CN109523789B - Electric vehicle lane occupation management and control system and road junction management and control method based on vehicle-road interaction coordination - Google Patents
Electric vehicle lane occupation management and control system and road junction management and control method based on vehicle-road interaction coordination Download PDFInfo
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- CN109523789B CN109523789B CN201811481395.6A CN201811481395A CN109523789B CN 109523789 B CN109523789 B CN 109523789B CN 201811481395 A CN201811481395 A CN 201811481395A CN 109523789 B CN109523789 B CN 109523789B
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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
- G08G1/091—Traffic information broadcasting
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- 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
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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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
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
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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
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
Abstract
The invention discloses an electric vehicle lane occupying management and control system based on vehicle-road interaction coordination, which comprises a motor vehicle-mounted mechanism, an electric vehicle-mounted mechanism and a branch road mechanism arranged at each branch road, wherein the branch road mechanism comprises a traffic signal lamp device, a ground induction coil controller, a motor vehicle ground induction coil and an electric vehicle ground induction coil; the vehicle-mounted mechanism of the motor vehicle comprises a motor vehicle ECU and a vehicle-mounted radar, and the motor vehicle ECU is connected with a motor vehicle magnetic detection sensor, a motor vehicle storage battery, a radar controller and a network coordinator. The electric vehicle-mounted mechanism comprises an electric vehicle ECU, and the electric vehicle ECU is connected with an electric vehicle magnetic detection sensor, an electric vehicle storage battery, an angle sensor and a wireless router. The invention also discloses a corresponding intersection management and control method. The invention establishes three-party interaction among the motor vehicle, the electric vehicle and the road facilities at the intersection, ensures that the right of passage of the motor vehicle at the intersection is not infringed by the flexibly motor-driven electric vehicle, and can avoid unnecessary congestion caused by management and control.
Description
Technical Field
The invention relates to the technical field of road traffic control, in particular to a control system and a control method based on vehicle-road interaction coordination.
Background
With the increasing development speed of urban construction, urban traffic conditions are increasingly serious, traffic accidents are more frequent, and especially when electric vehicles are used as important components of urban public transportation, conflicts between motor vehicles and the electric vehicles are increasingly revealed.
The electric vehicle waits for the traffic lights at the position where the traffic intersection exceeds the zebra crossing or directly runs through the red lights, so that the motor vehicle needs to avoid the electric vehicle, thereby greatly reducing the crossing traffic efficiency and intensifying the traffic disorder at the intersection. The electric vehicle is small in size, wide in visual field, flexible and changeable in running, low in violation cost and difficult to realize penalty for running violating regulations, so that the violation behaviors of the electric vehicle at a traffic intersection are more common.
Measures for electric vehicles to occupy the motor vehicle lane have appeared at present: chinese patent No. CN106971542A discloses a system and a method for monitoring illegal driving of a non-motor vehicle into a motor lane based on RFID, which mainly utilize the technology of Internet of things to sense, identify and monitor the non-motor vehicle and then record violation information. The electric vehicle rushes into the motor vehicle lane paved with the ground induction coil, triggers roadside equipment to recognize and record information of the motor vehicle lane, and sends violation information to an electric vehicle owner.
Chinese patent No. CN105046969A discloses an electric vehicle red light running intelligent penalty time control system, which utilizes the state of a traffic signal lamp to coordinate with facilities such as a ground emitter and a monitor, after a controller arranged on the electric vehicle receives a monitor signal of a crossing position and judges that the electric vehicle runs a red light, the controller regulates and controls the power supply of the storage battery vehicle connected with the electric vehicle to be powered off, and the power supply is switched on again after a period of time. The method realizes the time-limited punishment on the behavior of running the red light.
Chinese patent No. CN105857277A discloses a traffic light control device for an electric vehicle, which utilizes a speed and acceleration sensor and a road surface detection system additionally installed on the electric vehicle to send information to a main microprocessor, and when the main microprocessor determines that a red light running behavior occurs, an electric vehicle starts an alarm device and performs emergency braking, so as to reduce the possibility of accidents.
In cities of China, the number of people is large, the number of electric vehicles is large, a lot of people need to rely on the electric vehicles on commuting roads for going to and from work, the electric vehicles are very dense in peak hours for going to and from work, and the phenomenon that the electric vehicles run the red light at the crossroad is difficult to put an end in fact. The existing management and control measures do not perform three-party interaction of road facilities such as motor vehicles, electric vehicles and signal lamps, the motor vehicles do not participate in the management and control measures, the electric vehicles can still be subjected to management and control such as power failure when the motor vehicles are not arranged at the intersection and the electric vehicles are many, and only recording and no management and control can be performed. Therefore, when the motor vehicles are not arranged at the intersection and the electric vehicles are in a plurality of electric vehicles, the congestion phenomenon at the intersection can be aggravated by the conventional method, and the traffic pressure cannot be effectively relieved. Because the motor vehicles do not participate in the method, when no motor vehicle is arranged at the intersection, the existing management and control method cannot perform post punishment and only can limit the traffic on the spot, so that the intersection which is not blocked originally becomes blocked due to management and control, a plurality of electric vehicles stop at the intersection, and the smooth passing of the motor vehicles which arrive subsequently is influenced.
Disclosure of Invention
The invention aims to provide an electric vehicle lane occupation management and control system based on vehicle-road interaction coordination, which can ensure that road passage participants at an intersection can pass through the intersection more safely and more efficiently under the condition that red light violation at the intersection of an electric vehicle cannot be avoided in fact.
