CN108399794A - Tunnel driving safety pre-warning system and method based on vehicle running state detection - Google Patents
Tunnel driving safety pre-warning system and method based on vehicle running state detection Download PDFInfo
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- CN108399794A CN108399794A CN201810160472.1A CN201810160472A CN108399794A CN 108399794 A CN108399794 A CN 108399794A CN 201810160472 A CN201810160472 A CN 201810160472A CN 108399794 A CN108399794 A CN 108399794A
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
The present invention relates to a kind of tunnel driving safety pre-warning systems detected based on vehicle running state, and the vehicle position information acquisition subsystem of the system is mounted in tunnel, for acquiring the temporal information that forward and backward vehicle is logical at corresponding two test points；Vehicle status data processing subsystem calculates the speed of forward and backward vehicle, speed difference and following distance according to the temporal information and goes forward side by side the judgement of every trade vehicle safe coefficient, then by the speed of forward and backward vehicle, speed is poor, following distance and traffic safety degree judging result are sent to traffic safety early warning subsystem；Traffic safety early warning subsystem is used to issue the speed of forward and backward vehicle, speed difference and following distance and carries out early warning.The speed security warning of tunnel driving can be achieved, apart from security warning in the present invention, can effectively enhance acquisition capability of the driver to driving-environment information in tunnel, promotes the reliability and security of tunnel traffic, and then reduce the generation for even avoiding tunnel traffic accident.
Description
Technical field
The invention belongs to traffic driving safety pre-warning system technical field, be related to a kind of tunnel driving safety pre-warning system and
Method.
Background technology
Nowadays the measure in relation to promoting tunnel traffic safety is mainly that section is tested the speed, and camera is violating the regulations to take pictures.It is existing
There are following defects for safety guarantee mode：It can not know whether vehicle speed exceeds the speed limit in tunnel in time；Rear car with speed distance whether
Less than safe distance between vehicles；Whether forward and backward vehicle is poor with respect to speed reasonable；And safe early warning etc. can not be carried out to vehicles peccancy.
Invention content
The invention solves first technical problem be to provide it is a kind of detected based on vehicle running state tunnel driving
Safety pre-warning system, the system can measure the following distance in tunnel between Vehicle Speed and front car and rear car in real time, and
Can to drive over the speed limit vehicle and following distance it is too small with speed vehicle carry out safe early warning.
In order to solve the above-mentioned technical problem, the tunnel driving safe early warning system of the invention based on vehicle running state detection
System includes vehicle position information acquisition subsystem, vehicle status data processing subsystem, traffic safety early warning subsystem；The vehicle
Location information acquisition subsystem is mounted in tunnel, for acquire forward and backward vehicle at corresponding two test points by time
Information；Vehicle status data processing subsystem calculates the speed of forward and backward vehicle, speed difference and following distance according to the temporal information and will
Its respectively compared with pre-set velocity limit value and safe following distance carry out traffic safety degree judgement, then by the speed of forward and backward vehicle,
Speed is poor, following distance and traffic safety degree judging result are sent to traffic safety early warning subsystem；Traffic safety early warning subsystem
The speed, speed difference and following distance united for issuing forward and backward vehicle, and current, rear car exceeds the speed limit, following distance is too small or two vehicle speeds
Difference carries out early warning when excessive；The vehicle location detection sensor includes mounting base and two sensor modules；Sensor group
Part includes sensor assembly, T bytes, pitman shaft, spur gear, hydraulic control system, rack piston hydraulic cylinder；The fixation of mounting base
Bottom plate tunnel top is fixedly connected, and hydraulic control system is fixed on fixed bottom plate；Sensor assembly passes through T bytes and pitman shaft
It is fixedly connected, pitman shaft is installed on the U-shaped bottom seat of mounting base, and coaxially connected with spur gear；Spur gear and it is fixed on U-shaped bottom
The piston rod of rack piston hydraulic cylinder on seat engages；Hydraulic control system by two oil pipes respectively with rack piston hydraulic cylinder
Two hydraulic fluid ports connection；Two sensor assemblies are in 90 ° of angles, and two sensors module centers line is in the same plane.
