CN107742432A - Highway operating speed active forewarning system and control method based on bus or train route collaboration - Google Patents
Highway operating speed active forewarning system and control method based on bus or train route collaboration Download PDFInfo
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- CN107742432A CN107742432A CN201710993620.3A CN201710993620A CN107742432A CN 107742432 A CN107742432 A CN 107742432A CN 201710993620 A CN201710993620 A CN 201710993620A CN 107742432 A CN107742432 A CN 107742432A
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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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
Abstract
The invention discloses a kind of highway operating speed active forewarning system based on bus or train route collaboration, including gathering the roadside unit of telecommunication flow information and to gather the weather monitoring device of weather information, described weather monitoring device includes visibility detector, type rain-snow gauge and to the communication module with described roadside unit communication link, and described roadside unit with the board units of vehicle communicating.By using visibility detector, type rain-snow gauge, roadside unit and board units, the operation information of Weather information, real-time telecommunication flow information and individual vehicle can be obtained, realization divides weather, pavement branch sections dynamic optimization operating speed, the speed difference of highway adjacent segments is reduced, improves traffic efficiency；To tunnel exit, bend, accident-prone road section, operating speed early warning is carried out, it is horizontal to improve traffic safety.
Description
Technical field
This technology invention belongs to intelligent transportation field, specially using board units, roadside unit and meteorological monitor, divides
Weather, pavement branch sections/node dynamic optimization operating speed, so as to improve traffic efficiency, it is horizontal to improve traffic safety.
Background technology
In recent years, China's highway operation mileage and magnitude of traffic flow sustainable growth, the traffic surveillance and control system of highway
Build and management achieves the Vehicle Detection equipment such as significant progress, substantial amounts of detection coil, video, bayonet socket and has been used for public affairs at a high speed
The traffic safety early warning on road and emergency.However, current traffic monitoring pattern depends on the Traffic flow detecting of macroscopic view,
Deficiency is grasped to the operation information of individual vehicle, therefore the specific aim of traffic prewarning and promptness have much room for improvement.In bad weather
Under the conditions of (such as mist, rain, snow), traffic accidents take place frequently, and partly cause includes：Driver is unfamiliar with to road conditions, Yi Chao
Speed traveling；After traffic accident occurs, alarm not in time, causes subsequent vehicle can not grasp front road conditions and traffic prewarning in time
Information, and then trigger even more serious secondary traffic accident.Therefore, early warning is carried out to highway operating speed, had very
Important realistic meaning.
At present, China's highway is mainly using static operating speed guidance mode, although part highway using
The dynamic operating speed guidance modes of pavement branch sections, its basis are the changes point by Macro-traffic Flow (flow, density, speed)
Analysis；However, under low flow condition (such as night, sparse road), the change of Macro-traffic Flow is not notable, causes traffic prewarning quilt
It is dynamic, not in time, emergency processing hysteresis.Recent years, bus or train route coordination technique is worldwide in the ascendant, is cooperateed with by bus or train route
Technology, the operation information (such as real-time vehicle running position, speed, acceleration-deceleration, Parking situation) of individual vehicle is obtained, is had
Beneficial to the precision for improving transport information, in addition, by bus or train route cooperation interaction technology, traffic prewarning is carried out to individual vehicle, can be shown
Write the specific aim and promptness for improving traffic prewarning.
Chinese patent literature CN201210379451.1 discloses a kind of expressway speed and instructs system, and the system passes through
Wagon detector detects the parameters such as instant speed and space headway, with reference to meteorological and ambient parameter, according to minimum safe between vehicle
Spacing, provide vehicle acceleration and deceleration suggestion, and the LED display issue above track.Chinese patent literature
CN201410234707.9 discloses a kind of highway main line vehicle speed control system, and the system is handed over using video detector
Through-current capacity detect, by customized fuzzy rule, traffic guidance control system optimization provide each divided lane dynamic speed limit or
The operating instruction in track is closed, is exported to each divided lane LED variable speed-limit signs.Chinese patent literature CN201210427353.0
Highway variable speed-limit control system and control method under a kind of rainy day environment are disclosed, this method uses Data mining
Device gathers the magnitude of traffic flow, with reference to real-time rainfall, determines bottleneck section, according to the density and length velocity relation of the magnitude of traffic flow,
Section speed limit is provided, and is shown in variable speed-limit board.
