CN107123288B - A kind of unsignalized intersection vehicle guidance device and bootstrap technique - Google Patents
A kind of unsignalized intersection vehicle guidance device and bootstrap technique Download PDFInfo
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- CN107123288B CN107123288B CN201710538126.8A CN201710538126A CN107123288B CN 107123288 B CN107123288 B CN 107123288B CN 201710538126 A CN201710538126 A CN 201710538126A CN 107123288 B CN107123288 B CN 107123288B
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
Abstract
The invention discloses a kind of unsignalized intersection vehicle guidance device and bootstrap techniques；Including：Unsignalized intersection collecting vehicle information module；It is made of video camera and magnetic induction coil, video camera is used to obtain vehicle in the distance of reaction D of intersection at a distance from crossing inlet road stop line and the travel speed of each vehicle；Unsignalized intersection information of vehicles processing module for being predicted by the time of intersection the vehicle in the distance of reaction D of intersection, and calculates the maximum warning speed of vehicle when driving and minimum warning speed；Unsignalized intersection vehicle guiding module, including：The dynamic display screen for being arranged in the mobile projector system on the right side of track and being arranged in by crossing inlet road stop line；Mobile projector system, for guiding vehicle L between intersection distance of reaction D and braking distance to travel, dynamic display screen is for guiding vehicle to be travelled in braking distance L；Improve the traffic capacity of unsignalized intersection as far as possible in the case where ensuring vehicle safety.
Description
Technical field
The invention belongs to intelligent traffic safety control field, specifically a kind of unsignalized intersection vehicle guidance device and draw
Guiding method.
Background technology
With the raising of rapid development of economy and living standards of the people, vehicle guaranteeding organic quantity increases considerably, and road is not
Disconnected enlarging.Inevitably occurs the level-crossing of a considerable number of no signal management and control in the process.These
Intersection is small due to the volume of traffic so that the driver's drive speed having is fast, is often difficult to keep away when vehicle is carried out in other directions of intersection
It allows generate traffic accident；Part driver drives vehicle is careful simultaneously, and travel speed is slow, results in unnecessary delay.
Retrieval discovery is carried out to existing patent for this problem：
Application No. is the patent of " 201210214879.0 " " unsignalized intersection collaborative truck anti-collision system ", the patent
Feature is the driving intention by judging unsignalized intersection all directions vehicle to determine whether there is conflict, when judging there is punching
When burst is raw, controls vehicle braking or predicted to driver's early warning；
Application No. is the patent of " 201510549687.9 ", " unsignalized intersection vehicle pass-through guides under vehicle cooperative surroundings
The characteristics of system and method ", the patent is according to time headway in target zone and target neutral gear fore-aft vehicle operating status, institute
Each vehicle running state analysis is obtained to obtain interspersed transit scenario and be sent to mobile unit；
Patent " the unsignalized intersection optimal control method under bus or train route cooperative surroundings of application number " 201510065215.6 "
And system ", the characteristics of patent, is guided according to preset intersection information seismic responses calculated vehicle right of way information and speed
Information simultaneously routes the message to corresponding vehicle by roadside device.
Existing document has been concerned about the side guided to automobile driver in the case of vehicle loading mobile unit more
Method.But it does not consider：
(1) it is fitted without when the vehicle of on-vehicle information passes through unsignalized intersection and sends guidance information for each vehicle
Problem.
(2) guiding of suggestion speed when should be given when guiding vehicle passes through unsignalized intersection and when is drawn to braking
The problem of leading.
Invention content
The purpose of the present invention is exactly to solve the above-mentioned problems, to provide a kind of unsignalized intersection vehicle guidance device and draw
Guiding method, for guide vehicle safely and fast vehicle safety is being ensured especially suitable for unsignalized intersection by intersection
In the case of improve the traffic capacity of unsignalized intersection as far as possible.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of unsignalized intersection vehicle guidance device, including：Unsignalized intersection collecting vehicle information module, no signal
Intersection vehicles message processing module and unsignalized intersection vehicle guiding module；
The unsignalized intersection collecting vehicle information module, is made of, video camera is used for video camera and magnetic induction coil
The vehicle in the distance of reaction D of intersection is obtained at a distance from crossing inlet road stop line and the traveling of each vehicle is fast
Degree；
The unsignalized intersection information of vehicles processing module, including：Processor, for in intersection distance of reaction D
Interior vehicle is predicted by the time of intersection, and calculates the maximum warning speed of vehicle when driving and minimum warning speed
Degree；
The unsignalized intersection vehicle guiding module, including：Mobile projector system and the arrangement being arranged on the right side of track
Dynamic display screen by crossing inlet road stop line；Mobile projector system, for guiding vehicle in intersection distance of reaction D
It is travelled between braking distance L, dynamic display screen is for guiding vehicle to be travelled in braking distance L.