In order to achieve the purpose, the electric vehicle lane occupying management and control system based on the vehicle-road interaction coordination is used for the traffic coordination of the crossroads, and the crossroads comprise an east-west side branch intersection, a south-north side branch intersection and a north-south side branch intersection, wherein the total number of the four branch intersections is four; a central area is defined by the four branch road junctions; the east-west side branch road junction and the east-west side branch road junction are opposite direction branch road junctions, and the south-north side branch road junction are opposite direction branch road junctions;
the ground of each branch road is provided with a pedestrian crossing connected with the central area; in each branch road, the direction pointing to the center of the central area is taken as the inward direction, and the direction far away from the center of the central area is taken as the outward direction; the left side when standing at the branch port and facing the center of the central area is the left direction, and the opposite direction is the right direction;
the outer side of the pedestrian crossing of each branch road is provided with an opposite coming non-motor vehicle lane, an opposite coming motor vehicle lane and an opposite coming non-motor vehicle lane from left to right, lane markings are respectively arranged on the ground among the lanes, and the lanes of each branch road form a general road surface of the branch road;
road corner regions are defined between the main road surfaces of two adjacent branch roads, and each road corner region comprises a northwest road corner region positioned at a northwest corner of the central region, a northeast road corner region positioned at a northeast corner of the central region, a southeast road corner region positioned at a southeast corner of the central region and a southwest road corner region positioned at a southwest corner of the central region;
the ground outside the crosswalk of each intersection is provided with a vehicle stop line, and the vehicle stop line is the end line of each lane marking;
the system comprises a motor vehicle-mounted mechanism, a motor vehicle-mounted mechanism and a branch road mechanism arranged at each branch road, wherein the branch road mechanism comprises a traffic signal lamp device, a ground induction coil controller, a motor vehicle ground induction coil and a motor vehicle ground induction coil; the traffic signal lamp device is connected with the ground induction coil controller through a connecting wire, and the ground induction coil controller is connected with the ground induction coil of the motor vehicle and the ground induction coil of the electric vehicle through the connecting wire;
the traffic signal lamp device of the branch road mechanism is arranged above the joint of the opposite coming vehicle motor lane of the branch road opposite to the branch road and the corresponding vehicle stop line, and the traffic signal lamp of the traffic signal lamp device of the branch road mechanism faces the branch road;
the ground induction coil controller is positioned below the ground of a road corner area adjacent to the road junction; the ground induction coil of the motor vehicle is positioned below the ground of the pedestrian crosswalk at the intersection; the electric vehicle ground induction coil is positioned below the ground of the opposite coming vehicle non-motor vehicle lane and the opposite coming vehicle non-motor vehicle lane 5 meters away from the vehicle stop line; the motor vehicle ground induction coil and the electric vehicle ground induction coil are both provided with a working mode and a sleeping mode, and both the motor vehicle ground induction coil and the electric vehicle ground induction coil radiate a magnetic field upwards when the motor vehicle ground induction coil and the electric vehicle ground induction coil are in the working mode; when the motor vehicle is in the sleep mode, the ground induction coil of the motor vehicle and the ground induction coil of the electric vehicle stop radiating the magnetic field;
the motor vehicle-mounted mechanism comprises a motor vehicle ECU and a vehicle-mounted radar, the motor vehicle ECU is connected with a motor vehicle magnetic detection sensor, a motor vehicle storage battery, a radar controller and a network coordinator, the motor vehicle ECU is respectively connected with the vehicle-mounted radar and the radar controller through connecting wires, and the radar controller is connected with the vehicle-mounted radar through connecting wires; the network coordinator is used for establishing a wireless personal area network;
the electric vehicle-mounted mechanism comprises an electric vehicle ECU, the electric vehicle ECU is connected with an electric vehicle magnetic detection sensor, an electric vehicle storage battery, an angle sensor and a wireless router, the wireless router is used for joining a wireless personal area network established by a network coordinator, the angle sensor is used for measuring the steering angle of the electric vehicle, and an angle threshold value and a time threshold value are prestored in the electric vehicle ECU.
The ground induction coil controllers of the east-west side branch road are positioned in the southwest road corner area, and the ground induction coil controllers of the east-west side branch road are positioned in the northeast road corner area; the ground induction coil controllers of the south-north south branch road are located in the southeast corner area, and the ground induction coil controllers of the south-north branch road are located in the northwest corner area.
The wireless router adopts a Zigbee wireless router, and the network coordinator adopts a Zigbee network coordinator.
The vehicle-mounted radar comprises a forward radar facing the front of the motor vehicle, a lateral radar facing the side of the motor vehicle and a backward radar facing the back of the motor vehicle; the detection distance of the vehicle-mounted radar is 2 +/-0.1 meter; the angle threshold is 25 degrees and the time threshold is 10 minutes.
