CN110322689B - Method for establishing visible field model of highway curve sign - Google Patents
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Abstract
The invention discloses a visible area model of a curve sign of an expressway, which firstly defines the visible area of the sign and provides a judgment basis for judging whether the visible area is blocked; secondly, constructing a geometric model for the visual process of the curve mark of the highway, and deducing a calculation equation of a visual field; and finally, performing calculation analysis on the Hunan section of the expressway in Kyoto and Australia by using the created visual domain model, and verifying the correctness and the validity of the model by using the result. The highway curve sign visual area model provides design basis for setting highway curve signs, planting plants, highway land acquisition range and the like, and provides reference for effectively solving the problem that the highway curve sign visual area is shielded.
Description
Technical Field
The invention belongs to the technical field of highway engineering, and particularly relates to a highway curve sign visual domain model.
Background
Along with the continuous development of highway construction in China, the number of miles of roads is mainly increased in mountainous areas in the west in recent years. The highway in the hilly area is influenced by complicated topography and landform, and the round curve plays a role in lifting the weight of the highway linear shape, so that a plurality of curves are formed, most of sight lines are blocked, the running vehicles shield the marks due to a central separation belt on the curve, the running vehicles on the right side, roadside plants, a side slope, a sound insulation wall and the like, and the shields have certain influence on the recognition and reading of the traffic marks, so that the driver has insufficient reading time, insufficient reading, even wrong information reading, misoperation or judgment mistake is caused, and traffic accidents such as rear-end collision, rollover, collision and the like are caused.
The research on the curve sign shielding at home and abroad is summarized and analyzed, and the following limitations are found in the current research on the curve sign shielding at home and abroad: at present, most of the research on highway traffic signs focuses on the aspects of visibility, layout design and the like of the signs, and the aspects of the influence on the signs based on shielding are still deficient; the research on the shielding probability of the same-direction vehicle on the mark is more, some dynamic shielding probability models are established, but the shielding models only solve the problem that the same-direction vehicle shields the mark, the mark is influenced by various factors in the actual shielding process, and unreasonable marks are shielded due to the fact that the setting of a curve mark of a highway, the planting of plants, the slope rate of a roadside side slope, the setting position of a sound insulation wall and the like, so that the accident potential is formed.
Therefore, it is necessary to establish a visual field dynamic model of the curve sign to accurately represent the actual shielding process, so as to provide corresponding solutions for shielding elements in the visual field and reduce the occurrence of traffic accidents on the curve road section.
Disclosure of Invention
Aiming at the problems, the invention provides a highway curve sign visual domain model. The method is used for researching the problem that the visual field of the highway curve mark is blocked, firstly, the visual field of the mark is defined, and a blocking judgment basis is provided; secondly, constructing a geometric model for the visual process of the curve mark of the highway, and deducing a calculation equation of a visual field; and finally, performing calculation analysis on the Hunan section of the expressway in Kyoto and Australia by using the created visual domain model, and verifying the correctness and the validity of the model by using the result.
The invention is realized by the following technical scheme:
a highway curve sign visible field model is characterized in that the volume calculation equation of the highway curve sign visible field of the model is as follows:
in the formula (I), the compound is shown in the specification,
a: length of the mark, in m;
b: width of the mark, unit m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
v: the running speed of the automobile is in km/h;
ti: the time from the beginning of reading point B to the disappearance point E to read the mark.
The invention relates to a method for constructing a visible field model of a curve mark of a highway, which comprises the following steps:
(1) and analyzing the mark condition of the occurring curve accident site, and analyzing factors of the blocked visual field of the curve mark from all aspects.
(2) Defining a marker viewable area: according to the analysis of the road traffic sign recognizing and reading process in the handbook of road traffic sign and marking line setting (JTGD82-2009), the recognizing and reading process of the curve sign is shown in fig. 1, wherein a is a visual recognition point, B is a starting reading point, C is a reading completion point, D is an action point, E is a vanishing point, S is a sign, and F is an action completion point.
