CN110473400B - Safe vehicle speed prediction method and system and vehicle-mounted terminal - Google Patents
Safe vehicle speed prediction method and system and vehicle-mounted terminal Download PDFInfo
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- CN110473400B CN110473400B CN201910702415.6A CN201910702415A CN110473400B CN 110473400 B CN110473400 B CN 110473400B CN 201910702415 A CN201910702415 A CN 201910702415A CN 110473400 B CN110473400 B CN 110473400B
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a safe vehicle speed prediction method, a system and a vehicle-mounted terminal, wherein the method comprises the following steps: acquiring road condition information and vehicle information of a detected vehicle on a continuous downhill road section; acquiring the initial brake drum temperature, the initial coordinate position and the emergency braking times of a tested vehicle running at preset distance intervals; calculating the temperature of a second brake drum after the running of the vehicle is finished by a preset distance interval according to the road condition information, the vehicle information, the initial coordinate position, the initial brake drum temperature and the emergency braking times; acquiring a second coordinate position of the detected vehicle after the detected vehicle runs for a preset distance interval; calculating the safe speed of the vehicle to be measured according to the road condition information, the vehicle information, the temperature of the second brake drum, the second coordinate position and a preset temperature threshold; the temperature of the brake drum of the detected vehicle after each preset distance interval is calculated, and the safe speed of the detected vehicle passing through the subsequent road section is calculated according to the preset temperature threshold value, so that the detected vehicle can safely and efficiently pass through the continuous downhill road section.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a safe vehicle speed prediction method, a safe vehicle speed prediction system and a vehicle-mounted terminal.
Background
The road continuous downhill section is easy to have a heavy traffic accident with the participation of a truck. According to survey data statistics, the load vehicle out-of-control accident is easy to cause group death and serious injury. Because the speed of the truck is unreasonable, the temperature of a brake drum of the truck reaches the safety limit temperature in the continuous downhill process, so that brake failure is caused, and finally, the truck is out of control to cause accidents. The core problem in determining the safe speed of a truck on a continuous downhill section of a highway is the temperature prediction of a truck brake drum. In the aspect of brake drum temperature prediction, a bicycle test is generally adopted at present, empirical fitting is carried out on brake drum temperature measurement test data, and a brake drum temperature prediction model is established. The existing method has two defects, on one hand, the model lacks theoretical basis, and the scientificity and the accuracy are insufficient; on the other hand, the model cannot reflect the relation between the parameters such as roads, vehicles and environments and the temperature of the brake drum, has no universal applicability and cannot automatically calculate according to the parameters acquired by the vehicle-road cooperative system in real time; therefore, reasonable suggested speed can not be given for different continuous downhill sections, and the truck can safely and efficiently pass through the continuous downhill sections.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, a system, and a vehicle-mounted terminal for predicting a safe vehicle speed, so as to solve the problem that the prior art cannot make a load-carrying vehicle safely and efficiently pass through different continuous downhill sections.
According to a first aspect, an embodiment of the present invention provides a safe vehicle speed prediction method, including: acquiring road condition information and vehicle information of a detected vehicle on a continuous downhill road section; acquiring the initial brake drum temperature, the initial coordinate position and the emergency braking times of the vehicle to be detected running at preset distance intervals; calculating the temperature of a second brake drum after the running is finished at the preset distance interval according to the road condition information, the vehicle information, the initial coordinate position, the initial brake drum temperature and the emergency braking times; acquiring a second coordinate position of the detected vehicle after the detected vehicle runs for the preset distance interval; and calculating the safe speed of the detected vehicle according to the road condition information, the vehicle information, the temperature of the second brake drum, the second coordinate position and a preset temperature threshold value.
