CN111047867A - Highway strong crosswind section speed early warning control method and system - Google Patents

Highway strong crosswind section speed early warning control method and system Download PDF

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CN111047867A
CN111047867A CN201911378196.7A CN201911378196A CN111047867A CN 111047867 A CN111047867 A CN 111047867A CN 201911378196 A CN201911378196 A CN 201911378196A CN 111047867 A CN111047867 A CN 111047867A
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speed limit
limit value
early warning
speed
vehicle
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CN111047867B (en
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韩晖
文涛
李洋洋
廖文洲
陈慧
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Beijing Zhongjiao Huaan Technology Co ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Abstract

The invention discloses a speed early warning control method and system for a strong crosswind section of a highway, and relates to the technical field of traffic early warning; the early warning system includes: the system comprises an information detection module, an information processing module and an information early warning release module; the early warning method is used for carrying out stress analysis on the sideslip and rollover conditions which may be generated in a strong crosswind path section by different vehicle types, establishing a speed limit optimization model, establishing a road variable speed limit control strategy under the influence of strong crosswind on the basis of the model, and finally designing an early warning system to divide early warning levels so as to effectively guarantee the safety and stability of vehicles running on the road.

Description

Highway strong crosswind section speed early warning control method and system
Technical Field
The invention relates to the technical field of traffic early warning, in particular to a speed early warning control method for a strong crosswind section of a road.
Background
In recent years, extremely severe weather in China frequently occurs, and road traffic safety is more and more affected by severe weather. The crosswind threatens the driving safety of the highway by the characteristics of the outburst and the concealment of the crosswind. When the vehicle runs on a road, the running stability of the vehicle can be obviously influenced under the action of large-grade wind force perpendicular to the running direction, and when the wind force exceeds a certain grade, the vehicle running normally can face the risks of sideslip and rollover. In northwest areas and coastal areas of China, strong crosswind has more weather, and particularly, the action of the crosswind can be amplified in expressways, high-fill areas and bridge sections with mild terrain. The strong crosswind weather has great influence on the driving safety, and the large vehicles such as buses, trucks and the like have particularly outstanding operation safety problems due to large volume, heavy load and large frontal area of the side surfaces.
At present, certain achievements are obtained in the research of highway crosswind early warning technology, including a highway crosswind early warning method, an intersection crosswind monitoring early warning system and a safe driving speed control method under crosswind of an expressway. The existing research results study the operation safety of vehicles in different meteorological environments from different angles, such as a novel intersection crosswind monitoring and early warning system: determining the running speed of the vehicle according to the braking distance of the vehicle; the invention discloses a safe driving speed control under crosswind of an expressway: the operating speed of the vehicle is determined in consideration of the side-slip problem of the vehicle. However, the existing achievements still have a plurality of problems, such as single consideration factor, large application limitation, poor practicability and the like.
Disclosure of Invention
The invention aims to provide a speed early warning control method for a strong crosswind section of a road, so as to solve the problems in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a high crosswind road speed early warning control method for a road comprises the following steps:
s1, establishing a speed limit optimization model for the strong cross air path section of the road based on the multi-constraint condition, and acquiring a safe driving speed limit value of the vehicle;
s2, aiming at the established speed limit optimization model, making a variable speed limit control strategy: calculating the speed limit values of various vehicle types in the current crosswind state aiming at different vehicle types, and selecting the relatively minimum speed limit value of each vehicle type as the calculated speed limit value of the road section;
s3, obtaining an execution speed limit value according to the calculated speed limit value in the step S2, and comprehensively considering the vehicle operation efficiency, stability, safety and real-time changed crosswind state at the same time, and updating the execution speed limit value of the road section in the step S2 in real time;
and S4, aiming at the execution speed limit value updated in real time in the step S3, establishing an early warning strategy for the crosswind section of the road.
