CN110232839A - A kind of errant vehicle inducible system and method for the long descending section of mountainous area highway - Google Patents

Abstract

The invention relates to the technical field of traffic safety, in particular to an out-of-control vehicle induction system and method for a long downhill section of a mountainous expressway; it includes an out-of-control vehicle judgment system, an out-of-control vehicle induction system and a control decision-making system; when the vehicle enters the working area, the monitoring The facility monitors the speed and running status of passing vehicles in real time; the out-of-control vehicle judgment system judges whether the vehicle is out of control based on the monitoring data; if the vehicle is out of control, the control decision-making system controls the out-of-control vehicle induction system to induce the out-of-control vehicle; When leaving the induction area, it will automatically land to complete the induction of out-of-control vehicles. The invention combines the unique emergency avoidance lane of the mountain expressway and the relatively mature liftable pile technology for design. The liftable induction pile is equipped with warning lights and mesh surface. It effectively enhances the guidance of the induced structure and also has buffering capacity, and has a simple structure, convenient installation and maintenance, and strong creativity.

Description

An out-of-control vehicle induction system for long downhill sections of mountainous expressways and its method

technical field

The invention relates to the technical field of traffic safety, in particular to an out-of-control vehicle induction system and method for long downhill sections of expressways in mountainous areas.

Background technique

Expressway plays a vital role in the development of regional economy, but it is also accompanied by a series of traffic accidents while facilitating regional economic construction. The traffic accident rate has always been high, often causing extremely serious casualties and economic The loss is especially obvious on the long downhill section of the mountain expressway. As far as the long downhill section of the "1103 Lanzhou South Special Traffic Accident" occurred, large trucks are prone to brake failure on this long downhill section, causing the vehicle to lose control. Even if an emergency avoidance lane is set up on the side of the road, most The driver may also ignore the existence of the emergency escape lane because of panic. In addition, some drivers are worried about the reliability of the emergency escape lane, fearing that the car will be destroyed and killed, even if they see the emergency escape lane, they dare not use it , eventually leading to serious traffic accidents. How to reasonably and effectively induce the driver of the out-of-control vehicle to use the emergency avoidance lane has become the key to ensure that the out-of-control vehicle is out of danger. Therefore, we propose an out-of-control vehicle induction device and system for high-speed long downhill sections in mountainous areas.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention discloses an out-of-control vehicle induction system and method for the long downhill section of the mountainous expressway. , to solve the problems raised in the background art above.

The present invention is achieved through the following technical solutions:

An out-of-control vehicle induction system for a long downhill section of a mountainous expressway, including an out-of-control vehicle judgment system, an out-of-control vehicle induction system, and a control decision-making system; the out-of-control vehicle judgment system uses a gyroscope to measure the yaw rate of the vehicle and the acceleration in all directions of the vehicle body , when the data exceeds a threshold, sending a control signal and the measured data to the control decision system;

The control decision-making system is composed of monitoring facilities, sensing facilities, information decision-making center, storage server and information transmission equipment, and is used for central control, data storage and detection;

The out-of-control vehicle induction system consists of a liftable induction pile structure, a roadside emergency avoidance lane, roadside auxiliary facilities and an induction control system, and is used for inducing out-of-control vehicles.

Preferably, the liftable induction pile structure includes installation piles, telescopic piles, an elastic net system and a warning mechanism. It can move up and down in the installation pile. One end of the elastic net system is connected to the top of the telescopic pile, and the other end is connected to the top edge of the installation pile. The warning mechanism is arranged on the top of the telescopic pile.

Preferably, the elastic net system includes elastic reinforcing ribs, a net surface and an installation structure, the warning mechanism includes a warning light and a sealing cover, the surfaces of the installation pile and the telescopic pile are provided with chutes, and the mesh surface is slidably set In the chute, the reinforcing ribs above and below the mesh surface are connected to the top of the telescopic pile and the top edge of the installation pile through the installation structure; the warning light is arranged on the top of the telescopic pile, so that The sealing cover is arranged on the top of the warning light.