Wherein：Intersection distance of reaction D be crossing inlet road road setting position and crossing inlet road stop line it
Between distance, be setting value.Driver can tell front when having intersection, and vehicle is at a distance from intersection.
The video camera is mounted at all directions entrance driveway stop line of intersection, and the induction coil is embedded in intersection
All directions entrance driveway road setting position, apart from crossing inlet road, 'STOP' line ahead is D.
Mobile projector system is made of mobile projector track and several mobile projector instrument.Mobile projector track installation is in road
On the right side of road.Mobile projector system is mounted on the right side of intersection all directions road.Mobile projector instrument is mounted on chain, every
Chain is driven by corresponding motor, and chain is arranged in mobile projector track, in this way, motor drives chain rotation, to
Mobile projector instrument is driven to move along projection orbital direction movement.The chain is closed chain, if the shifting of chain-driving
Dynamic projecting apparatus is moved to intersection from the distance of reaction D of intersection, and mobile projector instrument just completes projection work, mobile projector
Instrument can be turned again to the rotation of chain at the distance of reaction D of intersection, wait for use next time.
Mobile projector instrument can move in mobile projector track, and the magnetic induction coil at D has detected vehicle process
When, magnetic induction coil will detect signal and be sent to processor, and processor controls camera acquisition vehicle current driving speed, vehicle
Vehicle current driving speed is transferred to the controller of mobile projector system by message processing module, and controller controls corresponding motor
Operating, each motor drive corresponding chain rotation, install a mobile projector instrument on each chain, mobile projector instrument is in correspondence
In mobile projector moving on rails, the movement velocity of mobile projector instrument and corresponding vehicle current driving speed one under the drive of chain
It causes.Relationship between motor and chain is one-to-one, and each motor only drives a chain rotation, chain and mobile projector
Relationship between instrument is one-to-one, and every chain only drives the movement of a mobile projector instrument, mobile projector instrument and vehicle
Between relationship be also it is one-to-one, each mobile projector instrument only be responsible for it is synchronous with the travel speed of a vehicle.
Mobile projector instrument utilizes line holographic projections, is projected out current vehicle in the air and suggests that travel speed range or prompt are current
Vehicle gives it the gun or prompts the image that vehicle deceleration travels, guiding current vehicle to advance.
Dynamic display screen makes the vehicle only at dynamic display screen distance of reaction L it can be seen that display using projection lamp
Information in screen, information are divided into red font " stopping " and green font " row ".
A kind of unsignalized intersection method for guiding vehicles, includes the following steps：
Step (1)：In unsignalized intersection collecting vehicle information module, upper magnetic induction is buried at the distance of reaction D of intersection
Coil, collection vehicle reach information when induction range, and magnetic induction coil will detect signal and be sent to processor, processor control
Image the vehicle and intersection parking line distance X in machine testing intersection distance of reaction DiWith the travel speed V of vehiclei。
Step (2)：In unsignalized intersection information of vehicles processing module, according to the vehicle of intersection all directions with intersect
The distance X of mouth stop lineiWith travel speed ViCome determine each vehicle maximum warning speed when driving, minimum warning speed with
And the designation range L of dynamic display screen.