Preferably, the multiple constraints in step S1 include aerodynamic resistance, aerodynamic lift, and lateral aerodynamic force during driving, and the calculation formula of the aerodynamic resistance is as follows:
Figure BDA0002341586910000021
the calculation formula of the aerodynamic lift force is as follows:
Figure BDA0002341586910000022
the calculation formula of the lateral aerodynamic force is as follows:
Figure BDA0002341586910000023
in the formula: ρ is the airflow air density; a is the projected area of the windward side of the automobile; czIs the aerodynamic drag coefficient; csIs the aerodynamic lift coefficient; ccIs the lateral aerodynamic coefficient; v is the rate of synthesis of the peptide,
Figure BDA0002341586910000024
wherein v isc，vwtThe speed of the vehicle and the wind speed of the crosswind perpendicular to the windward side of the vehicle are respectively;
Figure BDA0002341586910000025
wherein v iswIn order to detect the cross-wind speed,
Figure BDA0002341586910000026
is the included angle between the cross wind direction and the Y axis of the vehicle.
Preferably, in step S1, the step of establishing the speed limit optimization model specifically includes:
s11, respectively constructing a vehicle sideslip stress analysis model and a vehicle rollover stress analysis model;
s12, respectively obtaining the critical constraint v of the safe driving vehicle speed without sideslip of the vehiclechAnd the critical constraint v of safe driving speed without side turningcfTherefore, the critical condition for acquiring the sideslip or the rollover of the vehicle is as follows:
f(vw,α)＝min{vch,vcf}；
s13, respectively aiming at the car and the passenger/freight car, obtaining the critical conditions of the car sideslip or rollover as follows: f. ofc(vwα) and the critical constraint condition for the passenger/freight car to sideslip or roll over is fh(vw,α)；
S14, acquiring the comprehensive speed limit index as follows: v. ofcx≤min{fc(vw,α),20+fh(vw,α)}
In the formula: v. ofcxThe vehicle safety running speed limit value is obtained; f. ofc(vwα) is the critical speed value of the car sideslip or side turn under the action of crosswind, fh(vwα) is the critical speed value of the passenger/freight car for sideslip or rollover under the action of crosswind.
Preferably, in step S11, when the vehicle is subjected to the force-to-slip analysis, the constraint condition for avoiding the vehicle from slipping needs to be satisfied:
Fc+Fmgf+Fl≤Fmc
in the formula: fmgfIs the component of gravity along the road; fcLateral aerodynamic force; flIs the eccentricity of the vehicle.
Wherein:
Figure BDA0002341586910000031
wherein α is roadSuper-high; r is the curvature radius of the road; v. ofcIs the vehicle speed; mu.shFor road lateral friction coefficient, typically muhMu is (0.6-0.7) mu, and mu is a road surface adhesion coefficient;
when the vehicle is subjected to rollover stress analysis, the limiting conditions for avoiding the vehicle from rollover need to be met:
Figure BDA0002341586910000032
in the formula: h is the height of the center of mass of the vehicle; w is the length of the wheel track of the vehicle, X is the stress of the vehicle along the horizontal direction of the road, Y is the stress of the vehicle along the vertical direction of the road,
Figure BDA0002341586910000033
。
preferably, in step S2,
the critical constraint of safe driving speed that the vehicle does not sideslip:
Figure BDA0002341586910000041
the critical constraint of the safe running speed of the vehicle without rollover is as follows:
Figure BDA0002341586910000042
preferably, step S3 specifically includes the following steps:
s31, judging whether the calculated speed limit value obtained in the step S2 is larger than or equal to the current speed limit value of the road, if the calculated speed limit value is larger than or equal to the current speed limit value of the road, taking the current speed limit value of the road as the final execution speed limit value; when the calculated speed limit value is smaller than the current speed limit value of the road, the selection of the speed limit value is as shown in the following table:
calculating the speed limit value <30 (30,40] (40,50] (50,60] (60,70]
Execution limit value 20 30 40 50 60
Calculating the speed limit value (70,80] (80,90] (90,100] (100,110] >110
Execution limit value 70 80 90 100 Design speed limit
S32, the execution speed limit value is updated in real time, the updating time interval is 10min, and the specific rule is as follows:
current speed limit value vt(ii) a Duration delta T of current speed limit valuet(ii) a The last moment and the current latest calculation speed limit value are v respectivelyt-T，vt+T；
If Δ TtV is less than or equal to 10t-10≤vt+T＜vtWhen +10, continuously keeping the current speed limit value;
if Δ TtLess than or equal to 10 and
Figure BDA0002341586910000043
when it is, take max { vt-T,vt+TThe current calculated speed limit value is taken as the next time speed limit value corresponding to the execution speed limit value in the table 1, and at the time, the delta T is used as the next time speed limit valuet＝0；