Usually, the driver in a running vehicle has found the sign S at point a, starts reading the sign content at point B, and can obtain the sign information completely to point C, called distance
Reading the distance; after reading the mark, the driver can take action to judge the distance between the point C and the point D, and the distance is called
Judging the distance; finally, the driver starts to act from the point D until the point F finishes acting, and the distance is weighed
Is the distance of action; the distance from point B to the mark S is called the visual recognition distance
The distance from the region where the driver cannot see the sign due to the angle and blind field of view when approaching the sign during driving to the sign S is called the vanishing distance
The distance from the end point C to the mark S is
If it is not
Distance ratio
The distance is short, and the vanishing point E appears before the point C is read, so that the mark reading time is not enough, and a driver cannot accurately interpret the mark content. If it is not
The read-out point C coincides with the vanishing point E, i.e. the limit for the reading of the mark. The visual field of the mark of the invention is shielded, and in order to provide mark reading time with wide tolerance, the assumption is made that
Meanwhile, no blocking object can appear in the sight corridor of the reading mark from the starting reading point B to the vanishing point E. Therefore, the invention sets the process of marking the visible field as the reading distance
According to fig. 1, there are:
in the formula (I), the compound is shown in the specification,
in order to read the distance, namely the driver starts to read the mark content at the point B, the mark information can be completely acquired at the point C;
if the automobile is running at a constant speed, then
In the formula:
v: the running speed of the automobile is in km/h;
t: recognizing and reading time, namely time required for recognizing and reading the mark, unit s;
in the formula:
5.67 is obtained from the results of experiments by the institute of civil engineering of Japan;
h*: the height of the effective character on the mark is m;
in the formula:
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
h: the apparent height of the driver, in m;
θ: the vanishing angle is the included angle between the vanishing point and the mark;
substituting formulae (1-2), (1-3) and (1-4) into formula (1-1) is:
in the formula:
v: the running speed of the automobile is in km/h;
t: recognizing and reading time, namely time required for recognizing and reading the mark, unit s;
h*: the height of the effective character on the mark is m;
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
h: the apparent height of the driver, in m;
θ: the vanishing angle is the angle between the vanishing point and the mark.
(3) Constructing a geometric model of the visible process of the highway curve mark:
establishing a space rectangular coordinate system: the center of a curve circle curve is used as an original point, a connecting line from the center of the circle to a reading start point B is used as an X axis, the X axis is established in the forward direction, the Y axis is perpendicular to the X axis, the forward direction of the Y axis is the direction from the reading start point B to a mark S, and the Z axis is perpendicular to the ground and faces upwards;
as a visual domain model of a curve sign of a highway, as shown in fig. 2;
making a section view of a visible area of a curve mark of the expressway as shown in FIG. 3;
as can be seen from FIG. 3, the vertical height h from the center of the sign to the ground1＝H+b/2……(1-6)，
Vertical height h from mark center to driver's apparent height2＝H+b/2-h……(1-7)，
In the formula (I), the compound is shown in the specification,
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
b: width of the mark, unit m;
h: the apparent height of the driver, in m;
as can be seen from FIGS. 2 and 3, the spatial coordinates of the marker are (Rcos. beta., Rsin. beta., H + b/2) … … (1-8)
In the formula (I), the compound is shown in the specification,
r: the radius distance from the center of the curve circle to the mark is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
b: width of the mark, unit m;
according to fig. 3, as can be seen from the pythagorean theorem,
according to FIG. 2, d is shown by the corner relationship of the triangle2＝R2+r2-2Rrcosβ……(1-10)
Therefore, it is not only easy to use
In the formula (I), the compound is shown in the specification,
d: the horizontal distance from the driver to the sign is looked up in m;
l: the distance from the apparent height of the driver to the center point of the mark is m;
h: height from the ground to the lowest part of the sign in unit m;
b: width of the mark, unit m;
h: the apparent height of the driver, in m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
after the starting reading point B is passed, the driver takes no action, the speed of the automobile is kept unchanged, and the arc distance Z of the automobile in the process from the starting reading point B to the vanishing point E is v.ti……(1-12)
