CN111105645A - Multi-dimensional hierarchical intelligent street-crossing early warning system - Google Patents
Multi-dimensional hierarchical intelligent street-crossing early warning system Download PDFInfo
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Abstract
The invention relates to the field of traffic safety of pedestrians crossing streets in middle sections of non-signal-controlled roads in suburbs, in particular to a multi-dimensional grading intelligent street crossing early warning system which comprises a non-signal-controlled street crossing section danger grade evaluation system, an information detection system, an information evaluation system and an information early warning system. By acquiring the information of pedestrians and vehicles crossing the street in real time, the system has the effects of bidirectional early warning, real-time feedback of the information of the road section and reduction of the accident rate; the aims of providing multi-dimensional early warning information and optimizing a driving sight distance visual area are achieved by means of scientific arrangement of corresponding early warning facilities in the system, and therefore the safety of street crossing of a non-signal control road section is effectively improved.
Description
Technical Field
The invention relates to the field of traffic safety of pedestrians crossing streets in middle sections of non-signal-controlled roads in suburbs, in particular to a multidimensional grading intelligent street crossing early warning system.
Background
The urban non-signal control pedestrian crossing has the problems of mixed pedestrian and motor vehicle, unclear right of way distribution and the like, so that the urban non-signal control pedestrian crossing is always a high-accident road section. At present, aiming at the problems of high occurrence rate and high danger degree of accidents of a non-signal control pedestrian crossing, some intelligent street crossing facilities come along with the operation, but most of the intelligent street crossing facilities adopt one-way behavior control, and the intelligent street crossing facilities are rarely designed from the perspective of pedestrians and drivers; and the danger is higher when the night or the emergency (the vehicle is out of control), the safety improvement effect is not obvious, the feedback of the information of the people and the vehicle has hysteresis, the pedestrians and the drivers are difficult to obtain the accurate and real-time traffic information, and the people-oriented traffic concept is not effectively embodied.
Therefore, aiming at the problem of how to reduce the accidents in the middle section of the un-signal control road, the traffic demands of both pedestrians and drivers are fully considered, and the method starts with ideas of improving the effectiveness of intelligent street crossing facility acquisition and information feedback, scientifically and reasonably distributing right of way, enhancing early warning effectiveness and the like, and has good significance for solving the problem.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multi-dimensional grading intelligent street crossing early warning system, which aims to achieve the effects of bidirectional early warning of the system, real-time feedback of road information and reduction of accident rate by acquiring the information of pedestrians and vehicles crossing the street in the road section in real time; the aims of providing multi-dimensional early warning information and optimizing a driving sight distance visual area are achieved by means of scientific arrangement of corresponding early warning facilities in the system, and therefore the safety of street crossing of a non-signal control road section is effectively improved.
In order to achieve the purpose, the technical scheme applied by the invention is as follows:
a multi-dimensional grading intelligent street-crossing early warning system comprises a non-signal control street-crossing section danger grade evaluation system, an information detection system, an information evaluation system and an information early warning system.
Further, the system for evaluating the danger level of the non-signal control street-crossing road section classifies different roads by relying on a neural network algorithm, selects 12 factors influencing pedestrian street-crossing safety from 4 aspects of traffic composition, road conditions, traffic facilities and time-space distribution of traffic flow as evaluation indexes, determines weights by an analytic hierarchy process, finally establishes a non-signal control street-crossing road section danger level evaluation model according to a grey correlation analysis method, evaluates the danger level of the non-signal control street-crossing road section, and mainly divides the different non-signal control street-crossing road sections into three levels: a risk level I, a risk level II, a risk level III; and the system is installed on the urban and suburban road sections without signal control, which have different danger levels and meet the setting requirements.
Further, the information detection system comprises a vehicle detection module and a pedestrian detection module, the vehicle detection module comprises a wireless vehicle detector and a radar velocimeter which are arranged on the road side, and the pedestrian detection module comprises an infrared thermal imaging detector arranged in the middle section of the zebra crossing.