If Δ TtLess than or equal to 10 and
Figure BDA0002341586910000044
when it is, take min { v }t-T,vt+TThe current calculated speed limit value is taken as the next time speed limit value corresponding to the execution speed limit value in the table 1, and at the time, the delta T is used as the next time speed limit valuet＝0；
If Δ TtV is less than or equal to 10t+T≤vtWhen-20, take vt+TThe execution speed limit value in the corresponding table is used as the next moment speed limit value, and at the moment, the delta Tt＝0。
Preferably, step S4 specifically includes: establishing an early warning strategy by adopting an early warning system; the specific early warning strategy is divided into four stages, specifically:
when crosswind speed vwWhen the speed limit is less than or equal to 10.7m/s, performing four-level blue early warning, wherein the early warning system does not work, and defaults to issue default speed limit information of a road;
when the crosswind speed is 10.7m/s < vw＜f-1(vshe) For three-level yellow early warning, the early warning system is started and distributes a crosswind attention prompt message;
transverse wind speed f-1(vshe)≤vw＜f-1(20) The two-stage orange early warning is carried out, and the early warning system starts and issues speed limit warning information;
transverse wind speed f-1(20)≤vwAnd for the first-level red early warning, the early warning system is started and issues high-risk early warning information.
Another object of the present invention is to provide a system for implementing a speed early warning control in a strong crosswind section of a road, the early warning system comprising: the system comprises an information detection module, an information processing module and an information early warning release module, wherein the information monitoring module is used for detecting and acquiring wind speed and wind direction data in real time and sending the acquired data to the information processing module; the information processing module processes the received data and then outputs a corresponding speed limit issuing information instruction to the information early warning issuing module; and the early warning information issuing module receives the speed limit issuing information instruction of the data processing module and displays and prompts the speed limit issuing information instruction by voice.
Preferably, the information processing module comprises a central controller, a data memory and a wireless transmission module, wherein after the received data are processed, the data memory is used for storing the information transmitted by the information monitoring module, and the central controller adopts a model algorithm to process the received data and then outputs a corresponding speed limit issuing information instruction to the information early warning issuing module through the wireless transmission module;
preferably, the early warning information issuing module comprises an LED variable information sign, a traffic broadcasting device and a wireless receiving module, and the wireless receiving module receives the speed limit issuing information instruction of the data processing module, and performs display and voice prompt on the LED variable information sign and the traffic broadcasting device.
The invention has the beneficial effects that:
the invention discloses a method and a system for early warning and controlling the speed of a strong crosswind section of a road.
Drawings
FIG. 1 is a force analysis diagram of a vehicle under the influence of crosswind in example 1;
FIG. 2 is a force analysis diagram of the vehicle in embodiment 1 for sideslip under the influence of crosswind;
FIG. 3 is a force analysis graph of the rollover of the vehicle under the influence of crosswind in example 1;
FIG. 4 is a structural composition diagram of the warning system in embodiment 2;
fig. 5 is a schematic flowchart of the operation of the warning system in embodiment 2.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The embodiment provides a speed early warning control method for a strong crosswind section of a road, which comprises the following steps:
s1, establishing a speed limit optimization model for the strong cross air path section of the road based on the multi-constraint condition, and acquiring a safe driving speed limit value of the vehicle;
s2, aiming at the established speed limit optimization model, making a variable speed limit control strategy: calculating the speed limit values of various vehicle types in the current crosswind state aiming at different vehicle type pairs, and selecting the relatively minimum speed limit value of each vehicle type as the speed limit value of the road section;
s3, comprehensively considering the vehicle running efficiency, stability and safety, and updating the speed limit value of the road section in the step S2 in real time;
and S4, aiming at the execution speed limit value updated in real time in the step S3, establishing an early warning strategy for the crosswind section of the road.
