CN109741634B - Early warning method and device for preventing collision in accident scene warning area in straight road section - Google Patents
Early warning method and device for preventing collision in accident scene warning area in straight road section Download PDFInfo
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Abstract
The invention discloses an anti-collision early warning method and device for an accident site warning area in a straight road section, and relates to the technical field of road accident site early warning.
Description
Technical Field
The invention relates to the technical field of road early warning, in particular to the field of early warning of an accident site of an expressway.
Background
With the development of society, the holding quantity of automobiles is continuously increased, collision accidents on high-grade roads occur at any time, and collision-prevention warning equipment on accident sites needs to be arranged when traffic polices deal with the accident sites. Traditional accident scene warning equipment all is based on contact's warning equipment, and it has sufficient emergent reaction time to guarantee the traffic police, must carry out the multiple spot at a long distance and deploy the accuse just can satisfy the requirement, and it exists following not enoughly:
1. the number of the control equipment is large, and the control is troublesome to be controlled and removed.
2. All belong to contact equipment, after the vehicle collision, easily damaged.
Most of high-grade roads are composed of straight road sections and curved road sections, the speed of a vehicle on the straight road sections is generally high in the driving process of the vehicle, drivers mostly increase the attention and reduce the driving speed to avoid accidents in the curved road sections due to the turning process, and therefore, the driving accidents of the high-grade roads are frequently generated on the straight road sections, and therefore, the technical problem of how to reduce the accident site distribution control difficulty in the straight road sections of the high-grade roads is urgently needed to be solved.
Disclosure of Invention
The invention provides an anti-collision early warning method for an accident scene warning area in a straight road section, which aims to solve the technical problem that in the prior art, the straight road section of a high-grade road is difficult to arrange and control.
The invention provides an anti-collision early warning method for an accident scene warning area in a straight road section, which comprises the following steps:
step 1, setting a warning area range
Selecting the edge of the road section nearest to an accident unit as a handling boundary according to the accident scene condition, setting an alert boundary parallel to the handling boundary in the road section according to the requirement, and setting the region between the other boundary of the road section and the alert boundary as a vehicle passing region;
step 2, a zone surveillance radar is placed in a zone between the disposal boundary and the surveillance boundary, the detection direction of the zone surveillance radar is opposite to the traffic flow direction when the surveillance zone is in a non-surveillance state, and the vertical distance between the zone surveillance radar and the surveillance boundary is Rh；
Step 3, calculating an included angle theta between a detection center line of the regional warning radar and a warning boundaryrealThe calculating step comprises:
step 3.1, starting a region warning radar, and collecting target information s (v, r, theta) of a moving target in a detection range of the region warning radar, wherein v is the speed of the target, r is the distance between the target and the radar, and theta is an included angle between the position of the target and a central line of the radar;
and 3.2, if the radar data output period is T, the target information corresponding to the same moving target at the nT moment is s (v)nT,rnT,θnT) N is the serial number of the radar data output period;
step 3.3, calculating an included angle theta between the detection central line of the warning radar of the nT time zone and the warning boundarynT'
Wherein:
when the detection center line of the zone surveillance radar is deviated to the surveillance boundary:
|r(n+1)T×COS(θ(n+1)T+θnT')-rnT×COS(θT+θnT')|＝v(n+1)×T (1)
when the zone surveillance radar detects that the midline is biased towards the treatment boundary:
|r(n+1)T×COS(θ(n+1)T-θnT')-rnT×COS(θT-θnT')|＝v(n+1)×T (2)
calculating theta of each moving object using formula (1) or formula (2)nT'
Step 3.4, respectively calculating thetaT'、θ2T'、θ3T'、、、、θnT' obtaining the included angle theta between the detection central line of the regional surveillance radar and the surveillance boundary obtained by a single moving target by carrying out mean value processing on the obtained results