Furthermore, the information evaluation system mainly evaluates real-time street crossing risk states of pedestrians and vehicles on the current road section, acquires information of the pedestrians and vehicles through the information detection system, analyzes the traffic states of the pedestrians and the drivers based on the acquired information, sequentially divides a plurality of risk state grades according to street crossing risks from high to low, adopts a targeted design scheme according to different risk states, and gives different priorities to different states in the system by using a coverage priority control theory, so that the real-time operation mode of the system is finally determined, and the safety of the pedestrians and the stability of the system are guaranteed.
Further, the information early warning system comprises a vehicle early warning module and a pedestrian early warning module, the vehicle early warning module comprises an LED pedestrian forewarning screen arranged on the road side and a road side warning induction mark, and the pedestrian early warning module comprises a color-changeable early warning guide landmark arranged on two sides of the zebra crossing and an LED voice prompt post arranged in a pedestrian waiting area on a bidirectional road section.
The invention has the beneficial effects that:
1) the design principle of the system is people oriented: in the non-signal control street crossing road section, pedestrians belong to relatively vulnerable traffic participants, the invention takes the condition of 'existence of pedestrians crossing the street' as an initial trigger condition, provides multi-dimensional detection on the existence of vehicles and whether the vehicles overspeed, and carries out two-way early warning on the pedestrians and drivers from two visual and audio dimensions aiming at various detected risk states;
2) multidimensional detection and multidimensional early warning measures: the method has the advantages that the passing vehicles and pedestrians are subjected to multi-dimensional detection according to the existence of pedestrians, the existence of vehicles and whether the vehicles overspeed or not, the detection operation precision of the system is improved, and multi-dimensional early warning is carried out on drivers and pedestrians through audio-visual information such as early warning guide landmarks, warning induction landmark color change, voice prompt and the like;
3) implementing a partition management mode: the road section is divided into two AB two-way incoming areas, different signal control is carried out on different areas according to the real-time positions of pedestrians, the road space is fully utilized on the premise of ensuring the safety of the pedestrians, the influence of the installation of the device on the road section is reduced to the minimum, and the road passing efficiency is effectively improved;
4) establishing a risk grade evaluation model of the non-signal control street section: based on a neural network algorithm, selecting 12 factors influencing pedestrian crossing safety from 4 aspects of traffic composition, road conditions, traffic facilities and time-space distribution of traffic flow in different road classifications as evaluation indexes, determining weights through an analytic hierarchy process, and finally establishing a risk grade evaluation model of the traffic section without the signal control crossing according to a grey correlation analysis process to evaluate the risk grade of the traffic section without the signal control crossing.
Drawings
Fig. 1 is a schematic diagram of the general design of the present invention.
5. A wireless vehicle detector; 6. a radar velocimeter; 7, LED pedestrian forenotice screen; 8. roadside warning guidance signs; 9. an infrared thermal imaging detector; 10. a color-changeable early warning guide landmark; LED voice prompt post.
Detailed Description
The technical solution of the present invention is described below with reference to the accompanying drawings and examples.
As shown in fig. 1, the multi-dimensional hierarchical intelligent street-crossing early warning system provided by the invention comprises a non-signal control street-crossing section danger level evaluation system, an information detection system, an information evaluation system and an information early warning system.
More specifically, the system for evaluating the danger level of the non-signal control street-crossing road section classifies different roads by relying on a neural network algorithm, selects 12 factors influencing pedestrian street-crossing safety from 4 aspects of traffic composition, road conditions, traffic facilities and time-space distribution of traffic flow as evaluation indexes, determines weights by an analytic hierarchy process, establishes a non-signal control street-crossing road section danger level evaluation model according to a grey correlation analysis method, evaluates the danger level of the non-signal control street-crossing road section, and mainly divides the different non-signal control street-crossing road sections into three levels: a risk level I, a risk level II, a risk level III; and the system is installed on the urban and suburban road sections without signal control, which have different danger levels and meet the setting requirements.