The safety of the vehicle is rapidly reduced under the influence of strong crosswind, and road traffic accidents are easy to happen. Therefore, the invention constructs a speed-limiting optimization model based on multiple constraint conditions from the viewpoint of controlling the vehicle running speed by analyzing the vehicle running characteristics and the accident-prone characteristics under the influence of strong crosswind and comprehensively considering the road, climate and other influence factors, and the specific modeling process is as follows:
first, the vehicle under crosswind is subjected to force analysis, and as shown in fig. 1, when the vehicle is influenced by crosswind, the crosswind on the highway is decomposed into aerodynamic resistance, aerodynamic lift and lateral aerodynamic force when acting on the moving vehicle. Therefore, the constraint conditions to be considered in the modeling process include aerodynamic resistance, aerodynamic lift and lateral aerodynamic force, and the corresponding calculation formulas are as follows:
the calculation formula of the aerodynamic resistance is as follows:
Figure BDA0002341586910000071
the calculation formula of the aerodynamic lift force is as follows:
Figure BDA0002341586910000072
the calculation formula of the lateral aerodynamic force is as follows:
Figure BDA0002341586910000073
in the formula: ρ is the airflow air density; a is the projected area of the windward side of the automobile; czIs the aerodynamic drag coefficient; csIs the aerodynamic lift coefficient; ccIs the lateral aerodynamic coefficient; v is the rate of synthesis of the peptide,
Figure BDA0002341586910000074
wherein v isc，vwtThe speed of the vehicle and the wind speed of the crosswind perpendicular to the windward side of the vehicle are respectively;
Figure BDA0002341586910000075
wherein v iswIn order to detect the cross-wind speed,
Figure BDA0002341586910000076
is the included angle between the cross wind direction and the Y axis of the vehicle.
The aerodynamic drag coefficient in this embodiment is a model-by-model meter, such as shown in table 1, and may also be modified according to relevant regulations:
TABLE 1 pneumatic resistance coefficient for individual car
Vehicle model Car with wheels Truck Passenger car
Aerodynamic resistance Cz 0.45 0.55 0.65
Secondly, the vehicle is used as a complex system, and when the critical safe speed constraint of the vehicle under the influence of strong crosswind is constructed, the non-decisive influence factors are simplified and processed, specifically as follows:
(1) under the action of cross wind, the vehicle is influenced by cross wind aerodynamic lift force, lateral aerodynamic force, road surface friction force and the like, and moment influence is ignored;
(2) the patent does not consider the influence of a vehicle body suspension system on the sideslip and the rollover of the vehicle;
(3) when the vehicle sideslips or turns over, the gravity center shift of the vehicle, the change of the speed and the direction of the vehicle and the like are ignored.
When the vehicle sideslips, firstly, the stress analysis is carried out on the vehicle as shown in fig. 2, and according to the stress analysis result of the vehicle under the action of crosswind, the limiting condition that the vehicle sideslips is avoided needs to be met:
Fc+Fmgf+Fl≤Fmc
in the formula: fmgfIs the component of gravity along the road; fcLateral aerodynamic force; flIs the eccentricity of the vehicle.
Wherein:
Figure BDA0002341586910000081
wherein α is the superelevation of the road, R is the curvature radius of the road, vcIs the vehicle speed; mu.shFor road lateral friction coefficient, typically muhMu is (0.6 to 0.7) mu, and mu is a road surface adhesion coefficient.
For the selection of the road surface adhesion coefficient, the values selected according to different weather conditions are different, as shown in table 2.
TABLE 2 road adhesion coefficient of different roads in different weather
Figure BDA0002341586910000082
After transformation, the following results are obtained: the critical constraint of safe driving speed that the vehicle does not sideslip:
Figure BDA0002341586910000083
when the vehicle is subjected to a rollover critical condition, the vehicle is subjected to stress analysis as shown in fig. 3, according to the vehicle stress analysis result under the influence of crosswind, the vehicle is subjected to the action of crosswind when running on a road, the wheels on the outer side of the vehicle are selected as moment-taking points, and the condition of generating the lateral rollover is as follows: the side turning moment caused by the horizontal direction of the vehicle is larger than or equal to the stabilizing moment generated in the vertical direction.
