CN108682173A - Road traffic accident detects method for early warning and system - Google Patents

Road traffic accident detects method for early warning and system Download PDF

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Publication number
CN108682173A
CN108682173A CN201810629974.4A CN201810629974A CN108682173A CN 108682173 A CN108682173 A CN 108682173A CN 201810629974 A CN201810629974 A CN 201810629974A CN 108682173 A CN108682173 A CN 108682173A
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China
Prior art keywords
vehicle
speed
roadside unit
early warning
traffic
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CN201810629974.4A
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Chinese (zh)
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CN108682173B (en
Inventor
关志伟
刘晓锋
宋裕庆
王龙志
高婷婷
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ZTE Intelligent IoT Technology Co Ltd
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Tianjin University of Technology
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Classifications

    • 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
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors

Abstract

The invention discloses a kind of road traffic accident detection method for early warning and systems, the road traffic accident detection method for early warning includes the following steps, 1) all speed of operation and GPS information for driving through vehicle in predetermined period are acquired using the roadside unit for being laid in road side, the vehicle speed sensing and roadway occupancy for passing through vehicle using the earth magnetism traffic detector detection being correspondingly arranged with roadside unit simultaneously, 2) average speed and average occupancy are calculated, when average speed is less than threshold velocity and average occupancy is more than threshold value occupation rate, traffic events occur for judgement, 3) cross section place of dissipation area and accumulation region is determined, cross section place upstream position in accumulation region carries out early warning to vehicle or dredges shunting.By board units, roadside unit, earth magnetism traffic detector that vehicle is used in combination, both Macro-traffic Flow parameter can be obtained, also the operation information that can get individual vehicle, enriches the information source of traffic incidents detection, improves the reliability and accuracy of traffic incidents detection.