Preferably, the diameter of the sealing cover is equal to the diameter of the installation hole dug when the installation pile is buried, the installation pile is fixed in the installation hole through a flange, the warning light is connected to an external power supply, and the inside of the installation pile An MCU integration unit is provided, and the MCU integration unit is used to control the rise and fall of the telescopic pile, and the MCU integration unit is provided with a wireless signal receiving end.

Preferably, the monitoring facility includes an electronic police and a video monitoring system, and the sensing facility includes a vehicle speed monitoring system, a GPS positioning system, and a vehicle trajectory detection system, and the out-of-control vehicle judging system uses the data of the monitoring facility and performs data judgment analyze.

Preferably, the information decision-making center is composed of a traffic command center and an intelligent traffic command center, and the traffic command center is controlled by traffic management personnel on the scene. Intervene in the event, as the event decision maker, complete the induction of out-of-control vehicles.

Preferably, in the out-of-control vehicle judging system, a two-degree-of-freedom model of the vehicle is first established, wherein m is the total mass of the vehicle, β is the side slip angle of the vehicle center of mass, r is the yaw rate, is the yaw angular acceleration, Fyf and Fyr are the lateral forces of the front and rear wheels respectively, vy and vx are the lateral and longitudinal speeds of the vehicle respectively, is the lateral acceleration of the vehicle, Iz is the moment of inertia of the vehicle body, ΔM _z is the yaw moment provided by the outside, provided by the steering system and the braking system, lf and lr are the distances from the front and rear axles to the center of gravity of the vehicle, respectively;

According to Newton's laws of mechanics, it is calculated as follows:

A method for inducing an out-of-control vehicle at a long downhill section of a mountainous expressway, said inducing method using the above-mentioned out-of-control vehicle inducing system for a long downhill section of a mountainous expressway, said inducing method comprising the following steps:

S1 When the vehicle enters the working area, the monitoring facility will monitor the speed and running status of the passing vehicle in real time;

S2 The out-of-control vehicle judging system judges whether the vehicle is out of control according to the monitoring data in S1;

S3 If the vehicle is out of control, the control decision-making system controls the out-of-control vehicle induction system to work to induce the out-of-control vehicle;

The S4 sensing device senses that the vehicle has left the induction area, and then automatically lands to complete the induction of the out-of-control vehicle.

Preferably, in said S3, the sensing system senses the track of the out-of-control vehicle in real time, and selectively mobilizes the induction pile structure according to the vehicle position, so as to avoid the interference of the induction pile structure to the normal driving vehicle.

Preferably, in S3, the traffic command center is the main decision-maker of the accident. If no one responds from the traffic command center, the intelligent command center intervenes in the event, and as the event decision-maker, decides whether to activate the vehicle guidance system.

The beneficial effects of the present invention are:

The invention is designed in combination with the unique emergency avoidance lane of the expressway in mountainous areas and the relatively mature liftable road pile technology, and adopts a gradual design when arranging the induction piles, so as to avoid the dangerous situation caused by the frontal collision of the out-of-control vehicles with the induction facilities. The induction control method is used to judge whether the induction pile structure needs to be activated according to the running track and position of the out-of-control vehicle, which reduces the interference of the induction pile structure to the normal driving vehicle. The warning lights and mesh surface on the lifting induction pile not only effectively enhance the guidance of the induction structure but also have a certain buffer capacity, and the structure is simple and easy to install and maintain.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic diagram of steps of an out-of-control vehicle induction method for a long downhill section of a mountainous expressway;

Fig. 2 is a schematic diagram of the principle of an out-of-control vehicle induction method for a long downhill section of a mountainous expressway;

Fig. 3 is a schematic diagram of an out-of-control vehicle induction in an embodiment of the present invention;

4 is a schematic diagram of an out-of-control vehicle induction system according to an embodiment of the present invention;

The label in accompanying drawing 4 represents respectively:

1. Flange; 2. Installation pile; 3. Telescopic pile; 4. Power supply; 5. Warning light; 6. Sealing cover; 7. Elastic rib; 8. Mesh surface.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Example 1