Step (3)：In unsignalized intersection guiding module, the magnetic induction coil in the distance of reaction D of intersection has sensed
Vehicle by when, camera acquisition vehicle current driving speed, information of vehicles processing module transmits vehicle current driving speed
To the controller of mobile projector system, controller controls corresponding motor operating, and each motor drives corresponding chain rotation, often
One mobile projector instrument is installed on a chain, mobile projector instrument under the drive of corresponding chain in mobile projector moving on rails,
The movement velocity of mobile projector instrument is consistent with corresponding vehicle current driving speed, to the projecting apparatus skidded off in mobile projector system
Guide vehicle traveling；When vehicle is travelled to braking distance, mobile projector instrument closes projection information, at this time dynamic display screen root
According to calculated designation range L in information of vehicles processing module, corresponding letter is projected out in designation range L using projection lamp
Breath, guiding vehicle pass through unsignalized intersection.
In the step (1), intersection distance of reaction D according to driver can tell front have intersection when with intersect
Mouthful distance calculate, calculation formula is：
Wherein：D indicates the intersection width in driver's current driving direction；θ indicates the vision addressability of driver, to set
Definite value.
In the step (2), speed when warning speed passes through the induction coil at D according to vehicle calculates.Incude at D
Vehicle is not detected in coil when passing through, and the vehicle warning speed in each induction range in other directions of intersection is constant；Incude at D
Coil Detector is to there is vehicle n1When arrival, car speed V is recorded1, calculate separately out current time vehicle n1It is passed through by present speed
Cross the required time t of intersection exit, entrance1c、t1r, formula is：
Meanwhile it calculating and vehicle n1Direction have all vehicles of the direction of conflict in the distance of reaction of intersection by
Present speed is by intersection exit, the required time t of entrance2ic、t2ir, formula is：
In formula：X2iFor with vehicle n1Direction have the vehicle i in the direction of conflict and crossing inlet road stop line away from
From；V2iFor with vehicle n1The speed that direction has the vehicle i in the direction of conflict current.
Work as t2ir> t1rWhen, then there is maximum suggestion vehicle velocity V for vehicle ii(max)；
Vi(max)=min (V 'i(max),V0 i(max))； (6)
In formula, V0 i(max)Vehicle n is sensed for the magnetic induction coil at D1Reach the maximum suggestion vehicle before intersection entrance
Speed is setting value, V 'i(max)For vehicle n1When reaching intersection exit, vehicle i reaches exactly to speed when intersection entrance, meter
Calculating formula is：
For vehicle n1There is minimum suggestion vehicle velocity Vn1(min), calculation formula is as follows：
Vn1(min)=max { Vn11(min),Vn12(min),…,Vn1i(min)}； (8)
In formula, ti1V ' is accelerated to for vehicle ii(max)Time；ti2It is vehicle i with speed V 'i(max)Entrance driveway is driven to stop
The time of fare；Vn1i(min)When being exported by unsignalized intersection for vehicle i, vehicle n1Reach exactly to the speed of intersection entrance
Degree, aiFor the braking acceleration of vehicle i.
Work as t2ir≤t1rWhen, then there is minimum suggestion vehicle velocity V for vehicle ii(min)；
Vi(min)=max (V 'i(min),V0 i(min))； (12)
In formula, V0 i(min)Vehicle n is sensed for the magnetic induction coil at D1Reach the suggestion most trolley before intersection entrance
Speed, V0 i(min)Setting value is 0, V 'i(min)For vehicle n1When reaching intersection entrance, when vehicle i reaches exactly to intersection exit
Speed, calculation formula are：
For vehicle n1There is maximum suggestion vehicle velocity Vn1(max), calculation formula is as follows：
Vn1(max)=min { Vn11(max),Vn12(max),…,Vn1i(max)}； (14)
T in formulai3V is decelerated to for vehicle ii(min)Time；ti4It is vehicle i with speed Vi(min)Traveling to entrance driveway stops
The time of line；Vn1i(max)When being exported by unsignalized intersection for vehicle i, vehicle n1 reaches exactly to the speed of intersection entrance.
In the step (2), does not press suggest speed traveling when the vehicle is running, if current vehicle speed is less than minimum speed,
Projecting apparatus shows that acceleration signals reminds vehicle to accelerate, if current vehicle speed is more than the max speed, projecting apparatus shows that reduce-speed sign carries
Awake vehicle deceleration.
In the step (3), when vehicle n1 is travelled to braking distance, calculates vehicle n1 and pass through entrance driveway stop line
The time t needed1ntAnd the time t that the non-vehicle travelled in the same direction needs2it,
Work as t1ntLess than t2itMinimum value when, dynamic display screen display green " row ",
Work as t1ntMore than t2itMinimum value when, font " stopping " that dynamic display screen is displayed in red.
