Background technique
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 effect of double sections Algorithm for Traffic Incidents Detection.
In recent years, bus or train route coordination technique is quickly grown, on board unit (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 unit and trackside list
The automobile curve motion optimum speed processing method of member, this method utilize road curve corner, radius, vehicle center of gravity height etc.,
Vehicle optimum operation speed is calculated, and on board unit is fed back to by roadside unit.Chinese patent literature
CN104537852A discloses a kind of road burst accident reminding method based on board unit 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 unit
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 influenced vulnerable to extraneous factor, this is unfavorable
In the detection and early warning of the operating condition of reflection traffic flow and traffic events comprehensively.
Summary of the invention
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 greater than threshold value
Determine that traffic events occur when occupation rate,
3) dissipation/accumulation critical speed is calculated, the cross section place of dissipation area and accumulation region is determined, in the section position of accumulation region
Upstream position is set to carry out early warning to vehicle or dredge shunting;
Calculating dissipation/accumulation critical speed method is: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 greater 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 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 respectively corresponds the roadside unit upstream described in being laid in, at each preset distance in downstream for logical congestion
Lane 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 lane in the predetermined period, and the threshold velocity is 15-22km/h;Threshold value
Occupation rate is 30%.
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,
It finds out and speed of operation nearest from roadside unit and is more than or equal to dissipation/accumulation critical speed vehicle, determine the position GPS of the vehicle
Confidence ceases and the position where the vehicle is determined as to the cross section place in 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 the cross section place that the vehicle institute position is determined as to accumulation region.
Cross section place upstream position in accumulation region carries out early warning or dredges to shunt the section for being set in accumulation region to vehicle
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.
A kind of detection early warning system to realize above-mentioned road traffic accident detection method for early warning, including with vehicle ECU
The on board unit of communication connection, multiple roadside units that is spaced apart and arranged in trackside and can be communicated with the on board unit,
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 often at hair, respectively corresponds on the lane at each preset distance of roadside unit upstream and downstream and lays earth magnetism traffic inspection
Survey device.
The on board unit and the vehicle ECU pass through CAN bus communication connection.
Compared with prior art, the beneficial effects of the invention are as follows:
By the way that on board unit, the roadside unit, earth magnetism traffic detector of vehicle is used in combination, both available macro-traffics
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, rationally determining the position of warning information publication, favorably based on the section of accumulation region
In the effect for improving traffic prewarning, and then alleviate traffic congestion.
Specific embodiment
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, the detection early warning system of the invention to realize road traffic accident detection method for early warning, packet
The on board unit with vehicle ECU communication connection is included, it is multiple to be spaced apart and arranged in trackside and can be communicated with the on board unit
Roadside unit, and the earth magnetism traffic detector being arranged in correspondence with roadside unit.The roadside unit is arranged in lane
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 respectively corresponded on lane at trip, each preset distance in downstream and lays earth magnetism traffic detector.The on board unit and described
Vehicle ECU is connected by CAN bus module communication, while vehicle end further includes vehicle-mounted with the on board unit communication connection
Unit, the on board unit are kept in communication with communication module, specifically, for realize roadside unit and vehicle communication, such as
Shown in Fig. 3, on board unit obtains the speed and GPS position information of vehicle by vehicle CAN bus module, GPS module, by logical
It interrogates module and utilizes dedicated 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 dedicated short range communication technology by communication module
Alert information is sent on board unit, refers 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 determined with average roadway occupancy, is determined accurate.
As one of specific embodiment, firstly, installation is more at the traffic congestion that traffic management 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, 2 earth magnetism traffic detectors 1,2 are installed.Wherein, earth magnetism traffic detector 1,3
It is mounted on a lane, earth magnetism traffic detector 2,4 is mounted on a lane.
Vehicle is run on road, on board unit by vehicle CAN bus module, GPS module, obtain vehicle speed and
Speed of operation and GPS position information are sent to road using dedicated short range communication technology by communication module by GPS position information
Side unit;Earth magnetism traffic detector acquires lane occupancy ratio, vehicle 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, such as 20km/h, and judgement has
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 greater 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 roadside unit upstream are analyzed, are found out from trackside list
It is first nearest, and speed of operation is more than or equal to the vehicle of 21km/h, determines the GPS position information of the vehicle, it will be disconnected where the vehicle
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 is arranged in entrance
At the 150-200 rice of ring road upstream, broadcast, vehicle-mounted short message is 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 upstream releasing position S1 and S2 and traffic direction it is identical as this side wagon flow direction
Vehicle, carry out traffic prewarning.
On board unit, roadside unit, earth magnetism traffic detector is used in combination in the present invention, with average speed and average occupancy
For index, whether determining that 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, carries out early warning 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.