Figure BDA0002341586910000091
In the formula: h is the height of the center of mass of the vehicle; w is the track length of the vehicle. X and Y are respectively the vehicle along the horizontal direction of the road and along the vertical direction of the road, and specifically are as follows:
Figure BDA0002341586910000092
after transformation, the following results are obtained: the vehicle speed critical constraint of safe driving without side turning:
Figure BDA0002341586910000093
in summary, the critical condition constraints for the occurrence of a side slip or side roll of a vehicle are: f (v)w,α)＝min{vch,vcf}。
Simultaneously, because the self condition of oversize vehicle (freight train/passenger train) and car is different, consequently in order to ensure the vehicle operation in-process, the operation that the vehicle can be safe under the crosswind effect, can not take place sideslip or turn on one's side scheduling problem, according to the analysis of the above, the comprehensive speed limit index is selected to this text:
vcx≤min{fc(vw,α),20+fh(vw,α)}
in the formula: v. ofcxThe vehicle safety running speed limit value is obtained; f. ofc(vwα) is the critical speed value of the car sideslip or side turn under the action of crosswind, fh(vwα) is the critical speed value of the passenger/freight car for sideslip or rollover under the action of crosswind.
Because the wind speed and the wind direction of the current road section change in real time along with the change of time, the calculated speed limit value obtained by utilizing the speed limit optimization model based on multiple constraint conditions also changes, and in addition, the speed limit values after model calculation are different due to different vehicle models or different vehicle weights.
In order to solve the problem, average crosswind speed and average crosswind direction in unit time length T (set according to external actual conditions, generally 2min-5min, or 10min according to national standard) are selected as a wind speed value and a wind direction value in the time period, and vehicle types and vehicle weights of a crosswind road section of a highway are selected and processed mainly according to the total passing conditions of historical vehicles of the road section, wherein the general conditions are mainly classified into cars, buses and trucks, and the detailed classification can be carried out according to actual conditions. And then respectively calculating the speed limit values of various vehicle types in the current crosswind state according to the processed data, and simultaneously selecting the speed limit value with the minimum relative speed limit value of each vehicle type as the speed limit value of the road section at the current time according to the standard requirement of the relationship between the speed limit values of the various vehicle types.
Frequent speed limit value changes in a short time can have great influence on the running stability of road vehicles, and road traffic accidents are easily caused. Therefore, the speed limit control strategy not only considers the influence of strong crosswind on the vehicle running safety, but also considers the influence of the duration of speed limit change on the vehicle running safety and stability. The stability of the vehicle in the road running process is ensured by setting an update duration threshold, and the specific content is as follows:
firstly, when the calculated speed limit value determined above is greater than or equal to the current speed limit value of the road, the current speed limit value of the road is adopted as the speed limit value; otherwise, the execution speed limit value is determined through the calculated speed limit value determined in the foregoing text, and the selection of the execution speed limit value is shown in the following table 3.
TABLE 3 calculation of relationship between speed limit and execution speed limit
Calculating the speed limit value <30 (30,40] (40,50] (50,60] (60,70]
Execution limit value 20 30 40 50 60
Calculating the speed limit value (70,80] (80,90] (90,100] (100,110] >110
Execution limit value 70 80 90 100 Design speed limit
Secondly, for the alternate setting of the speed limit value of the crosswind road section, the influence of the efficiency, stability and safety of vehicle operation is comprehensively considered, the invention sets the threshold value of the alternate duration, the threshold value is generally 10min, and the specific iteration rule follows:
recording the current state variable: current speed limit value vt(ii) a Duration delta T of current speed limit valuet(ii) a The last moment and the current latest calculation speed limit value are v respectivelyt-T，vt+T；
If Δ TtV is less than or equal to 10t-10≤vt+T＜vtWhen +10, continuously keeping the current speed limit value;
if Δ TtLess than or equal to 10 and
Figure BDA0002341586910000101
when it is, take max { vt-T,vt+TThe current calculated speed limit value is taken as the next time speed limit value corresponding to the execution speed limit value in the table 1, and at the time, the delta T is used as the next time speed limit valuet＝0；
If Δ TtLess than or equal to 10 and
Figure BDA0002341586910000111
when it is, take min { v }t-T,vt+TThe current calculated speed limit value is taken as the next time speed limit value corresponding to the execution speed limit value in the table 1, and at the time, the delta T is used as the next time speed limit valuet＝0；
If Δ TtV is less than or equal to 10t+T≤vtWhen-20, take vt+TThe execution speed limit value in the corresponding table 1 is used as the next time speed limit value, and at the time, the delta Tt＝0。
Based on the conclusion, a mode rule base is established according to the actual control effect, a self-learning optimization adjustment warehouse is established, and the self threshold value is gradually adapted and adjusted.