The above method mainly by the analysis of highway Macro-traffic Flow, carries out the speed guiding of macroscopical wagon flow, due to
Lack the operation information of individual vehicle, the operating speed early warning to individual vehicle can not be realized.Chinese patent literature
CN201610643513.3 discloses expressway safety speed guiding system under a kind of foggy environment towards intelligent network connection automobile
System and method, this method obtain the real-time running state information of each car on section using roadside unit and board units are used
And visibility information, calculating analyze optimal speed, driver's reference is distributed to.This method only considers greasy weather factor, triggering
Condition is single, and does not consider other bad weathers (such as snow, rainfall), and the applicability of speed guiding is limited；In addition, this method is neglected
The vehicle speed prewarning that individual vehicle is run in hazardous road node (tunnel exit, bend, accident-prone road section) is omited.
Technological invention content
This technology invention aims to overcome that above-mentioned deficiency, there is provided a kind of highway based on bus or train route collaboration runs car
Fast active forewarning system and method, this method is using visibility detector, type rain-snow gauge, roadside unit, board units, to difference
Bad weather be classified, for each individual vehicle, realize that the speed of different sections of highway/node under the conditions of different weather is drawn
Lead.
This technology invention comprises the following steps that：
A kind of highway operating speed active forewarning system based on bus or train route collaboration, including to gather telecommunication flow information
Roadside unit and to gather the weather monitoring device of weather information, described weather monitoring device includes visibility detector, rain
Snow weighing gauge and to the communication module with described roadside unit communication link, described roadside unit is to vehicle-mounted with vehicle
Unit communications.
Described roadside unit includes communication module and data processing module, and it is arranged on highway main line gateway
At the 500-1000 rice of downstream, at the 200-300 rice of tunnel exit downstream, bend centre position, and the centre of accident-prone road section
Position.
Communicated between board units and roadside unit using special short range communication DSRC technology, roadside unit and weather monitoring
3G or 4G network communications are used between device, visibility detector is arranged on Foggy Area, and type rain-snow gauge is arranged on highway edge
Line.
Also include the variable-ratio direction board with described roadside unit communication link, described variable-ratio direction board includes
LED display and warning lamp.
A kind of control method of the described highway operating speed active forewarning system based on bus or train route collaboration, its feature
It is, comprises the following steps,
1) weather monitoring device gathers weather information and carries out classification classification respectively to meteorology, and described weather information includes drop
Rainfall, snowfall and visibility；Wherein, multiple Meteorological Grades, each Meteorological Grade pair will be respectively divided into per class weather information
Speed meteorological accordingly should be limited, the higher corresponding meteorological restriction speed of Meteorological Grade is smaller；
2) meteorological restriction speed is determined according to meteorological condition, in the presence of multiple meteorological conditions, according to the gas of highest ranking
As condition determines meteorological restriction speed；
3) speed setting suggestion speed is limited according to meteorology and directly notifies board units.
Meteorology is limited into speed and smooth speed comparison step in described step 3), takes smaller value to suggest speed and leading to
Know board units, wherein, the actual operating speed in this section is gathered within the cycle, when this this cycle of section expert's car speed
When being more than or equal to difference threshold with the absolute value of upstream or the operating speed difference of downstream road section, then according to upstream or downstream road section
Operating speed calculate smooth speed in next cycle, it is exhausted when this section and the operating speed difference of upstream or downstream road section
Difference threshold is less than to value, then smooth speed is equal to operating speed.
The computational methods of described smooth speed are,Its
Middle V (xi-1, t) be upstream section operating speed, V (xi+1, t) be downstream road section operating speed,For weight coefficient, instantly
When trip non-intersection speed is more than or equal to upstream non-intersection speed,Span is 0.6-1.0, when downstream non-intersection speed is less than upstream road
During section speed,Span is 0-0.4.
When at least two weather informations are respectively positioned on highest Meteorological Grade, after performing highest Meteorological Grade upgrading one-level
Meteorology limits speed.