The invention also discloses an intersection control method using the electric vehicle lane occupation control system based on the vehicle-road interaction coordination, which comprises the following steps:
the traffic lights of the east-west branch road and the east-west branch road synchronously change, and the traffic lights of the south-north branch road and the north-south branch road synchronously change; the ground induction coil controller receives signals of the traffic signal lamp device through a connecting wire, and the signals are divided into red light signals, yellow light signals and green light signals;
in the four branch junctions, each traffic signal lamp device continuously sends out traffic signal lamp signals, wherein the traffic signal lamp signals comprise red lamp signals, green lamp signals and yellow lamp signals;
the ground induction coil controllers in the branch road mechanisms respectively receive traffic signal light signals sent by traffic signal light devices in the corresponding branch road mechanisms;
when receiving a green light signal, the ground induction coil controller controls the ground induction coil of the motor vehicle in the corresponding shunt port mechanism to enter a working mode and start to radiate a magnetic field upwards, and controls the ground induction coil of the electric vehicle in the corresponding shunt port mechanism to enter a sleep mode and stop radiating the magnetic field upwards;
when the ground induction coil controller receives a red light signal, the ground induction coil controller controls the motor vehicle ground induction coil in the corresponding shunt port mechanism to enter a sleep mode and stop radiating a magnetic field upwards, and simultaneously controls the electric vehicle ground induction coil in the corresponding shunt port mechanism to enter a working mode and start radiating the magnetic field upwards;
after a motor vehicle magnetic detection sensor of a motor vehicle at the intersection detects a magnetic field emitted upwards by a motor vehicle ground induction coil, a signal of the detected magnetic field is transmitted to a motor vehicle ECU; the method comprises the following steps that a motor vehicle ECU starts a network coordinator, simultaneously starts a vehicle-mounted radar to detect electric vehicles around the motor vehicle, and starts to control the electric vehicles passing through a crossing;
when the electric vehicle passes through the electric vehicle ground induction coil, the electric vehicle magnetic detection sensor transmits a signal of the detected magnetic field to an electric vehicle ECU after detecting the magnetic field emitted upwards by the electric vehicle ground induction coil; an electric vehicle ECU starts a wireless router and an angle sensor; the angle sensor continuously transmits the detected angle signals to an electric vehicle ECU;
after the network coordinator is started, a wireless personal area network is constructed; after the electric vehicle running on the road enters the range of the wireless personal area network, the wireless router and the network coordinator carry out wireless communication, and the wireless router receives a communication address allocated by the network coordinator and adds the communication address into the wireless personal area network constructed by the network coordinator;
when the electric vehicle encounters a red light at a crossroad, the electric vehicle firstly passes through the electric vehicle ground induction coil and then can cross over a vehicle stop line and a pedestrian crossing to enter a central area; three situations may occur at this time:
the first condition is as follows: if the electric vehicle stops at the outer side of the vehicle stop line, the vehicle-mounted radar is started after passing through a magnetic field emitted upwards by a vehicle ground induction coil at a pedestrian crossing, so that the electric vehicle cannot be detected by the vehicle-mounted radar, and does not enter a wireless personal area network range established by a network coordinator of the vehicle passing through the central area, so that the electric vehicle is not controlled by the vehicle passing through the central area;
case two: if the electric vehicle does not stop outside the vehicle stop line and enters a central area or a pedestrian crossing, the electric vehicle enters a wireless personal area network range constructed by the network coordinator of the motor vehicle passing through the central area, and the electric vehicle is added into the wireless personal area network constructed by the network coordinator of the motor vehicle nearest to the electric vehicle through the wireless router of the electric vehicle because the signal of the network coordinator nearest to the electric vehicle is strongest;
then, the electric vehicle ECU transmits a signal detected by an electric vehicle magnetic detection sensor of the electric vehicle to a network coordinator of a motor vehicle closest to the electric vehicle through a wireless router, and the network coordinator transmits the signal to the motor vehicle ECU; meanwhile, the vehicle-mounted radar of the motor vehicle detects the electric vehicle and transmits a detection signal to the motor vehicle ECU;
when the motor vehicle ECU receives the signal which is transmitted by the network coordinator and detected by the electric vehicle magnetic detection sensor and the signal which is detected by the vehicle-mounted radar and detected by the electric vehicle at the same time, the motor vehicle ECU sends a stop instruction to the electric vehicle ECU through the network coordinator and the wireless router; if the angle detected by the angle sensor of the electric vehicle is smaller than the angle threshold, the electric vehicle ECU judges that the electric vehicle is in the straight line, the electric vehicle ECU controls the power system of the electric vehicle to lose power and stop advancing, and the time for stopping advancing is the time threshold;
case three: if the angle detected by the angle sensor of the electric vehicle is larger than or equal to the angle threshold value, the electric vehicle ECU judges that the electric vehicle turns right, and if the situation that the electric vehicle ECU sends a stop instruction to the electric vehicle ECU through the network coordinator and the wireless router occurs at the moment, the electric vehicle ECU does not execute the stop instruction, so that the electric vehicle is guaranteed to smoothly complete the right-turning action;
when a motor vehicle entering the intersection drives away from the central area and passes through the pedestrian crosswalk at the opposite branch intersection, the motor vehicle magnetic detection sensor of the motor vehicle detects a magnetic field emitted by the motor vehicle ground induction coil at the opposite branch intersection, the motor vehicle magnetic detection sensor transmits a signal of the detected magnetic field to the motor vehicle ECU, and the motor vehicle ECU closes the network coordinator and simultaneously closes the vehicle-mounted radar, so that the motor vehicle passing the intersection is not controlled any more.
The range of the wireless personal area network constructed by the network coordinator is a circle with the center of the network coordinator as the center and the radius of 5 +/-0.5 meters.
The invention has the following advantages:
the invention establishes three-party interaction among the motor vehicles passing through the intersection, the electric vehicles passing through the intersection and intersection road facilities (each branch intersection mechanism), so that the motor vehicles temporarily obtain the authority of controlling the electric vehicles when passing through the intersection, the normal passing right of the motor vehicles at the intersection is guaranteed not to be infringed by the flexibly motorized electric vehicles, the passing safety of the intersection is guaranteed, and meanwhile, the passing of the electric vehicles is only recorded and not interfered when no motor vehicles pass through the intersection, thereby punishing the violation of the electric vehicles after the accident instead of on-site restriction, and avoiding the congestion of the intersection which is not congested.
The motor vehicle-mounted mechanism, the electric vehicle-mounted mechanism and the road junction mechanism are simple in structure, an electric vehicle lane occupying management and control system based on vehicle-road interaction coordination is formed by applying the prior art, three-party interaction of motor vehicles, electric vehicles and road facilities at a road junction is realized, and the electric vehicles at the road junction are managed and controlled more reasonably.