Step 3.5, repeating the step 3, and obtaining an included angle theta between a detection central line of the regional warning radar obtained by the plurality of moving targets and a warning boundarys1、θs2、θs3、、、、θsmAnd performing smooth mean processing on the calculation result to obtain an included angle theta between the detection center line of the regional surveillance radar and the surveillance boundaryrealWherein m is the serial number of the moving target;
step 4, predicting the track of each moving target
Step 4.1, carrying out track prediction training
t1The target information of the moving target output by the time zone warning radar is st1(vt1,rt1,θt1)：
According to thetarealPredicting t2The moving target information output by the warning radar of the time zone is st2(vt2,rt2,θt2) And t2 > t1
Wherein: st2(vt2,rt2,θt2) The method specifically comprises the following steps:
r is calculated by the formula (3) or (4)t2And thetat2
When the detection center line is deviated to the alert boundary:
detecting a midline deviation towards a treatment boundary:
and v ist2＝vt1To obtain st2(vt2,rt2,θt2)
t2The moving target information actually output by the warning radar in the time zone is st′2(vt2′,rt2′,θt2′)
If at the same time satisfy
The output moving object predicted object information is st′2(vt2′,rt2′,θt2') and otherwise the output moving object prediction target information is st2(vt2,rt2,θt2) Wherein v ismaxIs | t2-t1Maximum value of velocity variation, r, over time intervalmaxIs | t2-t1Maximum value of distance change within | time interval, θmaxIs | t2-t1The maximum value of the angular variation within the | time interval;
step 4.2, after the target information of the moving target is predicted by repeating the step 4.1, the target information s of the moving target prediction is outputPreparation of(vPreparation of,rPreparation of,θPreparation of)
Step 5, judging whether the moving target needs to be subjected to collision avoidance early warning or not
If R isPreparation of＞RhIf not, the early warning is carried out
Wherein:
when the detection center line of the zone surveillance radar is deviated to the surveillance boundary:
Rpreparation of＝rPreparation of*sin(θreal+θPreparation of) (6)
When the zone surveillance radar detects that the midline is biased towards the treatment boundary:
Rpreparation of＝rPreparation of*sin(θPreparation of-θreal) (7)。
Further, step 4.1 is preceded by:
judging whether the speed of a target in target information output by the zone warning radar is zero or not, if so, directly rejecting the moving target, and not predicting a track;
and judging whether the included angle between the target position and the central line of the radar in the continuous output data of the moving target output by the regional warning radar is gradually reduced, if so, judging that the moving target is a driving target, rejecting the moving target, and not predicting the track.
Further, step 5 is replaced by the following steps:
step 5.1, judging whether the target is a boundary target
If: | RPreparation of-RhIf | < delta R, the corresponding moving target is a boundary target, otherwise, the corresponding moving target is a non-boundary target
For non-boundary targets, if
The boundary target proceeds to step 5.2, where Δ R is the radar ranging accuracy
Step 5.2, multi-cycle continuous prediction is carried out on the target information of the boundary target, and when the target information meets RPreparation of＜RhAnd in time, the early warning of collision avoidance is directly carried out.
Further, the following steps are also performed before step 5:
the distance h right in front of the radar for warning the area1Is set as a steering boundary, h2Is a lateral alert boundary, and h1＞h2
Wherein:
when the detection center line of the zone surveillance radar is deviated to the surveillance boundary:
R′preparation of＝rPreparation of*COS(θreal+θPreparation of) (8)
When the zone surveillance radar detects that the midline is biased towards the treatment boundary:
R′preparation of＝rPreparation of*COS(θPreparation of-θreal) (9)。
Furthermore, a laser device is further arranged on the zone warning radar, and a light beam path generated by the laser device is superposed with a detection central line path of the zone warning radar.
Further, step 3.3 includes determining that the detection center line of the zone surveillance radar is biased towards the treatment boundary or the surveillance boundary according to the light beam generated by the laser device.
Further, n is more than or equal to 20, and m is more than or equal to 20.
Further, in step 4, when there is a discrepancy between the motion target information output by multiple prediction and the motion target information actually output, smoothing is performed on all the motion target information actually output.
Further, the collision prevention early warning is specifically an acousto-optic warning device.
The invention also provides an anti-collision early warning device for the accident scene warning area in the straight road section, and the operation method of the device is an anti-collision early warning method for the accident scene warning area in the straight road section.
