CN110232839B - Out-of-control vehicle induction system and method for long downhill road section of mountain expressway - Google Patents
Out-of-control vehicle induction system and method for long downhill road section of mountain expressway Download PDFInfo
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- CN110232839B CN110232839B CN201910624844.6A CN201910624844A CN110232839B CN 110232839 B CN110232839 B CN 110232839B CN 201910624844 A CN201910624844 A CN 201910624844A CN 110232839 B CN110232839 B CN 110232839B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/604—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings
- E01F9/615—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings illuminated
- E01F9/617—Illuminated or wired-up posts, bollards, pillars or like upstanding bodies or structures for traffic guidance, warning or control
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/02—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions free-standing; portable, e.g. for guarding open manholes ; Portable signs or signals specially adapted for fitting to portable barriers
- E01F13/028—Flexible barrier members, e.g. cords; Means for rendering same conspicuous; Adapted supports, e.g. with storage reel
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
- E01F13/044—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage the barrier being formed by obstructing members situated on, flush with, or below the traffic surface, e.g. with inflatable members on the surface
- E01F13/046—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage the barrier being formed by obstructing members situated on, flush with, or below the traffic surface, e.g. with inflatable members on the surface the obstructing members moving up in a translatory motion, e.g. telescopic barrier posts
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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
- G08G1/164—Centralised systems, e.g. external to vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/60—Planning or developing urban green infrastructure
Abstract
The invention relates to the technical field of traffic safety, in particular to a system and a method for inducing a runaway vehicle aiming at a long downhill section of a mountain expressway; the system comprises a runaway vehicle judging system, a runaway vehicle inducing system and a control decision system; when the vehicle enters the working area, the monitoring facility monitors the speed and the running state of the passing vehicle in real time; the out-of-control vehicle judging system judges whether the vehicle is out of control or not according to the monitoring data; if the vehicle is out of control, the control decision system controls the operation of the out-of-control vehicle guidance system to guide the out-of-control vehicle; the induction device senses that the vehicle has driven away from the induction area, automatically descends and finishes the induction of the out-of-control vehicle, the invention combines the special emergency escape lane of the expressway in the mountain area and the mature liftable road pile technology to design, and the liftable induction pile is provided with the warning lamp and the net surface, so that the guidance of the induction structure is effectively enhanced, the buffering capacity is also realized, the structure is simple, the installation and the maintenance are convenient, and the creativeness is very strong.
Description
Technical Field
The invention relates to the technical field of traffic safety, in particular to a system and a method for inducing a runaway vehicle aiming at a long downhill section of a mountain expressway.
Background
The expressway plays a vital role in the development of regional economy, but is convenient for regional economy construction, a series of traffic accidents are generated, the traffic accident rate is always high, extremely serious casualties and economic losses are often caused, and the expressway growth downhill road section in mountain areas is particularly obvious. In the case of a long downhill road section where a "1103 lan south extra large traffic accident" occurs, a large-sized truck is extremely prone to brake failure on the long downhill road section, so that the vehicle is out of control, even if an emergency escape lane is arranged on the road side, most drivers may ignore the existence of the emergency escape lane because of a panic measure, and in addition, part of drivers worry about the reliability of the emergency escape lane, fear of causing the death of the vehicle, and the emergency escape lane is not used even if seen, so that serious traffic accidents are finally caused. How to reasonably and effectively induce the driver of the out-of-control vehicle to use the emergency escape route has become a key to ensure that the out-of-control vehicle breaks away from danger. Therefore, we propose a device and a system for inducing a runaway vehicle for a mountain area high-speed long downhill road section.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses a system and a method for inducing a vehicle out of control on a long downhill section of a mountain expressway, and aims to induce the vehicle out of control on the long downhill section of the mountain expressway to correctly use an emergency escape lane so as to solve the problems in the prior art.
The invention is realized by the following technical scheme:
a runaway vehicle guidance system for a mountain highway long downhill road section comprises a runaway vehicle judgment system, a runaway vehicle guidance system and a control decision system; the out-of-control vehicle judging system calculates the yaw rate of the vehicle and the acceleration of the vehicle body in all directions through a gyroscope, and sends control signals and measured data to the control decision system when the data exceeds a threshold value;
the control decision system consists of a monitoring facility, an induction facility, an information decision center, a 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 lifting induction pile structure, a roadside emergency evacuation lane, roadside auxiliary facilities and an induction control system and is used for inducing out-of-control vehicles.