This embodiment discloses an out-of-control vehicle induction system as shown in Figure 3. When the vehicle enters the work area, the monitoring facility monitors the speed and running state of the passing vehicle in real time to determine whether the vehicle is out of control, and the sensing system senses the trajectory of the out-of-control vehicle in real time. , selectively mobilize the induced pile structure according to the position of the vehicle, and avoid the interference of the induced pile structure to the normal driving vehicle. The monitoring facilities include electronic police and video monitoring systems, and the sensing facilities include a vehicle speed monitoring system, a GPS positioning system, and a vehicle trajectory detection system. The information decision-making center is composed of a traffic command center and an intelligent traffic command center. The traffic command center is mainly controlled by traffic management personnel on the scene. , as the decision maker of the event, decide whether to use the induction device. If induction is required, the intelligent command center sends an instruction to the controller of the lifting induction pile equipment, and the lifting induction pile rises. After the induction device senses that the vehicle has left the induction area , then automatically land, thereby completing the induction of the out-of-control vehicle.

In the out-of-control vehicle judging system, a vehicle two-degree-of-freedom model is established first, where m is the total mass of the vehicle, β is the side slip angle of the vehicle center of mass, r is the yaw rate, is the yaw angular acceleration, Fyf and Fyr are the lateral forces of the front and rear wheels respectively, vy and vx are the lateral and longitudinal speeds of the vehicle respectively, is the lateral acceleration of the vehicle, Iz is the moment of inertia of the vehicle body, ΔM _z is the yaw moment provided by the outside, provided by the steering system and the braking system, lf and lr are the distances from the front and rear axles to the center of gravity of the vehicle, respectively;

According to Newton's laws of mechanics, it is calculated as follows:

As shown in Figure 4, the out-of-control vehicle induction system consists of a liftable induction pile structure, a roadside emergency avoidance lane, roadside auxiliary facilities and an induction control system, and is used to induce out-of-control vehicles.

The liftable induction pile structure includes installation piles, telescopic piles, elastic net system and warning mechanism. The installation piles are pre-buried on both sides of the expressway. Moving up and down, one end of the elastic net system is connected to the top of the telescopic pile, and the other end is connected to the top edge of the installation pile, and the warning mechanism is arranged on the top of the telescopic pile.

The elastic net system includes elastic reinforcing ribs, a net surface and an installation structure. The warning mechanism includes a warning light and a sealing cover. The surface of the installation pile and the telescopic pile is provided with a chute, and the mesh surface is slidably arranged on the chute Inside, the reinforcing ribs above and below the mesh surface are connected to the top of the telescopic pile and the top edge of the installation pile through the installation structure; the warning light is arranged on the top of the telescopic pile, and the sealing cover is arranged on the top of the warning light.

The diameter of the sealing cover is equal to the diameter of the installation hole dug when the installation pile is buried, the installation pile is fixed in the installation hole through a flange, the warning light is connected to an external power supply, and an MCU integrated unit is arranged inside the installation pile , the MCU integrated unit is used to control the rise and fall of the telescopic pile, and the MCU integrated unit is provided with a wireless signal receiving end.

When the liftable induced pile structure is working, the MCU integrated unit receives the control signal from the control decision-making system, and at the same time controls the upward movement of the telescopic pile to drive the elastic reinforcing rib to pull the mesh surface upward, and the mesh surface moves in the chute, and the warning light works at the same time. When the warning function is reached, the sealing cover is separated from the installation hole. If the out-of-control vehicle cannot brake in time at this time, it can be intercepted by the mesh surface to prevent casualties. If the out-of-control vehicle can control the direction at this time, it will be safely guided into the emergency lane according to the direction indicated by the warning light.