And finally, establishing a four-stage early warning strategy according to the crosswind value changing in real time and the corresponding execution speed limit value, wherein the specific content is shown in a table 4.
TABLE 4 Highway crosswind early warning level division
Rank of Sign Constraint conditions Early warning strategy
Grade IV Blue warning vw≤10.7m/s System out of serviceReleasing road default speed limit information
Class III Yellow early warning 10.7m/s＜vw＜f-1(vshe) The system works and issues prompt messages of paying attention to crosswind and the like
Class II Orange early warning f-1(vshe)≤vw＜f-1(20) System working, issuing warning information of speed limit
Class I Red early warning f-1(20)≤vw The system works and issues high-risk early warning and warning information
Note that: f. of-1(v) Is the corresponding wind speed value when the speed limit value is vsheIs the current speed limit value of the road, vwIs the current wind speed.
Example 2
The embodiment discloses an early warning system for realizing the early warning method in the embodiment 1, the early warning system is integrated with a speed limit optimization model and a control strategy based on multi-constraint conditions, and is composed of three modules, namely an information detection module, an information processing module and an information early warning release module, as shown in fig. 4. When the system works, the schematic diagram of the working principle is shown in fig. 5, wherein the information monitoring module consists of an ultrasonic wind sensing detector and matched auxiliary facilities, is mainly used for detecting the strong crosswind information of the road in real time to acquire data such as wind speed and wind direction and sending the data to the information processing module; the information processing module is used as the core brain of the system and consists of a central controller, a data memory, a wireless transmission module and supporting facilities, and is mainly used for outputting a corresponding speed limit issuing information instruction through a model algorithm in the central controller and issuing the speed limit issuing information instruction through the wireless transmission module after received data are processed; the information early warning issuing module is used as a terminal of the system and comprises an LED variable information sign, traffic broadcasting equipment, a wireless receiving module and supporting facilities, and is mainly used for displaying and carrying out voice prompt on received information instructions.
When data processing is performed, the process of establishing the speed model with multiple constraint conditions in embodiment 1 is included, the speed limit value and the speed limit value update are determined to be executed, and finally, a mode rule base is constructed according to the actual control effect and is stored in the data storage.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained:
on the basis of related research results such as the conventional crosswind speed limit and early warning, aiming at the problems of single consideration factor, large application limitation and the like of the conventional results, the invention provides a speed limit optimization model based on multiple constraint conditions by considering the safety and stability of the operation of road vehicles under the influence of strong crosswind, and realizes the optimization and determination of speed limit values aiming at the speed requirements of different vehicle types under the influence of strong crosswind. On the basis, the system design and the early warning strategy of the crosswind early warning system are constructed by combining the model and the strategy requirement of the invention, and finally, a speed control strategy and an early warning system for the strong crosswind section of the highway are formed.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.

Claims (10)

1. A high crosswind road section speed early warning control method for a road is characterized by comprising the following steps:
s1, establishing a speed limit optimization model for the strong cross air path section of the road based on the multi-constraint condition, and acquiring a safe driving speed limit value of the vehicle;
s2, aiming at the established speed limit optimization model, making a variable speed limit control strategy: calculating the speed limit values of various vehicle types in the current crosswind state aiming at different vehicle types, and selecting the relatively minimum speed limit value of each vehicle type as the calculated speed limit value of the road section;
s3, obtaining an execution speed limit value according to the calculated speed limit value in the step S2, and comprehensively considering the vehicle operation efficiency, stability, safety and real-time changed crosswind state at the same time, and updating the execution speed limit value of the road section in the step S2 in real time;
and S4, aiming at the execution speed limit value updated in real time in the step S3, establishing an early warning strategy for the crosswind section of the road.