Preferably, the liftable inducing pile structure comprises mounting piles, telescopic piles, elastic net systems and warning mechanisms, wherein the mounting piles are pre-buried to be arranged on two sides of a highway, the telescopic piles are movably arranged in the mounting piles and can move up and down in the mounting piles, one ends of the elastic net systems are connected with the top parts of the telescopic piles, the other ends of the elastic net systems are connected with the top edges of the mounting piles, and the warning mechanisms are arranged on the top ends of the telescopic piles.
Preferably, the elastic net system comprises elastic reinforcing ribs, a net surface and a mounting structure, the warning mechanism comprises warning lamps and sealing covers, sliding grooves are formed in the surfaces of the mounting piles and the telescopic piles, the net surface is arranged in the sliding grooves in a sliding manner, and the reinforcing ribs on the net surface are connected with the top of the telescopic piles and the top edge of the mounting piles through the mounting structure; the warning light is arranged at the top end of the telescopic pile, and the sealing cover is arranged at the top end of the warning light.
Preferably, the diameter of the sealing cover is equal to the diameter of an installation hole dug when the installation pile is buried, the installation pile is fixed in the installation hole through a flange, the warning lamp is externally connected with a power supply, an MCU integrated unit is arranged in the installation pile and used for controlling the ascending and descending of the telescopic pile, and a wireless signal receiving end is arranged on the MCU integrated unit.
Preferably, the monitoring facility comprises an electronic police and video monitoring system, the sensing facility comprises a vehicle speed monitoring system, a GPS positioning system and a vehicle running track detection system, and the out-of-control vehicle judgment system uses the data of the monitoring facility to conduct data judgment analysis.
Preferably, the information decision center is composed of a traffic command center and an intelligent traffic command center, the traffic command center is controlled on site by traffic management personnel and serves as an accident main decision maker, if the traffic command center does not answer, the intelligent traffic command center intervenes in an event and serves as an event decision maker to finish the guidance of the out-of-control vehicle.
Preferably, in the out-of-control vehicle judging system, firstly, an automobile two-degree-of-freedom model is established, wherein m is the total mass of the automobile, beta is the side deviation angle of the mass center of the automobile, r is the yaw rate,
for yaw 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 transverse acceleration of the automobile, iz is the rotational inertia of the automobile body, and delta M z Is externally provided yaw moment, provided by a steering system and a braking system, and lf and lr are distances from a front shaft and a rear shaft to the center of gravity of the automobile respectively;
according to Newton's law of mechanics, the calculation is as follows:
a method for inducing a runaway vehicle for a mountain expressway long downhill section, the inducing method using the above-described system for inducing a runaway vehicle for a mountain expressway long downhill section, the inducing method comprising the steps of:
s1, after a vehicle enters a working area, monitoring a speed and an operating state of the passing vehicle in real time by a monitoring facility;
s2, judging whether the vehicle is out of control or not according to the monitoring data in the S1 by the out-of-control vehicle judging system;
s3, if the vehicle is out of control, the control decision system controls the operation of the out-of-control vehicle induction system to induce the out-of-control vehicle;
and S4, the sensing device senses that the vehicle has driven away from the induction area, and automatically drops to finish the induction of the out-of-control vehicle.
Preferably, in the step S3, the induction system senses the running track of the uncontrolled vehicle in real time, and selectively mobilizes the induced pile structure according to the vehicle position, so as to avoid the interference of the induced pile structure on the normal running vehicle.
Preferably, in the step S3, the traffic control center is used as a main decision maker of the accident, and if the traffic control center does not answer, the intelligent control center intervenes in the event and is used as an event decision maker to decide whether the vehicle guidance system needs to be started.
