CN110924327A - Height limiting control system and method based on V2X - Google Patents
Height limiting control system and method based on V2X Download PDFInfo
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- CN110924327A CN110924327A CN201911217334.3A CN201911217334A CN110924327A CN 110924327 A CN110924327 A CN 110924327A CN 201911217334 A CN201911217334 A CN 201911217334A CN 110924327 A CN110924327 A CN 110924327A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
Abstract
The invention discloses a height limiting frame control system and method based on V2X, wherein the system receives running information uploaded by a target vehicle in real time by adopting a vehicle wireless communication technology V2X through a cloud platform; then judging whether an elevation limit frame exists in the current running path of the target vehicle according to the running information; if the information exists, the driving information is sent to the height limiting controller; the height limiting frame controller predicts the time of the target vehicle running to the height limiting frame in real time according to the running information to obtain predicted reaching time; and controlling the height-limiting frame to rise according to the rising time of the height-limiting frame when rising, the predicted reaching time and the rising time. According to the invention, the height limit frame in the vehicle running path is detected and the time of the vehicle running to the height limit frame is predicted, so that the height limit frame can be automatically lifted when the vehicle is going to run to the height limit frame according to the detection result and the prediction result, the vehicle can smoothly pass through the height limit frame without waiting, and the intelligent degree of the height limit frame is improved.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to an overhead limiting control system and method based on V2X.
Background
The height limiting frame is one kind of traffic facility, and is usually arranged on a motor vehicle way, and the upper limit value of the motor vehicle way exceeds a set value, so that the service durability of a road and a bridge is ensured. However, in some specific scenarios, the routes that special vehicles (such as fire engines and ambulances) need to pass are blocked by the limited overhead, and the development of rescue work and other works can be influenced.
At present, the height limiting frame used at home is divided into two types: fixed limit for height frame and height-adjustable limit for height frame, wherein, height-adjustable limit for height frame divide into again: manual height-limiting frame and automatic height-limiting frame. The application scenario of the mainstream intelligent height limiting frame is that the height limiting height can be automatically adjusted by the system in different periods, for example, the height is automatically adjusted to 2.5 meters from 24 days to 5 days in the next day, so that the ultrahigh overload truck is prohibited from driving into an elevated road under the condition of no civil police field control at night, and the height is controlled according to the 5 meters in other periods, so that a large bus can be smoothly and unimpededly used for getting on the bridge in the daytime.
The height of the existing intelligent height limiting frame is mainly adjusted according to time intervals, when certain specific road conditions need to limit ultrahigh and overloaded vehicles in all time intervals, the technical scheme of adjusting the height of the height limiting frame according to the time intervals can lead some special vehicles to stop when passing through the height limiting frame in the height limiting time intervals, wait for the height limiting frame to rise and then pass, and the problem of influencing the work development efficiency is solved.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an elevation limiting control system and method based on V2X, and aims to solve the technical problem that when the existing elevation limiting frame is used for limiting the ultrahigh overload of a vehicle, the vehicle can pass only after stopping and waiting for the elevation limiting frame to rise.
In order to achieve the above object, the present invention provides an overhead limitation control system based on V2X, the system comprising: a cloud platform and an elevation limit controller;
the cloud platform is used for receiving the running information uploaded by the target vehicle in real time by adopting a vehicle wireless communication technology V2X;
the cloud platform is further used for judging whether an elevation limit frame exists in the current running path of the target vehicle according to the running information;
the cloud platform is further used for sending the running information to the height limit controller when the height limit frame is judged to exist;
the height limiting frame controller is used for predicting the time of the target vehicle running to the height limiting frame in real time according to the running information to obtain predicted reaching time;
the height limiting frame controller is further used for obtaining the rising time of the height limiting frame when rising, and controlling the height of the height limiting frame according to the predicted reaching time and the rising time.
Preferably, the cloud platform is further configured to determine current location information and destination information of the target vehicle according to the driving information;
the cloud platform is further used for planning a plurality of feasible paths according to the current position information and the destination information, and sending the feasible paths to the target vehicle for path selection;
the cloud platform is further used for determining a current running path of the target vehicle according to the path selection instruction when the path selection instruction fed back by the target vehicle is received, and judging whether the height limit frame exists in the current running path.
Preferably, the height-limiting rack controller is further configured to acquire a rise time when the height-limiting rack rises, and control the height-limiting rack to rise when the expected arrival time is detected and the rise time meets a preset condition;
wherein the preset conditions are as follows:
time-rise time < time threshold is expected.
Preferably, the height limiting frame controller is further configured to acquire vehicle passing information acquired by a height limiting frame sensor, and calculate a real-time distance between the target vehicle and the height limiting frame according to the vehicle passing information;
the height limiting frame controller is further used for detecting whether the real-time distance is larger than a preset distance or not, and if the real-time distance is larger than the preset distance, the height limiting frame is controlled to descend to a set height.