The invention can cut off the power supply of the power system of the electric vehicle when the electric vehicle is very close to the motor vehicle (within 2 +/-0.1 meter) after running the red light to enter the intersection (in the central area and the pedestrian crossing range), thereby avoiding the electric vehicle from competing for the right of way by utilizing the flexibility thereof and ensuring the normal road right of way of the motor vehicle.
After the invention is used, the electric vehicle can not use the flexibility thereof to force the right of road passage at the intersection, thereby ensuring the implementation of traffic rules, being beneficial to ensuring the road passing order when the road is crowded and improving the road smoothness.
Meanwhile, when no motor vehicle passes through the intersection, the existing monitoring equipment at the intersection is only used for photographing and recording the electric vehicle running the red light, but the power of the electric vehicle is not cut off, so that the problem that when no motor vehicle passes through the intersection, a plurality of electric vehicles stop at the intersection and are not beneficial to achieving the purpose of improving the smooth degree of the road is avoided.
The invention adds motor vehicle control factors to the single traffic signal lamp control electric vehicle in the prior art: under the wireless personal area network, wireless communication is carried out among all devices of the invention, when a motor vehicle drives into an intersection at the moment of green light and detects electromagnetic waves radiated by a ground induction coil, a motor vehicle-mounted mechanism starts to temporarily control electric vehicles at the intersection, when the motor vehicle detects that the electric vehicles exist around, the motor vehicle can send a control instruction for stopping advancing to the detected electric vehicles occupying the road through the wireless personal area network, the authority is immediately cancelled after the motor vehicle drives out of the intersection, and the motor vehicle is also supervised and controlled by a traffic signal lamp. The invention effectively restrains the lane occupation behavior of the electric vehicle, is suitable for various road conditions at each time interval of the traffic intersection and has more reasonable control on the electric vehicle.
The invention only needs to lay some induction coils and carry a little vehicle-mounted hardware at the entrance of the intersection, and the cost is low; the vehicle-mounted radar can utilize the existing vehicle anti-collision vehicle-mounted radar of the motor vehicle, and is not required to be additionally built, so that the system cost is greatly reduced, the overall cost is lower, the effect of the intersection management and control is obviously improved compared with the prior effect, the normal intersection right of the motor vehicle is not infringed by the flexibly and flexibly motorized electric vehicle, the phenomenon of intersection congestion caused by excessive management and control of the electric vehicle is avoided, and the market potential is very large.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a layout diagram of the present invention at an intersection.
Detailed Description
The left-right direction in the present invention is a left direction when facing the central region 6, and the right direction is a right direction.
As shown in fig. 1 to 2, the electric vehicle lane occupying management and control system based on vehicle-road interaction coordination is used for crossroad traffic coordination, and the crossroad comprises an east-west side branch intersection 1, an east-west side branch intersection 2, a south-north side branch intersection 3 and a south-north side branch intersection 4, wherein the total number of the branch intersections is four; pedestrian crossings 5 between the four intersections enclose a central area 6; the east-west side branch road junction 1 and the east-west side branch road junction 2 are opposite branch road junctions, and the south-north side branch road junction 3 and the south-north side branch road junction 4 are opposite branch road junctions;
the ground of each intersection is provided with the pedestrian crossing 5 connected with the central area 6; in each branch road, the direction pointing to the center of the central area 6 is taken as the inward direction, and the direction far away from the center of the central area 6 is taken as the outward direction; the left side when standing at the intersection and facing the center of the central area 6 is the left direction, and the opposite direction is the right direction;
the outer side of the pedestrian crossing 5 of each branch road is provided with an opposite-going non-motor vehicle lane 7, an opposite-going motor vehicle lane 8, an opposite-going motor vehicle lane 9 and an opposite-going non-motor vehicle lane 10 from left to right, lane markings 11 are respectively arranged on the ground among the lanes, and each lane of each branch road forms a main road surface of the branch road;
in each intersection, an oncoming non-motor vehicle lane 7 and an oncoming motor vehicle lane 8 are located to the left of an oncoming motor vehicle lane 9 and an oncoming motor vehicle lane 10, the oncoming motor vehicle lane 7 and the oncoming motor vehicle lane 8 are used for driving the vehicle in the intersection and the vehicle turning right to the present intersection, and the oncoming motor vehicle lane 9 and the oncoming motor vehicle lane 10 are used for the vehicle in the present intersection to go to the oncoming intersection or to the right.
A corner area is defined between the main road surfaces of two adjacent branch roads, and comprises a northwest corner area 12 positioned at the northwest corner of the central area 6, a northeast corner area 13 positioned at the northeast corner of the central area 6, a southeast corner area 14 positioned at the southeast corner of the central area 6 and a southwest corner area 15 positioned at the southwest corner of the central area 6;
a vehicle stop line 16 is arranged on the ground outside the pedestrian crossing 5 of each intersection, and the vehicle stop line 16 is the end line of each lane marking 11;
the electric vehicle lane occupation management and control system based on the vehicle-road interaction coordination comprises a motor vehicle-mounted mechanism, an electric vehicle-mounted mechanism and a branch road port mechanism arranged at each branch road port, wherein the branch road port mechanisms and the branch road ports are arranged in a one-to-one correspondence manner;
the shunt port mechanism comprises a traffic signal lamp device 17, a ground induction coil controller 18, a motor vehicle ground induction coil 19 and an electric vehicle ground induction coil 20; the traffic signal lamp device 17 is connected with a ground induction coil controller 18 through a connecting wire, and the ground induction coil controller 18 is connected with a motor vehicle ground induction coil 19 and an electric vehicle ground induction coil 20 through a connecting wire;
a traffic light device 17 of a branch road mechanism is arranged above the joint of the coming vehicle motor lane 8 and the corresponding vehicle stop line 16 of the 180-degree opposite branch road, and the traffic light of the traffic light device 17 of the branch road mechanism faces the branch road; that is, the traffic light device 17 at the east-west intersection 1 is provided above the point where the oncoming vehicle lane 8 of the east-west intersection 2 meets the vehicle stop line 16, and the traffic light device 17 is provided toward the east-west intersection 1.