2. The method for controlling the speed early warning on the strong crosswind section of the road according to claim 1, wherein the multiple constraint conditions in step S1 include aerodynamic resistance, aerodynamic lift and lateral aerodynamic force during driving, and the calculation formula of the aerodynamic resistance is as follows:
Figure FDA0002341586900000011
the calculation formula of the aerodynamic lift force is as follows:
Figure FDA0002341586900000012
the calculation formula of the lateral aerodynamic force is as follows:
Figure FDA0002341586900000013
in the formula: ρ is the airflow air density; a is the projected area of the windward side of the automobile; czIs the aerodynamic drag coefficient; csIs the aerodynamic lift coefficient; ccIs lateral aerodynamic forceA coefficient; v is the rate of synthesis of the peptide,
Figure FDA0002341586900000014
wherein v isc，vwtThe speed of the vehicle and the wind speed of the crosswind perpendicular to the windward side of the vehicle are respectively;
Figure FDA0002341586900000015
wherein v iswIn order to detect the cross-wind speed,
Figure FDA0002341586900000016
is the included angle between the cross wind direction and the Y axis of the vehicle.
3. The method for controlling the speed early warning of the strong crosswind section of the road according to claim 1, wherein in the step S1, the step of establishing the speed limit optimization model specifically comprises the following steps:
s11, respectively constructing a vehicle sideslip stress analysis model and a vehicle rollover stress analysis model;
s12, respectively obtaining the critical constraint v of the safe driving vehicle speed without sideslip of the vehiclechAnd the critical constraint v of safe driving speed without side turningcfTherefore, the critical condition for acquiring the sideslip or the rollover of the vehicle is as follows:
f(vw,α)＝min{vch,vcf}；
s13, respectively aiming at the car and the passenger/freight car, obtaining the critical conditions of the car sideslip or rollover as follows: f. ofc(vwα) and the critical constraint condition for the passenger/freight car to sideslip or roll over is fh(vw,α)；
S14, acquiring the comprehensive speed limit index as follows: v. ofcx≤min{fc(vw,α),20+fh(vw,α)}
In the formula: v. ofcxThe vehicle safety running speed limit value is obtained; f. ofc(vwα) is the critical speed value of the car sideslip or side turn under the action of crosswind, fh(vwα) critical speed for the passenger/freight car to sideslip or roll over under the action of crosswindThe value is obtained.
4. The method according to claim 3, wherein in step S11, when the vehicle is performing the sideslip stress analysis, the constraint condition for avoiding the vehicle from sideslip needs to be satisfied:
Fc+Fmgf+Fl≤Fmc
in the formula: fmgfIs the component of gravity along the road; fcLateral aerodynamic force; flIs the eccentricity of the vehicle.