Preferably, the cloud platform is further configured to issue a road condition acquisition instruction to the height-limiting controller when an height-limiting rack exists in the current driving path;
the height limiting frame controller is also used for controlling the height limiting frame sensor to acquire current road condition information according to the road condition acquisition instruction;
the height limiting frame controller is also used for detecting whether traffic jam exists around the height limiting frame according to the current road condition information;
the height limiting controller is further used for sending a traffic jam prompt to the cloud platform when the traffic jam is detected;
the cloud platform is further used for planning a path of the target vehicle again according to the traffic jam prompt and the running information, obtaining a current optional path and sending the current optional path to the target vehicle;
and the cloud platform is further used for determining a new current running path according to the feedback information of the target vehicle and judging whether the height limit frame exists in the new current running path.
In addition, in order to achieve the above object, the present invention further provides an overhead limitation control method based on V2X, the method including:
the cloud platform receives driving information uploaded by a target vehicle in real time by adopting a vehicle wireless communication technology V2X;
the cloud platform judges whether an elevation limit frame exists in the current running path of the target vehicle according to the running information;
when the cloud platform judges that the height limit frame exists, the running information is sent to a height limit frame controller corresponding to the height limit frame;
the height limiting frame controller predicts the time of the target vehicle running to the height limiting frame in real time according to the running information to obtain predicted reaching time;
and the height limiting frame controller acquires the rising time of the height limiting frame when rising, and controls the height limiting frame to rise according to the predicted reaching time and the rising time.
Preferably, the step of judging whether there is an altitude limit in the current driving path of the target vehicle by the cloud platform according to the driving information includes:
the cloud platform determines current position information and destination information of the target vehicle according to the running information;
the cloud platform plans a plurality of feasible paths according to the current position information and the destination information, and sends the feasible paths to the target vehicle for path selection;
when the cloud platform receives a path selection instruction fed back by the target vehicle, the current running path of the target vehicle is determined according to the path selection instruction, and whether the height limit frame exists in the current running path is judged.
Preferably, the step of acquiring a rise time when the height limit rack is lifted by the height limit rack controller and controlling the height limit rack to be lifted according to the estimated arrival time and the rise time includes:
the height limiting frame controller acquires rising time of the height limiting frame when rising, and controls the height limiting frame to rise when the predicted reaching time and the rising time meet preset conditions are detected;
wherein the preset conditions are as follows:
time-rise time < time threshold is expected.
Preferably, after the step of acquiring a rise time at which the height limit rack is raised by the height limit rack controller and controlling the height limit rack to be raised according to the estimated arrival time and the rise time, the method further comprises:
the height limiting frame controller acquires vehicle passing information acquired by a height limiting frame sensor, and calculates the real-time distance of the target vehicle from the height limiting frame according to the vehicle passing information;
and the height limiting frame controller detects whether the real-time distance is greater than a preset distance, and if so, the height limiting frame is controlled to descend to a set height.
Preferably, after the step of determining, by the cloud platform, whether there is an elevation limit in the current driving path of the target vehicle according to the driving information, the method further includes:
when the height limiting frame exists in the current driving path, the cloud platform sends a road condition acquisition instruction to a height limiting frame controller corresponding to the height limiting frame;
the height limiting frame controller controls the height limiting frame sensor to acquire current road condition information according to the road condition acquisition instruction;
the height limiting frame controller detects whether traffic jam exists around the height limiting frame according to the current road condition information;
the height limiting controller sends a traffic jam prompt to the cloud platform when detecting that traffic jam exists;
the cloud platform plans the target vehicle again according to the traffic jam prompt and the running information to obtain a current optional path, and sends the current optional path to the target vehicle;
and the cloud platform determines a new current driving path according to the feedback information of the target vehicle and judges whether an elevation limit frame exists in the new current driving path.
The height limiting control system based on V2X receives the running information uploaded by a target vehicle in real time by adopting a vehicle wireless communication technology V2X through a cloud platform; then judging whether an elevation limit frame exists in the current running path of the target vehicle according to the running information; when the height limit frame exists, the driving information is sent to a height limit frame controller; the height limiting frame controller predicts the time of the target vehicle running to the height limiting frame in real time according to the running information to obtain predicted reaching time; and acquiring the rise time of the height-limited frame during rising, and controlling the height-limited frame to rise according to the predicted arrival time and the rise time. According to the invention, the height limit frame in the vehicle running path is detected and the time of the vehicle running to the height limit frame is predicted, so that the height limit frame can be automatically lifted when the vehicle is going to run to the height limit frame according to the detection result and the prediction result, the vehicle can smoothly pass through the height limit frame without waiting, and the intelligent degree of the height limit frame is improved.