The ground induction coil controller 18 is positioned below the ground in the corner area adjacent to the shunt opening; the ground induction coil 19 of the motor vehicle is positioned below the ground of the pedestrian crossing 5 at the intersection; the electric vehicle ground induction coil 20 is located 5 meters outside the vehicle stop line 16 below the oncoming non-motor vehicle lane 7 and the ground to the oncoming non-motor vehicle lane 10 (fig. 2 is only a schematic drawing, not drawn to scale, so the distance between the electric vehicle ground induction coil 20 and the vehicle stop line 16 shown in fig. 2 is short); the motor vehicle ground sensing coil 19 and the electric vehicle ground sensing coil 20 both have a working mode and a sleep mode (i.e. a standby mode), and in the working mode, the motor vehicle ground sensing coil 19 and the electric vehicle ground sensing coil 20 both radiate a magnetic field upwards; when the vehicle is in the sleep mode, the ground induction coil 19 of the motor vehicle and the ground induction coil 20 of the electric vehicle stop radiating the magnetic field;
the vehicle-mounted mechanism of the motor vehicle comprises a motor vehicle ECU21 and a vehicle-mounted radar 22, the motor vehicle ECU21 is connected with a motor vehicle magnetic detection sensor 23, a motor vehicle storage battery 24, a radar controller 25 and a network coordinator 26, the motor vehicle ECU21 is respectively connected with the vehicle-mounted radar 22 and the radar controller 25 through connecting wires, and the radar controller 25 is connected with the vehicle-mounted radar 22 through connecting wires; the vehicle magnetic detection sensor 23 is used to detect whether the vehicle ground induction coil 19 radiates a magnetic field outward. The network coordinator 26 is used for establishing a wireless personal area network;
the electric vehicle on-board mechanism comprises an electric vehicle ECU27, the electric vehicle ECU27 is connected with an electric vehicle magnetic detection sensor 28, an electric vehicle storage battery 29, an angle sensor 30 and a wireless router 31, the wireless router 31 is used for joining in a wireless personal area network established by the network coordinator 26, and the angle sensor 30 is used for measuring the steering angle of the electric vehicle. An angle threshold and a time threshold are prestored in the electric vehicle ECU 27;
the ground induction coil controller 18 of the east-west branch junction 1 is positioned in the west-south corner area 15, and the ground induction coil controller 18 of the east-west branch junction 2 is positioned in the east-north corner area 13; the ground induction coil controller 18 of the south-north south intersection 3 is located in the south-east corner area 14, and the ground induction coil controller 18 of the north-south intersection 4 is located in the north-west corner area 12.
The vehicle magnetic detection sensor 23, the radar controller 25 and the network coordinator 26 are respectively connected with the vehicle ECU21 through serial port communication. The angle sensor 30 and the wireless router 31 are connected to the electric vehicle ECU27 through serial communication, respectively. The automobile ECU21 and the electric vehicle ECU27 both adopt 51 singlechips.
The wireless router 31 is preferably a Zigbee wireless router, and the network coordinator 26 is preferably a Zigbee network coordinator.
The Zigbee network coordinator 26 is a wireless personal area network based on IEEE 802.15.4 protocol, referred to as wireless personal area network for short, and is a short-distance low-power-consumption two-way wireless communication technology. The Zigbee network coordinator 26 uses a CC2530 chip, an 8051 microprocessor, an RF transceiver, and a 2.4G carrier bar antenna.
The vehicle-mounted radar 22 comprises a forward radar facing the front of the motor vehicle, a side radar facing the side of the motor vehicle and a backward radar facing the back of the motor vehicle; the detection distance of the vehicle-mounted radar 22 is 2 +/-0.1 meter; the angle threshold is 25 degrees and the time threshold is 10 minutes.