In the step (3), the designation range L of dynamic significant screen is according to the braking Distance Calculation of vehicle, formula：
V in formula0For travel speed of the driver at braking distance L；A is the acceleration of vehicle traveling；T1It is arrived for driver
It is setting value, T up to designation range L to the time for taking reaction after display information is seen1It is thrown including driver from attention is mobile
Shadow instrument, which is switched to, notices that the time of dynamic display screen and driver were seen after dynamic significant screen information to the time for taking reaction.
When two kinds of guide devices are converted, the information of mobile projector instrument projection is different from the information that dynamic display screen is shown,
It is also different to the stimulation of driver.In general, mobile projector instrument projection information is acceleration, dynamic display screen is " row " and movement
Projector information is acceleration, dynamic display screen information is that " stopping " compares the latter's driver actions' intensity bigger.Driver sees
When measuring dynamic display screen, by present speed V0The difference the time required to intersection is reached, also not to the stimulus intensity of driver
Together.Formula is as follows：
In formula：A refers to the acceleration of vehicle traveling；KpjWhen finger dynamic display screen information is p and mobile projector instrument information is j,
The response intensity coefficient of driver is calculating K to ensure safetypjWhen, it is assumed that dynamic display screen information p and mobile projector information j
It is adapted, reduces KpjAbsolute value.
The designation range L of dynamic significant screen is：
When vehicle n1 is travelled to the designation range of dynamic display screen, unsignalized intersection information of vehicles processing module meter
Calculate the time t that vehicle n1 is needed by entrance driveway stop line1ntAnd the non-vehicle travelled in the same direction reaches direction entrance driveway and stops
The time t that fare needs2it,
Work as t1ntLess than t2itMinimum value when, display screen display green " row ",
Work as t1ntMore than t2itMinimum value when, font " stopping " that display screen is displayed in red.
Beneficial effects of the present invention are：
(1) vehicle is not entered the speed of operation before unsignalized intersection and carries out speed suggestion by the present invention, accomplish to prevent in
The vehicle early warning of possible trouble.
(2) to will enter unsignalized intersection vehicle carry out dual boot, the difference according to vehicle in intersection position,
Guide device is divided into the guiding of suggestion speed and row, stops mark guiding so that vehicle safety quickly passes through unsignalized intersection.
(3) characteristics such as the speed in induction range are reached according to vehicle is allowed to design value more to suggesting that speed is updated
It is reasonable.
(4) under the traffic environment for fully considering unsignalized intersection, when guidance information is converted driver psychology activity etc. because
The variation of driving behavior caused by element.
Description of the drawings
Fig. 1 is the schematic diagram of vehicle guidance device；
Fig. 2 is the schematic diagram that mobile projector instrument shows deceleration；
Fig. 3 is the schematic diagram that speed is suggested in the display of mobile projector instrument；
Fig. 4 is the schematic diagram that the display of mobile projector instrument accelerates information；
Fig. 5 is present system logic chart；
Fig. 6 is the hardware annexation figure of the present invention；
Wherein：1 indicates mobile projector track；2 indicate mobile projector instrument；3 indicate dynamic display screen.
Specific implementation mode
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1, Fig. 5, Fig. 6, a kind of unsignalized intersection vehicle guidance device design method includes the following steps：
Step 1：In intersection all directions, upper magnetic induction coil is buried at the inlet channel D of intersection, collection vehicle reaches
The information such as speed when induction range.
The calculation formula of magnetic induction coil placement location D is：
Wherein：D indicates the intersection width of the direction；θ indicates the vision addressability of driver.
Step 2：With the vehicle and intersection parking line distance X in camera shooting machine testing induction range DiWith travel speed Vi。
The video camera is mounted on the montant of crossing inlet road parking line position, and each direction in intersection is equipped with a camera shooting
Machine；
Step 3:When magnetic induction coil detected vehicle by when, if the volume of traffic in other directions of intersection be 0, move
Dynamic projecting apparatus following vehicle traveling, does not show guidance information.