The vehicle position information acquisition subsystem includes vehicle location detection sensor, filter, amplifier, modulus
Converter and microcontroller；Vehicle location detection sensor acquire forward and backward vehicle by two test points when traffic information and by its
It is transferred to microcontroller by filter, amplifier and analog-digital converter, extracting forward and backward vehicle by microcontroller passes through two test points
When corresponding temporal information.
Two sensor assemblies are respectively acquired two test point vehicle pass-through information.Remote control device can be passed through
Start hydraulic control system and realize fuel-flow control in rack piston hydraulic cylinder, and then pitman shaft is driven by the rotation of spur gear
Rotation drives the T bytes coordinated with it and sensor assembly to be rotated around pitman shaft when pitman shaft rotates, and is passed to two with realizing
The correction of sensor module test point deviation.
The vehicle status data processing subsystem includes data reception module, data processing module, wireless data hair
Penetrate module；Data reception module collects front and back two vehicle for receiving microcontroller in vehicle position information acquisition subsystem and passes through
The temporal information of two test points；Data processing module calculated according to the temporal information speed of front and back two vehicle vehicles, speed difference and
Following distance, and itself and pre-set velocity limit value and safe following distance are subjected to traffic safety degree judgement；Wireless data transmission module
The speed of front and back two vehicle, speed difference and following distance and traffic safety degree judging result are sent to traffic safety early warning
System.
The traffic safety early warning subsystem is made of Wireless data receiving device and warning device；Wireless data receives
Device receives the speed of front and back two vehicle of vehicle status data processing subsystem, speed difference and following distance and traffic safety journey
Judging result is spent, early warning is carried out when front and back two vehicle exceeds the speed limit, following distance is too small, speed is poor excessive.
The invention solves second technical problem be to provide and a kind of detected based on vehicle running state using above-mentioned
The method that tunnel driving safety pre-warning system carries out early warning, this method include the following steps：
Step 1: for any vehicle location detection sensor in tunnel, if detecting front truck at its first test point
When time be t1, time when first test point can't detect front truck is t1', detect front truck at second test point
When time be t2；Average speed v when calculating front truck between two test points according to formula (1)1；
Wherein s0For the distance between two test point of vehicle location detection sensor；
Work as v1The pre-set velocity limit value v travelled in tunnel more than vehicle0When, then judge that front truck exceeds the speed limit, passes through traffic safety
Early warning subsystem carries out safe early warning to driver；
Step 2: setting time when the vehicle location detection sensor detects rear car at first test point as t3；
Front truck length l is calculated according to formula (2)1；
L1=v1(t′1-t1) (2)
If Step 3: detecting the length of wagon l of front truck1More than kart vehicle body maximum length setting value l0When, judgement
Front truck is non-kart, then carries out safe early warning to rear car driver by traffic safety early warning subsystem, rear car is reminded to drive
The person of sailing keeps safe following distance with front truck；Safe following distance d is calculated according to formula (3)；
Step 4: calculating the following distance s between front car and rear car according to formula (4)1；
s1=(t3-t2)v1+s0-l1 (4)
If judging, current vehicle is less than d with front truck following distance, by traffic safety early warning subsystem to rear car driver
It carries out safe early warning and safe early warning is carried out to rear car driver；
Step 5: calculating rear car speed v according to method identical with front truck speed is calculated2, then calculated according to formula (5)
The speed difference v of forward and backward vehiclec；
vc=v2-v1 (5)
If judging current forward and backward vehicle speed difference vc≤ 20Km/h then drives rear car by traffic safety early warning subsystem
Member carries out safe early warning.