The invention also discloses an intersection control method using the electric vehicle lane occupation control system based on the vehicle-road interaction coordination, which comprises the following steps:
the traffic signal lamps of the east-west side branch road junction 1 and the east-west side branch road junction 2 are synchronously changed, and the traffic signal lamps of the south-north side branch road junction 3 and the north-south side branch road junction 4 are synchronously changed; the ground induction coil controller 18 receives signals of the traffic signal lamp device 17 through a connecting line, and the signals are divided into red light signals, yellow light signals and green light signals;
in the four branch junctions, each traffic signal lamp device 17 continuously sends out traffic signal lamp signals (the traffic signal lamps of two branch junctions opposite to each other at 180 degrees are always synchronous), and the traffic signal lamp signals comprise red lamp signals, green lamp signals and yellow lamp signals;
the ground induction coil controllers 18 in each branch road mechanism respectively receive traffic signal lamp signals sent by the traffic signal lamp devices 17 in the corresponding branch road mechanism;
when receiving the green light signal, the ground induction coil controller 18 controls the motor vehicle ground induction coil 19 in the corresponding shunt port mechanism to enter a working mode and start to radiate a magnetic field upwards, and controls the electric vehicle ground induction coil 20 in the corresponding shunt port mechanism to enter a sleep mode and stop radiating the magnetic field upwards;
when receiving the red light signal, the ground induction coil controller 18 controls the motor vehicle ground induction coil 19 in the corresponding shunt port mechanism to enter a sleep mode and stop radiating a magnetic field upwards, and controls the electric vehicle ground induction coil 20 in the corresponding shunt port mechanism to enter a working mode and start radiating a magnetic field upwards;
after the motor vehicle magnetic detection sensor 23 of the motor vehicle at the intersection detects the magnetic field emitted upwards by the motor vehicle ground induction coil 19, a signal of the detected magnetic field is transmitted to the motor vehicle ECU 21; the motor vehicle ECU21 starts the Zigbee network coordinator 26 through serial port communication, and simultaneously starts the vehicle-mounted radar 22 (including a forward radar, a lateral radar, and a backward radar) to detect the electric vehicles around the motor vehicle, and starts to manage and control the electric vehicles passing through the intersection;
when the electric vehicle passes through the electric vehicle ground induction coil 20, after the electric vehicle magnetic detection sensor 28 detects the magnetic field emitted upwards by the electric vehicle ground induction coil 20, a signal of the detected magnetic field is transmitted to the electric vehicle ECU 27; the electric vehicle ECU27 starts the Zigbee wireless router 31 and the angle sensor 30 through serial port communication; the angle sensor 30 continuously transmits the detected angle signal to the electric vehicle ECU 27;
after the Zigbee network coordinator 26 is started, a wireless personal area network is constructed; after an electric vehicle running on a road enters the range of a wireless personal area network, the Zigbee wireless router 31 is in wireless communication with the Zigbee network coordinator 26, and the Zigbee wireless router 31 receives a communication address allocated by the Zigbee network coordinator 26 and adds the communication address to the wireless personal area network constructed by the Zigbee network coordinator 26;
when the electric vehicle encounters a red light at a crossroad, the electric vehicle firstly passes through the electric vehicle ground induction coil 20 and then can cross over the vehicle stop line 16 and the pedestrian crossing 5 to enter the central area 6; three situations may occur at this time:
the first condition is as follows: if the electric vehicle stops outside the vehicle stop line 16, the vehicle radar 22 does not detect the electric vehicle because the vehicle radar 22 is started after passing through the magnetic field emitted upwards by the vehicle ground induction coil 19 at the crosswalk 5, and the electric vehicle does not enter the wireless personal area network range established by the Zigbee network coordinator 26 of the vehicle passing through the central area 6, so the electric vehicle is not controlled by the vehicle passing through the central area 6;
case two: if the electric vehicle does not stop outside the vehicle stop line 16 and enters the central area 6 or the pedestrian crossing 5, the electric vehicle enters a wireless personal area network range constructed by the Zigbee network coordinator 26 of the motor vehicle passing through the central area 6, and because the signal of the Zigbee network coordinator 26 closest to the electric vehicle is strongest, the electric vehicle joins the wireless personal area network constructed by the Zigbee network coordinator 26 of the motor vehicle closest to the electric vehicle through the Zigbee wireless router 31 of the electric vehicle;
then, the electric vehicle ECU27 transmits the signal detected by the electric vehicle magnetic detection sensor 28 of the electric vehicle to the Zigbee network coordinator 26 of the nearest motor vehicle through the Zigbee wireless router 31, and the Zigbee network coordinator 26 transmits the signal to the motor vehicle ECU 21; at the same time, the vehicle-mounted radar 22 of the vehicle detects the electric vehicle and transmits a detection signal to the vehicle ECU 21;
when the vehicle ECU21 receives the signal detected by the electric vehicle magnetic detection sensor 28 and the signal detected by the vehicle radar 22, which are transmitted by the Zigbee network coordinator 26, at the same time, the vehicle ECU21 sends a stop instruction to the electric vehicle ECU27 through the Zigbee network coordinator 26 and the Zigbee wireless router 31; if the angle detected by the angle sensor 30 of the electric vehicle is smaller than the angle threshold, the electric vehicle ECU27 judges that the electric vehicle is running straight, the electric vehicle ECU27 controls the power system of the electric vehicle to lose power and stop advancing, and the time for stopping advancing is the time threshold;
case three: if the angle detected by the angle sensor 30 of the electric vehicle is greater than or equal to the angle threshold value, the electric vehicle ECU27 judges that the electric vehicle turns right, and if a stop instruction is sent to the electric vehicle ECU27 by the motor vehicle ECU21 through the Zigbee network coordinator 26 and the Zigbee wireless router 31, the electric vehicle ECU27 does not execute the stop instruction, thereby ensuring that the electric vehicle smoothly completes the right-turning action;
when a motor vehicle entering the intersection drives away from the central area 6 and passes through the pedestrian crossing 5 at the opposite branch intersection, the motor vehicle magnetic detection sensor 23 of the motor vehicle detects a magnetic field emitted by the motor vehicle ground induction coil 19 at the opposite branch intersection, the motor vehicle magnetic detection sensor 23 transmits a signal of the detected magnetic field to the motor vehicle ECU21, the motor vehicle ECU21 closes the Zigbee network coordinator 26 through serial port communication, and simultaneously closes the vehicle-mounted radar 22, so that the motor vehicle passing the intersection is not controlled any more.
The range of the wireless personal area network constructed by the Zigbee network coordinator 26 is a circle with the radius of 5 ± 0.5 meters and the Zigbee network coordinator 26 as the center of the circle.
Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.