Weather information corresponding to bad weather is divided into 1,2,3 and 4 four grade, meteorological limit corresponding to different brackets weather
Determine speed to be respectively 80km/h, 60km/h, 40km/h and 20km/h and sail out of highway.
For main line section, extraction section head end, 85% speed of end roadside unit collection, then average,
Operating speed as section；For tunnel exit, bend, accident-prone road section, 85% speed that roadside unit is gathered
As operating speed, in a detection cycle, operating speed is if greater than 85% speed equal to setting, then upward tourist bus
Send the early warning of " front driving is too fast, please drive with caution "；In a detection cycle, when the roadside unit in these places is examined
The vehicle of more than 2 is measured, maximum braking deceleration is more than or equal to 7.0 meter per seconds2, and the down time of vehicle is more than or equal to 2 points
Clock, then traffic accident is determined with, and upstream vehicle sends the early warning of " danger ahead, please slow down driving ".
This technology The effect of invention is：
By using visibility detector, type rain-snow gauge, roadside unit and board units, Weather information, in real time can be obtained
Telecommunication flow information and individual vehicle operation information, realization divides weather, pavement branch sections dynamic optimization operating speed, reduces public at a high speed
The speed difference of road adjacent segments, improve traffic efficiency；To tunnel exit, bend, accident-prone road section, it is pre- to carry out operating speed
It is alert, it is horizontal to improve traffic safety.
Brief description of the drawings
Fig. 1 is express highway section device layout schematic diagram.
Fig. 2 is tunnel exit device layout schematic diagram.
Fig. 3 is system pie graph.
Fig. 4 is section operating speed boot flow figure.
Fig. 5 is tunnel exit, bend, accident-prone road section vehicle speed prewarning flow chart.
Fig. 6 is roadside unit interacts schematic diagram with board units.
Embodiment
With reference to instantiation and accompanying drawing, the present invention will be further described.
The invention discloses a kind of highway operating speed active forewarning system based on bus or train route collaboration, including to adopt
Collect the roadside unit of telecommunication flow information and to gather the weather monitoring device of weather information, described weather monitoring device includes seeing
Spend detector, type rain-snow gauge and to the communication module with described roadside unit communication link, described roadside unit to
Communicated with the board units of vehicle.
The highway operating speed active forewarning system of the present invention, it collects Weather information, real-time telecommunication flow information
With the operation information of individual vehicle, analyzed, obtain the meteorological of express highway section and limit speed, and to tunnel exit, curved
Road, the operation vehicle of accident-prone road section carry out early warning, and operating speed recommended value and warning information are sent to board units, for car
The reference of human pilot.
Wherein, the highway operating speed active forewarning system of the invention based on bus or train route collaboration is entered by wireless telecommunications
The interaction of row information, wherein, roadside unit is interacted with board units by special short range communication DSRC technology, weather monitoring
Device is interacted with roadside unit by 3G or 4G technologies.Weather monitoring device is made up of visibility detector, type rain-snow gauge, can
Carry out the detection of visibility, rainfall, snowfall.Traffic information acquisition system is made up of roadside unit, board units, vehicle
The speed of board units collection vehicle, braking deceleration, parking duration, vehicle location, and by wireless communication module, be sent to
Roadside unit, the long pointer when flow of section, speed, vehicle braking deceleration, vehicle parking thus roadside unit gathers where.
Specifically, at the upstream and downstream 500-1000 rice of highway main line gateway, tunnel exit downstream 200-300 rice
Place, bend centre position, and the centre position of accident-prone road section, roadside unit is installed；In highway main line section
Centre position, installation visibility detector, type rain-snow gauge, the device layout of section and tunnel exit is as shown in the figure；Visibility is examined
Survey instrument detection visibility index, type rain-snow gauge detection rainfall intensity, snowfall figureofmerit；The board units of vehicle, collection vehicle
Speed, braking deceleration, parking duration, vehicle location, and by wireless communication module, it is sent to the communication mould of roadside unit
Block, the long pointer when flow of section, speed, vehicle braking deceleration, vehicle parking thus roadside unit gathers where.