The present invention can measure a certain instantaneous speed of the vehicle travelled in tunnel, and the driver to driving over the speed limit into
Row early warning is handled；The relative speed difference of front and back two vehicle travelled in tunnel, and the driving excessive to relative velocity can be measured
Member carries out safe early warning；Can measure in tunnel travel vehicle and front truck with following distance of speeding, and to following distance it is too small after
Vehicle carries out safe early warning；The position for the sensor assembly that can be acquired for vehicle position information in the remote adjustment system.
The present invention can effectively enhance acquisition capability of the driver to driving-environment information in tunnel, promote the reliability and peace of tunnel traffic
Quan Xing, and then reduce the generation for even avoiding tunnel traffic accident.
The present invention tunnel driving safety pre-warning system, it can be achieved that tunnel driving speed security warning, apart from safe police
Show, and sensor assembly position can remote adjustment and calibration.Using the technology, it can effectively enhance driver to driving ring in tunnel
The acquisition capability of border information promotes the reliability and security of tunnel traffic, and then reduces and even avoid tunnel traffic accident
Occur.
Description of the drawings
Invention is further described in detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the overall structure block diagram of the present invention；
Fig. 2 is vehicle position information acquisition subsystem structure diagram；
Fig. 3 is vehicle status data processing subsystem fundamental diagram；
Fig. 4 vehicle location detection sensor structure three-dimensional schematic diagrames；
Fig. 5 system overall work step logical flow charts.
Specific implementation mode
As shown in Figure 1, the tunnel driving safety pre-warning system based on vehicle running state detection of the present invention includes vehicle
Location information acquisition subsystem, vehicle status data processing subsystem, traffic safety early warning subsystem.
Multiple vehicle position information acquisition subsystems can be installed in practical application, in tunnel.With one of vehicle position
For setting information gathering subsystem, passed as shown in Fig. 2, the vehicle position information acquisition subsystem includes vehicle location detection
Sensor, filter, amplifier, analog-digital converter and microcontroller, vehicle location detection sensor acquire corresponding two test points
Locate vehicle pass-through information；The filtered device of the information, amplifier, analog-digital converter filter out noise, signal amplification, analog-to-digital conversion respectively
After be transferred to microcontroller, by microcontroller extract when first test point of vehicle location detection sensor detects front truck when
Between t1, first test point can't detect time t when front truck1', time t when detecting front truck at second test point2
With time t when detecting rear car at first test point3。
As shown in figure 4, vehicle location detection sensor includes sensor installation seat 1 and two sensor modules.With wherein
For one, sensor module includes sensor assembly 2, T bytes 31, pitman shaft 32, spur gear 33, hydraulic control system 4, tooth
Piston hydraulic cylinder 5；The fixation bottom plate 1 of mounting base 1 is fixed on tunnel top, hydraulic control system 4 by four long spiro nails 13
It is fixed on fixed bottom plate 1；Sensor assembly 2 is fixedly connected by T bytes 31 with pitman shaft 32, and pitman shaft 32 is installed on installation
On the U-shaped bottom seat 12 of seat 1, and it is coaxially connected with spur gear 33；Spur gear 33 and the rack piston liquid being fixed on U-shaped bottom seat 12
The piston rod of cylinder pressure 5 engages；Hydraulic control system 4 by two oil pipes 41 respectively with two hydraulic fluid ports of rack piston hydraulic cylinder 5
Connection.
Two sensor assemblies 2 are respectively used to acquire traffic information of the forward and backward vehicle by two test points when.It can be by remote
Journey remote control starts hydraulic control system 4 and realizes fuel-flow control in rack piston hydraulic cylinder 5, and then is turned by spur gear 33
The dynamic rotation for driving pitman shaft 32, drives the T bytes 31 coordinated with it and sensor assembly 2 around connecting rod when pitman shaft 32 rotates
Axis 32 rotates, to realize the correction to two 2 test point deviations of sensor assembly.
Diffusion reflection pattern photoelectric sensor, Laser emission receiver or microwave thunder may be used in the sensor assembly 2
Up to etc..