With reference to the first aspect, in the first embodiment of the first aspect, after calculating the safe vehicle speed of the vehicle to be tested according to the road condition information, the vehicle information, the temperature of the second brake drum, the second coordinate position, and a preset temperature threshold, the method further includes: acquiring the vehicle speed limit of the continuous downhill section, and judging whether the safe vehicle speed is less than or equal to the vehicle speed limit; and when the safe vehicle speed is less than or equal to the vehicle speed limit, taking the safe vehicle speed as the suggested vehicle speed of the tested vehicle.
With reference to the first aspect, in a second aspect, when the safe vehicle speed is greater than the vehicle speed limit, the vehicle speed limit is used as a recommended vehicle speed of the vehicle under test.
With reference to the first aspect, in a third implementation manner of the first aspect, the traffic information includes: the geometrical parameters and environment of the continuous downhill section; the vehicle information includes: coordinate information and characteristic parameters of the detected vehicle; calculating the temperature of a second brake drum after the running is finished at the preset distance interval according to the road condition information, the vehicle information, the initial coordinate position, the initial brake drum temperature and the emergency braking times, and the method comprises the following steps: calculating a first heat value generated by a brake drum of the vehicle to be measured in the speed control running stage of the vehicle to be measured within the preset distance interval according to the geometric parameters, the environmental parameters, the coordinate information, the initial coordinate position and the characteristic parameters; calculating a second heat value generated when the vehicle to be detected is emergently braked within the preset distance interval according to the characteristic parameters and the emergency braking times; and calculating the temperature of the second brake drum according to the first heat value, the second heat value and the initial brake drum temperature.
With reference to the third embodiment of the first aspect, in the fourth embodiment of the first aspect, the first calorific value is calculated by the following formula:
wherein, TcjRepresenting a first heat value generated by the brake drum of the tested vehicle in a speed control driving stage in a jth preset distance interval, n representing the number of axles of the tested vehicle, C representing the specific heat capacity of the brake drum of the tested vehicle, m' representing the weight of the brake drum of the tested vehicle, g representing the gravitational acceleration, m representing the total weight of the tested vehicle, ijRepresents the longitudinal gradient, s, of the road in the jth predetermined distance intervaljRepresents the longitudinal slope length, C, of the road in the jth preset distance interval1And C2Indicating tire friction of the vehicle under testForce parameter, V1jRepresenting the speed of the vehicle under test at the speed control step, CDRepresenting the air resistance coefficient of the continuous downhill section, A representing the windward area of the tested vehicle, rho representing the air density of the continuous downhill section, VwjRepresenting the ambient wind speed, h, of said continuous downhill stretchcRepresenting the convective heat transfer coefficient of the brake drum surface of the tested vehicle, twj,kRepresenting the brake drum surface temperature, t, of the kth measured vehiclefj,kRepresenting the ambient temperature at the current moment, epsilon representing the emissivity of a brake drum of the tested vehicle, C0The blackbody radiation degree is shown, A' represents the brake drum surface area of the tested vehicle, and j is a positive integer.
With reference to the third embodiment of the first aspect, in the fifth embodiment of the first aspect, the second calorific value is calculated by the following formula;
wherein, TejRepresenting a second heat value generated by a brake drum of the tested vehicle in an emergency braking stage in a j preset distance interval, n represents the number of axles of the tested vehicle, C represents the specific heat capacity of the brake drum of the tested vehicle, m' represents the specific weight of the brake drum of the tested vehicle, m represents the total weight of the tested vehicle, V1jRepresenting the speed, V, of the vehicle under test before an emergency braking phase2jRepresenting the speed of the tested vehicle after the emergency braking stage, and j is a positive integer.
With reference to the third embodiment of the first aspect, in the sixth embodiment of the first aspect, the second brake drum temperature is calculated by the following formula:
Tj＝Tcj+Nj×Tej+Tj-1，
wherein, TjRepresenting a second temperature T of the brake drum after the measured vehicle runs for the jth preset distance intervalejIndicating that the tested vehicle generates a brake drum in an emergency braking stage in the jth preset distance intervalSecond heat value, TcjRepresenting a first heat value T generated by the brake drum in a speed control running stage of the tested vehicle in a jth preset distance intervalj-1Represents the initial brake drum temperature of the brake drum just after the tested vehicle enters the jth preset distance interval, NjRepresenting the emergency braking times of the tested vehicle at the jth preset distance interval, wherein j is a positive integer.