When magnetic induction coil detected vehicle by when, it is mobile to throw if the volume of traffic in other directions of intersection is not 0
Shadow instrument 2 is travelled along 1 following vehicle of mobile projector track, and is projected out suggestion speed.
It is recommended that speed when speed passes through the induction coil at D according to vehicle calculates.Induction coil has detected vehicle at D
N1When arrival, car speed V is recorded1, calculate separately out the vehicle at this time by present speed by intersection entrance when
Between t1c、t1r, formula is：
It calculates and vehicle n simultaneously1Direction has all vehicles of the direction of conflict in dynamic control section by it
Present speed by intersection entry and exit time t2ic、t2ir, formula is：
In formula：X2iFor with vehicle n1Direction has the vehicle i in the direction of conflict at a distance from intersection exit stop line；
V2iFor vehicle n1The speed that direction has the vehicle i in the direction of conflict current.
Work as t2ir> t1rWhen, then there is maximum suggestion vehicle velocity V for vehicle imax
Vi(max)=min (V 'i(max),V0 i(max))； (6)
V in formula0 i(max)Vehicle n is sensed for the magnetic induction coil at D1Suggestion the max speed before arrival, V 'i(max)For vehicle
N1When reaching intersection exit, vehicle i reaches exactly to speed when intersection entrance, and calculation formula is：
For vehicle n1There is suggestion minimum vehicle velocity Vn1(min), calculation formula is as follows：
Vn1(min)=max { Vn11(min),Vn12(min),…,Vn1i(min)}； (8)
T in formulai1、ti2Respectively vehicle i accelerates to V 'i(max)Time and vehicle i with speed V 'i(max)Drive to import
The time of road stop line；Vn1i(min)When for vehicle i by unsignalized intersection entrance, vehicle n1 reaches exactly to intersection exit
Speed.
A in formulaiFor the traveling acceleration of vehicle i.
Work as t2ir≤t1rWhen, then there is suggestion minimum vehicle velocity V for vehicle ii(min)
Vi(min)=max (V 'i{min),V0 i(min))； (12)
V in formula0 i(min)Vehicle n is sensed for the magnetic induction coil at D1Suggestion minimum speed before arrival, V 'i(min)For vehicle
N1When reaching intersection entrance, vehicle i reaches exactly to speed when intersection exit, and calculation formula is：
For vehicle n1There is maximum suggestion vehicle velocity Vn1(max), calculation formula is as follows：
Vn1(max)=min { Vn11(max),Vn12(max),…,Vn1i(max)}； (14)
T in formulai3、ti4Respectively vehicle i decelerates to Vi(min)Time and vehicle i with speed Vi(min)It travels to entrance driveway
The time of stop line；Vn1i(max)When being exported by unsignalized intersection for vehicle i, vehicle n1 reaches exactly to the speed of intersection entrance
Degree.
As shown in Figure 2, Figure 3, Figure 4, it does not press when the vehicle is running and suggests speed traveling, that is, when being less than minimum speed, projection
Instrument shows that acceleration signals reminds vehicle to accelerate, and when more than the max speed, projecting apparatus shows that reduce-speed sign reminds vehicle deceleration.
Step 4：Dynamic display screen 3 is placed at crossing inlet road stop line guides vehicle by unsignalized intersection,
Dynamic display screen is made in the vehicle within crossing inlet road stop line L using polygon prism technology it can be seen that display screen
In information, information is divided into red font " stopping " and green font " row ".It is in display information using illusion technology simultaneously
When " stopping ", the high small stone pier of solid of multiple duplicity is projected out at intersection parking line.
The wherein designation range L of dynamic display screen is according to the braking Distance Calculation of vehicle, formula：
V in formula0For travel speed of the driver at braking distance L；A is the acceleration of vehicle traveling；T1It is arrived for driver
Up to designation range L to seeing that it includes driver from noticing that mobile projector instrument is switched to note to take the time of reaction after display information
It anticipates the time of dynamic display screen and driver saw after dynamic significant screen information to the time for taking reaction.