Drawings
Fig. 1 is a system schematic diagram of a first embodiment of an overhead limiting control system based on V2X;
FIG. 2 is a schematic flow chart of a first embodiment of an overhead limiting control method based on V2X according to the present invention;
fig. 3 is a schematic flow chart of a second embodiment of the height limiting control method based on V2X according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a system schematic diagram of a first embodiment of an overhead limiting control system based on V2X according to the present invention.
As shown in fig. 1, the V2X-based height limiting control system may include: a cloud platform 10 and an elevation limit controller 20;
it should be noted that the cloud platform 10 may be a vehicle to electronics (V2X) platform with strong data processing and computing capabilities, which is referred to as a V2X platform for short. In this embodiment, the cloud platform 10 is responsible for receiving and forwarding various types of information fed back by objects including vehicles, roads, people, transportation facilities, and the like, and can perform real-time interaction of the information based on the 5G V2X technology. The height limiting controller 20 may be a processor having network communication, data processing, and operation control functions. The height limit bracket controller 20 of this embodiment may be used to control the raising and lowering of the height limit bracket.
In this embodiment, the cloud platform 10 is configured to receive driving information uploaded by a target vehicle in real time by using a vehicle wireless communication technology V2X;
the travel information may include current position information of the vehicle, destination position information, vehicle speed information, and the like. The target vehicle may be a special vehicle, which means a vehicle with an overall size, weight, etc. exceeding the design vehicle limits and for special purposes, which is specially made or specially adapted, equipped with fixed equipment, the main function of which is not a motor vehicle for carrying people or freight. Typical special vehicles include fire trucks, ambulances, police cars, engineering vehicles and the like.
In a specific implementation, the target vehicle may upload the driving information to the cloud platform 10 in real time by using a V2X technology through a vehicle-mounted terminal or a driving computer.
The cloud platform 10 is further configured to determine whether an elevation limit exists in a current driving path of the target vehicle according to the driving information;
it should be understood that when the travel path of the target vehicle is determined, the cloud platform 10 may determine whether there is an elevation limit on the path of the vehicle to the destination and how many elevations limit exist according to the travel path.
Further, the cloud platform 10 is further configured to determine current location information and destination information of the target vehicle according to the driving information; then planning a plurality of feasible paths according to the current position information and the destination information, and sending the feasible paths to the target vehicle for path selection; when a path selection instruction fed back by the target vehicle is received, determining the current running path of the target vehicle according to the path selection instruction; and judging whether the height limiting frame exists in the current driving path. Wherein the feasible paths include, but are not limited to: the using time is shortest, the distance is shortest, the traffic lights are least, the height limiting frame is least, and the like.
The cloud platform 10 is further configured to send the driving information to an elevation limit controller 20 corresponding to an elevation limit when it is determined that the elevation limit exists;
it should be understood that when the cloud platform 10 determines that the target vehicle is traveling along the current route to the height-limiting frame, it indicates that the height of the height-limiting frame needs to be adjusted so that the target vehicle can pass through the height-limiting frame smoothly. At this time, the cloud platform 10 may send the driving information of the target vehicle acquired in real time to the corresponding height limiting controller 20, and the height of the height limiting frame is adjusted by the height limiting controller 20.
Further, in an actual situation where there may be a plurality of height-limiting frames in the current travel path of the target vehicle, for this situation, the cloud platform 10 may determine the height-limiting frame that the target vehicle passes through first or the height-limiting frame closest to the target vehicle, and then notify the height-limiting frame controller 20 of the height-limiting frame and control the height-limiting frame to perform height adjustment.
In this embodiment, the cloud platform 10 is further configured to obtain the number of height-limiting frames when it is determined that the height-limiting frames exist on the current running path of the target vehicle; when the number is detected to exceed a preset threshold value, determining the current position information of the target vehicle according to the running information; then, the height limit frame closest to the target vehicle in the current driving path is determined according to the current position information, and the driving information is sent to the height limit frame controller 20 corresponding to the height limit frame closest to the target vehicle. The specific value of the preset threshold is not limited, and the embodiment is preferably one.
The height limiting frame controller 20 is configured to predict, in real time, the time when the target vehicle travels to the height limiting frame according to the travel information, and obtain a predicted arrival time;
it should be appreciated that in order to avoid the elevation limit controller 20 from prematurely raising the elevation limit if the target vehicle has not reached the elevation limit, other ultra-high overrun vehicles may be allowed to pass the elevation limit, compromising the durability of the road and bridge in use. The height-limiting controller 20 of the present embodiment is further configured to, after receiving the traveling information of the target vehicle, predict, in real time, the time when the target vehicle travels to the height-limiting frame according to the traveling information, obtain a predicted arrival time, and predict, according to the predicted arrival time, how long the target vehicle will reach the height-limiting frame.
Specifically, the height limit controller 20 may calculate the predicted arrival time based on the vehicle speed information in the travel information and the distance information between the target vehicle and the height limit.