The roadside emergency avoidance lane is a fault-tolerant engineering facility that is often found on long downhill sections of mountainous expressways. It completes the interception of vehicles by converting the kinetic energy of out-of-control vehicles into potential energy and internal energy to avoid traffic accidents. The roadside auxiliary facilities include roadside variable information boards and roadside traffic signs, and the roadside variable information boards and variable traffic signs are controlled by the information center and are used to release road conditions in surrounding road sections. When a vehicle is out of control, the roadside variable information board will provide "This road section has a vehicle out of control, the license plate number: ×××××, please drive carefully and stay away from the out-of-control vehicle" "Vehicle plate number: ××××× The vehicle has been Out of control, please stay away from this car", "Driving carefully, keep the distance between cars!" Including emergency avoidance lane warning signs, variable speed limit signs, accident-prone reminder signs, operational behavior reminder signs, road condition reminder signs and other common traffic signs, which are used to remind drivers of driving behavior and surrounding road condition information.

Example 2

This embodiment discloses a method for inducing an out-of-control vehicle for a long downhill section of a mountainous expressway as shown in Figure 1, comprising the following steps:

S1 When the vehicle enters the working area, the monitoring facility will monitor the speed and running status of the passing vehicle in real time;

S2 The out-of-control vehicle judging system judges whether the vehicle is out of control according to the monitoring data in S1;

S3 If the vehicle is out of control, the control decision-making system controls the out-of-control vehicle induction system to work to induce the out-of-control vehicle;

The S4 sensing device senses that the vehicle has left the induction area, and then automatically lands to complete the induction of the out-of-control vehicle.

In S3, the sensing system senses the running track of the out-of-control vehicle in real time, and selectively mobilizes the induction pile structure according to the vehicle position, so as to avoid the interference of the induction pile structure on the normal driving vehicle. The traffic command center is the main decision maker of the accident. If there is no response from the traffic command center, the intelligent command center will intervene in the event, and as the event decision maker, decide whether to activate the vehicle guidance system.

Its schematic diagram is shown in Figure 2. When the vehicle enters the working area, the monitoring facility monitors the speed and running status of the passing vehicle in real time to determine whether the vehicle is out of control. Mobilize the induced pile structure to avoid the interference of the induced pile structure to the normal driving vehicles. The monitoring facilities include electronic police and video monitoring systems, and the sensing facilities include a vehicle speed monitoring system, a GPS positioning system, and a vehicle trajectory detection system. The information decision-making center is composed of a traffic command center and an intelligent traffic command center. The traffic command center is mainly controlled by traffic management personnel on the scene. , as the decision maker of the event, decide whether to use the induction device. If induction is required, the intelligent command center sends an instruction to the controller of the lifting induction pile equipment, and the lifting induction pile rises. After the induction device senses that the vehicle has left the induction area , then automatically land, thereby completing the induction of the out-of-control vehicle.

The invention is designed in combination with the unique emergency avoidance lane of the expressway in mountainous areas and the relatively mature liftable road pile technology, and adopts a gradual design when arranging the induction piles, so as to avoid the dangerous situation caused by the frontal collision of the out-of-control vehicles with the induction facilities. The induction control method is used to judge whether the induction pile structure needs to be activated according to the running track and position of the out-of-control vehicle, which reduces the interference of the induction pile structure to the normal driving vehicle. The warning lights and mesh surface on the lifting induction pile not only effectively enhance the guidance of the induction structure but also have a certain buffer capacity, and the structure is simple and easy to install and maintain.

The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be described in the foregoing embodiments Modifications are made to the recorded technical solutions, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. a kind of errant vehicle inducible system for the long descending section of mountainous area highway, which is characterized in that including vehicle out of control Judge system, errant vehicle inducible system and control decision system；The errant vehicle judges that system is calculated by gyroscope The yaw velocity and vehicle body all directions acceleration of vehicle, when data are more than threshold value, transmission control signal and measured data To the control decision system；

The control decision system is by monitor and control facility, induction facility, information decision center, storage server and information transmission equipment Composition, for center control, data storage and detection；

The errant vehicle inducible system is by liftable induction pilework, trackside truck escape ramp, trackside auxiliary equipment and sense Control system is answered to form, for the induction to errant vehicle.