Vehicle status data processing subsystem includes data reception module, data processing module, wireless data transmission module；
Data reception module is detected for receiving the collected vehicle of microcontroller institute in vehicle position information acquisition subsystem by two
Temporal information when point；Data processing module carries out running velocity and vehicle using the relational model of time, displacement and speed
Distance computation carries out traffic safety degree judgement using pre-set velocity limit value and safe following distance；Wireless data transmission module will
Travel condition of vehicle information and safe coefficient judging result are sent to traffic safety early warning subsystem.
Traffic safety early warning subsystem is made of warning devices such as Wireless data receiving device, acousto-optics；Wireless data receives
Device is used to receive the travel condition of vehicle information and safe coefficient judging result of vehicle status data processing subsystem；Alarm is set
Standby is specific actuator, in overspeed of vehicle, spacing is too small, speed poor states such as excessive when carry out early warning.Specific warning technology
Can be used kinds of schemes, scheme one carried out with interior radio station data connection and by voice broadcast early warning perhaps buzzer into
Row early warning；Scheme two is installed multiple color warning lamp in tunnel upper and is carried out in vehicle front irradiation different colours light pre-
It is alert；Scheme three installs projection arrangement in tunnel side, and alert content is projected to vehicle front screen and carries out early warning.
As shown in figure 5, the tunnel driving safe early warning method based on vehicle running state detection of the present invention includes following
Step：
Step 1: vehicle is gradually travelled into tunnel outside tunnel, vehicle position information acquisition subsystem and vehicle-state
Data process subsystem starts.By taking first vehicle position information acquisition subsystem as an example, front truck drives to the vehicle in tunnel
At first test point and second test point of vehicle location detection sensor right over road median perpendicular, and successively gradually
Pass through two test points；Time t is recorded when detecting front truck at corresponding first test point1, first test point detection is not
To (front truck completely by the test point when) record time t when front truck1’；When detecting front truck at second test point
Time is t2；It is assumed that under conditions of front truck at the uniform velocity travels between two test points, it is one small at this that front truck is calculated according to formula (1)
Average speed v in section known distance1, front truck length l is calculated according to formula (2)1；
l1=v1(t′1-t1) (2)
Wherein s0For the distance between corresponding two test point of vehicle location detection sensor；
Work as v1The pre-set velocity limit value v travelled in tunnel more than the vehicle of setting0When, judgement front truck hypervelocity passes through driving
Safe early warning subsystem carries out safe early warning to driver；
If detecting the length of wagon l of front truck1More than kart vehicle body maximum length setting value l0, i.e. front truck may be
Non- kart then carries out safe early warning appropriate to rear car driver by traffic safety early warning subsystem, rear car is reminded to drive
The person of sailing keeps certain safe following distance with front truck.The theory α coefficient following distance d that forward and backward vehicle should be kept is calculated according to formula (3)；
Subsequent front truck sails out of the vehicle location detection sensor detection range；Rear car drives into the vehicle location detection sensor
Detection range；
Step 2: recording time t when vehicle location detection sensor detects rear car at first test point3；Root
The following distance s between front car and rear car is calculated according to formula (4)1；
s1=(t3-t2)v1+s0-l1 (4)
If judging, rear car is less than d with front truck following distance, is carried out to rear car driver by traffic safety early warning subsystem
Safe early warning.
Step 3: calculating rear car speed v according to method identical with front truck speed is calculated2, then calculated according to formula (5)
The speed difference v of forward and backward vehiclec；
vc=v2-v1 (5)
If judging current forward and backward vehicle speed difference vc≤ 20Km/h then drives rear car by traffic safety early warning subsystem
Member carries out safe early warning.
So far traffic safety detection and early warning of one group of forward and backward vehicle under the same vehicle location detection sensor are completed.
Current vehicle constantly moves forward, then will pass through below second and third vehicle location detection sensor, and form new one in rear car
Group traffic safety detection and early warning group, such as the vehicle location detection sensor of arrangement are intensive enough under the premise of rationally, then can see
At the following distance for the speed and front truck that can detect vehicle in real time in tunnel, and accomplish to carry out safe early warning to driver in real time.