The height limiting frame controller 20 is further configured to obtain a rise time when the height limiting frame rises, and control the height limiting frame to rise according to the expected arrival time and the rise time.
It should be understood that the rise time is the length of time it takes for the height limit shelf to rise from the height limit position to a specified height. To ensure that the height limit shelf is raised to a specified height at an appropriate time, an adjustment condition of the height limit shelf may be preset so that the height limit shelf controller 20 controls the height of the height limit shelf to be raised when the expected arrival time is detected and the rise time satisfies the preset condition.
Wherein the preset conditions are as follows: time-rise time < time threshold is expected. The time threshold in this embodiment is preferably 60 seconds.
Further, the height limit is restored in order to lower the height limit frame in time after the target vehicle passes through the height limit frame. In this embodiment, the height limiting frame controller 20 is further configured to obtain vehicle passing information acquired by a height limiting frame sensor, and then calculate a real-time distance between the target vehicle and the height limiting frame according to the vehicle passing information; and detecting whether the real-time distance is greater than a preset distance, and if so, controlling the height limiting frame to descend to a set height. The set height is the normal height limit height of the height limit frame. The predetermined distance is preferably 100 meters in this embodiment.
In the embodiment, the height limiting control system based on V2X receives the running information uploaded by a target vehicle in real time by adopting a vehicle wireless communication technology V2X through a cloud platform; then judging whether an elevation limit frame exists in the current running path of the target vehicle according to the running information; when the height limit frame exists, the driving information is sent to a height limit frame controller; the height limiting frame controller predicts the time of the target vehicle running to the height limiting frame in real time according to the running information to obtain predicted reaching time; and acquiring the rise time of the height-limited frame during rising, and controlling the height-limited frame to rise according to the predicted arrival time and the rise time. This embodiment is through detecting the limit for height frame in the route of traveling the vehicle and predicting the time that the vehicle went to limit for height frame, can be according to testing result and prediction result when the vehicle will travel to limit for height frame automatic rising limit for height frame, make the vehicle need not to wait and can pass through the limit for height frame smoothly, promoted the intelligent degree of limit for height frame.
Based on the first embodiment described above, a second embodiment of the height limiting control system based on V2X of the present invention is proposed.
In this embodiment, the cloud platform 10 is further configured to issue a road condition acquisition instruction to the height-limiting controller 20 when there is an height-limiting rack in the current driving path;
it should be appreciated that special vehicles are often required to perform certain emergency tasks while traveling. Therefore, the problem of difficult vehicle running caused by road congestion is avoided while the target vehicle smoothly passes through the height limiting frame. In this embodiment, the cloud platform 10 further obtains the traffic condition of the position where the height limiting frame is located in real time, and then timely reminds whether the target vehicle needs to change the driving route according to the traffic condition, so as to avoid the traffic jam road section as much as possible and reach the destination as soon as possible.
Specifically, the cloud platform 10 may issue a road condition acquisition instruction to the height limit controller 20 corresponding to the height limit when it is determined that the height limit exists in the current driving path.
The height limiting frame controller 20 is further configured to control the height limiting frame sensor to acquire current road condition information according to the road condition acquisition instruction;
it should be understood that the road condition collecting instruction is used for controlling a sensor (preferably a camera) erected on the height limiting frame to collect current road condition information. The current road condition information may be information such as traffic flow, vehicle driving speed, whether a traffic accident occurs, and the like on the current road.
The height limiting frame controller 20 is further configured to detect whether traffic congestion exists around the height limiting frame according to the current road condition information;
in a specific implementation, the height limiting controller 20 may detect whether traffic jam exists around the height limiting frame according to the traffic information included in the current traffic information. For example, the height limit controller 20 detects that the average speed of the vehicle passing through the height limit is 10Km/H according to the current road condition information, and the average speed is less than a preset congestion threshold (for example, 30Km/H, the specific value is adjustable) for determining whether the traffic is congested, and at this time, the height limit controller 20 may determine that the traffic congestion exists around the height limit.
Furthermore, the accuracy of judging the traffic jam condition is improved. In this embodiment, the height limiting frame controller 20 may obtain the average vehicle speed of the road section where the height limiting frame is located according to the current road condition information; then comparing the average vehicle speed with a congestion threshold, and counting the duration of the average vehicle speed less than the congestion threshold when the average vehicle speed is less than the congestion threshold; and judging whether traffic jam exists around the height limiting frame according to the duration. For example, the height limiting controller 20 finds that the average speed of the passing height limiting vehicle is 15Km/H < congestion threshold 30Km/H according to the current road condition information, and calculates that the duration of the average speed less than 30Km/H exceeds a preset duration threshold (e.g., 5 minutes or 10 minutes), so as to determine that traffic congestion exists around the height limiting vehicle.