In practical application, the gray weighted association degree belongs to [0.7,1] as a high-risk street crossing section, the gray weighted association degree belongs to [0.4,0.7] as a medium-risk street crossing section, and the gray weighted association degree belongs to [0.2,0.4] as a low-risk street crossing section, and the risk degree of the road section with the gray weighted association degree lower than 0.2 is very small, so the method is not suitable for the situation.
In practical application, the driving environments of roads with different danger levels and the difference of analysis results of the demands of drivers and pedestrians can be combined, the design of a high-risk road section system is simplified to other danger level schemes, and the specific pointer is used for aiming at conveying accurate and effective early warning information to pedestrians and drivers in the design scheme of the roads with middle and low danger levels, so that part of redundant and complicated facilities are removed, the system is simplified, and the system is scientifically and reasonably arranged.
In practical application, the system is operated in a zone management mode, a road is divided into A, B independent zones according to the driving direction of a vehicle, and different signal control is carried out on different zones.
More specifically, the information detection system comprises a vehicle detection module and a pedestrian detection module, wherein the vehicle detection module comprises a wireless vehicle detector 5 and a radar velocimeter 6 which are arranged on the road side, and the pedestrian detection module comprises an infrared thermal imaging detector 9 which is arranged in the middle section of a zebra crossing.
In practical application, the vehicle detector 5 is arranged at the road side to detect whether the vehicle arrives or not, so as to complete the identification and information acquisition of the vehicle passing through the road section by the system,
in practical application, the radar velocimeter 6 is arranged behind the position of the vehicle detector 5, detects the real-time vehicle speed of the vehicle and feeds back vehicle speed information to a system terminal, and assists in realizing evaluation of the system on the road section risk state.
In practical application, the infrared thermal imaging detector 9 detects bidirectional street-crossing pedestrians, the pedestrians are the primary factors of the triggering system, the system takes the existence of the pedestrians crossing the street as the primary triggering conditions, and information is fed back to the system terminal for processing.
More specifically, the information evaluation system mainly evaluates real-time street crossing risk states of pedestrians and vehicles on the current road section, acquires information of the pedestrians and vehicles through the information detection system, analyzes the passing states of the pedestrians and the drivers based on the acquired information, sequentially divides a plurality of risk state grades according to street crossing risks from high to low, adopts a targeted design scheme according to different risk states, and gives different priorities to different states in the system by using a coverage priority control theory, so that the real-time operation mode of the system is finally determined, and the safety of the pedestrians and the stability of the system are guaranteed.
More specifically, the information early warning system includes vehicle early warning module and pedestrian early warning module, and vehicle early warning module is including locating the LED pedestrian of roadside in advance notice screen 7 and roadside warning induction mark 8, and pedestrian early warning module is including locating the changeable colour early warning guide landmark 10 of zebra stripes both sides and setting up the LED pronunciation suggestion post 11 of waiting to walk the district at the pedestrian of two-way highway section.
In practical application, the LED pedestrian early warning screen 7 timely reminds a driver of pedestrian crossing information at a zebra crossing in front of a road, and helps the vehicle to timely avoid braking and deceleration of the pedestrian.
In practical application, the roadside warning and guiding mark 8 is arranged based on the optimal visual range of the driver, and the flicker frequency of the roadside warning and guiding mark 8 is further determined by combining the visual inertia of the driver and the optimal visual warning stimulation frequency of human eyes, so that the purpose of warning the driver without causing the driver to be confused is achieved. When the system judges that pedestrians cross the street in the current road section and the street crossing risk is high, the warning induction mark 8 shows a red flashing state to remind the vehicle to stop and give way; when the pedestrian crosses the street but the crossing risk is low, the warning induction mark 8 is in a yellow state to remind the vehicle of decelerating; when no pedestrian crosses the street, the warning induction mark 8 is in a dormant state, and the flicker frequency and the setting interval are calculated according to the design speed of the system layout road section.
In practical application, the color-changeable early-warning guiding landmark 10 changes color according to different risk conditions of a road section, and gives pedestrian street-crossing safety information. If the system judges that the pedestrian crossing the street at the current road section has extremely high risk, the system presents a red flashing state, presents a yellow flashing state when the risk is low, and does not flash when the risk is almost zero, so that the system helps the pedestrian crossing to make a correct passing decision.