In the formula (I), the compound is shown in the specification,
v: the running speed of the automobile is in km/h;
ti: recognizing the mark from the starting reading point B to the vanishing point E;
according to the radian calculation formula of the arc, the angle rotated by the automobile relative to the positive X axis when the automobile runs from the initial reading point B to the vanishing point E
In the formula (I), the compound is shown in the specification,
z: the arc distance of the automobile running from the starting reading point B to the vanishing point E is m;
r: the radius distance from the center of the curve circle to the automobile is m;
substituting formula (1-12) into formula (1-13) includes:
in the formula:
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
v: the running speed of the automobile is in km/h;
ti: recognizing the mark from the starting reading point B to the vanishing point E;
r: the radius distance from the center of the curve circle to the automobile is m;
when the automobile runs from the starting reading point B to the vanishing point E, the distance from the driver to the mark viewed from the height is as follows:
at the starting reading point B, the distance from the driver to the mark
In the formula (I), the compound is shown in the specification,
v: the running speed of the automobile is in km/h;
t: recognizing and reading time, namely time required for recognizing and reading the mark, unit s;
5.67 is obtained from the results of experiments by the institute of civil engineering of Japan;
h*: the height of the effective character on the mark is m;
between the initial reading point B and the vanishing point E: as can be seen from FIGS. 2 and 3, the spatial coordinates of the driver's apparent height are (rcos α, rsin α, h) … … (1-16)
In the formula (I), the compound is shown in the specification,
r: the radius distance from the center of the curve circle to the automobile is m;
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
h: the apparent height of the driver, in m;
as shown in the formulas (1-8) and (1-16), the distance from the driver to the sign is viewed from the height
Substituting formula (1-14) for formula (1-17) has:
in the formula:
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
v: the running speed of the automobile is in km/h;
ti: recognizing the mark from the starting reading point B to the vanishing point E;
h: height from the ground to the lowest part of the sign in unit m;
b: width of the mark, unit m;
h: the apparent height of the driver, in m;
in the process that the automobile runs from the starting reading point B to the vanishing point E, the apparent height of a driver reaches the rectangular pyramid space volume formed by the marks:
Vi＝1/3abd……(1-19)
in the formula (I), the compound is shown in the specification,
a: length of the mark, in m;
b: width of the mark, unit m;
d: the horizontal distance from the driver to the sign is looked up in m;
as is known from the formulae (1-8) and (1-16),
in the formula (I), the compound is shown in the specification,
d: the horizontal distance from the driver to the sign is looked up in m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
substituting formula (1-20) into formula (1-19) to obtain
In the formula (I), the compound is shown in the specification,
a: length of the mark, in m;
b: width of the mark, unit m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
substituting formula (1-14) into formula (1-21) to obtain
In the formula (I), the compound is shown in the specification,
a: length of the mark, in m;
b: width of the mark, unit m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
v: the running speed of the automobile is in km/h;
ti: the time from the beginning of reading point B to the disappearance point E to read the mark.
Preferably, the signs are roadside signs or overhead signs.
Compared with the prior art, the invention has the advantages and beneficial effects that:
(1) the model of the invention fully considers the influence of factors such as curves, vehicles, signs and the like, the established visual domain model is a dynamic model, the visual field of the sign at the curve can be more accurately described, the model is used for carrying out calculation and analysis on the Hunan section of the Kyoto, Australia highway, Beijing harbor, and the correctness and the validity of the model are verified by the result.
(2) The calculation method can calculate the relation between the driving speed and the visual field of the visual field area with different radiuses of each highway curve road section, and the visual field changes faster as the driving speed is higher, so that the design basis can be provided for the setting of highway curve marks, the plant planting, the road land acquisition range and the like, the calculation method is also suitable for the design planning and the safety management of the highway, and the reference is provided for effectively solving the problem that the visual field of the highway curve marks in hilly areas is blocked.
Drawings
FIG. 1 is a schematic view of the curve marking recognition process of the present invention.