The data processing module of roadside unit is responsible for calculating the operating speed of section/node.For main line section, road is extracted
Duan Shouduan, 85% speed of end roadside unit collection, then average, the operating speed as section；For tunnel
Outlet, bend, accident-prone road section, using 85% speed of roadside unit collection as operating speed.
Wherein, visibility detector collection visibility information, type rain-snow gauge collection rainfall, snowfall information, and will be severe
Weather is divided into 1,2,3,4 four grade, corresponding to different brackets weather it is meteorological limit speed be respectively 80km/h, 60km/h,
40km/h, 20km/h simultaneously sail out of highway；When visibility, rainfall, snowfall figureofmerit have two while meet a certain early warning
Grade, then operating speed warning grade lifting one-level；Speed operation warning information is prompted by board units.When in the absence of
During bad weather, it is normal express highway section speed limit that the meteorology, which limits speed,.As straight section speed limit is generally
120km/h, curve section speed limit 80-100km/h, tunnel speed limit 60-80km/h, the meteorology, which limits speed, can directly pass through trackside
The communication module of unit is sent to board units, while above-mentioned each speed limit can also be carried directly by the speed limit installed on road roadside
Show board, such as variable-ratio direction board, described variable-ratio direction board includes LED display and warning lamp.Pass through face digital and directly perceived
Color carries out speed warning and informed.
Sister-in-law is controlled to improve overall speed, meteorology is limited into speed sends to roadside unit, sends after treatment
To board units, such as with smooth speed relatively after, the transmission that gets the small value is to board units.
Specifically, when the absolute value of this section and upstream or the operating speed difference of downstream road section is less than difference threshold,
Then it is considered as the section to operate steadily, smooth speed is operating speed, when this section and upstream or the operating speed of downstream road section
The absolute value of difference is more than or equal to difference threshold, during such as 20km/h, the speed difference between smooth section, and data processing module meter
Calculate the smooth speed in this section next cycle：Wherein V (xi-1,
T) it is the operating speed in upstream section, V (xi+1, t) be downstream road section operating speed,For weight coefficient, when downstream road section car
When speed is more than or equal to upstream non-intersection speed,Span is 0.6-1.0, when downstream non-intersection speed is less than upstream non-intersection speed,Span is 0-0.4.When next cycle starts, meteorology is limited speed by data processing module by wireless communication module
Roadside unit is issued with the smaller value in transverse sliding vehicle speed, roadside unit issues board units, for vehicle by wireless communication module
Human pilot refers to, and realizes and the operating speed of vehicle is guided, section operating speed boot flow is as shown in Figure 4.
Meanwhile the operating speed early warning of system of the invention also to tunnel exit, bend, accident-prone road section.At one
In detection cycle, 85% speed that the roadside unit in these places detects, if greater than the speed limit equal to setting, trackside
Unit is sent to the board units of upstream vehicle, sent " front driving is too fast, please drive with caution " by wireless communication module
Early warning；In a detection cycle, when the roadside unit in these places detects the vehicle of more than 2, maximum braking deceleration
More than or equal to 7.0 meter per seconds2, and the down time of vehicle be more than or equal to 2 minutes, then be determined with traffic accident, roadside unit
By wireless communication module, the board units of upstream vehicle are sent to, and upstream vehicle sends and " danger ahead, please slow down and drive
Sail " early warning.Tunnel exit, bend, accident-prone road section vehicle speed prewarning flow are as shown in Figure 5.
It is further elaborated below by specific embodiment.
The first step, the data processing module of roadside unit are responsible for calculating the operating speed of section/node.For main line
Section, extraction section head end, 85% speed of end roadside unit collection, then averages, the operating speed as section.
For example 85% speed of the roadside unit collection of certain section head end is 100km/h, 85% of the roadside unit collection of end
Speed is 90km/h, then the operating speed in the section is 95km/h；For tunnel exit, bend, accident-prone road section, by trackside
85% speed of unit collection is as operating speed, for example 85% speed is 80km/h.