According to a second aspect, an embodiment of the present invention provides a vehicle-mounted terminal, including: the vehicle speed prediction method comprises a memory and a processor, wherein the memory and the processor are connected with each other in a communication mode, the memory stores computer instructions, and the processor executes the computer instructions so as to execute the safe vehicle speed prediction method in the first aspect or any one embodiment of the first aspect.
According to a third aspect, an embodiment of the present invention provides a safe vehicle speed prediction system including: a road side module, a vehicle-mounted module and the vehicle-mounted terminal in the second aspect; the road side module comprises a road side information acquisition module, a road side positioning module and a first wireless communication module, and the vehicle-mounted module comprises a vehicle-mounted acquisition module, a memory, a vehicle-mounted positioning module and a second wireless communication module; the roadside information acquisition module is used for acquiring geometric parameters and environmental parameters of the continuous downhill road section, and the roadside positioning module is used for acquiring coordinate information of the continuous downhill road section; the first wireless communication module is respectively connected with the road side information acquisition module, the road side positioning module and the second communication module, and the road side module transmits the geometric parameters, the environmental parameters and the coordinate information to the vehicle-mounted module through the first wireless communication module; the vehicle-mounted acquisition module is used for acquiring characteristic parameters, emergency braking times and initial brake drum temperature of the detected vehicle, and the vehicle-mounted positioning module is used for acquiring the coordinate position of the detected vehicle; and the vehicle-mounted terminal is connected with the vehicle-mounted module and is used for calculating the suggested speed of the vehicle to be detected according to the geometric parameters, the environmental parameters, the coordinate information, the initial brake drum temperature, the coordinate position, the characteristic parameters and the emergency braking times.
Compared with the prior art, the invention has the following beneficial effects: calculating the temperature of the brake drum of the detected vehicle after passing through each preset distance interval according to the road condition information of the continuous downhill section, the vehicle information of the detected vehicle, the initial brake drum temperature and the emergency braking times in the preset distance interval, and then calculating the subsequent safe speed by combining a preset temperature threshold value, thereby ensuring that the temperature of the brake drum of the detected vehicle in the continuous downhill section is lower than the brake failure temperature, avoiding the problem of brake failure of the detected vehicle caused by overhigh temperature of the brake drum, and improving the safety and the passing efficiency of the vehicle when the vehicle runs the continuous downhill section; the invention calculates the safe speed of the vehicle passing through the continuous downhill road section by collecting the real-time road condition information and the vehicle information, has more accurate calculation result, and is suitable for different continuous downhill road sections.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 is a block flow diagram illustrating a safe vehicle speed prediction method in an embodiment of the present invention;
FIG. 2 is a block flow diagram illustrating a safe vehicle speed prediction method in another embodiment of the present invention;
FIG. 3 is a block diagram showing the construction of a vehicle-mounted terminal in another embodiment of the present invention;
fig. 4 shows a block diagram of a safe vehicle speed prediction system in another embodiment of the invention.
Detailed Description
In order to make the objects, 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 with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention is suitable for predicting the safe speed of a vehicle on different continuous downhill sections, and the road side module acquires the road condition information of the continuous downhill sections and the vehicle-mounted module acquires the vehicle information of the vehicle to be detected so as to calculate the subsequent safe speed of the vehicle to be detected after the vehicle passes a preset distance interval each time, wherein the road detection module is a device arranged on a stand column of the continuous downhill sections or a cross arm of a traffic sign and is used for real-time road condition information of the continuous downhill sections.