Description

Road traffic accident detects method for early warning and system
Technical field
The present invention relates to technical field of intelligent traffic, are examined more particularly to a kind of road traffic accident based on bus or train route collaboration Survey method for early warning and detection early warning system.
Background technology
In City ITS, the equipment such as fixed coil, earth magnetism traffic detector are widely used in traffic parameter Acquisition and traffic events detection.Chinese patent literature CN104103171A discloses a kind of double sections traffic incidents detection side Method, this method choose two sections of road, obtain the traffic parameter in two sections, obtain clock drift rate, obtain data and repair Complex coefficient, and then improve the detection result of double sections Algorithm for Traffic Incidents Detection.
In recent years, bus or train route coordination technique is quickly grown, board units (On Board Unit, the abbreviation being installed on vehicle OBU) and it is laid in the roadside unit (Road Side Unit, abbreviation RSU) of trackside, is just gradually used for speed monitoring, road Burst accident prompts the fields such as early warning.Chinese patent literature CN104064048A discloses a kind of based on board units and trackside list The automobile curve motion optimum speed processing method of member, this method utilize road curve corner, radius, vehicle's center of gravity height etc., Vehicle optimum operation speed is calculated, and board units are fed back to by roadside unit.Chinese patent literature CN104537852A discloses a kind of road burst accident reminding method based on board units and roadside unit, this method according to The speed limit situation of road and the brake frequency threshold value of vehicle, judge the emergency case of road traffic accident, and prompted.
Since the equipment such as fixed coil, earth magnetism traffic detector can only collect Macro-traffic Flow parameter, and can not obtain The operation information of individual vehicle；In addition, the operation information of individual vehicle can be uploaded to roadside unit, still by board units Part Macro-traffic Flow parameter is not easy to obtain.Therefore, single fixed coil, earth magnetism traffic detector or single vehicle Carrier unit, roadside unit face the problem of traffic information is not complete, traffic information collection is easily influenced by extraneous factor, this is unfavorable In the detection and early warning of the operating condition and traffic events of reflection traffic flow comprehensively.
Invention content
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide a kind of roads based on bus or train route collaboration Road traffic incidents detection method for early warning and detection early warning system.
The technical solution adopted to achieve the purpose of the present invention is：
A kind of road traffic accident detection method for early warning based on bus or train route collaboration, includes the following steps,
1) all Travel vehicles for driving through vehicle in predetermined period are acquired using the roadside unit for being laid in road side Speed and GPS information, while the vehicle speed sensing for passing through vehicle using the earth magnetism traffic detector detection being correspondingly arranged with roadside unit And roadway occupancy,
2) average speed and average occupancy are calculated, when average speed is less than threshold velocity and average occupancy is more than threshold value Traffic events occur for judgement when occupation rate,
3) dissipation/accumulation critical speed is calculated, determines the cross section place of dissipation area and accumulation region, the section position in accumulation region Upstream position is set to carry out early warning to vehicle or dredge shunting.
The roadside unit is arranged at Lane Narrows, imports and exports ramp location, viaduct upward slope middle position or friendship Often at hair, earth magnetism traffic detector corresponds to the roadside unit upstream described in being laid in, at each preset distance in downstream respectively for logical congestion Track on.
The predetermined period is -20 minutes 10 minutes.
Average speed is the speed of operation of all vehicles and the average value of vehicle speed sensing in the predetermined period, and described is averaged Occupation rate is the roadway occupancy average value in each track in the predetermined period, and the threshold velocity is 15-22km/h；Threshold value Occupation rate is 30%.
Calculate dissipation/accumulation critical speed method be：Find out the minimum row that roadside unit detects in the predetermined period The value of speed is sailed, if the value is less than or equal to 10km/h, minimum vehicle speed value is determined as 10km/h；As roadside unit detects Minimum speed of operation value be more than 10km/h, then by minimum vehicle speed value by actual value determination；On the basis of minimum vehicle speed value Add 8-12km/h, using the value as dissipation/accumulation critical speed.
The method for determining the cross section place of dissipation area and accumulation region is：The speed of operation data in roadside unit downstream are analyzed, The vehicle that and speed of operation nearest from roadside unit is more than or equal to dissipation/accumulation critical speed is found out, determines the positions GPS of the vehicle Confidence ceases and the cross section place by the location determination where the vehicle for dissipation area；Analyze the speed of operation number of roadside unit upstream According to, find out from roadside unit recently and speed of operation be more than or equal to dissipation/accumulation critical speed vehicle, determine the vehicle GPS position information and by the vehicle institute location determination be accumulation region cross section place.
Cross section place upstream position in accumulation region carries out early warning to vehicle or dredges the section that shunting is set in accumulation region At 150-200m meters of position upstream；As accumulation region 500-800m meters of cross section place upstream range in there is any discrepancy mouth ring road, then set It is scheduled at the 150-200 rice of the entrance ring road upstream.
It is a kind of realizing that above-mentioned road traffic accident detects the detection early warning system of method for early warning, including with vehicle ECU The board units of communication connection, multiple roadside units that is spaced apart and arranged in trackside and can be communicated with the board units, And the earth magnetism traffic detector being arranged in correspondence with roadside unit.
The roadside unit is arranged at Lane Narrows, imports and exports ramp location, viaduct upward slope middle position or friendship Logical congestion is often at hair, and corresponding laying earth magnetism traffic is examined respectively on the track at each preset distance of roadside unit upstream and downstream Survey device.
The board units are communicated by CAN bus with the vehicle ECU and are connected.
Compared with prior art, the beneficial effects of the invention are as follows：
By the way that the board units, roadside unit, earth magnetism traffic detector of vehicle are used in combination, macro-traffic can be both obtained Parameter is flowed, the operation information of individual vehicle is also can get, enriches the information source of traffic incidents detection, improve traffic events The reliability and accuracy of detection；In addition, based on the section of accumulation region, the position of warning information publication is rationally determined, favorably In the effect for improving traffic prewarning, and then alleviate traffic congestion.
Description of the drawings
