CN111260943B - Intelligent signal sign system for parking yielding intersection and vehicle passing method - Google Patents
Intelligent signal sign system for parking yielding intersection and vehicle passing method Download PDFInfo
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- CN111260943B CN111260943B CN202010115712.3A CN202010115712A CN111260943B CN 111260943 B CN111260943 B CN 111260943B CN 202010115712 A CN202010115712 A CN 202010115712A CN 111260943 B CN111260943 B CN 111260943B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
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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
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
Abstract
The invention discloses an intelligent signal sign system and a vehicle passing method for a parking yielding intersection, which are arranged at a road intersection with low traffic flow and without signal control and are used for reasonably distributing the passing right sequence of vehicles in different directions so that the vehicles can pass through the intersection safely and orderly. And arranging a parking yielding indication board at each entrance lane needing parking yielding, embedding a coil induction detector, and arranging the intelligent signal sign at the middle position of the intersection. The intelligent signal sign mainly comprises a base, a supporting rod, a square shell, a parking line-giving signal lamp and a video image detection device. A red and green signal lamp is arranged in the square shell for each entrance passage. And a video image detection device is arranged above each signal lamp, so that vehicles entering the range from the entrance are tracked and recorded in real time, and the auxiliary coil induction detector judges the right of passage of the vehicles. The device is simple, can effectively determine the right of the vehicle to pass when the vehicle stops and gives way, and avoids road safety accidents caused by human judgment errors.
Description
Technical Field
The invention belongs to the technical field of traffic signals, and particularly relates to an intelligent signal sign system for a parking yielding intersection and a vehicle passing method.
Background
The existing 'parking giving way' sign in China is mainly used for branch road intersections which are level with main roads with large traffic flow, unattended railway intersections or other places with poor sight lines. For a road system, a "parking yielding" sign is usually used at an intersection where a main road and a branch road intersect, and needs to be clearly distinguished into a preferential traffic direction and a parking yielding direction. In actual use, however, when a driver drives a motor vehicle to pass through a 'parking give way' intersection, few drivers can actively observe parking and pass after confirming safety, and the compliance rate is low. The existing parking yield marks and the use method can only realize the functions of strengthening warning, recording violation of regulations and the like, are insufficient in consideration of the functions of judging, distributing and prompting the priority right of way, and are not suitable for two road intersections with small traffic flow and low grade difference.
Although the use of the "parking yield" sign is relatively better for foreign countries, it has certain disadvantages. Taking the united states as an example, when there are control requirements for stopping and giving way in multiple directions at one intersection, STOP signs are set in multiple directions. If multiple vehicles need to pass through the intersection from different directions, the vehicle that is first stopped and stabilized under the STOP sign passes first. In this case, the driver is required to make an accurate judgment manually, and if the driver cannot judge who arrives first at an intersection, the driver must ask the other side to go ahead through gesture communication.
The intersection without signal command control and only depending on the conscious behavior of the driver has certain difficulty in realizing safe and efficient traffic in China at present. And when the time interval of a plurality of vehicles stopping behind the stop line is small, the driver can hardly make accurate judgment.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to judge the priority arrival sequence of the motor vehicles passing through the same intersection in multiple directions and then distribute the right of way, thereby improving the traffic capacity and the safety of the signalless road intersection. Therefore, aiming at the problems, the novel 'parking yielding' indicating signal mark is provided by combining the actual situation of China, and the intelligent judgment and prompt of the prior vehicles to pass through the intersection can be realized.
The invention provides an intelligent signal sign system for a parking and traffic-giving intersection, which is arranged as follows: arranging a parking yielding indication board at each entrance way of the parking yielding, embedding a coil induction detector, and arranging an intelligent signal sign at the middle position of an intersection, wherein the signal sign mainly comprises a base, a supporting rod, a square shell, a parking yielding signal lamp and a video image detection device; wherein, a signal lamp is arranged in the square shell for each inlet passage, and the signal lamp only displays red light or green light; and a video image detection device is arranged above each signal lamp, vehicles in the range of the entrance lane are tracked and recorded in real time, the information that the vehicles arrive at a stop line and stop and pass through the stop line is collected together with the auxiliary coil induction detector, and the collected vehicle information is used for judging the right of passage of the vehicles and controlling the display state of the signal lamps.