In practical application, the LED voice prompt post 11 prompts the vehicle information of the road section in front of the pedestrian by using voice, characters and color changes of red and green, and helps the pedestrian make a correct street crossing decision as soon as possible. If no vehicle passes through the road ahead, displaying and voice-broadcasting 'permit passage'; if vehicles exist on the road ahead but the speed is not exceeded, displaying and voice-broadcasting 'paying attention to the cautious traffic of the vehicles'; if the front road has vehicles and is in an overspeed state, displaying and voice broadcasting 'vehicles overspeed and no passing'.
The working principle of the invention is as follows: firstly, aiming at a road section passing through a road without signal control, dividing different road sections into three danger levels of high, medium and low danger through a danger level evaluation system, and further determining the specific layout condition of the invention according to the road danger level; secondly, the information detection system comprises a vehicle detection module and a pedestrian detection module, wherein the pedestrian detection module detects pedestrian information at the zebra crossing by means of an infrared thermal imaging detector 9, and the vehicle detection module acquires vehicle information at a road section by means of a vehicle detector 5 and a radar velocimeter 6; thirdly, the information evaluation system evaluates the risk states of the vehicles and the pedestrians on the basis of the acquired information; finally, real-time multi-dimensional grading early warning information is further provided for drivers and pedestrians in various forms of colors, characters, voice and the like through early warning devices such as a color-variable early warning guide landmark 10, a warning induction mark 8, an LED voice prompt column 11, an LED pedestrian early warning screen 7 and the like in the information early warning system. The invention makes up the information asymmetry between the pedestrian and the driver, is beneficial to realizing the integrated development of vehicle speed control, bidirectional early warning and intelligent protection, and effectively improves the pedestrian crossing safety and the road section passing efficiency.
The following table 1 is a description of the operating conditions of the present invention:
table 2 below is a description of the status of the various facilities of the present invention:
six basic states and facility running states of the multidimensional bidirectional early warning intelligent street crossing system are shown in attached tables 1 and 2 (facilities and detection points on two sides of the system are symmetrically arranged, and facility running and display states in an A, B area are mutually independent). The operation of the system will now be described by taking zone a as an example.
More specifically, in a state that the infrared thermal imaging detector 9 does not detect that pedestrians cross the street, the system is in a dormant state, all facilities of the lane in the AB area do not work, and vehicles can freely pass through the road section.
More specifically, if the infrared thermal imaging detector 9 detects that a pedestrian crosses the street in the area a, and the wireless vehicle detector 5 does not detect the vehicle state, the variable color early warning guiding landmarks 10 on the two sides of the zebra crossing in the area a and the roadside warning guiding landmarks 8 do not emit light, the LED pedestrian forenotice screen 7 prompts that the pedestrian passes through, and the LED voice prompt post 11 in the pedestrian waiting area prompts that the pedestrian allows to pass through.
More specifically, if the infrared thermal imaging detector 9 detects that pedestrians cross the street in the area a, the wireless vehicle detector 5 detects that vehicles pass, the radar velocimeter 6 determines that the roadside warning and guiding mark 8 in the area a flashes red when the vehicles are not in an overspeed state, and the LED pedestrian advance warning screen 7 displays that pedestrians pass, prompts the driver to notice pedestrians crossing the street in front and decelerates in time; the pedestrian waiting area LED voice prompt post 11 prompts the pedestrian to pass cautiously, and the variable color early warning guiding landmarks 10 on the two sides of the zebra crossing are yellow.
More specifically, if the infrared thermal imaging detector 9 detects that a pedestrian passes through the street in the area A, the wireless vehicle detector 5 detects that a vehicle passes through, the radar velocimeter 6 determines that the vehicle is in an overspeed state, the roadside warning and guiding mark 8 in the area A flashes in red, and the LED pedestrian forenotice screen 7 prompts the vehicle to decelerate and stop for giving way if necessary; the LED voice prompt post 11 in the pedestrian waiting area prompts pedestrians to pay attention to the coming of a vehicle and to pass cautiously, and the variable-color early warning guide landmarks 10 on the two sides of the zebra crossing are red.