Of course, the way for the height limiting controller 20 to determine whether there is a traffic jam around the height limiting rack in this embodiment may be other ways, for example, obtaining through the cloud platform 10, or obtaining through a system having a traffic monitoring function of a third party, and the like, which is not limited in this embodiment.
The height limiting controller 20 is further configured to send a traffic jam prompt to the cloud platform 10 when detecting that a traffic jam exists;
in a specific implementation, when detecting that there is a traffic jam, the height limiting controller 20 may send a traffic jam prompt to the cloud platform 10, and the cloud platform 10 replans the traveling path of the target vehicle according to the prompt.
The cloud platform 10 is further configured to perform path planning again on the target vehicle according to the traffic congestion prompt and the driving information, obtain a current optional path, and send the current optional path to the target vehicle;
it should be understood that, when receiving the traffic jam prompt sent by the height limiting controller 20, the cloud platform 10 may re-plan a path for the target vehicle according to the running information uploaded by the target vehicle in real time, then detect whether there is a path passing through the height limiting frame of the above traffic jam section in the re-planned path, if so, remove these paths to obtain the remaining effective running paths, that is, the current selectable path, then send the current selectable path to the target vehicle, and select the current selectable path by the target vehicle.
Of course, if all the paths of the paths re-planned by the cloud platform 10 have to pass through the height-limiting frame of the traffic congestion section, the congestion condition is notified to the target vehicle.
The cloud platform 10 is further configured to determine a new current driving path according to the feedback information of the target vehicle, and determine whether an overhead limitation exists in the new current driving path.
It can be understood that, after the target vehicle selects a driving path to be replaced according to the current selectable path and feeds back the selected driving path to the cloud platform 10, the cloud platform 10 may determine a new current driving path according to the feedback, determine whether an elevation limit exists in the new current driving path, and then execute corresponding operations according to the determination result.
In the embodiment, the height limiting control system based on the V2X can detect the traffic jam condition of the position in real time according to the height limiting sensor erected on the height limiting frame, so that whether the driving path of the vehicle needs to be re-planned or not can be judged according to the traffic jam condition, the vehicle can avoid the jammed road section as much as possible, and the vehicle passing efficiency is improved.
In addition, the embodiment of the invention also provides an overhead limiting control method based on V2X.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the height limiting control method based on V2X according to the present invention.
In this embodiment, the height limiting control method based on V2X includes:
step S10: the cloud platform receives driving information uploaded by a target vehicle in real time by adopting a vehicle wireless communication technology V2X;
it should be noted that the cloud platform may be a vehicle wireless communication technology (V2X) platform with strong data processing and computing capabilities, which is referred to as a V2X platform for short. In this embodiment, the cloud platform is responsible for receiving and forwarding various types of information fed back by objects including vehicles, roads, people, transportation facilities, and the like, and can perform real-time interaction of the information based on a 5G V2X technology. The height-limiting controller may be a processor having network communication, data processing, and operational control functions. The height limiting frame controller in this embodiment may be used to control the elevation of the height limiting frame.
In this embodiment, the cloud platform may receive driving information uploaded by a target vehicle in real time by using a vehicle wireless communication technology V2X;
the travel information may include current position information of the vehicle, destination position information, vehicle speed information, and the like. The target vehicle may be a special vehicle, which means a vehicle with an overall size, weight, etc. exceeding the design vehicle limits and for special purposes, which is specially made or specially adapted, equipped with fixed equipment, the main function of which is not a motor vehicle for carrying people or freight. Typical special vehicles include fire trucks, ambulances, police cars, engineering vehicles and the like.
In a specific implementation, the target vehicle can upload the driving information to the cloud platform in real time by using a V2X technology through a vehicle-mounted terminal or a driving computer.
Step S20: the cloud platform judges whether an elevation limit frame exists in the current running path of the target vehicle according to the running information;
it should be appreciated that when the travel path of the target vehicle is determined, the cloud platform may determine whether and how many height limits exist on the path of the vehicle to the destination based on the travel path.
Further, the cloud platform can also determine the current position information and the destination information of the target vehicle according to the running information; then planning a plurality of feasible paths according to the current position information and the destination information, and sending the feasible paths to the target vehicle for path selection; when a path selection instruction fed back by the target vehicle is received, determining the current running path of the target vehicle according to the path selection instruction; and judging whether the height limiting frame exists in the current driving path. Wherein the feasible paths include, but are not limited to: the using time is shortest, the distance is shortest, the traffic lights are least, the height limiting frame is least, and the like.
Step S30: when the cloud platform judges that the height limit frame exists, the running information is sent to a height limit frame controller corresponding to the height limit frame;
it should be understood that when the cloud platform determines that the target vehicle is traveling along the current route and approaches the height limit frames, it indicates that the height of the height limit frames needs to be adjusted so that the target vehicle can pass through smoothly. At the moment, the cloud platform can send the running information of the target vehicle acquired in real time to the corresponding height limiting frame controller, and the height of the height limiting frame is adjusted by the height limiting frame controller.