An embodiment of the present invention provides a safe vehicle speed prediction method, as shown in fig. 1, the method includes:
step S101: acquiring road condition information and vehicle information of a detected vehicle on a continuous downhill road section; in particular by roads arranged alongside continuous downhill stretchesThe side module acquires road condition information, and the road condition information comprises: the ambient temperature t of the continuous downhill sectionfjAmbient wind velocity VwjGPS position information (X)R，YR) Air density ρ and air resistance coefficient CDAnd a geometric parameter, which is a longitudinal slope length s of the continuous downhill sectionjLongitudinal slope ijAnd altitude ej(ii) a Acquiring GPS coordinate information (X) of the vehicle to be detected through an on-board module arranged on the vehicle to be detectedc，Yc) And characteristic parameters including total weight m of the vehicle to be tested, vehicle speed V1Weight m 'of brake drum, specific heat capacity C of brake drum, surface area A' of brake drum, emissivity epsilon of brake drum and blackbody radiation C0Area A of vehicle windward, static friction force parameter C of tire friction force1Kinetic friction parameter C2And the number of axes n.
Step S102: acquiring the initial brake drum temperature, the initial coordinate position and the emergency braking times of a tested vehicle running at preset distance intervals; specifically, the emergency braking times N of the detected vehicle in a preset distance interval are obtained through an on-board modulejAnd the initial brake drum temperature T of the vehicle just entering the preset distance intervalj-1And initial coordinate position (X)c,j-1，Yc,j-1) As shown in table 1, the preset distance interval is set according to different security levels:
TABLE 1
Step S103: calculating the temperature of a second brake drum after the vehicle runs for a preset distance interval according to the road condition information, the vehicle information, the initial coordinate position, the initial brake drum temperature and the emergency braking times, specifically calculating the heat generated by the brake drum after the vehicle runs for the preset distance interval according to the road condition information of the continuous downhill road section, the vehicle information of the vehicle to be detected and the initial coordinate position, and calculating the temperature T of the initial brake drum according to the temperature T of the initial brake drumj-1Calculating the preset distance of the tested vehicle after runningSecond brake temperature T of post-interval brake drumj。
Step S104: acquiring a second coordinate position of the detected vehicle after the detected vehicle runs for a preset distance interval; specifically, a second coordinate position (X) of the detected vehicle after the detected vehicle runs for a preset distance interval is obtained according to a GPS positioning chip or other positioning modules in the vehicle-mounted modulec,j，Yc,)。
Step S105: calculating the safe speed of the vehicle to be measured according to the road condition information, the vehicle information, the temperature of the second brake drum, the second coordinate position and a preset temperature threshold; specifically, the safe speed of the vehicle to be tested is calculated according to the road condition information, the vehicle information, the temperature of the second brake drum, the second coordinate position and a preset temperature threshold in the above steps, the preset temperature threshold is the temperature at which the brake drum fails, and the specific value is determined according to the brake drum of the vehicle to be tested (for example, the preset temperature threshold may be 190 °), so as to ensure that the sum of the heat of the brake drum of the vehicle to be tested on the subsequent driving section is less than the failure temperature of the brake drum.
By implementing the safe vehicle speed prediction method in the embodiment of the invention, the temperature of the brake drum at each preset distance interval after the detected vehicle finishes running is calculated according to the real-time road condition information of the continuous downhill section and the vehicle information of the detected vehicle, and the temperature of the brake drum in the subsequent running process is ensured not to exceed the temperature threshold according to the preset temperature threshold, so that the safe speed of the detected vehicle in the subsequent running is calculated, and the problem that the load-carrying vehicle can not safely and efficiently pass through different continuous downhill sections in the prior art can be solved.