In the present invention, the state priority: when the state A is larger than the state B and larger than the state C, namely the state A appears, the scheme A is adopted; when the system is in a B state, the system is not in an A state, and whether the system is in a C state or not, the system is in a B scheme; the C scheme is employed only when the C state is present.
The multidimensional hierarchical intelligent street-crossing early warning system provided by the invention can be flexibly applied to various non-signal control road sections, and has general significance. Compared with the prior single early warning control pedestrian or driver crossing safety improvement setting, the invention helps pedestrians and drivers to judge the crossing danger degree according to the prompt information by setting the symmetry information, including the information time (information is simultaneously transmitted to the pedestrian and the driver), the information channel (color early warning information is arranged on both sides), and the consistency of the information content (same color instruction represents same information), thereby greatly improving the safety factor as a whole, effectively avoiding the high safety hidden danger of sudden situations under the single early warning control, fully considering the self crossing factors influencing the pedestrians and the drivers, and having more humanized design.
The technical scheme of the method is a multidimensional grading intelligent street-crossing early warning method, which specifically comprises the following steps:
step 1) the invention utilizes MATLAB software to learn traffic accidents occurring on 800 un-signal controlled road sections through a neural network algorithm, daily average traffic flow, average passing speed of vehicles, car type occupation ratio, daily average pedestrian flow, minor and old people occupation ratio, annual accident quantity, weather factor visibility all year less than 1km days, barrier occupation visual field area, road width, fixed safety guarantee facilities and 12 influence indexes under night or bad weather are extracted from 4 factors affecting pedestrian crossing safety in aspects of traffic composition, road conditions, traffic facilities and time-space distribution of traffic flow, and finally, the risk grade evaluation is carried out on the un-signal controlled road sections through a grey correlation degree analysis method. According to the grey correlation analysis and evaluation model, different non-signal control street crossing road sections are divided into three grades: risk class I, risk class II, risk class III. And the system is installed on the urban and suburban road sections without signal control, which have different danger levels and meet the setting requirements. And defining the gray weighted association degree belonging to [0.7,1] as a high-risk street crossing section, the gray weighted association degree belonging to [0.4,0.7] as a medium-risk street crossing section, and the gray weighted association degree belonging to [0.2,0.4] as a low-risk street crossing section. The system does not have to be installed for road segments with a gray-weighted relevance below 0.2, because the risk level is small.
And 2) acquiring pedestrian and vehicle information through vehicle detection and pedestrian detection, analyzing states of pedestrians and drivers based on the acquired information, adopting a targeted design scheme, and endowing different states in the system with different priorities by using a coverage priority control theory to ensure the safety of pedestrians and the stability of the system.
The following table 3 is a theoretical description of system control:
and 3) paving the warning guidance marks in a direction parallel to the central line of the road, wherein the total length of the warning guidance marks is M meters along the side of each lane line.
More specifically, in step 1), the paving interval m and the paving total length L are calculated according to the design speed of the road section, where the paving total length L is the braking distance S, and the calculation formula is as follows:
the braking distance S includes a reaction distance LReaction ofAnd a braking distance LBraking device
Table 4 below illustrates the braking distance at different design speeds:
| design speed V (km/h) | 40 | 60 | 80 | 90 | 100 | 110 | 120 |
| Braking distance S (m) | 27.94 | 54.81 | 90.27 | 111.21 | 134.30 | 159.54 | 186.92 |
And 4) paving the early warning guide landmarks on the two sides of the zebra crossing and the roadside warning guide landmarks at an interval of M meters, and flashing at an interval of N seconds.
More specifically, the paving interval M and the blinking time interval N in step 1) need to be calculated according to the design speed of the road section by combining the visual inertia of the driver and the optimal visual warning stimulus frequency of human eyes.