Second step, boisterous classification and early warning.According to visibility, rainfall and snowfall information, by bad weather
Be divided into 1,2,3,4 four grade, corresponding to different brackets weather it is meteorological limit speed be respectively 80km/h, 60km/h, 40km/h,
20km/h simultaneously sails out of highway.Boisterous classification is as shown in the table with early warning situation.
When visibility, rainfall, snowfall figureofmerit have two while meet a certain warning grade, then operating speed early warning etc.
Level lifting one-level.Such as the visibility 200m in certain section<L≤500m, it is 300m or so, has slight snow at present together, then warning grade
It is corresponding meteorological to limit speed suggestion and be reduced to≤60km/h from≤80km/h from 1 grade of lifting to 2 grades, such as it is meteorological limit speed as
60km/h。
3rd step, it is balanced each section wagon flow on the premise of meteorological restriction speed is provided, calculates the transverse sliding vehicle in section
Speed.When the absolute value of this section and upstream or the operating speed difference of downstream road section is more than or equal to difference threshold, during such as 20km/h,
For the speed difference between smooth section, data processing module calculates the smooth speed in this section next cycle：
Wherein V (xi-1, t) be upstream section operation car
Speed, V (xi+1, t) be downstream road section operating speed,For weight coefficient.Assuming that the operating speed in this section is 55km/h, on
The operating speed of trip and downstream road section is respectively 35km/h and 85km/h, and the speed difference absolute value in this section and upstream section is
The speed difference absolute value of 20km/h, this section and downstream road section is 30km/h.Speed for smooth different sections of highway is poor,Value is
0.6, then the speed recommended value in this section be calculated as：VSmoothly(xi, t+ Δs t)=(1-0.6) × 35+0.6 × 85=65km/h, then
Meteorology limits speed and transverse sliding vehicle speed gets the small value and notifies board units, that is, notifies that speed is 60km/h.
4th step, meanwhile, the present invention can also be to the operating speed early warning of tunnel exit, bend, accident-prone road section.One
In individual detection cycle, 85% speed (80km/h in such as first step) that the roadside unit in these places detects, if greatly
In the speed limit equal to setting, such as 70km/h, then the risk of overspeed be present.In a detection cycle, when these places
Roadside unit detect the vehicle of more than 2, maximum braking deceleration is more than or equal to 7.0 meter per seconds2, and during the parking of vehicle
Between be more than or equal to 2 minutes, than being 7.0 meter per seconds if any the maximum braking deceleration of 3 cars2, 7.3 meter per seconds2, 7.5 meter per seconds2, and
The down time of vehicle is respectively 4 minutes, 3 minutes, 2 minutes, then judges the risk for having vehicle rear-end collision accident to occur herein.It is above-mentioned
Situation needs to carry out early warning.The warning information of highway operating speed is sent to board units by information issuing system.
In summary, the present invention can judge meteorological restriction speed by meteorological condition first, and the speed can allow for maximum
Speed, roadside unit is sent to the board units of this section vehicle by wireless communication module, sends such as " bad weather, limit
Fast 60km/h " warning information.When next cycle starts, data processing module is by wireless communication module, by gathering simultaneously
Smooth speed or 85% speed are calculated, the small value of each speed limit is issued board units by roadside unit by wireless communication module,
Referred to for vehicle operator, realize the operating speed guiding to vehicle.
Moreover, at tunnel exit, bend, accident-prone road section, when the risk of overspeed be present, roadside unit leads to
Wireless communication module is crossed, is sent to the board units of upstream vehicle, sends the early warning of " front driving is too fast, please drive with caution "；
When street accidents risks occur, roadside unit is sent to the board units of upstream vehicle by wireless communication module when existing, and
Upstream vehicle sends the early warning of " danger ahead, please slow down driving ".
Obviously, examples detailed above is just for the sake of clearly illustrating example, and is not the restriction to embodiment.For
For those of ordinary skill in the art, other various forms of changes or change can also be made on the basis of the above description
It is dynamic.There is no necessity and possibility to exhaust all the enbodiments, and the obvious change or change thus amplified out
Among moving still in the protection domain of the invention.