The invention also provides a vehicle passing method based on the system, which comprises the following steps:
step 1: when no vehicle enters the entrance lane in any direction and parks in front of the stop line, the signal sign displays red light for each entrance lane direction;
step 2: when a vehicle enters an entrance lane and parks in front of a parking line, the induction coil detector and the video image detection device acquire vehicle information;
and step 3: processing the collected vehicle information, and judging whether vehicles in multiple directions arrive at a stop line at the same time to stop by using detection data and an image processing technology;
and 4, step 4: if the vehicles do not arrive at the stop line at the same time, displaying a green light for the direction of the first arriving vehicle; if vehicles pass through the induction coil detector simultaneously, sequencing the right of passage of the vehicles from high to low according to a clockwise sequence (north- > east- > south- > west), and displaying a green light in the direction of an entrance lane where the first sequenced vehicle is located;
and 5: when a green light is displayed in a certain entrance lane direction, red lights are displayed in other entrance lane directions;
step 6: when the induction coil detector and the video image detection device detect that the first vehicle passes through the stop line in the direction of the green light, the green light is switched to the red light, and the time is counted from T equal to 0 s.
And 7: when the timing time T reaches a preset safety threshold, detecting whether the vehicle waits at the stop line: if not, returning to the step 1; if yes, returning to the step 3 according to all recorded information of the waiting vehicles in front of the stop line.
In step 4, the right-of-way ordering rule when a vehicle passes through the induction coil detector is as follows: when 2 vehicles arrive at the same time, if the two vehicle entrance lanes are adjacent, the priority of the right vehicle is higher than that of the left vehicle, and if the two vehicle entrance lanes are opposite, the priority of the north (east) vehicle is higher than that of the south (west) vehicle; when 3 vehicles arrive at the same time, the right of way is sorted clockwise from high to low from the vehicle without the vehicle on the right side; when 4 vehicles arrive at the same time, the right of way is sorted from high to low according to the sequence of north- > east- > south- > west.
Has the advantages that: compared with the prior art, the invention has the following technical effects:
the simple intelligent signal marking device is arranged at the 'stopping and giving way' road intersection which is low in traffic flow and is not controlled by conventional signals, the passing right of the stopping and giving way vehicles can be effectively judged, the vehicles can be controlled to pass through, the passing sequence of the vehicles in different directions can be reasonably distributed, the vehicles can pass through the intersection safely and orderly, and road safety accidents caused by human misjudgment under the condition that the passing right judgment standard is fuzzy are avoided
Drawings
FIG. 1 is a schematic plan view of a stop-giving road intersection according to the present invention;
FIG. 2 is a schematic perspective view of the present invention in use;
FIG. 3 is a schematic view of the single (front) side body of FIG. 2;
FIG. 4 is a flow chart of a stop-and-let road intersection of the present invention for determining priority right of way for a motor vehicle;
fig. 5 is a schematic diagram of parameter values in the safety threshold calculation formula of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and the detailed description below:
the invention provides an intelligent signal sign for a parking and passing intersection, which takes the intersection as an example, a parking and passing indication board is arranged at each entrance lane needing parking and passing, a coil induction detector is embedded, and the intelligent signal sign is arranged at the middle position of the intersection. As shown in fig. 1, 1-coil induction detector, 2-stop giving direction indicator, 3-intelligent signal sign, 4-stop line. As shown in figure 2, the signal sign mainly comprises a 5-base, a 6-support rod, a 7-video image detection device, an 8-square shell and a 9-signal lamp, wherein for a scene of a crossroad, the signal lamp is designed into 4 directions, and each direction signal lamp only displays red light or green light. Fig. 3 is a schematic front view of each inlet passage. The related parameters are taken as shown in figure 5, 10-the middle point of the stop line of the entrance way, 11-the starting point of the exit way, 12-the intersection point of the central line of the entrance way and the central line of the exit way, 13-the included angle beta of the central line, 14-the distance L between the entrance way and the exit way, and 15-the arc length S from the stop line of the entrance way to the starting point of the exit way.
The invention provides a vehicle passing method based on priority, which is shown in a flow chart of judging priority passing right in figure 4:
step 1: when no vehicle enters the entrance lane in any direction and parks in front of the stop line, the signal sign displays red light for each entrance lane direction;
step 2: when a vehicle enters an entrance lane and parks in front of a parking line, the induction coil detector and the video image detection device acquire vehicle information;
and step 3: processing the collected vehicle information, and judging whether vehicles in multiple directions arrive at a stop line at the same time to stop by using detection data and an image processing technology;
and 4, step 4: if the vehicles do not arrive at the stop line at the same time, displaying a green light for the direction of the first arriving vehicle; if vehicles pass through the induction coil detector simultaneously, sequencing the right of passage of the vehicles from high to low according to a clockwise sequence (north- > east- > south- > west), and displaying a green light in the direction of an entrance lane where the first sequenced vehicle is located;
and 5: when a green light is displayed in a certain entrance lane direction, red lights are displayed in other entrance lane directions;
step 6: when the induction coil detector and the video image detection device detect that the first vehicle passes through the stop line in the direction of the green light, the green light is switched to the red light, and the time is counted from T equal to 0 s.
And 7: when the timing time T reaches a preset safety threshold, detecting whether the vehicle waits at the stop line: if not, returning to the step 1; if yes, returning to the step 3 according to all recorded information of the waiting vehicles in front of the stop line.