The beneficial effects of the invention are as follows:
the invention combines the special emergency escape way of the expressway in the mountain area and the mature liftable road pile technology to design, adopts gradual change design when laying the guiding piles, and avoids dangerous situations caused by out-of-control vehicle front collision guiding facilities. And by adopting an induction control mode, whether the induced pile structure needs to be started or not is judged according to the running track and the position of the out-of-control vehicle, so that the interference of the induced pile structure on the normally running vehicle is reduced. The liftable inducing pile is provided with the warning lamp and the net surface, so that the guiding performance of the inducing structure is effectively enhanced, the structure has a certain buffering capacity, and the structure is simple and the installation and the maintenance are convenient.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of steps of a method for inducing a runaway vehicle for a long downhill stretch of a mountain highway;
FIG. 2 is a schematic illustration of a method of inducing a runaway vehicle for a long downhill stretch of a mountain highway;
FIG. 3 is a schematic diagram of a runaway vehicle induction of an embodiment of the present invention;
FIG. 4 is a schematic diagram of a runaway vehicle induction system according to an embodiment of the present invention;
the reference numerals in fig. 4 represent respectively:
1. a flange; 2. installing piles; 3. a telescopic pile; 4. a power supply; 5. a warning light; 6. sealing cover; 7. an elastic reinforcing rib; 8. a net surface.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The embodiment discloses a system for inducing an out-of-control vehicle as shown in fig. 3, wherein after the vehicle enters a working area, a monitoring facility monitors the speed and the running state of the passing vehicle in real time, judges whether the vehicle is out of control, and an induction system senses the running track of the out-of-control vehicle in real time, selectively mobilizes an induction pile structure according to the position of the vehicle, and avoids the interference of the induction pile structure on the normally running vehicle. The monitoring facility comprises an electronic police and video monitoring system, and the sensing facility comprises a vehicle speed monitoring system, a GPS positioning system and a vehicle running track detection system. The information decision center is composed of a traffic command center and an intelligent traffic command center, the traffic command center is mainly controlled on site by traffic management personnel and serves as an accident main decision maker, if the traffic command center does not answer, the intelligent command center intervenes an event and serves as an event decision maker to decide whether an induction device needs to be started, if induction is needed, the intelligent command center sends a command to a liftable induction pile equipment controller, a liftable induction pile is lifted, and when the induction device induces that a vehicle drives away from an induction area, the induction device automatically drops, so that the induction of the out-of-control vehicle is completed.
In the uncontrolled vehicle judging system, firstly, an automobile two-degree-of-freedom model is established, wherein m is the total mass of the automobile, beta is the side deflection angle of the mass center of the automobile, r is the yaw rate,
for yaw 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 transverse acceleration of the automobile, iz is the rotational inertia of the automobile body, and delta M z Is externally provided yaw moment through steering system and systemThe dynamic system provides that lf and lr are distances from the front and rear shafts to the center of gravity of the automobile respectively;
according to Newton's law of mechanics, the calculation is as follows:
the out-of-control vehicle induction system shown in fig. 4 is composed of a liftable induction pile structure, a roadside emergency evacuation lane, roadside auxiliary facilities and an induction control system and is used for inducing out-of-control vehicles.
The liftable inducing pile structure comprises a mounting pile, a telescopic pile, an elastic net system and a warning mechanism, wherein the mounting pile is pre-buried on two sides of a highway, the telescopic pile is movably arranged in the mounting pile and can move up and down in the mounting pile, one end of the elastic net system is connected with the top of the telescopic pile, the other end of the elastic net system is connected with the top edge of the mounting pile, and the warning mechanism is arranged on the top end of the telescopic pile.
The elastic net system comprises elastic reinforcing ribs, a net surface and a mounting structure, the warning mechanism comprises warning lamps and a sealing cover, sliding grooves are formed in the surfaces of the mounting piles and the telescopic piles, the net surface is arranged in the sliding grooves in a sliding manner, and the reinforcing ribs on the upper side and the lower side of the net surface are connected with the top of the telescopic piles and the top edge of the mounting piles through the mounting structure; the warning light is arranged at the top end of the telescopic pile, and the sealing cover is arranged at the top end of the warning light.
The diameter of the sealing cover is equal to the diameter of an installation hole dug when the installation pile is buried, the installation pile is fixed in the installation hole through a flange, the warning lamp is externally connected with a power supply, an MCU integrated unit is arranged in the installation pile and used for controlling the ascending and descending of the telescopic pile, and the MCU integrated unit is provided with a wireless signal receiving end.
When the lifting inducing pile structure works, the MCU integrated unit receives a control signal of the control decision system, meanwhile, the telescopic pile is controlled to move upwards to drive the elastic reinforcing ribs to pull the net surface to move upwards, the net surface moves in the chute, meanwhile, the warning lamp works and illuminates to play a warning role, the sealing cover is separated from the mounting hole, if the out-of-control vehicle is not braked at the moment, the net surface can be used for intercepting and preventing casualties, and if the out-of-control vehicle can control the direction at the moment, the out-of-control vehicle can safely induce to enter the emergency lane according to the indication direction of the warning lamp.
The road side emergency escape way is a fault-tolerant engineering facility commonly existing in mountain expressway long downhill sections, and can be used for completing vehicle interception by converting kinetic energy of out-of-control vehicles into potential energy and internal energy, so that traffic accidents are avoided. The road side auxiliary facilities comprise a road side variable information board and road side traffic signs, the road side variable information board and the road side variable traffic signs are controlled by an information center and used for issuing road conditions of surrounding road sections, and when the monitoring facilities monitor that vehicles are out of control, the road side variable information board provides a license plate for the road sections: × × × please carefully drive away from the out of control vehicle "" "license plate number: the vehicle has run away, please get away from the vehicle "" carefully drive, keep distance-! The traffic sign mainly comprises common traffic signs such as an emergency evacuation lane forenotice sign, a variable speed limit sign, an accident multiple prompt sign, an operation behavior prompt sign, a road condition prompt sign and the like, and is used for prompting the driving behavior of a driver and surrounding road condition information.