FIG. 2 is a schematic view of a visual domain model of a curve marker of the present invention, wherein a: length of the mark, in m; b: width of the mark, unit m; h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m; h: the apparent height of the driver, in m; r: the radius distance from the center of the curve circle to the mark is m; r: the radius distance from the center of the curve circle to the automobile is m; α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E; beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis; l is0: at the initial reading point B, the distance from the driver to the mark is looked up in m; vi: in the process of driving the automobile from the starting reading point B to the vanishing point E, the apparent height of a driver reaches the rectangular pyramid space volume formed by the marks, and the unit m is3。
FIG. 3 is a schematic cross-sectional view of a bend marker viewable area of the present invention; in the figure, a: length of the mark, in m; b: width of the mark, unit m; h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m; h is1: marking the vertical height from the center to the ground in m; h is2: the vertical height from the mark center to the visual height of the driver is m; h: the apparent height of the driver, in m; θ: the vanishing angle is the included angle between the vanishing point and the mark; d: the horizontal distance from the driver to the sign is looked up in m; l isi: and in the process that the automobile runs from the reading starting point B to the vanishing point E, the apparent height of a driver reaches the distance of the mark central point in the unit of m.
FIG. 4 is a schematic cross-sectional view of the Hunan section of the expressway in Kyoto and Australia.
Fig. 5 is a graph of the change of the concave curve visual field.
FIG. 6 is a diagram of a concave curve visual field simulation.
Fig. 7 is a graph of the change of the convex curve visual field.
FIG. 8 is a diagram of a convex curve visible field simulation.
Detailed Description
The present invention will be described in further detail with reference to the following description of specific embodiments and accompanying drawings, but the present invention is not limited thereto.
Example 1
A highway curve sign visible field model is characterized in that the volume calculation equation of the highway curve sign visible field of the model is as follows:
in the formula (I), the compound is shown in the specification,
a: length of the mark, in m;
b: width of the mark, unit m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
v: the running speed of the automobile is in km/h;
ti: and (4) recognizing the mark from the initial reading point B to the vanishing point E, wherein the value range of the research is 2-3s according to the recognition speed of the driver.
The invention relates to a method for constructing a visible field model of a curve mark of a highway, which comprises the following steps:
(1) and analyzing the mark condition of the occurring curve accident site, and analyzing factors of the blocked visual field of the curve mark from all aspects.
(2) Defining a marker viewable area: according to the analysis of the road traffic sign recognizing and reading process in the handbook of road traffic sign and marking line setting (JTGD82-2009), the recognizing and reading process of the curve sign is shown in fig. 1, wherein a is a visual recognition point, B is a starting reading point, C is a reading completion point, D is an action point, E is a vanishing point, S is a sign, and F is an action completion point.
Usually, the driver in a running vehicle has found the sign S at point a, starts reading the sign content at point B, and can obtain the sign information completely to point C, called distance
Reading the distance; after reading the mark, the driver can take action to judge the distance between the point C and the point D, and the distance is called
Judging the distance; finally, the driver starts to act from the point D until the point F finishes acting, and the distance is weighed
Is the distance of action; the distance from point B to the mark S is called the visual recognition distance
The distance from the region where the driver cannot see the sign due to the angle and blind field of view when approaching the sign during driving to the sign S is called the vanishing distance
The distance from the end point C to the mark S is
If it is not
Distance ratio
The distance is short, and the vanishing point E appears before the point C is read, so that the mark reading time is not enough, and a driver cannot accurately interpret the mark content. If it is not
The read-out point C coincides with the vanishing point E, i.e. the limit for the reading of the mark. The visual field of the mark of the invention is shielded, and in order to provide mark reading time with wide tolerance, the assumption is made that
Meanwhile, no blocking object can appear in the sight corridor of the reading mark from the starting reading point B to the vanishing point E. Therefore, the invention sets the process of marking the visible field as the reading distance
According to fig. 1, there are:
in the formula (I), the compound is shown in the specification,
in order to read the distance, namely the driver starts to read the mark content at the point B, the mark information can be completely acquired at the point C;
if the automobile is running at a constant speed, then
In the formula:
v: the running speed of the automobile is in km/h;
t: recognizing and reading time, namely time required for recognizing and reading the mark, unit s; generally taking a value of 2-3s according to the recognition speed of a driver, and taking the average recognition speed of the driver of 2.5s in the research;
in the formula:
5.67 is obtained from the results of experiments by the institute of civil engineering of Japan;
h*: the height of the effective character on the mark is m;
in the formula:
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
h: the apparent height of the driver, in m; the value of general research is 1.2 m;
θ: the vanishing angle is the included angle between the vanishing point and the mark; taking a general roadside sign, wherein the elevation angle of the suspended sign from the vanishing point to the top edge of the sign is 7 degrees;
substituting formulae (1-2), (1-3) and (1-4) into formula (1-1) is:
in the formula:
v: the running speed of the automobile is in km/h;
t: recognizing and reading time, namely time required for recognizing and reading the mark, unit s; generally taking a value of 2-3s according to the recognition speed of a driver, and taking the average recognition speed of the driver of 2.5s in the research;
h*: the height of the effective character on the mark is m;
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
h: the apparent height of the driver, in m; the value of general research is 1.2 m;
θ: the vanishing angle is the included angle between the vanishing point and the mark; the general roadside sign takes 15 degrees, and the elevation angle of the suspended sign from the vanishing point to the top edge of the sign is 7 degrees.
(3) Constructing a geometric model of the visible process of the highway curve mark:
establishing a space rectangular coordinate system: the center of a curve circle curve is used as an original point, a connecting line from the center of the circle to a reading start point B is used as an X axis, the X axis is established in the forward direction, the Y axis is perpendicular to the X axis, the forward direction of the Y axis is the direction from the reading start point B to a mark S, and the Z axis is perpendicular to the ground and faces upwards;
as a visual domain model of a curve sign of a highway, as shown in fig. 2;
making a section view of a visible area of a curve mark of the expressway as shown in FIG. 3;
as can be seen from FIG. 3, the vertical height h from the center of the sign to the ground1＝H+b/2……(1-6)，
Vertical height h from mark center to driver's apparent height2＝H+b/2-h……(1-7)，
In the formula (I), the compound is shown in the specification,
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
b: width of the mark, unit m;
h: the apparent height of the driver, in m; the value of general research is 1.2 m;
as can be seen from FIGS. 2 and 3, the spatial coordinates of the marker are (Rcos. beta., Rsin. beta., H + b/2) … … (1-8)
In the formula (I), the compound is shown in the specification,
r: the radius distance from the center of the curve circle to the mark is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
b: width of the mark, unit m;
according to fig. 3, as can be seen from the pythagorean theorem,
according to FIG. 2, d is shown by the corner relationship of the triangle2＝R2+r2-2Rrcosβ……(1-10)
Therefore, it is not only easy to use
In the formula (I), the compound is shown in the specification,
d: the horizontal distance from the driver to the sign is looked up in m;
l: the distance from the apparent height of the driver to the center point of the mark is m;
h: height from the ground to the lowest part of the sign in unit m;
b: width of the mark, unit m;
h: the apparent height of the driver, in m; the value of general research is 1.2 m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
after the starting reading point B is passed, the driver takes no action, the speed of the automobile is kept unchanged, and the arc distance Z of the automobile in the process from the starting reading point B to the vanishing point E is v.ti……(1-12)
In the formula (I), the compound is shown in the specification,
v: the running speed of the automobile is in km/h;
ti: the time from the initial reading point B to the vanishing point E for reading the mark is 2-3s according to the reading speed of the driver;
according to the radian calculation formula of the arc, the angle rotated by the automobile relative to the positive X axis when the automobile runs from the initial reading point B to the vanishing point E
In the formula (I), the compound is shown in the specification,
z: the arc distance of the automobile running from the starting reading point B to the vanishing point E is m;
r: the radius distance from the center of the curve circle to the automobile is m;
substituting formula (1-12) into formula (1-13) includes:
in the formula:
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