The invention has the following advantages:
1. the invention provides a non-contact type collision prevention early warning device for an accident site, which effectively reduces the difficulty in deploying and controlling the accident site of a high-grade highway;
2. by adopting the method provided by the invention, the deployment and control cost of the high-grade highway accident site can be effectively reduced;
3. the method provided by the invention realizes the track prediction of the vehicle driving to the accident site, and accurately judges whether the vehicle drives into the warning area, thereby effectively avoiding the occurrence of secondary accidents;
4. the method provided by the invention can meet the requirement of collision avoidance entrance control without touching the equipment by the vehicle, and has the advantages of simple control, high detection efficiency and false alarm rate.
Drawings
FIG. 1 is a schematic diagram of an anti-collision early warning when a vehicle drives in from a detection center line of a regional surveillance radar to a surveillance boundary;
FIG. 2 is a schematic diagram of an anti-collision early warning when a vehicle drives in from a detection center line of a zone surveillance radar to a disposal boundary.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides an anti-collision early warning method for an accident scene warning area in a straight road section, which comprises the following steps:
step 1, setting a warning area range
Selecting the edge of the road section nearest to an accident unit as a handling boundary according to the accident scene condition, setting an alert boundary parallel to the handling boundary in the road section according to the requirement, and setting the region between the other boundary of the road section and the alert boundary as a vehicle passing region;
step 2, a zone surveillance radar is placed in a zone between the disposal boundary and the surveillance boundary, the detection direction of the zone surveillance radar is opposite to the traffic flow direction when the surveillance zone is in a non-surveillance state, and the vertical distance between the zone surveillance radar and the surveillance boundary is Rh；
Step 3, calculating an included angle theta between a detection center line of the regional warning radar and a warning boundaryrealThe calculating step comprises:
step 3.1, starting a region warning radar, and collecting target information s (v, r, theta) of a moving target in a detection range of the region warning radar, wherein v is the speed of the target, r is the distance between the target and the radar, and theta is an included angle between the position of the target and a central line of the radar;
and 3.2, if the radar data output period is T, the target information corresponding to the same moving target at the nT moment is s (v)nT,rnT,θnT) N is the serial number of the radar data output period;
step 3.3, calculating an included angle theta between the detection central line of the warning radar of the nT time zone and the warning boundarynT'
Wherein:
when the detection center line of the zone surveillance radar is deviated to the surveillance boundary:
|r(n+1)T×COS(θ(n+1)T+θnT')-rnT×COS(θT+θnT')|＝v(n+1)×T (1)
when the zone surveillance radar detects that the midline is biased towards the treatment boundary:
|r(n+1)T×COS(θ(n+1)T-θnT')-rnT×COS(θT-θnT')|＝v(n+1)×T (2)
calculating theta of each moving object using formula (1) or formula (2)nT'
Step 3.4, respectively calculating thetaT'、θ2T'、θ3T'、、、、θnT' obtaining the included angle theta between the detection central line of the regional surveillance radar and the surveillance boundary obtained by a single moving target by carrying out mean value processing on the obtained results
Step 3.5, repeating the step 3, and obtaining an included angle theta between a detection central line of the regional warning radar obtained by the plurality of moving targets and a warning boundarys1、θs2、θs3、、、、θsmAnd performing smooth mean processing on the calculation result to obtain an included angle theta between the detection center line of the regional surveillance radar and the surveillance boundaryrealWherein m is the serial number of the moving target;
step 4, predicting the track of each moving target
Step 4.1, carrying out track prediction training
t1Time zone warning mineThe target information of the output moving target is st1(vt1,rt1,θt1)：
According to thetarealPredicting t2The moving target information output by the warning radar of the time zone is st2(vt2,rt2,θt2) And t2 > t1
Wherein: st2(vt2,rt2,θt2) The method specifically comprises the following steps:
r is calculated by the formula (3) or (4)t2And thetat2
When the detection center line is deviated to the alert boundary:
detecting a midline deviation towards a treatment boundary:
and v ist2＝vt1To obtain st2(vt2,rt2,θt2)
t2The moving target information actually output by the time zone warning radar is s't2(vt2′,rt2′,θt2′)
If at the same time satisfy
The outputted moving object prediction object information is s't2(vt2′,rt2′,θt2') and otherwise the output moving object prediction target information is st2(vt2,rt2,θt2) Wherein v ismaxIs | t2-t1Maximum value of velocity variation, r, over time intervalmaxIs | t2-t1Maximum value of distance change within | time interval, θmaxIs | t2-t1Angle change in | time intervalChanging the maximum value;
step 4.2, after the target information of the moving target is predicted by repeating the step 4.1, the target information s of the moving target prediction is outputPreparation of(vPreparation of,rPreparation of,θPreparation of)
Step 5, judging whether the moving target needs to be subjected to collision avoidance early warning or not
If R isPreparation of＞RhIf not, the early warning is carried out
Wherein:
when the detection center line of the zone surveillance radar is deviated to the surveillance boundary:
Rpreparation of＝rPreparation of*sin(θreal+θPreparation of) (6)
When the zone surveillance radar detects that the midline is biased towards the treatment boundary:
Rpreparation of＝rPreparation of*sin(θPreparation of-θreal) (7)。
Preferably, in order to facilitate intuitive judgment of the position of the detection center line of the zone surveillance radar, in this embodiment, the zone surveillance radar is further provided with a laser device, and a light beam path generated by the laser device coincides with the detection center line path of the zone surveillance radar, so that after the zone surveillance radar is placed, the laser device is turned on to make a light beam thereof substantially parallel to the surveillance boundary, and then subsequent steps are performed.