When two kinds of guide devices are converted, the information of mobile projector instrument projection is different from the information that dynamic display screen is shown,
It is also different to the stimulation of driver.In general, mobile projector instrument projection information is acceleration, dynamic display screen is " row " and movement
Projector information is acceleration, dynamic display screen information is that " stopping " compares the former driver actions' intensity bigger.Driver sees
By present speed V when measuring dynamic display screen0The difference the time required to intersection is reached, also not to the stimulus intensity of driver
Together.Formula is as follows：
In formula：A refers to traveling acceleration；KpjWhen finger dynamic display screen information is p and mobile projector instrument information is j, driver
Response intensity coefficient, to ensure safety, calculate KpjWhen, it is assumed that dynamic display screen information p is fitted with mobile projector information j phases
It answers, reduces KpjAbsolute value.
The designation range L of dynamic display screen is：
When vehicle n is travelled to the designation range of dynamic display screen, message processing module calculates vehicle n and passes through import
The time t that road stop line needs1ntAnd the vehicle in conflict direction reaches the time t that direction entrance driveway stop line needs2it, when
t1ntLess than t2itMinimum value when, display screen display green " row ", work as t1ntMore than t2itMinimum value when, display screen shows red
The font " stopping " of color
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (9)
1. a kind of unsignalized intersection method for guiding vehicles, characterized in that
The device of the method application, including：Unsignalized intersection collecting vehicle information module, unsignalized intersection information of vehicles
Processing module and unsignalized intersection vehicle guiding module；
The unsignalized intersection collecting vehicle information module, is made of video camera and magnetic induction coil, and video camera is for obtaining
Vehicle in the distance of reaction D of intersection is at a distance from crossing inlet road stop line and the travel speed of each vehicle；
The unsignalized intersection information of vehicles processing module, including：Processor, for in the distance of reaction D of intersection
Vehicle is predicted by the time of intersection, and calculates the maximum warning speed of vehicle when driving and minimum warning speed；
The unsignalized intersection vehicle guiding module, including：It is arranged in mobile projector system on the right side of track and is arranged in friendship
Dynamic display screen by prong entrance driveway stop line；Mobile projector system, for guiding vehicle in intersection distance of reaction D and system
It is travelled between dynamic distance L, dynamic display screen is for guiding vehicle to be travelled in braking distance L；Wherein：Intersection distance of reaction D
It is setting value for the distance between crossing inlet road road setting position and crossing inlet road stop line；
It the described method comprises the following steps：
Step (1)：In unsignalized intersection collecting vehicle information module, upper magnetic induction coil is buried at the distance of reaction D of intersection,
Collection vehicle reaches information when induction range, and magnetic induction coil will detect signal and be sent to processor, processor control camera shooting
Vehicle in the distance of reaction D of machine testing intersection and intersection parking line distance XiWith the travel speed V of vehiclei；
Step (2)：In unsignalized intersection information of vehicles processing module, stopped with intersection according to the vehicle of intersection all directions
The distance X of fareiWith travel speed ViTo determine that the maximum of each vehicle when driving guards against speed, minimum guards against speed and dynamic
The designation range L of state display screen；
Step (3)：In unsignalized intersection guiding module, the magnetic induction coil in the distance of reaction D of intersection has sensed vehicle
By when, vehicle current driving speed is transferred to shifting by camera acquisition vehicle current driving speed, information of vehicles processing module
The controller of dynamic optical projection system, controller control corresponding motor operating, and each motor drives corresponding chain rotation, Mei Gelian
One mobile projector instrument is installed, mobile projector instrument is under the drive of corresponding chain in mobile projector moving on rails, movement on item
The movement velocity of projecting apparatus is consistent with corresponding vehicle current driving speed, the projecting apparatus guiding to be skidded off in mobile projector system
Vehicle travels；When vehicle is travelled to braking distance, mobile projector instrument closes projection information, and dynamic display screen is according to vehicle at this time
Calculated designation range L in message processing module, is projected out corresponding information using projection lamp in designation range L, draws
Guide-car passes through unsignalized intersection.
2. a kind of unsignalized intersection method for guiding vehicles as described in claim 1, characterized in that
In the step (1), intersection distance of reaction D can tell when there is an intersection in front and intersection according to driver
Distance calculates, and calculation formula is：
Wherein：D indicates the intersection width in driver's current driving direction；θ indicates the vision addressability of driver, for setting
Value.