v: the running speed of the automobile is in km/h;
ti: the time from the initial reading point B to the vanishing point E for reading the mark is 2-3s according to the reading speed of the driver;
r: the radius distance from the center of the curve circle to the automobile is m;
when the automobile runs from the starting reading point B to the vanishing point E, the distance from the driver to the mark viewed from the height is as follows:
at the starting reading point B, the distance from the driver to the mark
In the formula (I), the compound is shown in the specification,
v: the running speed of the automobile is in km/h;
t: recognizing and reading time, namely time required for recognizing and reading the mark, unit s; generally taking a value of 2-3s according to the recognition speed of a driver, and taking the average recognition speed of the driver of 2.5s in the research;
5.67 is obtained from the results of experiments by the institute of civil engineering of Japan;
h*: the height of the effective character on the mark is m;
between the initial reading point B and the vanishing point E: as can be seen from FIGS. 2 and 3, the spatial coordinates of the driver's apparent height are (rcos α, rsin α, h) … … (1-16)
In the formula (I), the compound is shown in the specification,
r: the radius distance from the center of the curve circle to the automobile is m;
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
h: the apparent height of the driver, in m; the value of general research is 1.2 m;
as shown in the formulas (1-8) and (1-16), the distance from the driver to the sign is viewed from the height
Substituting formula (1-14) for formula (1-17) has:
in the formula:
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
v: the running speed of the automobile is in km/h;
ti: the time from the initial reading point B to the vanishing point E for reading the mark is 2-3s according to the reading speed of the driver;
h: height from the ground to the lowest part of the sign in unit m;
b: width of the mark, unit m;
h: the apparent height of the driver, in m; the value of general research is 1.2 m;
in the process that the automobile runs from the starting reading point B to the vanishing point E, the apparent height of a driver reaches the rectangular pyramid space volume formed by the marks:
Vi＝1/3abd……(1-19)
in the formula (I), the compound is shown in the specification,
a: length of the mark, in m;
b: width of the mark, unit m;
d: the horizontal distance from the driver to the sign is looked up in m;
as is known from the formulae (1-8) and (1-16),
in the formula (I), the compound is shown in the specification,
d: the horizontal distance from the driver to the sign is looked up in m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
substituting formula (1-20) into formula (1-19) to obtain
In the formula (I), the compound is shown in the specification,
a: length of the mark, in m;
b: width of the mark, unit m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
substituting formula (1-14) into formula (1-21) to obtain
In the formula (I), the compound is shown in the specification,
a: length of the mark, in m;
b: width of the mark, unit m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
v: the running speed of the automobile is in km/h;
ti: and (4) recognizing the mark from the initial reading point B to the vanishing point E, wherein the value range of the research is 2-3s according to the recognition speed of the driver.
(4) Verifying the correctness and validity of the model, including:
collecting relevant data of the southern Hunan section of the expressway in Beijing harbor and Australia:
the main section of the Hunan section of the expressway in Kyoto and Australia is shown in FIG. 4, and has a width of 28m, two driving lanes of 3.75m and a central separator of 4.5 m.
And secondly, checking the curve only by considering the radius of the circular curve, and checking the curve by adopting a general value of the minimum radius of the circular curve in road route design Specification (JTG D20-2006), wherein the curve is divided into a concave curve and a convex curve. The general values of the minimum radius of the circular curve are shown in table 1:
TABLE 1 general values of the minimum radius of the circular curve
| Design speed (km/h) | 120 | 100 | 80 | 60 | 40 |
| Minimum radius of the circular curve general value (m) | 1000 | 700 | 400 | 200 | 100 |
③ marking related parameters:
the sign is a cantilever type sign board, the length a of the sign board is 4.8m, the width b of the sign board is 3m, and the set height H of the sign board is 5.2 m.
Fourthly, checking calculation of the visible region of the curve road side sign at the Hunan section of the expressway in Beijing, harbor and Australia:
and substituting the related parameters into a volume calculation equation of the visible field of the curve mark of the expressway through matlab modeling:
in the formula: and a is 4.8m, b is 3m, and R-R.
For the simulation of the mark occlusion volumes at different speeds, the concave curve visible field variation graph is shown in fig. 5, and the concave curve visible field simulation graph is shown in fig. 6.