Through the arrangement, the arrangement difficulty of the regional warning radar is reduced, and the difficulty of the arrangement and control of the warning region on the accident site is reduced.
Preferably, in this embodiment, step 3.3 further includes determining that the zone-alert radar detects a deviation of the centerline toward the treatment boundary or the alert boundary based on the beam generated by the laser device.
Preferably, in order to make the data as accurate as possible and reduce the difficulty of operating the device, in the present embodiment, n ≧ 20 is selected, and n ≧ 20 is selected in the present embodiment.
Preferably, m is greater than or equal to 20 in the embodiment, and m is greater than or equal to 20 in the embodiment, in order to make the data as accurate as possible and reduce the difficulty of operating the device.
Preferably, in order to reduce errors, when there is a discrepancy between the motion target information output by multiple predictions and the motion target information actually output in step 4, all the motion target information actually output is smoothed, so as to avoid that the target tracking is abnormal due to a deviation between an actually measured value and a predicted value occasionally.
And the initial target needs to pass through a plurality of tracking cycles to perform collision avoidance detection on the tracked target information so as to avoid the interference of noise on the detection effect.
Preferably, in order to avoid repeatedly performing track prediction on the non-moving target and the target away from the alert area, in this embodiment, step 4.1 further includes:
judging whether the speed of a target in target information output by the zone warning radar is zero or not, if so, directly rejecting the moving target, and not predicting a track;
and judging whether the included angle between the target position and the central line of the radar in the continuous output data of the moving target output by the regional warning radar is gradually reduced, if so, judging that the moving target is a driving target, rejecting the moving target, and not predicting the track.
Through the arrangement, the operation difficulty of the equipment is reduced, the operation efficiency of the equipment is improved, and the monitoring resource waste is avoided.
Preferably, the range-finding accuracy may cause false alarm of pre-warning for collision avoidance due to the range-finding accuracy of the zone surveillance radar, and therefore, in this embodiment, the step 5 may be replaced by the following step:
step 5.1, judging whether the target is a boundary target
If: | RPreparation of-RhIf | < delta R, the corresponding moving target is a boundary target, otherwise, the corresponding moving target is a non-boundary target
For non-boundary targets, if
The boundary target proceeds to step 5.2, where Δ R is the radar ranging accuracy
Step 5.2, multi-cycle continuous prediction is carried out on the target information of the boundary target, and when the target information meets RPreparation of＜RhAnd in time, the early warning of collision avoidance is directly carried out.
Through the arrangement, the phenomenon of false alarm of collision-in early warning caused by the fact that part of vehicles run on the early warning boundary through line pressing is avoided, and the accuracy rate of collision-in early warning is improved.
Preferably, in this embodiment, the collision avoidance early warning is specifically an audible and visual alarm device.
Through the arrangement, when the part of the vehicles need to be prevented from being collided and early-warned, the corresponding sound-light warning device can be opened to carry out sound-light warning on drivers in the vehicles, and secondary accidents can be effectively avoided.