3. a kind of unsignalized intersection method for guiding vehicles as claimed in claim 2, characterized in that
In the step (2), speed when warning speed passes through the induction coil at D according to vehicle calculates；The induction coil at D
When vehicle is not detected passing through, the vehicle warning speed in each induction range in other directions of intersection is constant；The induction coil at D
Vehicle n is detected1When arrival, car speed V is recorded1, calculate separately out current time vehicle n1By present speed by handing over
Prong outlet, the required time t of entrance1c、t1r, formula is：
Meanwhile it calculating and vehicle n1Direction has all vehicles of the direction of conflict in the distance of reaction of intersection by current
By intersection exit, entrance required time, formula is speed：
In formula：X2iFor with vehicle n1Direction has the vehicle i in the direction of conflict at a distance from crossing inlet road stop line；V2i
For with vehicle n1The speed that direction has the vehicle i in the direction of conflict current；
Work as t2ir> t1rWhen, then there is maximum suggestion vehicle velocity V for vehicle ii(max)；
Vi(max)=min (V 'i(max),V0i(max))；(6)
In formula, V0 i(max)Vehicle n is sensed for the magnetic induction coil at D1The maximum suggestion speed before intersection entrance is reached,
Vi′(max)For vehicle n1When reaching intersection exit, vehicle i reaches exactly to speed when intersection entrance, and calculation formula is：
For vehicle n1There is minimum suggestion vehicle velocity Vn1(min), calculation formula is as follows：
Vn1(min)=max { Vn11(min),Vn12(min),…,Vn1i(min)}；(8)
In formula, ti1V ' is accelerated to for vehicle ii(max)Time；ti2It is vehicle i with speed V 'i(max)Drive to entrance driveway stop line
Time；Vn1i(min)When being exported by unsignalized intersection for vehicle i, vehicle n1Reach exactly to the speed of intersection entrance, ai
For the braking acceleration of vehicle i；
Work as t2ir≤t1rWhen, then there is minimum suggestion vehicle velocity V for vehicle ii(min)；
Vi(min)=max (V 'i(min),V0 i(min))；(12)
V in formula0 i(min)Vehicle n is sensed for the magnetic induction coil at D1The suggestion minimum speed before intersection entrance is reached,
V′i(min)For vehicle n1When reaching intersection entrance, vehicle i reaches exactly to speed when intersection exit, and calculation formula is：
For vehicle n1There is maximum suggestion vehicle velocity Vn1(max), calculation formula is as follows：
Vn1(max)=min { Vn11(max),Vn12(max),…,Vn1i(max)}；(14)
T in formulai3V is decelerated to for vehicle ii(min)Time；ti4It is vehicle i with speed Vi(min)Travel to entrance driveway stop line when
Between；Vn1i(max)When being exported by unsignalized intersection for vehicle i, vehicle n1 reaches exactly to the speed of intersection entrance.
4. a kind of unsignalized intersection method for guiding vehicles as claimed in claim 3, characterized in that
In the step (2), does not press suggest speed traveling when the vehicle is running, if current vehicle speed is less than minimum speed, project
Instrument shows that acceleration signals reminds vehicle to accelerate, if current vehicle speed is more than the max speed, projecting apparatus shows that reduce-speed sign reminds vehicle
Slow down.
5. a kind of unsignalized intersection method for guiding vehicles as claimed in claim 4, characterized in that
In the step (3), when vehicle n1 is travelled to braking distance, calculates vehicle n1 and needed by entrance driveway stop line
Time t1ntAnd the time t that the non-vehicle travelled in the same direction needs2it,
Work as t1ntLess than t2itMinimum value when, display screen display green " row ",
Work as t1ntMore than t2itMinimum value when, font " stopping " that display screen is displayed in red.