It is known that the persistence time of normal human eyes is about 0.15s, the comfortable stimulation frequency of human eyes is 0.33s to 0.4s, and the optimal range of driver visual comfort is 2.5Hz to 3 Hz. Assuming that the most comfortable time interval is 0.35s, solving the variable color warning induction mark setting interval by combining different vehicle speeds, wherein the specific formula is as follows:
t＝t1+t2+tflashing
In the formula: s, setting intervals m for the raised road signs;
v is the design speed, km/h;
t1 — visual response time;
t 2-persistence of vision time
time of t flash-flash frequency
Get t1+t2If t is 0.255s, t is 0.605s, and the known speed threshold is 40km/h, the setting interval of the comfortable color-changeable warning and inducing indicator under different speed limit conditions can be obtained according to the following table 5:
| flash interval time t (S) | Velocity V (km/h) | Projecting road sign interval S (m) |
| 0.605 | 40 | 6.5 |
| 0.605 | 50 | 8.5 |
| 0.605 | 60 | 10.0 |
| 0.605 | 70 | 11.5 |
| 0.605 | 80 | 13.5 |
| 0.605 | 90 | 15.0 |
| 0.605 | 100 | 17.0 |
While the embodiments of the present invention have been described, the present invention is not limited to the specific embodiments, which are only illustrative and not restrictive, and those skilled in the art can make various modifications without departing from the spirit and the scope of the present invention as defined in the appended claims.
Claims (5)
1. The utility model provides a street early warning system is crossed to hierarchical intelligence of multidimension which characterized in that: the system comprises a non-signal control street section danger level evaluation system, an information detection system, an information evaluation system and an information early warning system.
2. The multi-dimensional grading intelligent street-crossing early warning system according to claim 1, characterized in that: the system for evaluating the danger level of the non-signal control street-crossing road section classifies different roads by relying on a neural network algorithm, selects 12 factors influencing pedestrian street-crossing safety from 4 aspects of traffic composition, road conditions, traffic facilities and time-space distribution of traffic flow as evaluation indexes, determines weights by an analytic hierarchy process, finally establishes a non-signal control street-crossing road section danger level evaluation model according to a grey correlation analysis method, evaluates the danger level of the non-signal control street-crossing road section, and mainly divides the different non-signal control street-crossing road sections into three levels: risk level I, risk level I I, risk level ii I; and the system is installed on the urban and suburban road sections without signal control, which have different danger levels and meet the setting requirements.
3. The multi-dimensional grading intelligent street-crossing early warning system according to claim 1, characterized in that: the information detection system comprises a vehicle detection module and a pedestrian detection module, the vehicle detection module comprises a wireless vehicle detector (5) and a radar velocimeter (6) which are arranged on the road side, and the pedestrian detection module comprises an infrared thermal imaging detector (9) which is arranged on the middle section of the zebra crossing.
4. The multi-dimensional grading intelligent street-crossing early warning system according to claim 1, characterized in that: the information evaluation system mainly evaluates real-time street crossing risk states of pedestrians and vehicles on the current road section, collects information of the pedestrians and the vehicles through the information detection system, analyzes the passing states of the pedestrians and the drivers based on the collected information, sequentially divides a plurality of risk state grades according to the street crossing risk from high to low, adopts a targeted design scheme according to different risk states, and gives different priorities to different states in the system by utilizing a coverage priority control theory, so that the real-time operation mode of the system is finally determined, and the safety of the pedestrians and the stability of the system are guaranteed.
5. The multi-dimensional grading intelligent street-crossing early warning system according to claim 1, characterized in that: the information early warning system comprises a vehicle early warning module and a pedestrian early warning module, the vehicle early warning module comprises an LED pedestrian forenotice screen (7) and a roadside warning induction mark (8), the LED pedestrian forewarning screen and the roadside warning induction mark are arranged on the roadside, and the pedestrian early warning module comprises a variable color early warning guide landmark (10) arranged on two sides of a zebra crossing and an LED voice prompt post (11) arranged in a pedestrian waiting area on a bidirectional road section.
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