2. the errant vehicle inducible system according to claim 1 for the long descending section of mountainous area highway, feature It is, the liftable induction pilework includes that installation stake, flexible stake, elastic network(s) system and warning mechanism, the installation stake are pre- Highway two sides are embedded in, the flexible stake is movably set in the installation stake, and can be moved up and down in installation stake, Elastic network(s) system one end is connected with the flexible stake top portion, and other end is connected with the top edge of the installation stake, institute State the top that the flexible stake is arranged in warning mechanism.

3. the errant vehicle inducible system according to claim 2 for the long descending section of mountainous area highway, feature It is, the elastic network(s) system includes elastic reinforcement muscle, wire side and mounting structure, and the warning mechanism includes warning lamp and sealing Lid, the installation stake and flexible stake surface are equipped with sliding slot, and the wire side is slideably positioned in the sliding slot, above and below the wire side Reinforcing rib be connected by the top edge in the mounting structure and the flexible stake top portion and the installation stake；The warning lamp The top of the flexible stake is set, and the top of the warning lamp is arranged in the sealing cover.

4. the errant vehicle inducible system according to claim 3 for the long descending section of mountainous area highway, feature It is, the diameter of the sealing cover is equal to the installation hole dia dug when the installation stake is buried, and the installation stake passes through flange It is fixed in the mounting hole, the warning lamp external power supply, MCU integrated unit is equipped in the installation stake, the MCU is integrated Unit is used to control the raising and lowering of the flexible stake, and the MCU integrated unit is equipped with reception of wireless signals end.

5. the errant vehicle inducible system according to claim 1 for the long descending section of mountainous area highway, feature It is, the monitor and control facility includes electronic police and video monitoring system, and induction facility includes vehicle-speed monitoring system, GPS positioning System, vehicle driving trace detection system, the errant vehicle judge that system uses the data of the monitor and control facility, line number of going forward side by side It is judged that analysis.

6. the errant vehicle inducible system according to claim 1 for the long descending section of mountainous area highway, feature Be, the information decision center is made of traffic control center and intelligent transportation command centre, the traffic control center by Traffic administration personnel manage scene, as the main policymaker of accident, if traffic control center no response, and intelligent transportation commander Event is intervened as event decision person and completes the induction of errant vehicle in center.

7. the errant vehicle inducible system according to claim 1 for the long descending section of mountainous area highway, feature It is, in the errant vehicle judgement system, initially sets up automobile two-freedom model, wherein m is automobile gross mass, and β is vapour Vehicle side slip angle, r are yaw velocity,For sideway angular acceleration, Fyf and Fyr are respectively the lateral force of front and rear wheel, vy and Vx is the horizontal and vertical speed of automobile respectively,For vehicle lateral acceleration, Iz is vehicle body rotary inertia, Δ M_zIt is external offer Yaw moment, provided by steering system and braking system, lf, lr are distance of the antero posterior axis to centre of gravity of vehicle respectively；

According to Newton mechanics law, calculation is as follows:

8. a kind of errant vehicle abductive approach for the long descending section of mountainous area highway, the abductive approach uses such as right It is required that any one described in 1-6 is directed to the errant vehicle inducible system in the long descending section of mountainous area highway, which is characterized in that The abductive approach the following steps are included:

For S1 after vehicle enters working region, monitor and control facility carries out real-time monitoring to the speed and operating status of vehicle of passing through；

S2 errant vehicle judges system judges whether vehicle is out of control according to the monitoring data in S1；

If S3 vehicle is in out of control, the control errant vehicle inducible system work of control decision system carries out induction errant vehicle；

S4 sensing device senses that vehicle has sailed out of induced regions, then automatic landing, completes the induction of errant vehicle.

9. the errant vehicle abductive approach according to claim 8 for the long descending section of mountainous area highway, feature It is, in the S3, induction system incudes errant vehicle running track in real time, induces stake according to the transfer of vehicle location selectivity Structure avoids interference of the induction pilework to normally travel vehicle.

10. the errant vehicle abductive approach according to claim 8 for the long descending section of mountainous area highway, feature It is, in the S3, traffic control center is as the main policymaker of accident, if traffic control center no response, intelligently refers to Center intervention event is waved, as event decision person, decides whether to enable vehicle guidance system.