Wherein:
Figure FDA0002341586900000021
wherein α is the superelevation of the road, R is the curvature radius of the road, vcIs the vehicle speed; mu.shFor road lateral friction coefficient, typically muhMu is (0.6-0.7) mu, and mu is a road surface adhesion coefficient;
when the vehicle is subjected to rollover stress analysis, the limiting conditions for avoiding the vehicle from rollover need to be met:
Figure FDA0002341586900000022
in the formula: h is the height of the center of mass of the vehicle; w is the length of the wheel track of the vehicle, X is the stress of the vehicle along the horizontal direction of the road, Y is the stress of the vehicle along the vertical direction of the road,
Figure FDA0002341586900000023
。
5. the method for controlling speed warning on a strong crosswind section of a road according to claim 1, wherein in step S2,
the critical constraint of safe driving speed that the vehicle does not sideslip:
Figure FDA0002341586900000031
the critical constraint of the safe running speed of the vehicle without rollover is as follows:
Figure FDA0002341586900000032
6. the method for controlling the speed early warning of the strong crosswind section of the road according to claim 1, wherein the step S3 specifically comprises the following steps:
s31, judging whether the calculated speed limit value obtained in the step S2 is larger than or equal to the designed speed limit value of the road, if the calculated speed limit value is larger than or equal to the designed speed limit value of the road, taking the designed speed limit value of the road as the final execution speed limit value; when the calculated speed limit value is smaller than the designed speed limit value of the road, the selection of the speed limit value is as shown in the following table:
calculating the speed limit value <30 (30,40] (40,50] (50,60] (60,70] Execution limit value 20 30 40 50 60 Calculating the speed limit value (70,80] (80,90] (90,100] (100,110] >110 Execution limit value 70 80 90 100 Design speed limit
S32, the execution speed limit value is updated in real time, the updating time interval is 10min, and the specific rule is as follows:
current speed limit value vt(ii) a Duration delta T of current speed limit valuet(ii) a The last moment and the current latest calculation speed limit value are v respectivelyt-T，vt+T；
If Δ TtV is less than or equal to 10t-10≤vt+T＜vtWhen +10, continuously keeping the current speed limit value;
if Δ TtLess than or equal to 10 and
Figure FDA0002341586900000033
when it is, take max { vt-T,vt+TThe current calculated speed limit value is taken as the next time speed limit value corresponding to the execution speed limit value in the table 1, and at the time, the delta T is used as the next time speed limit valuet＝0；
If Δ TtLess than or equal to 10 and
Figure FDA0002341586900000034
when it is, take min { v }t-T,vt+TThe current calculated speed limit value is taken as the next time speed limit value corresponding to the execution speed limit value in the table 1, and at the time, the delta T is used as the next time speed limit valuet＝0；
If Δ TtV is less than or equal to 10t+T≤vtWhen-20, take vt+TThe execution speed limit value in the corresponding table is used as the next moment speed limit value, and at the moment, the delta Tt＝0。
7. The high crosswind road section speed early warning control method according to claim 1, wherein step S4 specifically comprises: establishing an early warning strategy by adopting an early warning system; the specific early warning strategy is divided into four stages, specifically:
when crosswind speed vwWhen the speed limit is less than or equal to 10.7m/s, performing four-level blue early warning, wherein the early warning system does not work, and defaults to issue default speed limit information of a road;
when the crosswind speed is 10.7m/s < vw＜f-1(vshe) For three-level yellow early warning, the early warning system is started and distributes a crosswind attention prompt message;
transverse wind speed f-1(vshe)≤vw＜f-1(20) The two-stage orange early warning is carried out, and the early warning system starts and issues speed limit warning information;
transverse wind speed f-1(20)≤vwAnd for the first-level red early warning, the early warning system is started and issues high-risk early warning information.
8. The utility model provides a realize strong crosswind highway section speed early warning control's of highway system which characterized in that, early warning system includes: the system comprises an information detection module, an information processing module and an information early warning release module, wherein the information monitoring module is used for detecting and acquiring wind speed and wind direction data in real time and sending the acquired data to the information processing module; the information processing module processes the received data and then outputs a corresponding speed limit issuing information instruction to the information early warning issuing module; and the early warning information issuing module receives the speed limit issuing information instruction of the data processing module and displays and prompts the speed limit issuing information instruction by voice.
9. The system for speed early warning control on a strong crosswind section of a road according to claim 8, wherein the information processing module comprises a central controller, a data memory and a wireless transmission module, the data memory is used for storing the messages transmitted by the information monitoring module after the received data are processed, and the central controller adopts a model algorithm to process the received data and then outputs corresponding speed-limiting issuing information instructions to the information early warning issuing module through the wireless transmission module.
10. The system for speed early warning control on a strong crosswind section of a road according to claim 8, wherein the early warning information issuing module comprises an LED variable information sign, traffic broadcasting equipment and a wireless receiving module, and the wireless receiving module receives a speed limit issuing information instruction of the data processing module and displays and prompts the speed limit issuing information instruction on the LED variable information sign and the traffic broadcasting equipment by voice.
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