As can be seen from FIG. 5, the size of the visible area volume marked on the concave curve is 600m3To 1000m3Meanwhile, as the travel time changes, the visible area volume of the marker linearly decreases, and the closer to the marker, the less visible area is affected by occlusion. With different driving speeds and different radii of the circular curves, the visual area affected by the shielding changes relatively slowly when the driving speed is slower, and the visual area affected by the shielding changes greatly when the driving speed is faster.
As can be seen from fig. 6, the concave curve is easily blocked by the roadside plant, the side slope, the vehicle traveling in the same row on the right side, and the like.
For the simulation of the mark visual field volume at different speeds, a graph of the change of the visual field of the convex curve affected by the occlusion is shown in fig. 7, and a graph of the simulation of the visual field of the convex curve affected by the occlusion is shown in fig. 8.
As can be seen from FIG. 7, the size of the visible field on the convex curve is 600m3To 1000m3In between, as the travel time changes, the sign is visibleThe field volume falls off linearly, the closer to the sign, the less visible is the field that can be affected by occlusion. With different driving speeds and different radii of the circular curves, the visual area affected by the shielding changes relatively slowly when the driving speed is slower, and the visual area affected by the shielding changes greatly when the driving speed is faster.
As can be seen from fig. 8, the convex curve is easily blocked by the central zone, the overpass bridge, and other elements.
Claims (2)
1. A method for establishing a visual field model of a highway curve sign is characterized in that the model is constructed by the following steps:
(1) analyzing the mark condition of the occurring curve accident site, and analyzing factors of the blocked view of the curve mark from all aspects;
(2) defining a marker viewable area: according to the analysis of the recognition and reading process of the traffic signs in the handbook of road traffic sign and marking setting (JTGD82-2009), wherein A is a recognition point, B is an initial reading point, C is a reading completion point, D is an action point, E is a vanishing point, S is a sign, and F is an action completion point;
setting the visual range of the mark as the reading distance
In the formula (I), the compound is shown in the specification,
in order to read the distance, namely the driver starts to read the mark content at the point B, the mark information can be completely acquired at the point C;
if the automobile is running at a constant speed, then
In the formula:
v: the running speed of the automobile is in km/h;
t: recognizing and reading time, namely time required for recognizing and reading the mark, unit s;
in the formula:
5.67 is obtained from the results of experiments by the institute of civil engineering of Japan;
h*: the height of the effective character on the mark is m;
in the formula:
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
h: the apparent height of the driver, in m;
θ: the vanishing angle is the included angle between the vanishing point and the mark;
substituting formulae (1-2), (1-3) and (1-4) into formula (1-1) is:
in the formula:
v: the running speed of the automobile is in km/h;
t: recognizing and reading time, namely time required for recognizing and reading the mark, unit s;
h*: the height of the effective character on the mark is m;
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
h: the apparent height of the driver, in m;
θ: the vanishing angle is the included angle between the vanishing point and the mark;
(3) constructing a geometric model of the visible process of the highway curve mark:
establishing a space rectangular coordinate system: the center of a curve circle curve is used as an original point, a connecting line from the center of the circle to a reading start point B is used as an X axis, the X axis is established in the forward direction, the Y axis is perpendicular to the X axis, the forward direction of the Y axis is the direction from the reading start point B to a mark S, and the Z axis is perpendicular to the ground and faces upwards;
making a visual domain model of a curve mark of the expressway;
making a section view of a visible area of a curve mark of the highway;
vertical height h from mark center to ground1＝H+b/2……(1-6)，
Vertical height h from mark center to driver's apparent height2＝H+b/2-h……(1-7)，
In the formula (I), the compound is shown in the specification,
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
b: width of the mark, unit m;
h: the apparent height of the driver, in m;
the spatial coordinates of the mark are (Rcos beta, Rsin beta, H + b/2) … … (1-8)
In the formula (I), the compound is shown in the specification,
r: the radius distance from the center of the curve circle to the mark is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
h: the setting height of the mark, namely the height from the ground to the lowest part of the mark, unit m;
b: width of the mark, unit m;
as can be seen from the pythagorean theorem,