Optionally, in some embodiments of the present invention, as shown in fig. 2, after step S105 in the above embodiments, the method further includes: step S106: acquiring the vehicle speed limit of the continuous downhill section, and judging whether the safe vehicle speed is less than or equal to the vehicle speed limit; step S107: when the safe vehicle speed is less than or equal to the vehicle speed limit, taking the safe vehicle speed as the suggested vehicle speed of the detected vehicle; step S108: and when the safe vehicle speed is greater than the vehicle speed limit, taking the vehicle speed limit as the suggested vehicle speed of the detected vehicle. In practical application, each road section has corresponding speed limit, the speed limit of different continuous downhill road sections is obtained through the road side module, and the magnitude of the safety speed and the speed limit calculated in the embodiment is judged, so that the most reasonable running speed of the continuous downhill road section is given, and the overspeed running of a detected vehicle is avoided.
Optionally, in some embodiments of the present invention, the traffic information includes: geometrical parameters and environmental parameters of the continuous downhill section; the vehicle information includes: coordinate information and characteristic parameters of the detected vehicle; step S103 in the above embodiment includes:
and calculating a first heat value generated by a brake drum of the tested vehicle at the speed control running stage of the tested vehicle within the preset distance interval according to the geometric parameters, the environmental parameters, the coordinate information, the initial coordinate position and the characteristic parameters. Specifically, the first heat value is calculated by the following process:
calculating the heat Q generated by kinetic energy and potential energy of the measured vehicle in the speed control driving stageh：
Calculating the air resistance Q of the measured vehicle in the speed control driving stagerAnd friction force QaHeat generation:
Qr＝0.001m(C1+C2×V1j)sj， (2)
Qa＝0.5CDAρsj(V1j-Vwj)2， (3)
calculating the transmission Q between the brake drum and the environment of the tested vehicle in the speed control driving staged：
Spaced apart by a predetermined distanceAnd a Riemann integral approximate calculation unit taking one second stroke as the heat dissipation capacity of the brake drum and calculating the first heat T generated by the brake drum when the tested vehicle runs at the speed control stagecj：
Wherein, TcjRepresenting a first heat value generated by the brake drum of the tested vehicle in a speed control driving stage in a jth preset distance interval, n representing the number of axles of the tested vehicle, C representing the specific heat capacity of the brake drum of the tested vehicle, m' representing the weight of the brake drum of the tested vehicle, g representing the gravitational acceleration, m representing the total weight of the tested vehicle, ijRepresents the longitudinal gradient, s, of the road in the jth predetermined distance intervaljRepresents the longitudinal slope length, C, of the road in the jth preset distance interval1And C2Representing a tyre friction parameter, V, of said vehicle under test1jRepresenting the speed of the vehicle under test at the speed control step, CDRepresenting the air resistance coefficient of the continuous downhill section, A representing the windward area of the tested vehicle, rho representing the air density of the continuous downhill section, VwjRepresenting the ambient wind speed, h, of said continuous downhill stretchcRepresenting the convective heat transfer coefficient of the brake drum surface of the tested vehicle, twj,kRepresenting the brake drum surface temperature, t, of the kth measured vehiclefj,kRepresenting the ambient temperature at the current moment, epsilon represents the emissivity of a brake drum of the tested vehicle, C0Representing blackbody radiation degree, A' representing the brake drum surface area of the tested vehicle, j being a positive integer, and the speed of the tested vehicle being almost unchanged, namely V, because the tested vehicle is in the speed control driving stage1jAnd V2jA represents an empirical coefficient, and in practical applications, the value of a is 0.7 for the front wheel brake drum a and 0.3 for the rear wheel brake drum a.
Calculating a second heat value T generated when the tested vehicle is emergently braked within a preset distance interval according to the characteristic parameters and the times of emergency brakingej(ii) a In particular, byThe following formula is calculated:
wherein, TejRepresenting a second heat quantity generated by a brake drum of the tested vehicle in an emergency braking stage in a j preset distance interval, n represents the number of axles of the tested vehicle, C represents the specific heat capacity of the brake drum of the tested vehicle, m' represents the specific weight of the brake drum of the tested vehicle, m represents the total weight of the tested vehicle, and V1jRepresenting the speed, V, of the vehicle under test before an emergency braking phase2jRepresenting the speed of the tested vehicle after the emergency braking stage, and j is a positive integer.