Further, in an actual situation, a plurality of height-limiting frames may exist in the current traveling path of the target vehicle, and for this situation, the cloud platform may determine the height-limiting frame that the target vehicle passes through first or the height-limiting frame closest to the target vehicle, and then notify the height-limiting frame controller of the height-limiting frame and control the height-limiting frame to perform height adjustment.
In this embodiment, when it is determined that an elevation limit frame exists on a current running path of a target vehicle, the cloud platform acquires the number of the elevation limit frames; when the number is detected to exceed a preset threshold value, determining the current position information of the target vehicle according to the running information; and then determining the height limit frame closest to the target vehicle in the current driving path according to the current position information, and sending the driving information to the height limit frame controller corresponding to the height limit frame closest to the target vehicle. The specific value of the preset threshold is not limited, and the embodiment is preferably one.
Step S40: the height limiting frame controller predicts the time of the target vehicle running to the height limiting frame in real time according to the running information to obtain predicted reaching time;
it should be appreciated that in order to avoid the elevation limit controller from prematurely raising the elevation limit if the target vehicle has not yet reached the elevation limit, other ultra-high and ultra-high vehicles are allowed to pass the elevation limit while still in transit, compromising the durability of the road and bridge. The height limiting controller of the embodiment is further configured to predict, in real time, the time when the target vehicle travels to the height limiting frame according to the travel information after receiving the travel information of the target vehicle, obtain the predicted arrival time, and predict how long the target vehicle will reach the height limiting frame according to the predicted arrival time.
Specifically, the height limit controller may calculate the predicted arrival time based on vehicle speed information in the travel information and distance information between the target vehicle and the height limit.
Step S50: and the height limiting frame controller acquires the rising time of the height limiting frame when rising, and controls the height limiting frame to rise according to the predicted reaching time and the rising time.
It should be understood that the rise time is the length of time it takes for the height limit shelf to rise from the height limit position to a specified height. To ensure that the height limit shelf is raised to a specified height at an appropriate time, an adjustment condition of the height limit shelf may be preset so that the height limit shelf controller controls the height of the height limit shelf to be raised when the expected arrival time is detected and the rise time satisfies the preset condition.
Wherein the preset conditions are as follows: time-rise time < time threshold is expected. The time threshold in this embodiment is preferably 60 seconds.
Further, the height limit is restored in order to lower the height limit frame in time after the target vehicle passes through the height limit frame. The height limiting frame controller in this embodiment is further configured to acquire vehicle passing information acquired by a height limiting frame sensor, and then calculate a real-time distance between the target vehicle and the height limiting frame according to the vehicle passing information; and detecting whether the real-time distance is greater than a preset distance, and if so, controlling the height limiting frame to descend to a set height. The set height is the normal height limit height of the height limit frame. The predetermined distance is preferably 100 meters in this embodiment.
In the embodiment, the height limiting control system based on V2X receives the running information uploaded by a target vehicle in real time by adopting a vehicle wireless communication technology V2X through a cloud platform; then judging whether an elevation limit frame exists in the current running path of the target vehicle according to the running information; when the height limit frame exists, the driving information is sent to a height limit frame controller; the height limiting frame controller predicts the time of the target vehicle running to the height limiting frame in real time according to the running information to obtain predicted reaching time; and acquiring the rise time of the height-limited frame during rising, and controlling the height-limited frame to rise according to the predicted arrival time and the rise time. This embodiment is through detecting the limit for height frame in the route of traveling the vehicle and predicting the time that the vehicle went to limit for height frame, can be according to testing result and prediction result when the vehicle will travel to limit for height frame automatic rising limit for height frame, make the vehicle need not to wait and can pass through the limit for height frame smoothly, promoted the intelligent degree of limit for height frame.
Based on the first embodiment of the height limiting control method based on V2X, the second embodiment of the height limiting control method based on V2X is provided.
In this embodiment, after the step S20, the method further includes the steps of:
step S301: when the height limiting frame exists in the current driving path, the cloud platform sends a road condition acquisition instruction to a height limiting frame controller corresponding to the height limiting frame;
it should be appreciated that special vehicles are often required to perform certain emergency tasks while traveling. Therefore, the problem of difficult vehicle running caused by road congestion is avoided while the target vehicle smoothly passes through the height limiting frame. In this embodiment, the cloud platform further acquires the traffic condition of the position of the height limiting frame in real time, and then timely reminds whether the target vehicle needs to change the driving route according to the traffic condition, so that the target vehicle avoids the traffic jam road section as much as possible and reaches the destination as soon as possible.
Specifically, the cloud platform can issue a road condition acquisition instruction to the height limit controller corresponding to the height limit when the height limit exists in the current driving path.