Fig. 1 is the Expressway Traffic event detection cooperateed with based on bus or train route and method for early warning flow chart.
Fig. 2 is Vehicle Detection equipment and source of early warning placement position schematic diagram.
Fig. 3 is board units and roadside unit interaction schematic diagram.
Fig. 4 is system pie graph.
Specific implementation mode
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
As shown in Figs 1-4, of the invention to realize that road traffic accident detects the detection early warning system of method for early warning, it wraps The board units with vehicle ECU communication connections are included, it is multiple to be spaced apart and arranged in trackside and can be communicated with the board units Roadside unit, and the earth magnetism traffic detector that is arranged in correspondence with roadside unit.The roadside unit is arranged in track Narrow part, inlet and outlet ramp location, viaduct upward slope middle position or traffic congestion are often at hair, on the roadside unit It is corresponding respectively on track at trip, each preset distance in downstream to lay earth magnetism traffic detector.The board units with it is described Vehicle ECU is connected by CAN bus module communication, while vehicle end further includes vehicle-mounted with board units communication connection Unit, the board units are kept in communication with communication module, specifically, to realize the communication of roadside unit and vehicle, such as Shown in Fig. 3, board units obtain the speed and GPS position information of vehicle by vehicle CAN bus module, GPS module, by logical It interrogates module and utilizes special short range communication technology, speed and GPS position information are sent to the Read-write Catrol module of roadside unit；When When wanting traffic prewarning, the Read-write Catrol module of roadside unit is pre- by traffic using special short range communication technology by communication module Alert information is sent to board units, is referred to for driver.
The present invention utilizes the communication of roadside unit and vehicle, realizes the acquisition of travel speed and GPS information, passes through interval The multiple roadside units being arranged realize all standing or the Partial key region of road, especially through street or highway All standing, issued convenient for information collection and warning information, and combine the use of earth magnetism traffic detector, in conjunction with average speed Road traffic accident is judged with average roadway occupancy, judgement is accurate.
As one of specific embodiment, first, installation is more at the traffic congestion that vehicle supervision department is assert often hair A roadside unit, then, a core wherein, as middle part 100 meters of roadside unit upstream at, 2 earth magnetism traffic inspections are installed Device 3,4 is surveyed, at 100 meters of roadside unit downstream place, 2 earth magnetism traffic detectors 1,2 of installation.Wherein, earth magnetism traffic detector 1,3 On a track, earth magnetism traffic detector 2,4 is mounted on a track.
Vehicle is run on road, board units by vehicle CAN bus module, GPS module, obtain vehicle speed and Speed of operation and GPS position information are sent to road by GPS position information by communication module using special short range communication technology Side unit；Earth magnetism traffic detector acquires lane occupancy ratio, speed information, this is not reinflated herein to retouch similarly to the prior art It states.
Assuming that the time is 7:00-8:00 morning peak, the traffic information collection period is 10 minutes, in this traffic information collection In period, shares m vehicle and pass through roadside unit, and speed of operation and GPS position information are issued into roadside unit, roadside unit is adopted The speed of operation collected is denoted as：v1,RSU, v2,RSU..., vm,RSU, the average speed note of the acquisition of earth magnetism traffic detector 1,2,3,4 For：v1,DC, v2,DC, v3,DC, v4,DC, earth magnetism traffic detector 1,2,3,4 acquire average occupancy be denoted as：Occupancy1,DC, Occupancy2,DC, Occupancy3,DC, Occupancy4,DC.Then average speed is denoted as：((v1,DC+v2,DC+v3,DC+v4,DC)/4+ (v1,RSU+v2,RSU+...+vm,RSU)/m)÷2；Average occupancy is denoted as (Occupancy1,DC+Occupancy2,DC+ Occupancy3,DC+Occupancy4,DC)/4.Assuming that within 10 minutes traffic information collection periods, the average speed of calculating is 18km/h, average occupancy 35%.
Since average occupancy is more than or equal to 30%, and average speed is less than 15-22km/h, and such as 20km/h judges have Traffic events occur.The minimum traveling vehicle speed value that the roadside unit in a traffic information collection period detects is found out, is denoted as min{v1,RSU,v2,RSU,...,vm,RSU, if the value is less than or equal to 10km/h, which is determined as 10km/h； If min { v1,RSU,v2,RSU,...,vm,RSUBe more than 10km/h, then minimum speed is determined by actual value.Then, in most trolley Add 8-12km/h, such as 8km/h on the basis of speed value, using the value as dissipation/accumulation critical speed.Assuming that min { v1,RSU, v2,RSU,...,vm,RSUValue is 13km/h, then the critical speed that dissipates/gather is determined as 21km/h.
Based on the vehicle speed data that other roadside units to spread over road side detect, roadside unit downstream is analyzed Speed of operation data, find out that this is specific nearest from roadside unit, and speed of operation is more than or equal to the vehicle of 21km/h, determining should Section where the vehicle is determined as the cross section place in dissipation area, A1 as shown in Figure 2 by the GPS position information of vehicle；With road Based on the speed of operation data that side unit detects, the speed of operation data of analysis roadside unit upstream are found out from trackside list It is first that and speed of operation is more than or equal to the vehicle of 21km/h, determines the GPS position information of the vehicle recently, will be where the vehicle it is disconnected Face is determined as the cross section place of accumulation region, A2 as shown in Figure 2.The region of A1 to A2 is known as the traffic events zone of influence.
Then warning information releasing position is determined according to the traffic events zone of influence, the cross section place upstream 150- in accumulation region At 200 meters, traffic prewarning information releasing position S1 is set, as shown in Fig. 2, carrying out early warning at this, effectively driver can be reminded to drop Low speed prevents secondary accident from occurring, and the mode of early warning can be to be broadcasted etc. by the roadside unit at this；Simultaneously such as product I.e. there is any discrepancy in 500-800 meters of the cross section place upstream range in poly- area mouth ring road, then the prompting early warning position be arranged in entrance At the 150-200 rice of ring road upstream, broadcast, vehicle-mounted short message can be used in position S2 as shown in Figure 2, warning information publication form Or notice board etc..I.e. to the traffic prewarning information upstreams releasing position S1 and S2 and traffic direction it is identical as this side wagon flow direction Vehicle, carry out traffic prewarning.
Board units, roadside unit, earth magnetism traffic detector is used in combination in the present invention, with average speed and average occupancy For index, whether judgement traffic events occur；Dissipation/accumulation critical speed is calculated, determines dissipation area, accumulation region cross section place, In accumulation region, upstream position lays traffic prewarning equipment, and early warning is carried out to vehicle.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications Also it should be regarded as protection scope of the present invention.