Calculating the temperature of the second brake drum according to the first heat value, the second heat value and the initial brake drum temperature, and specifically calculating the temperature T of the second brake drum according to the following formulaj：
Tj＝Tcj+Nj×Tej+Tj-1， (8)
Wherein, TjRepresenting a second temperature T of the brake drum after the measured vehicle runs for the jth preset distance intervalejRepresents a second heat quantity T generated by the brake drum of the tested vehicle in the emergency braking stage in the jth preset distance intervalcjRepresenting a first heat value T generated by the brake drum in a speed control running stage of the tested vehicle in a jth preset distance intervalj-1Represents the initial brake drum temperature of the brake drum just after the tested vehicle enters the jth preset distance interval, NjRepresenting the emergency braking times of the tested vehicle at the jth preset distance interval, wherein j is a positive integer.
When the temperature T of the second brake drum is calculated after the jth preset distance interval of the tested vehicle is runjEnsuring that the tested vehicle safely passes through the continuous downhill road section and the heat generated by the brake drum of the tested vehicle and T in the subsequent coursejThe sum of the temperature difference and the temperature T of the second brake drum is less than a preset temperature threshold (brake drum failure temperature), namely the preset temperature threshold and the temperature T of the second brake drumjDifference of (2)Substituting the value and the remaining distance of the detected vehicle passing through the continuous downhill section into the formula (6) to obtain the safe speed of the detected vehicle, and calculating the subsequent safe vehicle speed according to the method in the embodiment after the detected vehicle runs for the (j + 1) th preset distance interval until the detected vehicle passes through the continuous downhill section.
An embodiment of the present invention further provides a vehicle-mounted terminal 3, as shown in fig. 3, the vehicle-mounted terminal 3 may include a processor 301 and a memory 302, where the processor 301 and the memory 302 may be connected by a bus or in another manner, and fig. 3 takes the example of connection by a bus as an example.
The memory 302, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the safe vehicle speed prediction method in embodiments of the present invention. The processor 301 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 302, namely, implements the safe vehicle speed prediction method in the above method embodiment.
The memory 302 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 301, and the like. Further, the memory 302 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 302 may optionally include memory located remotely from the processor 301, which may be connected to the processor 301 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 302 and, when executed by the processor 301, perform a safe vehicle speed prediction method as in the embodiment of fig. 1 and 2.
The details of the vehicle-mounted terminal 3 may be understood by referring to the corresponding related descriptions and effects in the embodiments shown in fig. 1 and fig. 2, and are not described herein again.
An embodiment of the present invention further provides a safe vehicle speed prediction system, as shown in fig. 4, including: a roadside module 1, an on-board module 2, and an on-board terminal 3 as in the above embodiments;
the road side module 1 comprises a road side information acquisition module 101, a road side positioning module 102 and a first wireless communication module 103, and the vehicle-mounted module 2 comprises a vehicle-mounted acquisition module 201, a vehicle-mounted positioning module 203 and a second wireless communication module 202; the road side information acquisition module 101 is used for acquiring geometric parameters and environmental parameters of a continuous downhill road section, and the road side positioning module 102 is used for acquiring coordinate information of the continuous downhill road section; the first wireless communication module 103 is respectively connected with the roadside information acquisition module 101, the roadside positioning module 102 and the second wireless communication module 202, and the roadside module 1 transmits the geometric parameters, the environmental parameters and the coordinate information to the vehicle-mounted module 2 through the first wireless communication module 103; the vehicle-mounted acquisition module 201 is used for acquiring characteristic parameters, emergency braking times and initial brake drum temperature of the detected vehicle, and the vehicle-mounted positioning module 203 is used for acquiring the coordinate position of the detected vehicle; the vehicle-mounted terminal 3 is connected with the vehicle-mounted module 2 and used for calculating the suggested speed of the tested vehicle according to the geometric parameters, the environmental parameters, the coordinate information, the initial brake drum temperature, the coordinate position, the characteristic parameters and the emergency braking times.