Step S302: the height limiting frame controller controls the height limiting frame sensor to acquire current road condition information according to the road condition acquisition instruction;
it should be understood that the road condition collecting instruction is used for controlling a sensor (preferably a camera) erected on the height limiting frame to collect current road condition information. The current road condition information may be information such as traffic flow, vehicle driving speed, whether a traffic accident occurs, and the like on the current road.
Step S303: the height limiting frame controller detects whether traffic jam exists around the height limiting frame according to the current road condition information;
in a specific implementation, the height limiting frame controller may detect whether traffic congestion exists around the height limiting frame according to the road condition information included in the current road condition information. For example, the height limit controller detects that the average speed of the vehicle passing through the height limit is 10Km/H according to the current road condition information, the average speed is less than a preset congestion threshold (for example, 30Km/H, the specific numerical value is adjustable) for judging whether the traffic is congested, and at this time, the height limit controller can judge that the traffic congestion exists around the height limit.
Furthermore, the accuracy of judging the traffic jam condition is improved. In this embodiment, the height limiting frame controller may obtain the average vehicle speed of the road section where the height limiting frame is located according to the current road condition information; then comparing the average vehicle speed with a congestion threshold, and counting the duration of the average vehicle speed less than the congestion threshold when the average vehicle speed is less than the congestion threshold; and judging whether traffic jam exists around the height limiting frame according to the duration. For example, the height limiting frame controller finds that the average speed of the vehicle passing through the height limiting frame is 15Km/H < congestion threshold value 30Km/H according to the current road condition information, and calculates that the duration of the average speed less than 30Km/H exceeds a preset duration threshold value (for example, 5 minutes or 10 minutes), and then the situation that traffic congestion exists around the height limiting frame can be judged.
Of course, the manner of determining whether there is a traffic jam around the height limit rack by the height limit rack controller in this embodiment may be other manners, for example, obtaining the traffic jam through a cloud platform, or obtaining the traffic jam through a system having a traffic monitoring function of a third party, and the like.
Step S304: the height limiting controller sends a traffic jam prompt to the cloud platform when detecting that traffic jam exists;
in specific implementation, when the height limiting controller detects that traffic jam exists, the height limiting controller can send a traffic jam prompt to the cloud platform, and the cloud platform replans the running path of the target vehicle according to the prompt.
Step S305: the cloud platform plans the target vehicle again according to the traffic jam prompt and the running information to obtain a current optional path, and sends the current optional path to the target vehicle;
it should be understood that when the cloud platform receives a traffic jam prompt sent by the height limiting controller, a path can be replanned for a target vehicle according to the running information uploaded by the target vehicle in real time, then whether the replanned path has a height limiting path passing through the traffic jam road section is detected, if yes, the paths are removed to obtain the remaining effective running paths, namely the current selectable path, then the current selectable path is sent to the target vehicle, and the target vehicle selects the path.
Of course, if all the paths in the paths re-planned by the cloud platform must pass through the height-limiting frame of the traffic jam road section, the jam condition is notified to the target vehicle.
Step S306: and the cloud platform determines a new current driving path according to the feedback information of the target vehicle and judges whether an elevation limit frame exists in the new current driving path.
It can be understood that after the target vehicle selects the driving path to be replaced according to the current selectable path and feeds the selected driving path back to the cloud platform, the cloud platform can determine a new current driving path according to the feedback, judge whether the height limit frame exists in the new current driving path, and then execute corresponding operation according to the judgment result. For example, if there is an overhead limitation in the new current travel route, step S30 is executed.
In the embodiment, the height limiting control system based on the V2X can detect the traffic jam condition of the position in real time according to the height limiting sensor erected on the height limiting frame, so that whether the driving path of the vehicle needs to be re-planned or not can be judged according to the traffic jam condition, the vehicle can avoid the jammed road section as much as possible, and the vehicle passing efficiency is improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., a rom/ram, a magnetic disk, an optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An elevation limit control system based on V2X, the system comprising: a cloud platform and an elevation limit controller;
the cloud platform is used for receiving the running information uploaded by the target vehicle in real time by adopting a vehicle wireless communication technology V2X;
the cloud platform is further used for judging whether an elevation limit frame exists in the current running path of the target vehicle according to the running information;
the cloud platform is further used for sending the running information to the height limit controller when the height limit frame is judged to exist;
the height limiting frame controller is used for predicting the time of the target vehicle running to the height limiting frame in real time according to the running information to obtain predicted reaching time;
the height limiting frame controller is further used for obtaining the rising time of the height limiting frame when rising, and controlling the height of the height limiting frame according to the predicted reaching time and the rising time.