After second car drives into tunnel, which becomes the front truck of the rear car and third vehicle of first vehicle,
It also needs to detect it to reach the time of first test point, by the time of first test point and reach second completely
The time of test point.It is driven out to tunnel, tunnel after vehicle is driven through in tunnel below multiple vehicle location detection sensors
Safety pre-warning system completes one action cycle.
According to China's motor vehicle criteria for classification, kart vehicle body maximum length setting value l0=6m (carrying and load-carrying vehicle
Substantially using 6m as line of demarcation)；Highest speed of operation is permitted by being determined by safe speed as defined in specific tunnel, in tunnel in tunnel
Perhaps safety traffic following distance is calculated according to speed and length of wagon and is determined.
The filter of vehicle position information acquisition subsystem mainly carries out noise reduction to the analog signal measured with amplifier and puts
Big processing, filter can effectively filter out the frequency other than the frequency point or the frequency point of specific frequency in power cord, obtain
The power supply signal of one specific frequency, or eliminate the power supply signal after a specific frequency；Amplifier can be by high frequency modulated wave
Signal carries out power amplification and then radiates it into space by antenna to meet the requirement of transmission power, ensures in certain area
Receiver in domain can receive satisfied signal level, and not interfere the communication of adjacent channel.The work of analog-digital converter
With being that analog signal is converted to electric signal by sensor, it is sent into AD converter through amplification and is converted to digital quantity, by digital circuit
It is handled, then analog quantity is reduced to by D/A converter, remove driving execution unit.The effect of microcontroller is the root in numerous data
According to a series of programming and then extract valid data needed for calculating judgement.
Claims (5)
- The safety pre-warning system 1. a kind of tunnel based on vehicle running state detection is driven a vehicle, it is characterised in that believe including vehicle location Cease acquisition subsystem, vehicle status data processing subsystem, traffic safety early warning subsystem；Vehicle position information acquisition System is mounted in tunnel, for acquire forward and backward vehicle at corresponding two test points by temporal information；Vehicle status data Processing subsystem calculated according to the temporal information speed of forward and backward vehicle, speed difference and following distance and by its respectively with pre-set velocity Limit value and safe following distance, which compare, carries out traffic safety degree judgement, then by the speed of forward and backward vehicle, speed is poor, following distance and Traffic safety degree judging result is sent to traffic safety early warning subsystem；Traffic safety early warning subsystem is forward and backward for issuing The speed of vehicle, speed difference and following distance, and when current, rear car hypervelocity, following distance are too small or two vehicle speeds differences are excessive carry out it is pre- It is alert；The vehicle location detection sensor includes mounting base (1) and two sensor modules；Sensor module includes sensor Module (2), T bytes (31), pitman shaft (32), spur gear (33), hydraulic control system (4), rack piston hydraulic cylinder (5)；Peace Fixation bottom plate (1) tunnel top of dress seat (1) is fixedly connected, and hydraulic control system (4) is fixed on fixed bottom plate (1)；Sensing Device module (2) is fixedly connected by T bytes (31) with pitman shaft (32), and pitman shaft (32) is installed on the U-shaped bottom seat of mounting base (1) (12) on, and it is coaxially connected with spur gear (33)；Spur gear (33) and the rack piston hydraulic cylinder being fixed on U-shaped bottom seat (12) (5) piston rod engagement；Hydraulic control system (4) passes through two oil pipes (41), two with rack piston hydraulic cylinder (5) respectively Hydraulic fluid port connects；Two sensor assemblies are in 90 ° of angles, and two sensors module centers line is in the same plane.