Specifically, the roadside module 1 can be arranged on a cross arm or a stand column of a traffic sign board of a continuous downhill road section, the vehicle-mounted module 2 and the vehicle-mounted terminal 3 are arranged in a tested vehicle, and data transmission is performed between the first wireless communication module 103 and the second wireless communication module through wireless communication modes such as bluetooth, WIFI and GPRS.
By implementing the safe vehicle speed prediction system in the embodiment of the invention, the road side module 1 acquires road condition information of a continuous downhill section in real time, data interaction is carried out with the vehicle-mounted module 2 of the detected vehicle in a wireless transmission mode, and the vehicle-mounted terminal 3 carries out calculation according to the data acquired by the vehicle-mounted module 2 and the road side module 1 to obtain the safe speed of the detected vehicle passing through the continuous downhill section, so that the problem that the load-carrying vehicle can not pass through different continuous downhill sections safely and efficiently in the prior art can be solved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (8)
1. A safe vehicle speed prediction method characterized by comprising:
acquiring road condition information and vehicle information of a detected vehicle on a continuous downhill road section;
acquiring the initial brake drum temperature, the initial coordinate position and the emergency braking times of the vehicle to be detected running at preset distance intervals;
calculating the temperature of a second brake drum after the running is finished at the preset distance interval according to the road condition information, the vehicle information, the initial coordinate position, the initial brake drum temperature and the emergency braking times;
acquiring a second coordinate position of the detected vehicle after the detected vehicle runs for the preset distance interval;
calculating the safe speed of the tested vehicle according to the road condition information, the vehicle information, the temperature of the second brake drum, the second coordinate position and a preset temperature threshold;
wherein, the traffic information includes: the geometrical parameters and the environmental parameters of the continuous downhill section; the vehicle information includes: coordinate information and characteristic parameters of the detected vehicle;
calculating the temperature of a second brake drum after the running is finished at the preset distance interval according to the road condition information, the vehicle information, the initial coordinate position, the initial brake drum temperature and the emergency braking times, and the method comprises the following steps:
calculating a first heat value generated by a brake drum of the vehicle to be measured in the speed control running stage of the vehicle to be measured within the preset distance interval according to the geometric parameters, the environmental parameters, the coordinate information, the initial coordinate position and the characteristic parameters;
calculating a second heat value generated when the vehicle to be detected is emergently braked within the preset distance interval according to the characteristic parameters and the emergency braking times;
and calculating the temperature of the second brake drum according to the first heat value, the second heat value and the initial brake drum temperature.
2. The safe vehicle speed prediction method according to claim 1, after calculating the safe vehicle speed of the vehicle to be tested according to the road condition information, the vehicle information, the temperature of the second brake drum, the second coordinate position and a preset temperature threshold, further comprising:
acquiring the vehicle speed limit of the continuous downhill section, and judging whether the safe vehicle speed is less than or equal to the vehicle speed limit;
and when the safe vehicle speed is less than or equal to the vehicle speed limit, taking the safe vehicle speed as the suggested vehicle speed of the tested vehicle.
3. The safe vehicle speed prediction method according to claim 2, characterized in that the vehicle speed limit is taken as a vehicle speed recommended for the vehicle under test when the safe vehicle speed is greater than the vehicle speed limit.