Claims (8)

1. a kind of road traffic accident detects method for early warning, it is characterised in that：Include the following steps,
1) using be laid in road side roadside unit acquisition predetermined period in all speed of operation for driving through vehicle and GPS information, while the vehicle speed sensing and road for passing through vehicle using the earth magnetism traffic detector detection being correspondingly arranged with roadside unit Road occupation rate,
2) average speed and average occupancy are calculated, when average speed is less than threshold velocity and average occupancy is occupied more than threshold value Traffic events occur for judgement when rate,
3) dissipation/accumulation critical speed is calculated, the cross section place of dissipation area and accumulation region is determined, on the cross section place of accumulation region Trip position carries out early warning to vehicle or dredges shunting；
Wherein it is determined that the method for the cross section place of dissipation area and accumulation region is：The speed of operation data in roadside unit downstream are analyzed, The vehicle that and speed of operation nearest from roadside unit is more than or equal to dissipation/accumulation critical speed is found out, determines the positions GPS of the vehicle Confidence ceases and the cross section place by the location determination where the vehicle for dissipation area；Analyze the speed of operation number of roadside unit upstream According to, find out from roadside unit recently and speed of operation be more than or equal to dissipation/accumulation critical speed vehicle, determine the vehicle GPS position information and by the vehicle institute location determination be accumulation region cross section place.
2. road traffic accident as described in claim 1 detects method for early warning, which is characterized in that the roadside unit setting At Lane Narrows, inlet and outlet ramp location, viaduct upward slope middle position or traffic congestion be often at hair, earth magnetism traffic detector The roadside unit upstream described in being laid in is corresponded to respectively, on the track at each preset distance in downstream.
3. road traffic accident as described in claim 1 detects method for early warning, which is characterized in that the predetermined period is 10 - 20 minutes minutes.
4. road traffic accident as described in claim 1 detects method for early warning, which is characterized in that average speed is the default week The average value of the speed of operation of all vehicles and vehicle speed sensing in phase, the average occupancy are each vehicle in the predetermined period The roadway occupancy average value in road, the threshold velocity are 15-22km/h；Threshold value occupation rate is 30%.
5. road traffic accident as described in claim 1 detects method for early warning, which is characterized in that the cross section place in accumulation region Upstream position carries out early warning or dredges to shunt to be set at 150-200m meters of the cross section place upstream of accumulation region to vehicle；Such as accumulation There is any discrepancy in 500-800m meters of the cross section place upstream range in area mouth ring road, then be set in the 150- of the entrance ring road upstream At 200 meters.
6. a kind of realizing that above-mentioned road traffic accident detects the detection early warning system of method for early warning, which is characterized in that including It is multiple to be spaced apart and arranged in trackside and can be communicated with the board units with the board units of vehicle ECU communication connection Roadside unit, and the earth magnetism traffic detector that is arranged in correspondence with roadside unit.
7. detection early warning system as claimed in claim 6, which is characterized in that the roadside unit is arranged in Lane Narrows Place, inlet and outlet ramp location, viaduct upward slope middle position or traffic congestion be often at hair, the roadside unit upstream, under It swims to correspond to respectively on the track at each preset distance and lays earth magnetism traffic detector.
8. detection early warning system as claimed in claim 7, which is characterized in that the board units and the vehicle ECU It is connected by CAN bus module communication.
CN201810629974.4A 2016-07-14 2016-07-14 Road traffic incident detection early warning method and system Active CN108682173B (en)

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CN201610554263.6A CN105957380B (en) 2016-07-14 2016-07-14 Road traffic accident detection method for early warning and system based on bus or train route collaboration

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