Claims (10)
1. a kind of highway operating speed active forewarning system based on bus or train route collaboration, it is characterised in that including gathering
The roadside unit of telecommunication flow information and to gather the weather monitoring device of weather information, described weather monitoring device includes visibility
Detector, type rain-snow gauge and to the communication module with described roadside unit communication link, described roadside unit to
The board units communication of vehicle.
2. the highway operating speed active forewarning system as claimed in claim 1 based on bus or train route collaboration, it is characterised in that
Described roadside unit includes communication module and data processing module, and it is arranged on highway main line gateway upstream and downstream 500-
At 1000 meters, at the 200-300 rice of tunnel exit downstream, bend centre position, and the centre position of accident-prone road section.
3. the highway operating speed active forewarning system as claimed in claim 1 based on bus or train route collaboration, it is characterised in that
Communicated using special short range communication DSRC technology between board units and roadside unit, made between roadside unit and weather monitoring device
With 3G or 4G network communications, visibility detector is arranged on Foggy Area, and type rain-snow gauge is arranged on along highway.
4. the highway operating speed active forewarning system as claimed in claim 1 based on bus or train route collaboration, it is characterised in that
Also include the variable-ratio direction board with described roadside unit communication link, described variable-ratio direction board includes LED display
And warning lamp.
A kind of 5. highway operating speed active forewarning system based on bus or train route collaboration as described in claim any one of 1-4
Control method, it is characterised in that comprise the following steps,
1) weather monitoring device gathers weather information and carries out classification classification respectively to meteorology, and described weather information includes rainfall
Amount, snowfall and visibility；Wherein, multiple Meteorological Grades will be respectively divided into per class weather information, each Meteorological Grade is corresponding
Corresponding meteorological restriction speed, it is smaller that the higher corresponding meteorology of Meteorological Grade limits speed；
2) meteorological restriction speed is determined according to meteorological condition, in the presence of multiple meteorological conditions, according to the meteorological bar of highest ranking
Part determines meteorological restriction speed；
3) speed setting suggestion speed is limited according to meteorology and directly notifies board units.
6. control method as claimed in claim 5, it is characterised in that by meteorology restriction speed and smoothly in described step 3)
Speed comparison step, smaller value is taken to suggest speed and notifying board units, wherein, the reality in this section is gathered within the cycle
Operating speed, when this this cycle of section expert's car speed and the absolute value of upstream or the operating speed difference of downstream road section are more than
During equal to difference threshold, then the smooth speed in next cycle is calculated according to the operating speed of upstream or downstream road section, when this road
Section is less than difference threshold with the absolute value of upstream or the operating speed difference of downstream road section, then smooth speed is equal to operating speed.
7. control method as claimed in claim 5, it is characterised in that the computational methods of described smooth speed are,Wherein V (xi-1, t) be upstream section operating speed, V
(xi+1, t) be downstream road section operating speed,For weight coefficient, when downstream non-intersection speed is more than or equal to upstream non-intersection speed,Span is 0.6-1.0, when downstream non-intersection speed is less than upstream non-intersection speed,Span is 0-0.4.
8. control method as claimed in claim 5, it is characterised in that when at least two weather informations are respectively positioned on highest meteorology etc.
During level, the meteorological restriction speed after highest Meteorological Grade upgrading one-level is performed.
9. control method as claimed in claim 5, it is characterised in that weather information corresponding to bad weather is divided into 1,2,3
With 4 four grades, the meteorological speed that limits corresponding to different brackets weather is respectively 80km/h, 60km/h, 40km/h and 20km/h
And sail out of highway.
10. control method as claimed in claim 5, it is characterised in that for main line section, extraction section head end, end road
85% speed of side unit collection, then averages, the operating speed as section；For tunnel exit, bend, accident
Multi-happening section, using 85% speed of roadside unit collection as operating speed, in a detection cycle, if operating speed
More than or equal to 85% speed of setting, then upstream vehicle sends the early warning of " front driving is too fast, please drive with caution "；One
In individual detection cycle, when the roadside unit in these places detects the vehicle of more than 2, maximum braking deceleration is more than or equal to
7.0 meter per second2, and the down time of vehicle be more than or equal to 2 minutes, then be determined with traffic accident, and upstream vehicle is sent
The early warning of " danger ahead, please slow down driving ".
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