2. The system of claim 1, wherein the cloud platform is further configured to determine current location information and destination information of the target vehicle based on the travel information;
the cloud platform is further used for planning a plurality of feasible paths according to the current position information and the destination information, and sending the feasible paths to the target vehicle for path selection;
the cloud platform is further used for determining a current running path of the target vehicle according to the path selection instruction when the path selection instruction fed back by the target vehicle is received, and judging whether the height limit frame exists in the current running path.
3. The system of claim 1, wherein the height-limiting controller is further configured to obtain a rise time when the height-limiting frame rises, and to control the height-limiting frame to rise when the expected arrival time is detected and the rise time satisfies a preset condition;
wherein the preset conditions are as follows:
time-rise time < time threshold is expected.
4. The system of claim 1, wherein the elevation limit controller is further configured to obtain vehicle traffic information collected by an elevation limit sensor, and calculate a real-time distance of the target vehicle from the elevation limit based on the vehicle traffic information;
the height limiting frame controller is further used for detecting whether the real-time distance is larger than a preset distance or not, and if the real-time distance is larger than the preset distance, the height limiting frame is controlled to descend to a set height.
5. The system of claim 1, wherein the cloud platform is further configured to issue a road condition acquisition instruction to the height-limiting controller when an height-limiting rack exists in the current driving path;
the height limiting frame controller is also used for controlling the height limiting frame sensor to acquire current road condition information according to the road condition acquisition instruction;
the height limiting frame controller is also used for detecting whether traffic jam exists around the height limiting frame according to the current road condition information;
the height limiting controller is further used for sending a traffic jam prompt to the cloud platform when the traffic jam is detected;
the cloud platform is further used for planning a path of the target vehicle again according to the traffic jam prompt and the running information, obtaining a current optional path and sending the current optional path to the target vehicle;
and the cloud platform is further used for determining a new current running path according to the feedback information of the target vehicle and judging whether the height limit frame exists in the new current running path.
6. An elevation limit control method based on V2X, characterized in that the method comprises:
the cloud platform receives driving information uploaded by a target vehicle in real time by adopting a vehicle wireless communication technology V2X;
the cloud platform judges whether an elevation limit frame exists in the current running path of the target vehicle according to the running information;
when the cloud platform judges that the height limit frame exists, the running information is sent to a height limit frame controller corresponding to the height limit frame;
the height limiting frame controller predicts the time of the target vehicle running to the height limiting frame in real time according to the running information to obtain predicted reaching time;
and the height limiting frame controller acquires the rising time of the height limiting frame when rising, and controls the height limiting frame to rise according to the predicted reaching time and the rising time.
7. The method of claim 6, wherein the step of the cloud platform determining whether there is an elevation limit in the current driving path of the target vehicle based on the driving information comprises:
the cloud platform determines current position information and destination information of the target vehicle according to the running information;
the cloud platform plans a plurality of feasible paths according to the current position information and the destination information, and sends the feasible paths to the target vehicle for path selection;
when the cloud platform receives a path selection instruction fed back by the target vehicle, the current running path of the target vehicle is determined according to the path selection instruction, and whether the height limit frame exists in the current running path is judged.
8. The method of claim 6, wherein the step of the elevation limit controller acquiring a rise time at which the elevation limit is raised and controlling the elevation limit raising based on the projected arrival time and the rise time comprises:
the height limiting frame controller acquires rising time of the height limiting frame when rising, and controls the height limiting frame to rise when the predicted reaching time and the rising time meet preset conditions are detected;
wherein the preset conditions are as follows:
time-rise time < time threshold is expected.
9. The method of claim 6, wherein after the step of the elevation limit controller acquiring a rise time at which the elevation limit is raised and controlling the elevation limit raising based on the projected arrival time and the rise time, the method further comprises:
the height limiting frame controller acquires vehicle passing information acquired by a height limiting frame sensor, and calculates the real-time distance of the target vehicle from the height limiting frame according to the vehicle passing information;
and the height limiting frame controller detects whether the real-time distance is greater than a preset distance, and if so, the height limiting frame is controlled to descend to a set height.
10. The method of claim 6, wherein after the step of the cloud platform determining whether there is an elevation limit in the current travel path of the target vehicle based on the travel information, the method further comprises:
when the height limiting frame exists in the current driving path, the cloud platform sends a road condition acquisition instruction to a height limiting frame controller corresponding to the height limiting frame;
the height limiting frame controller controls the height limiting frame sensor to acquire current road condition information according to the road condition acquisition instruction;
the height limiting frame controller detects whether traffic jam exists around the height limiting frame according to the current road condition information;
the height limiting controller sends a traffic jam prompt to the cloud platform when detecting that traffic jam exists;
the cloud platform plans the target vehicle again according to the traffic jam prompt and the running information to obtain a current optional path, and sends the current optional path to the target vehicle;
and the cloud platform determines a new current driving path according to the feedback information of the target vehicle and judges whether an elevation limit frame exists in the new current driving path.
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