from the corner relationship of the triangle, d2＝R2+r2-2Rrcosβ……(1-10)
Therefore, it is not only easy to use
In the formula (I), the compound is shown in the specification,
d: the horizontal distance from the driver to the sign is looked up in m;
l: the distance from the apparent height of the driver to the center point of the mark is m;
h: height from the ground to the lowest part of the sign in unit m;
b: width of the mark, unit m;
h: the apparent height of the driver, in m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
after the starting reading point B is passed, the driver takes no action, the speed of the automobile is kept unchanged, and the arc distance Z of the automobile in the process from the starting reading point B to the vanishing point E is v.ti……(1-12)
In the formula (I), the compound is shown in the specification,
v: the running speed of the automobile is in km/h;
ti: recognizing the mark from the starting reading point B to the vanishing point E;
according to the radian calculation formula of the arc, the angle rotated by the automobile relative to the positive X axis when the automobile runs from the initial reading point B to the vanishing point E
In the formula (I), the compound is shown in the specification,
z: the arc distance of the automobile running from the starting reading point B to the vanishing point E is m;
r: the radius distance from the center of the curve circle to the automobile is m;
substituting formula (1-12) into formula (1-13) includes:
in the formula:
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
v: the running speed of the automobile is in km/h;
ti: recognizing the mark from the starting reading point B to the vanishing point E;
r: the radius distance from the center of the curve circle to the automobile is m;
when the automobile runs from the starting reading point B to the vanishing point E, the distance from the driver to the mark viewed from the height is as follows:
at the starting reading point B, the distance from the driver to the mark
In the formula (I), the compound is shown in the specification,
v: the running speed of the automobile is in km/h;
t: recognizing and reading time, namely time required for recognizing and reading the mark, unit s;
5.67 is obtained from the results of experiments by the institute of civil engineering of Japan;
h*: the height of the effective character on the mark is m;
between the initial reading point B and the vanishing point E: the spatial coordinates of the driver's apparent height are (rcos alpha, rsin alpha, h) … … (1-16)
In the formula (I), the compound is shown in the specification,
r: the radius distance from the center of the curve circle to the automobile is m;
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
h: the apparent height of the driver, in m;
as shown in the formulas (1-8) and (1-16), the distance from the driver to the sign is viewed from the height
Substituting formula (1-14) for formula (1-17) has:
in the formula:
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
v: the running speed of the automobile is in km/h;
ti: recognizing the mark from the starting reading point B to the vanishing point E;
h: height from the ground to the lowest part of the sign in unit m;
b: width of the mark, unit m;
h: the apparent height of the driver, in m;
in the process that the automobile runs from the starting reading point B to the vanishing point E, the apparent height of a driver reaches the rectangular pyramid space volume formed by the marks:
Vi＝1/3abd……(1-19)
in the formula (I), the compound is shown in the specification,
a: length of the mark, in m;
b: width of the mark, unit m;
d: the horizontal distance from the driver to the sign is looked up in m;
as is known from the formulae (1-8) and (1-16),
in the formula (I), the compound is shown in the specification,
d: the horizontal distance from the driver to the sign is looked up in m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
substituting formula (1-20) into formula (1-19) to obtain
In the formula (I), the compound is shown in the specification,
a: length of the mark, in m;
b: width of the mark, unit m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
α: the angle that the automobile rotates relative to the positive X axis when driving from the starting reading point B to the vanishing point E;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
substituting formula (1-14) into formula (1-21) to obtain
In the formula (I), the compound is shown in the specification,
a: length of the mark, in m;
b: width of the mark, unit m;
r: the radius distance from the center of the curve circle to the mark is m;
r: the radius distance from the center of the curve circle to the automobile is m;
beta: marking the included angle between the straight line marking the circle center of the curve circle curve and the positive X axis;
v: the running speed of the automobile is in km/h;
ti: the time from the beginning of reading point B to the disappearance point E to read the mark.
2. The method for modeling a highway curve marker viewable area according to claim 1, wherein the marker is a roadside marker or a hangup marker.
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