Claims (6)
1. An electric vehicle lane occupying control system based on vehicle-road interaction coordination is used for crossroad traffic coordination, and the crossroad comprises an east-west side branch crossroad, a south-north side branch crossroad and a south-north side branch crossroad, wherein the total number of the four branch crossroads is four; a central area is defined by the four branch road junctions; the east-west side branch road junction and the east-west side branch road junction are opposite direction branch road junctions, and the south-north side branch road junction are opposite direction branch road junctions;
the ground of each branch road is provided with a pedestrian crossing connected with the central area; in each branch road, the direction pointing to the center of the central area is taken as the inward direction, and the direction far away from the center of the central area is taken as the outward direction; the left side when standing at the branch port and facing the center of the central area is the left direction, and the opposite direction is the right direction;
the outer side of the pedestrian crossing of each branch road is provided with an opposite coming non-motor vehicle lane, an opposite coming motor vehicle lane and an opposite coming non-motor vehicle lane from left to right, lane markings are respectively arranged on the ground among the lanes, and the lanes of each branch road form a general road surface of the branch road;
road corner regions are defined between the main road surfaces of two adjacent branch roads, and each road corner region comprises a northwest road corner region positioned at a northwest corner of the central region, a northeast road corner region positioned at a northeast corner of the central region, a southeast road corner region positioned at a southeast corner of the central region and a southwest road corner region positioned at a southwest corner of the central region;
the ground outside the crosswalk of each intersection is provided with a vehicle stop line, and the vehicle stop line is the end line of each lane marking;
the method is characterized in that: the system comprises a motor vehicle-mounted mechanism, a motor vehicle-mounted mechanism and a branch road mechanism arranged at each branch road, wherein the branch road mechanism comprises a traffic signal lamp device, a ground induction coil controller, a motor vehicle ground induction coil and a motor vehicle ground induction coil; the traffic signal lamp device is connected with the ground induction coil controller through a connecting wire, and the ground induction coil controller is connected with the ground induction coil of the motor vehicle and the ground induction coil of the electric vehicle through the connecting wire;
the traffic signal lamp device of the branch road mechanism is arranged above the joint of the opposite coming vehicle motor lane of the branch road opposite to the branch road and the corresponding vehicle stop line, and the traffic signal lamp of the traffic signal lamp device of the branch road mechanism faces the branch road;
the ground induction coil controller is positioned below the ground of a road corner area adjacent to the road junction; the ground induction coil of the motor vehicle is positioned below the ground of the pedestrian crosswalk at the intersection; the electric vehicle ground induction coil is positioned below the ground of the opposite coming vehicle non-motor vehicle lane and the opposite coming vehicle non-motor vehicle lane 5 meters away from the vehicle stop line; the motor vehicle ground induction coil and the electric vehicle ground induction coil are both provided with a working mode and a sleeping mode, and both the motor vehicle ground induction coil and the electric vehicle ground induction coil radiate a magnetic field upwards when the motor vehicle ground induction coil and the electric vehicle ground induction coil are in the working mode; when the motor vehicle is in the sleep mode, the ground induction coil of the motor vehicle and the ground induction coil of the electric vehicle stop radiating the magnetic field;
the traffic lights of the east-west branch road and the east-west branch road synchronously change, and the traffic lights of the south-north branch road and the north-south branch road synchronously change; the ground induction coil controller receives signals of the traffic signal lamp device through a connecting wire, and the signals are divided into red light signals, yellow light signals and green light signals;
in the four branch junctions, each traffic signal lamp device continuously sends out traffic signal lamp signals, wherein the traffic signal lamp signals comprise red lamp signals, green lamp signals and yellow lamp signals;
the ground induction coil controllers in the branch road mechanisms respectively receive traffic signal light signals sent by traffic signal light devices in the corresponding branch road mechanisms;
when receiving a green light signal, the ground induction coil controller controls the ground induction coil of the motor vehicle in the corresponding shunt port mechanism to enter a working mode and start to radiate a magnetic field upwards, and controls the ground induction coil of the electric vehicle in the corresponding shunt port mechanism to enter a sleep mode and stop radiating the magnetic field upwards;
when the ground induction coil controller receives a red light signal, the ground induction coil controller controls the motor vehicle ground induction coil in the corresponding shunt port mechanism to enter a sleep mode and stop radiating a magnetic field upwards, and simultaneously controls the electric vehicle ground induction coil in the corresponding shunt port mechanism to enter a working mode and start radiating the magnetic field upwards;
the motor vehicle-mounted mechanism comprises a motor vehicle ECU and a vehicle-mounted radar, the motor vehicle ECU is connected with a motor vehicle magnetic detection sensor, a motor vehicle storage battery, a radar controller and a network coordinator, the motor vehicle ECU is respectively connected with the vehicle-mounted radar and the radar controller through connecting wires, and the radar controller is connected with the vehicle-mounted radar through connecting wires; the network coordinator is used for establishing a wireless personal area network;
the electric vehicle-mounted mechanism comprises an electric vehicle ECU, the electric vehicle ECU is connected with an electric vehicle magnetic detection sensor, an electric vehicle storage battery, an angle sensor and a wireless router, the wireless router is used for joining a wireless personal area network established by a network coordinator, the angle sensor is used for measuring the steering angle of the electric vehicle, and an angle threshold value and a time threshold value are prestored in the electric vehicle ECU; when the electric vehicle passes through the electric vehicle ground induction coil, the electric vehicle magnetic detection sensor transmits a signal of the detected magnetic field to an electric vehicle ECU after detecting the magnetic field emitted upwards by the electric vehicle ground induction coil; an electric vehicle ECU starts a wireless router and an angle sensor; the angle sensor continuously transmits the detected angle signals to an electric vehicle ECU;
after a motor vehicle magnetic detection sensor of a motor vehicle at the intersection detects a magnetic field emitted upwards by a motor vehicle ground induction coil, a signal of the detected magnetic field is transmitted to a motor vehicle ECU; starting a network coordinator by an ECU of the motor vehicle, and constructing a wireless personal area network after the network coordinator is started; after the electric vehicle running on the road enters the range of the wireless personal area network, the wireless router and the network coordinator carry out wireless communication, and the wireless router receives a communication address allocated by the network coordinator and adds the communication address into the wireless personal area network constructed by the network coordinator; meanwhile, the vehicle-mounted radar is started to detect the electric vehicles around the motor vehicle, and the electric vehicles passing through the intersection are controlled;
when a motor vehicle entering the intersection drives away from the central area and passes through the pedestrian crosswalk at the opposite branch intersection, the motor vehicle magnetic detection sensor of the motor vehicle detects a magnetic field emitted by the motor vehicle ground induction coil at the opposite branch intersection, the motor vehicle magnetic detection sensor transmits a signal of the detected magnetic field to the motor vehicle ECU, and the motor vehicle ECU closes the network coordinator and simultaneously closes the vehicle-mounted radar, so that the motor vehicle passing the intersection is not controlled any more.