The invention also provides an anti-collision early warning device for the accident scene warning area in the straight road section, and the operation method of the device is an anti-collision early warning method for the accident scene warning area in the straight road section.
Preferably, in order to further improve the security of the alert area while avoiding occupying a large accident disposal site, the following steps are further performed before step 5:
setting the distance right in front of the region warning radar as h1Is set as a steering boundary, h2Is located at a transverse alert boundary, and h1＞h2
Wherein:
when the detection center line of the zone surveillance radar is deviated to the surveillance boundary:
R′preparation of＝rPreparation of*COS(θreal+θPreparation of) (8)
When the zone surveillance radar detects that the midline is biased towards the treatment boundary:
R′preparation of＝rPreparation of*COS(θPreparation of-θreal) (9)
Can effectively avoid being in the same position as a warning area through steering early warningThe vehicle in one lane drives to the warning area and passes through h1And h2The arrangement of (1) provides early warning for the vehicle to turn ahead, and is favorable for avoiding secondary accidents, namely when the vehicle is in h1And h2And the lane can be changed in time and enter a traffic area due to the steering early warning, so that the defect of directly entering a warning area is avoided, and the steering lane changing time is provided for vehicle drivers.
In order to facilitate the determination of the alert boundary, the alert boundary is selected as a lane boundary in this embodiment, so that the alert boundary position can be visually confirmed, which facilitates the method implementation.
Through the arrangement, the large warning area is avoided being set, meanwhile, the vehicle driving to the warning area is convenient to remind of adjusting the vehicle speed and the lane in time, and secondary accidents are further avoided.
Claims (10)
1. An anti-collision early warning method for an accident scene warning area in a straight road section is characterized by comprising the following steps:
step 1, setting a warning area range
Selecting the edge of the road section nearest to an accident unit as a handling boundary according to the accident scene condition, setting an alert boundary parallel to the handling boundary in the road section according to the requirement, and setting the region between the other boundary of the road section and the alert boundary as a vehicle passing region;
step 2, a zone surveillance radar is placed in a zone between the disposal boundary and the surveillance boundary, the detection direction of the zone surveillance radar is opposite to the traffic flow direction when the surveillance zone is in a non-surveillance state, and the vertical distance between the zone surveillance radar and the surveillance boundary is Rh；
Step 3, calculating an included angle theta between a detection center line of the regional warning radar and a warning boundaryrealThe calculating step comprises:
step 3.1, starting a region warning radar, and collecting target information s (v, r, theta) of a moving target in a detection range of the region warning radar, wherein v is the speed of the target, r is the distance between the target and the radar, and theta is an included angle between the position of the target and a central line of the radar;
and 3.2, if the radar data output period is T, the target information corresponding to the same moving target at the nT moment is s (v)nT,rnT,θnT) N is the serial number of the radar data output period;
step 3.3, calculating an included angle theta between the detection central line of the warning radar of the nT time zone and the warning boundarynT'
Wherein:
when the detection center line of the zone surveillance radar is deviated to the surveillance boundary:
|r(n+1)T×COS(θ(n+1)T+θnT')-rnT×COS(θT+θnT')|＝v(n+1)×T (1)
when the zone surveillance radar detects that the midline is biased towards the treatment boundary:
|r(n+1)T×COS(θ(n+1)T-θnT')-rnT×COS(θT-θnT')|＝v(n+1)×T (2)
calculating theta of each moving object using formula (1) or formula (2)nT'
Step 3.4, respectively calculating thetaT'、θ2T'、θ3T'、、、、θnT' obtaining the included angle theta between the detection central line of the regional surveillance radar and the surveillance boundary obtained by a single moving target by carrying out mean value processing on the obtained results
Step 3.5, repeating the step 3, and obtaining an included angle theta between a detection central line of the regional warning radar obtained by the plurality of moving targets and a warning boundarys1、θs2、θs3、、、、θsmAnd performing smooth mean processing on the calculation result to obtain an included angle theta between the detection center line of the regional surveillance radar and the surveillance boundaryrealWherein m is the serial number of the moving target;
step 4, predicting the track of each moving target
Step 4.1, carrying out track prediction training