6. a kind of unsignalized intersection method for guiding vehicles as claimed in claim 5, characterized in that
In the step (3), the designation range L of dynamic significant screen is according to the braking Distance Calculation of vehicle, formula：
V in formula0For travel speed of the driver at braking distance L；A is the acceleration of vehicle traveling；T1It reaches and draws for driver
Range L is led to seeing that it includes driver from noticing that it is dynamic that mobile projector instrument is switched to attention to take the time of reaction after display information
The time of state display screen and driver saw after dynamic significant screen information to the time for taking reaction；
When driver observes dynamic display screen, by present speed V0The difference the time required to intersection is reached, to the thorn of driver
Sharp intensity is also different；Formula：
In formula：A refers to the acceleration of vehicle traveling；KpjWhen finger dynamic display screen information is p and mobile projector instrument information is j, drive
The response intensity coefficient of member is calculating K to ensure safetypjWhen, it is assumed that dynamic display screen information p is fitted with mobile projector information j phases
It answers, reduces KpjAbsolute value.
7. a kind of unsignalized intersection method for guiding vehicles as claimed in claim 6, characterized in that
The designation range L of dynamic significant screen is：
When vehicle n1 is travelled to the designation range of dynamic display screen, unsignalized intersection information of vehicles processing module calculates
The time t that vehicle n1 is needed by entrance driveway stop line1ntAnd the non-vehicle travelled in the same direction reaches direction entrance driveway stop line
The time t needed2it,
Work as t1ntLess than t2itMinimum value when, display screen display green " row ",
Work as t1ntMore than t2itMinimum value when, font " stopping " that display screen is displayed in red.
8. a kind of unsignalized intersection method for guiding vehicles as described in claim 1, characterized in that
Mobile projector system is made of mobile projector track and several mobile projector instrument；Mobile projector track installation is on the road right side
Side；
Mobile projector instrument can move in mobile projector track, when the magnetic induction coil at D has detected that vehicle passes through, magnetic
Induction coil will detect signal and be sent to processor, and processor controls camera acquisition vehicle current driving speed, information of vehicles
Vehicle current driving speed is transferred to the controller of mobile projector system by processing module, and controller controls corresponding motor fortune
Turn, each motor drives corresponding chain rotation, a mobile projector instrument is installed on each chain, mobile projector instrument is in corresponding chain
In mobile projector moving on rails, the movement velocity of mobile projector instrument and corresponding vehicle current driving speed one under the drive of item
It causes；Relationship between motor and chain is one-to-one, and each motor only drives a chain rotation, chain and mobile projector
Relationship between instrument is one-to-one, and every chain only drives the movement of a mobile projector instrument, mobile projector instrument and vehicle
Between relationship be also it is one-to-one, each mobile projector instrument only be responsible for it is synchronous with the travel speed of a vehicle.
9. a kind of unsignalized intersection method for guiding vehicles as described in claim 1, characterized in that
Mobile projector instrument utilizes line holographic projections, is projected out current vehicle in the air and suggests travel speed range or prompt current vehicle
The image for giving it the gun or prompting vehicle deceleration to travel, guiding current vehicle advance；
Dynamic display screen makes the vehicle only at dynamic display screen distance of reaction L it can be seen that in display screen using projection lamp
Information, information is divided into red font " stopping " and green font " row ".
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| CN108564234B (en) * | 2018-05-08 | 2020-06-02 | 北京航空航天大学 | Intersection no-signal self-organizing traffic control method of intelligent networked automobile |
| CN109215358A (en) * | 2018-08-16 | 2019-01-15 | 武汉元鼎创天信息科技有限公司 | City signal crossing safety guidance method and system based on line holographic projections technology |
| CN109859474A (en) * | 2019-03-12 | 2019-06-07 | 沈阳建筑大学 | Unsignalized intersection right-of-way distribution system and method based on intelligent vehicle-carried equipment |
| CN113538932A (en) * | 2021-07-12 | 2021-10-22 | 上海理工大学 | Non-signalized intersection resource scheduling method under cooperative vehicle and road environment |
| CN113963540B (en) * | 2021-10-20 | 2022-06-28 | 浙江海康智联科技有限公司 | Non-signalized intersection lane-level guidance system and method based on vehicle-road cooperation |
| CN114530048B (en) * | 2022-04-24 | 2022-07-01 | 湖南车路协同智能科技有限公司 | Vehicle-road cooperative traffic control system and method for intersection |
| CN115497308B (en) * | 2022-09-13 | 2023-12-05 | 招商局重庆交通科研设计院有限公司 | Intelligent perception-based integrated tunnel entrance flexible blocking control system and method |
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