2. The electric vehicle lane occupying management and control system based on vehicle-road interaction coordination according to claim 1, characterized in that: the ground induction coil controllers of the east-west side branch road are positioned in the southwest road corner area, and the ground induction coil controllers of the east-west side branch road are positioned in the northeast road corner area; the ground induction coil controllers of the south-north south branch road are located in the southeast corner area, and the ground induction coil controllers of the south-north branch road are located in the northwest corner area.
3. The electric vehicle lane occupying management and control system based on vehicle-road interaction coordination according to claim 1, characterized in that: the wireless router adopts a Zigbee wireless router, and the network coordinator adopts a Zigbee network coordinator.
4. The electric vehicle lane occupancy management and control system based on vehicle-road interaction coordination according to any one of claims 1 to 3, characterized in that: the vehicle-mounted radar comprises a forward radar facing the front of the motor vehicle, a lateral radar facing the side of the motor vehicle and a backward radar facing the back of the motor vehicle; the detection distance of the vehicle-mounted radar is 2 +/-0.1 meter; the angle threshold is 25 degrees and the time threshold is 10 minutes.
5. An electric vehicle lane occupation control method based on vehicle-road interaction coordination is realized based on the system in claim 4, and is characterized in that:
when the electric vehicle encounters a red light at a crossroad, the electric vehicle firstly passes through the electric vehicle ground induction coil and then can cross over a vehicle stop line and a pedestrian crossing to enter a central area; three cases are included here:
the first condition is as follows: if the electric vehicle stops at the outer side of the vehicle stop line, the vehicle-mounted radar is started after passing through a magnetic field emitted upwards by a vehicle ground induction coil at a pedestrian crossing, so that the electric vehicle cannot be detected by the vehicle-mounted radar, and does not enter a wireless personal area network range established by a network coordinator of the vehicle passing through the central area, so that the electric vehicle is not controlled by the vehicle passing through the central area;
case two: if the electric vehicle does not stop outside the vehicle stop line and enters a central area or a pedestrian crossing, the electric vehicle enters a wireless personal area network range constructed by the network coordinator of the motor vehicle passing through the central area, and the electric vehicle is added into the wireless personal area network constructed by the network coordinator of the motor vehicle nearest to the electric vehicle through the wireless router of the electric vehicle because the signal of the network coordinator nearest to the electric vehicle is strongest;
then, the electric vehicle ECU transmits a signal detected by an electric vehicle magnetic detection sensor of the electric vehicle to a network coordinator of a motor vehicle closest to the electric vehicle through a wireless router, and the network coordinator transmits the signal to the motor vehicle ECU; meanwhile, the vehicle-mounted radar of the motor vehicle detects the electric vehicle and transmits a detection signal to the motor vehicle ECU;
when the motor vehicle ECU receives the signal which is transmitted by the network coordinator and detected by the electric vehicle magnetic detection sensor and the signal which is detected by the vehicle-mounted radar and detected by the electric vehicle at the same time, the motor vehicle ECU sends a stop instruction to the electric vehicle ECU through the network coordinator and the wireless router; if the angle detected by the angle sensor of the electric vehicle is smaller than the angle threshold, the electric vehicle ECU judges that the electric vehicle is in straight motion, the electric vehicle ECU controls the power system of the electric vehicle to lose power and stop advancing, and the time for stopping advancing is a time threshold;
case three: if the angle detected by the angle sensor of the electric vehicle is larger than or equal to the angle threshold value, the electric vehicle ECU judges that the electric vehicle turns right, and if the situation that the electric vehicle ECU sends a stop instruction to the electric vehicle ECU through the network coordinator and the wireless router occurs at the moment, the electric vehicle ECU does not execute the stop instruction, so that the electric vehicle is guaranteed to smoothly complete the right-turning action.
6. The management and control method according to claim 5, characterized in that: the range of the wireless personal area network constructed by the network coordinator is a circle with the center of the network coordinator as the center and the radius of 5 +/-0.5 meters.
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| CN110491126B (en) * | 2019-08-25 | 2021-11-16 | 安徽深蓝大健康智能科技有限公司 | Non-motor vehicle intersection driving control method and system based on Internet of things technology |
| CN111260943B (en) * | 2020-02-25 | 2022-02-08 | 河海大学 | Intelligent signal sign system for parking yielding intersection and vehicle passing method |
| CN111710179B (en) * | 2020-06-12 | 2021-05-04 | 杭州电子科技大学 | Dynamic silence monitoring mixed area method based on traffic light state |
| CN113838279B (en) * | 2021-09-30 | 2022-11-15 | 上海钧正网络科技有限公司 | Method and device for preventing non-motor vehicle from running red light, readable storage medium and electronic equipment |
| CN114373305A (en) * | 2021-12-30 | 2022-04-19 | 北京玄星智能科技有限公司 | Intelligent networking vehicle environment sensing method |
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