4. The safe vehicle speed prediction method according to claim 1, characterized in that the first calorific value is calculated by the following formula:
wherein, TcjRepresenting a first heat value generated by the brake drum of the tested vehicle in a speed control driving stage in a jth preset distance interval, n representing the number of axles of the tested vehicle, C representing the specific heat capacity of the brake drum of the tested vehicle, m' representing the weight of the brake drum of the tested vehicle, g representing the gravitational acceleration, m representing the total weight of the tested vehicle, ijRepresents the longitudinal gradient, s, of the road in the jth predetermined distance intervaljRepresents the longitudinal slope length, C, of the road in the jth preset distance interval1And C2Representing a tyre friction parameter, V, of said vehicle under test1jRepresenting the speed of the vehicle under test in a speed-controlled driving phase, CDRepresenting the air resistance coefficient of the continuous downhill section, A representing the windward area of the tested vehicle, rho representing the air density of the continuous downhill section, VwjRepresenting the ambient wind speed, h, of said continuous downhill stretchcRepresenting the convective heat transfer coefficient of the brake drum surface of the tested vehicle, twj，kRepresenting the brake drum surface temperature, t, of the kth measured vehiclefj，kRepresenting the ambient temperature at the current moment, epsilon representing the emissivity of a brake drum of the tested vehicle, C0The blackbody radiation degree is shown, A' represents the brake drum surface area of the tested vehicle, and j is a positive integer.
5. The safe vehicle speed prediction method according to claim 1, characterized in that the second calorific value is calculated by the following formula;
wherein, TejRepresenting a second heat value generated by a brake drum of the tested vehicle in an emergency braking stage in a j preset distance interval, n represents the number of axles of the tested vehicle, C represents the specific heat capacity of the brake drum of the tested vehicle, m' represents the weight of the brake drum of the tested vehicle, m represents the total weight of the tested vehicle, and V1j' represents the speed of the vehicle under test before an emergency braking phase, V2j' represents the speed of the tested vehicle after the emergency braking stage, and j is a positive integer.
6. The safe vehicle speed prediction method of claim 1, characterized in that the second brake drum temperature is calculated by the following formula:
Tj＝Tcj+Nj×Tej+Tj-1，
wherein, TjRepresenting a second temperature T of the brake drum after the measured vehicle runs for the jth preset distance intervalejRepresents a second heat value T generated by the brake drum of the tested vehicle in the j preset distance interval in the emergency braking stagecjRepresenting a first heat value T generated by the brake drum in a speed control running stage of the tested vehicle in a jth preset distance intervalj-1Represents the initial temperature threshold value of the brake drum just after the tested vehicle enters the jth preset distance interval, NjRepresenting the emergency braking times of the tested vehicle at the jth preset distance interval, wherein j is a positive integer.
7. A vehicle-mounted terminal characterized by comprising:
a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the safe vehicle speed prediction method of any one of claims 1-6.
8. A safe vehicle speed prediction system, characterized by comprising: a roadside module, an on-board module, and the on-board terminal of claim 7;
the road side module comprises a road side information acquisition module, a road side positioning module and a first wireless communication module, and the vehicle-mounted module comprises a vehicle-mounted acquisition module, a vehicle-mounted positioning module and a second wireless communication module;
the roadside information acquisition module is used for acquiring geometric parameters and environmental parameters of the continuous downhill road section, and the roadside positioning module is used for acquiring coordinate information of the continuous downhill road section;
the first wireless communication module is respectively connected with the road side information acquisition module, the road side positioning module and the second communication module, and the road side module transmits the geometric parameters, the environmental parameters and the coordinate information to the vehicle-mounted module through the first wireless communication module;
the vehicle-mounted acquisition module is used for acquiring characteristic parameters, emergency braking times and initial brake drum temperature of the detected vehicle, and the vehicle-mounted positioning module is used for acquiring the coordinate position of the detected vehicle;
and the vehicle-mounted terminal is connected with the vehicle-mounted module and is used for calculating the suggested speed of the vehicle to be detected according to the geometric parameters, the environmental parameters, the coordinate information, the initial brake drum temperature, the coordinate position, the characteristic parameters and the emergency braking times.
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