In step 7In (2), the safety threshold calculation formula is as follows:
wherein t represents a safety time threshold value for waiting for the motor vehicle in the direction of stopping and giving way when the motor vehicle in the preferential passing direction passes through the intersection, and the safety time threshold value consists of vehicle starting loss time and time for the vehicle to go from a stop line to a farthest exit lane; t is tqThe vehicle starting loss time in China is generally 1.8-2 seconds; the vehicle is driven off the stop line at a certain acceleration a from a standstill after the stop line, and the acceleration of the vehicle starting to accelerate from the standstill in the first gear and the second gear is 1.7-2.5 m/s2Considering that the gear will be raised shortly after the vehicle is started, the acceleration will be raised slightly here, taking 3.0m/s2(ii) a S represents the length of an arc from the vehicle entrance way to the farthest exit way, and is calculated by adopting the following formula:
the angle theta represents the central angle radian corresponding to the arc and can be calculated by measuring the included angle beta formed by the central line of the inlet channel and the central line of the farthest outlet channel, namely the angle theta is pi-beta; l represents the linear distance of the midpoint of the stop line of the entrance lane from the origin of the farthest distance exit lane. The starting point of the exit road can be determined by the intersection point of the extension line of the stop line of the entrance road and the center line of the exit road at the same intersection.
Obviously, the above technical solutions only take a more complex intersection as an example, but the present invention is not limited to the specific details and the above mentioned intersection types. It will be readily appreciated by those skilled in the art that various modifications may be made in the embodiments described herein without departing from the spirit and scope of the invention, and all such modifications and variations are intended to be included herein within the scope of the appended claims. However, obvious variations and modifications of the present invention are possible within the scope of the appended claims.
Claims (2)
1. A vehicle passing method realized based on an intelligent signal sign system of a parking yielding intersection is characterized by comprising the following steps:
step 1: when no vehicle enters the entrance lane in any direction and parks in front of the stop line, the signal sign displays red light for each entrance lane direction;
step 2: when a vehicle enters an entrance lane and parks in front of a parking line, the induction coil detector and the video image detection device acquire vehicle information;
and step 3: processing the collected vehicle information, and judging whether vehicles in multiple directions arrive at a stop line at the same time to stop by using detection data and an image processing technology;
and 4, step 4: if the vehicles do not arrive at the stop line at the same time, displaying a green light for the direction of the first arriving vehicle; if vehicles pass through the induction coil detector at the same time, sequencing the right of passage of the vehicles from high to low in a clockwise sequence, and displaying a green light in the direction of an entrance lane where the first sequenced vehicle is located; the clockwise direction is the sequence from north- > east- > south- > west;
and 5: when a green light is displayed in a certain entrance lane direction, red lights are displayed in other entrance lane directions;
step 6: when the induction coil detector and the video image detection device detect that a first vehicle passes through a stop line in the direction of a green light, the green light is switched to a red light, and timing is started from T being 0 s;
and 7: when the timing time t reaches a preset safety threshold, detecting whether the vehicle waits at the stop line: if not, returning to the step 1; if yes, returning to the step 3 according to all recorded information of the waiting vehicles in front of the stop line;
the intelligent signal sign system for the parking yielding intersection is arranged as follows: arranging a parking yielding indication board at each entrance way of the parking yielding, embedding an induction coil detector, and arranging an intelligent signal sign at the middle position of an intersection, wherein the signal sign comprises a base, a supporting rod, a square shell, a parking yielding signal lamp and a video image detection device; wherein, a signal lamp is arranged in the square shell for each inlet passage, and the signal lamp only displays red light or green light; and a video image detection device is arranged above each signal lamp, vehicles in the range of the entrance lane are tracked and recorded in real time, the information that the vehicles arrive at a stop line to stop and pass through the stop line is collected together with the induction coil detector, and the collected vehicle information is used for judging the right of passage of the vehicles and controlling the display state of the signal lamps.
2. The vehicle passing method according to claim 1, wherein the safe time threshold value calculation formula in step 7 is:
wherein t represents the safety time threshold value that the motor vehicle in the direction of stopping and giving way needs to wait when the motor vehicle in the direction of priority passing passes through the intersection, and tqFor the vehicle start loss time, a is the vehicle acceleration, S represents the length of the arc from the vehicle entrance lane to the farthest exit lane, and is calculated by the following formula:
wherein, theta represents the central angle radian corresponding to the circular arc, and is obtained by measuring an included angle beta formed by the central line of the inlet channel and the central line of the farthest outlet channel, namely theta is pi-beta; l represents the straight line distance between the middle point of the stop line of the inlet road and the farthest distance from the starting point of the outlet road, and the starting point of the outlet road is determined by the intersection point of the extension line of the stop line of the inlet road and the central line of the outlet road at the same intersection.
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