement point to mark, in order to ensure the effectiveness of traffic sign placement,
Driver before fingerpost implements point should complete to recognize the sequence of operations such as reading, decision-making, reaction and action, that is, recognize reading distance
L, decision-making are taken action and should meet following relationship apart from d and mark distance of visual cognition S and mark future range D apart from j, reaction distance r：
S+D≥l+j+r+d(5)
Can determine according to speed and time and reading is recognized apart from l, apart from j, apart from d, concrete formula is such as reaction distance r and action for decision-making
Under：
L=(v/3.6) * t=(v/3.6) f ((v/3.6), i) (6)
J=(v/3.6) * tj(7)
R=(v/3.6) * tr(8)
D=n* (v/3.6) * tc+(v2-(v')2)/(2*3.62*a) (9)
Wherein, tjIt is that driver judges decision-making time, trIt is driver reaction time, tcIt is to complete the time used by a lane change,
A is vehicle deceleration, and these parameters can be obtained by document；Travel speed when v is vehicle discovery mark, v' is that vehicle subtracts
Speed after the completion of speed, t are recognition time of the driver to fingerpost, are that ambient light illumination i and vehicle find to travel during mark
The function of speed v, n is vehicle lane change number of times, and these parameters can be determined by experiment；
(6) (7) (8) (9) are substituted into (5) Shi Ke get
D≥(v/3.6)[f((v/3.6),i)+tj+tr]+n*(v/3.6)*tc+(v2-(v')2)/(2*3.62*a)-Smin
Therefore, the minimum future range model of fingerpost is：
Dmin=(v/3.6) [f ((v/3.6), i)+tj+tr]+n*(v/3.6)*tc+(v2-(v')2)/(2*3.62*a)-Smin；
(5) determine the minimum future range value of fingerpost under dynamic low-light (level) environment；
By 7 groups of illumination value i=0.1,100,200,300,400,500,600 (lx) and 6 groups of velocity amplitude v=30,40,50,60,
70,80 (km/h) combination of two, according to the fingerpost minimum future range model determined in (4), can obtain every group of illumination
Future range corresponding with velocity amplitude, in taking the maximum of calculated future range as urban road dynamic low-visibility conditions
The minima of fingerpost future range.
2. the urban road fingerpost future range of consideration ambient light illumination change according to claim 1 determines method,
It is characterized in that ambient light illumination scope is 0.1-600lx, including sufficient photoenvironment, low-visibility conditions and night-environment, favorably
Change the impact to driver's vision function in ambient light illumination is probed into.
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| CN117037538A (en) * | 2023-07-31 | 2023-11-10 | 成都工业职业技术学院 | System for determining AGS distance of special expressway of small bus |
| CN117272654A (en) * | 2023-09-26 | 2023-12-22 | 重庆交通大学 | Method for setting speed limit sign position of special expressway for small bus |
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Application publication date: 20170315 |