Example 2
The embodiment discloses a method for inducing a runaway vehicle for a long downhill section of a mountain expressway, as shown in fig. 1, comprising the following steps:
s1, after a vehicle enters a working area, monitoring a speed and an operating state of the passing vehicle in real time by a monitoring facility;
s2, judging whether the vehicle is out of control or not according to the monitoring data in the S1 by the out-of-control vehicle judging system;
s3, if the vehicle is out of control, the control decision system controls the operation of the out-of-control vehicle induction system to induce the out-of-control vehicle;
and S4, the sensing device senses that the vehicle has driven away from the induction area, and automatically drops to finish the induction of the out-of-control vehicle.
And S3, the induction system senses the running track of the out-of-control vehicle in real time, and selectively mobilizes the induction pile structure according to the position of the vehicle, so that the interference of the induction pile structure on the normally running vehicle is avoided. The traffic command center is used as a main decision maker of the accident, if the traffic command center does not answer, the intelligent command center intervenes in the event, and is used as an event decision maker to decide whether the vehicle guidance system needs to be started.
The schematic diagram is shown in fig. 2, after a vehicle enters a working area, a monitoring facility monitors the speed and the running state of the passing vehicle in real time, judges whether the vehicle is out of control, and an induction system senses the running track of the out of control vehicle in real time, selectively mobilizes an induction pile structure according to the position of the vehicle, and avoids the interference of the induction pile structure on the normally running vehicle. The monitoring facility comprises an electronic police and video monitoring system, and the sensing facility comprises a vehicle speed monitoring system, a GPS positioning system and a vehicle running track detection system. The information decision center is composed of a traffic command center and an intelligent traffic command center, the traffic command center is mainly controlled on site by traffic management personnel and serves as an accident main decision maker, if the traffic command center does not answer, the intelligent command center intervenes an event and serves as an event decision maker to decide whether an induction device needs to be started, if induction is needed, the intelligent command center sends a command to a liftable induction pile equipment controller, a liftable induction pile is lifted, and when the induction device induces that a vehicle drives away from an induction area, the induction device automatically drops, so that the induction of the out-of-control vehicle is completed.
The invention combines the special emergency escape way of the expressway in the mountain area and the mature liftable road pile technology to design, adopts gradual change design when laying the guiding piles, and avoids dangerous situations caused by out-of-control vehicle front collision guiding facilities. And by adopting an induction control mode, whether the induced pile structure needs to be started or not is judged according to the running track and the position of the out-of-control vehicle, so that the interference of the induced pile structure on the normally running vehicle is reduced. The liftable inducing pile is provided with the warning lamp and the net surface, so that the guiding performance of the inducing structure is effectively enhanced, the structure has a certain buffering capacity, and the structure is simple and the installation and the maintenance are convenient.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The system is characterized by comprising a system for judging the uncontrolled vehicles, a system for inducing the uncontrolled vehicles and a control decision system; the out-of-control vehicle judging system calculates the yaw rate of the vehicle and the acceleration of the vehicle body in all directions through a gyroscope, and sends control signals and measured data to the control decision system when the data exceeds a threshold value;
the control decision system consists of a monitoring facility, an induction facility, an information decision center, a 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 lifting induction pile structure, a roadside emergency evacuation lane, roadside auxiliary facilities and an induction control system and is used for inducing out-of-control vehicles;
the lifting induction pile structure comprises mounting piles, telescopic piles, an elastic net system and a warning mechanism, wherein the mounting piles are pre-buried on two sides of a highway, the telescopic piles are movably arranged in the mounting piles and can move up and down in the mounting piles, one end of the elastic net system is connected with the top of the telescopic piles, the other end of the elastic net system is connected with the top edge of the mounting piles, and the warning mechanism is arranged on the top of the telescopic piles;
the elastic net system comprises elastic reinforcing ribs, a net surface and a mounting structure, the warning mechanism comprises warning lamps and a sealing cover, sliding grooves are formed in the surfaces of the mounting piles and the telescopic piles, the net surface is arranged in the sliding grooves in a sliding manner, and the reinforcing ribs on the upper side and the lower side of the net surface are connected with the top of the telescopic piles and the top edge of the mounting piles through the mounting structure; the warning light is arranged at the top end of the telescopic pile, and the sealing cover is arranged at the top end of the warning light.