t1The target information of the moving target output by the time zone warning radar is st1(vt1,rt1,θt1)：
According to thetarealPredicting t2The moving target information output by the warning radar of the time zone is st2(vt2,rt2,θt2) And t2 > t1
Wherein: st2(vt2,rt2,θt2) The method specifically comprises the following steps:
r is calculated by the formula (3) or (4)t2And thetat2
When the detection center line is deviated to the alert boundary:
detecting a midline deviation towards a treatment boundary:
and let vt2＝vt1To obtain st2(vt2,rt2,θt2)
t2The moving target information actually output by the time zone warning radar is s't2(vt2′,rt2′,θt2′)
If at the same time satisfy
The outputted moving object prediction object information is s't2(vt2′,rt2′,θt2') and otherwise the output moving object prediction target information is st2(vt2,rt2,θt2) Wherein v ismaxIs | t2-t1Maximum value of velocity variation, r, over time intervalmaxIs | t2-t1Maximum value of distance change within | time interval, θmaxIs | t2-t1The maximum value of the angular variation within the | time interval;
step 4.2, after target information prediction is carried out on the moving target by repeating the step 4.1, the moving target is inputTarget information s for moving target predictionPreparation of(vPreparation of,rPreparation of,θPreparation of)
Step 5, judging whether the moving target needs to be subjected to collision avoidance early warning or not
If R isPreparation of＞RhIf not, the early warning is carried out
Wherein:
when the detection center line of the zone surveillance radar is deviated to the surveillance boundary:
Rpreparation of＝rPreparation of*sin(θreal+θPreparation of) (6)
When the zone surveillance radar detects that the midline is biased towards the treatment boundary:
Rpreparation of＝rPreparation of*sin(θPreparation of-θreal) (7)。
2. The method of claim 1, wherein step 4.1 is preceded by:
judging whether the speed of a target in target information output by the zone warning radar is zero or not, if so, directly rejecting the moving target, and not predicting a track;
and judging whether the included angle between the target position and the central line of the radar in the continuous output data of the moving target output by the regional warning radar is gradually reduced, if so, judging that the moving target is a driving target, rejecting the moving target, and not predicting the track.
3. The method of claim 2, wherein step 5 is replaced with the step of:
step 5.1, judging whether the target is a boundary target
If: | RPreparation of-RhIf | < delta R, the corresponding moving target is a boundary target, otherwise, the corresponding moving target is a non-boundary target
For non-boundary targets, if
The boundary target proceeds to step 5.2, where Δ R is the radar ranging accuracy
Step 5.2, multi-cycle continuous prediction is carried out on the target information of the boundary target, and when the target information meets RPreparation of＜RhAnd in time, the early warning of collision avoidance is directly carried out.
4. A method according to claim 3, characterized in that the following step is also performed before step 5:
the distance h right in front of the radar for warning the area1Is set as a steering boundary, h2Is a lateral alert boundary, and h1＞h2
If it is
Wherein:
when the detection center line of the zone surveillance radar is deviated to the surveillance boundary:
R′preparation of＝rPreparation of*COS(θreal+θPreparation of) (8)
When the zone surveillance radar detects that the midline is biased towards the treatment boundary:
R′preparation of＝rPreparation of*COS(θPreparation of-θreal) (9)。
5. The method according to claim 4, wherein a laser device is further provided on the zone surveillance radar, and wherein the path of the beam generated by the laser device coincides with the path of the detected neutral line of the zone surveillance radar.
6. The method of claim 5 further comprising determining in step 3.3 that the zone-alert radar detects a deviation of the centerline toward the treatment boundary or alert boundary based on the beam generated by the laser device.
7. The method of claim 6, wherein n is 20 or more and m is 20 or more.
8. The method according to claim 7, wherein, when there is a discrepancy between the moving object information output by a plurality of times of prediction and the moving object information actually output in step 4, all the moving object information actually output is smoothed.
9. Method according to claim 8, characterized in that the collision avoidance warning is embodied as an acousto-optic warning device.
10. An anti-collision early warning device for an accident scene warning area in a straight road section, which is characterized in that the operation method of the device is the method as claimed in any one of claims 1 to 9.
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| CN109398353A (en) * | 2018-09-30 | 2019-03-01 | 北京新能源汽车股份有限公司 | A kind of vehicle safety control method and device |
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