- The safety pre-warning system 2. tunnel according to claim 1 based on vehicle running state detection is driven a vehicle, feature exist In the vehicle position information acquisition subsystem include vehicle location detection sensor, filter, amplifier, analog-digital converter And microcontroller；Vehicle location detection sensor acquires traffic information when forward and backward vehicle passes through two test points and is passed through filter Wave device, amplifier and analog-digital converter are transferred to microcontroller, and forward and backward vehicle is extracted by being corresponded to when two test points by microcontroller Temporal information.
- The safety pre-warning system 3. tunnel according to claim 1 based on vehicle running state detection is driven a vehicle, feature exist In the vehicle status data processing subsystem include data reception module, data processing module, wireless data transmission module； Data reception module for receive microcontroller in vehicle position information acquisition subsystem collect front and back two vehicle pass through two inspections The temporal information of measuring point；Data processing module calculates the speed of front and back two vehicle vehicles, speed difference and following distance according to the temporal information, And itself and pre-set velocity limit value and safe following distance are subjected to traffic safety degree judgement；Wireless data transmission module is by front and back two Speed, speed difference and the following distance and traffic safety degree judging result of vehicle are sent to traffic safety early warning subsystem.
- The safety pre-warning system 4. tunnel according to claim 1 based on vehicle running state detection is driven a vehicle, feature exist It is made of Wireless data receiving device and warning device in the traffic safety early warning subsystem；Wireless data receiving device connects Speed, speed difference and the following distance and traffic safety degree for receiving front and back two vehicle of vehicle status data processing subsystem judge As a result, carrying out early warning when front and back two vehicle exceeds the speed limit, following distance is too small, speed is poor excessive.
- 5. a kind of tunnel driving safety pre-warning system using as described in claim 1 based on vehicle running state detection carries out The method of early warning, it is characterised in that include the following steps：Step 1: for any vehicle location detection sensor in tunnel, if when detecting front truck at its first test point Time is t1, time when first test point can't detect front truck is t1', when detecting front truck at second test point Time is t2；Average speed v when calculating front truck between two test points according to formula (1)1；Wherein s0For the distance between two test point of vehicle location detection sensor；Work as v1The pre-set velocity limit value v travelled in tunnel more than vehicle0When, then judge that front truck exceeds the speed limit, passes through traffic safety early warning Subsystem carries out safe early warning to driver；Step 2: setting time when the vehicle location detection sensor detects rear car at first test point as t3；According to public affairs Formula (2) calculates front truck length l1；l1=v1(t′1-t1) (2)If Step 3: detecting the length of wagon l of front truck1More than kart vehicle body maximum length setting value l0When, judge front truck For non-kart, then safe early warning is carried out to rear car driver by traffic safety early warning subsystem, remind rear car driver Safe following distance is kept with front truck；Safe following distance d is calculated according to formula (3)；Step 4: calculating the following distance s between front car and rear car according to formula (4)1；s1=(t3-t2)v1+s0-l1 (4)If judging, current vehicle is less than d with front truck following distance, is carried out to rear car driver by traffic safety early warning subsystem Safe early warning carries out safe early warning to rear car driver；Step 5: calculating rear car speed v according to method identical with front truck speed is calculated2, then calculated according to formula (5) forward and backward The speed difference v of vehiclec；vc=v2-v1 (5)If judging current forward and backward vehicle speed difference vc≤ 20Km/h then carries out rear car driver by traffic safety early warning subsystem Safe early warning.
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| CN111429756A (en) * | 2020-03-30 | 2020-07-17 | 淮阴工学院 | Highway tunnel rear-end collision prevention early warning method based on video technology |
| CN111462529A (en) * | 2020-03-27 | 2020-07-28 | 长安大学 | Tunnel driving auxiliary system and method based on visible light communication |
| CN111456811A (en) * | 2020-04-09 | 2020-07-28 | 安徽皖通科技股份有限公司 | Cloud monitoring safety dynamic system for high-speed tunnel |
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| CN113345232A (en) * | 2021-06-02 | 2021-09-03 | 北京振兴计量测试研究所 | Tunnel safe passing speed prediction system and method |
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