2. The out-of-control vehicle induction system for mountain highway long downhill road sections according to claim 1, wherein the diameter of the sealing cover is equal to the diameter of a mounting hole dug when the mounting pile is buried, the mounting pile is fixed in the mounting hole through a flange, the warning lamp is externally connected with a power supply, an MCU integrated unit is arranged in the mounting pile and used for controlling the ascending and descending of the telescopic pile, and the MCU integrated unit is provided with a wireless signal receiving end.
3. The guidance system for uncontrolled vehicles on long downhill sections of mountain highways according to claim 2, wherein the monitoring facilities include electronic police and video monitoring systems, the guidance facilities include a vehicle speed monitoring system, a GPS positioning system, a vehicle travel track detection system, and the control vehicle judgment system uses the data of the monitoring facilities and performs data judgment analysis.
4. The guidance system for uncontrolled vehicles on long downhill sections of mountain highways according to claim 1, wherein the information decision center is composed of a traffic guidance center and an intelligent traffic guidance center, the traffic guidance center is controlled by traffic management personnel to serve as a main decision maker of accidents, and if no person responds to the traffic guidance center, the intelligent traffic guidance center intervenes in an event to serve as an event decision maker to finish guidance of uncontrolled vehicles.
5. A runaway vehicle for mountain highway long downhill path segments as claimed in claim 1The induction system is characterized in that in the uncontrolled vehicle judging system, an automobile two-degree-of-freedom model is firstly established, wherein m is the total mass of the automobile, beta is the side deflection angle of the mass center of the automobile, r is the yaw rate,
for yaw acceleration, F yf And F yr Side forces, v, of the front and rear wheels respectively y And v x Respectively the transverse and longitudinal speeds of the vehicle,/->
For the transverse acceleration of the vehicle, I z Delta M is the rotational inertia of the vehicle body z Is an externally provided yaw moment, provided by a steering system and a braking system, l f 、l r The distances from the front and rear axles to the center of gravity of the automobile are respectively;
according to Newton's law of mechanics, the calculation is as follows:
6. a method of inducing a runaway vehicle for a mountain highway long downhill section using the system for inducing a runaway vehicle for a mountain highway long downhill section according to any one of claims 1 to 4, the method comprising the steps of:
s1, after a vehicle enters a working area, monitoring a speed and an operating state of the passing vehicle in real time by a monitoring facility;
s2, judging whether the vehicle is out of control or not according to the monitoring data in the S1 by the out-of-control vehicle judging system;
s3, if the vehicle is out of control, the control decision system controls the operation of the out-of-control vehicle induction system to induce the out-of-control vehicle;
and S4, the sensing device senses that the vehicle has driven away from the induction area, and automatically drops to finish the induction of the out-of-control vehicle.
7. The method for inducing a runaway vehicle for a long downhill section of a mountain highway according to claim 6, wherein in S3, the induction system senses a running track of the runaway vehicle in real time, selectively mobilizes the inducing pile structure according to a vehicle position, and avoids interference of the inducing pile structure on a normally running vehicle.
8. The method for inducing uncontrolled vehicles on long downhill road segments of mountain highways according to claim 6, wherein in S3, the traffic guidance center is used as the main decision maker of the accident, and if no person answers the traffic guidance center, the intelligent guidance center intervenes in the event, and is used as the decision maker of the event, to decide whether the vehicle induction system needs to be started.
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| CN110796887A (en) * | 2019-10-24 | 2020-02-14 | 江苏广宇协同科技发展研究院有限公司 | Intelligent guiding method, device and system for brake-failure vehicles on expressway |
| CN111326013A (en) * | 2020-02-21 | 2020-06-23 | 中国电建集团华东勘测设计研究院有限公司 | Alarm device and method based on emergency hedge lane |
| CN111341149B (en) * | 2020-02-28 | 2021-07-30 | 长安大学 | Guiding device and method for vehicle in danger driving into danger avoiding lane at night |
| CN111489562B (en) * | 2020-04-23 | 2021-06-15 | 重庆交通大学 | Full-vehicle-body-action type intelligent danger-avoiding lane system and vehicle danger-avoiding method |
| CN111489563B (en) * | 2020-04-23 | 2021-07-02 | 重庆交通大学 | Intelligent danger avoiding lane system and vehicle danger avoiding method |
| CN112071069B (en) * | 2020-09-17 | 2021-07-30 | 吉林大学 | Method for diagnosing braking failure of freight vehicle on long downhill road section |
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