CN111341150B - Reminding method and device for preventing ultrahigh vehicle from entering limited-height road section - Google Patents
Reminding method and device for preventing ultrahigh vehicle from entering limited-height road section Download PDFInfo
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- CN111341150B CN111341150B CN202010129982.XA CN202010129982A CN111341150B CN 111341150 B CN111341150 B CN 111341150B CN 202010129982 A CN202010129982 A CN 202010129982A CN 111341150 B CN111341150 B CN 111341150B
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- G—PHYSICS
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- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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Abstract
The invention discloses a reminding method for preventing an ultrahigh vehicle running on an auxiliary road from entering a height-limited road section, which comprises the following steps: firstly, detecting whether a height limit condition exists in front of a road where a vehicle runs or not according to real-time position information of the vehicle and road information where the vehicle runs; then the main road speed limit v of the current road driven by the vehicle1Speed limiting v for auxiliary road2And speed v of the vehicleiJudging whether the self vehicle runs on the auxiliary road or not; judging whether the self-vehicle approaches the height limit position or not according to the self-vehicle position and the height limit position; if the self-vehicle approaches the height limit position, judging whether the self-vehicle can smoothly pass through the height limit; and if the self-vehicle can not safely pass through the height limit, early warning is carried out on a driver of the self-vehicle according to the time distance between the position of the self-vehicle and the position of the height limit. The invention can effectively early warn the ultrahigh vehicle which is close to the height limit position and can not pass through the height limit.
Description
Technical Field
The invention relates to the technical field of motor vehicle safety, in particular to a reminding method and a reminding device for preventing an ultrahigh vehicle from entering a height-limited road section.
Background
Based on the consideration of roads, urban traffic pressure and traffic safety, many roads now have height limits set, which are usually set on secondary roads, while the height limit value of primary roads is usually higher. Generally, an ultrahigh vehicle should run on a main road and not pass through a secondary road, and then hit a height limit door arranged on the secondary road. However, in reality, accidents that ultrahigh vehicles (including buses and passenger vehicles) collide with the height-limiting door frequently occur on urban roads, and serious damage is caused to the safety of passengers in the vehicles and other traffic participants outside the vehicles. Aiming at the problem, the existing measure is to load a GPS on a vehicle, and when the vehicle approaches a height-limiting door, a driver is warned, but the warning strategy does not perform targeted warning on the driver according to the current driving position and state of the vehicle, so that the warning system frequently sends out unnecessary warning to the driver, the driver is enabled to be numb for warning signals, and the real purpose of warning cannot be achieved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a reminding method and a reminding device for preventing an ultrahigh vehicle from entering a height-limited road section, which mainly aim at the ultrahigh vehicle running on a side road, can effectively warn the ultrahigh vehicle approaching the height-limited position, and can solve the problem that the existing early warning mode cannot effectively warn.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme.
The first technical scheme is as follows:
a reminding method for preventing an ultrahigh vehicle running on an auxiliary road from entering a height-limited road section comprises the following steps:
step 1, detecting whether a height limit condition exists in front of a road where a vehicle runs or not according to real-time position information of the vehicle and road information where the vehicle runs;
step 2, limiting the speed v according to the main road of the current road where the vehicle runs1Speed limiting v for auxiliary road2And speed v of the vehicleiJudging whether the self vehicle runs on the auxiliary road or not;
step 3, judging whether the self-vehicle approaches the height limit position or not according to the self-vehicle position and the height limit position; if the self-vehicle approaches the height limit position, judging whether the self-vehicle can smoothly pass through the height limit;
and 4, if the self-vehicle cannot safely pass the height limit, early warning is carried out on a driver of the self-vehicle according to the time distance between the position of the self-vehicle and the position of the height limit.
The first technical scheme of the invention has the characteristics and further improvement that:
(1) step 2 comprises the following substeps:
substep 2.1, obtaining main road speed limit v of the current road driven by the vehicle1Speed limit v for road and road2；
Substep 2.2, limiting speed v of main road according to current road driven by vehicle1Speed limiting v for auxiliary road2And speed v of the vehicleiAnd judging whether the vehicle runs on the auxiliary road:
if v isi≥v2Judging that the self-vehicle runs on the main road of the current road;
if v isi<v2Continuing to judge in the next substep;
substep 2.3, obtaining the minimum running speed v of the vehicles in the same direction from the adjacent lanes of the vehiclem(ii) a If v ism-viIf the speed is more than or equal to V, judging that the self vehicle runs on the auxiliary road; wherein V is a speed difference threshold;
if not, continuing to judge in the next substep;
substep 2.4, acquiring the number of lanes in the same direction on the current road where the own vehicle is located, and judging whether non-motor vehicles and pedestrians exist in the current road user;
if the number of lanes in the same direction on the current road where the own vehicle is located is more than or equal to 2 and no non-motor vehicles or pedestrians exist in the current road user, judging that the own vehicle runs on the main road;
otherwise, judging that the self vehicle runs on the auxiliary road.
Further, in sub-step 2.3, the speed difference threshold V is 10 m/s.
(2) Step 4 comprises the following substeps:
substep 4.1, calculating the time distance TTC according to:
wherein S is the distance from the vehicle to the height-limiting position, viThe speed of the bicycle;
substep 4.2, dividing the early warning into different levels according to the time-to-distance (TTC) value; and according to the time distance between the self-vehicle position and the height limit position, early warning is carried out on the self-vehicle driver.
(3) And 4, when the distance between the vehicle and the height limiting position is 300 meters, early warning is started to be carried out on a driver of the vehicle.
The second technical scheme is as follows:
a device for preventing an ultrahigh vehicle running on an auxiliary road from entering a height-limited road section is used for implementing the reminding method for preventing the ultrahigh vehicle running on the auxiliary road from entering the height-limited road section, and is characterized by comprising a vehicle speed sensor, an electronic map, a GPS (global positioning system), a millimeter wave radar, a camera, a microprocessor, a sensor fusion unit and an early warning module;
the output ends of the vehicle speed sensor, the electronic map, the GPS and the sensor fusion unit are respectively connected with the input end of the microprocessor, the output ends of the millimeter wave radar and the camera are connected with the input end of the sensor fusion unit, and the output end of the microprocessor is connected with the input end of the early warning module.
Compared with the prior art, the invention has the beneficial effects that:
the method for preventing the ultrahigh vehicle running on the auxiliary road from entering the height-limited road section determines whether the driver needs to be warned or not by judging the running position of the vehicle and whether the vehicle is approaching the height-limited gate or leaving the height-limited gate; and simultaneously, determining an early warning strategy for the driver according to the running speed of the vehicle and the time distance between the position of the vehicle and the height limit position. The method can accurately judge whether the ultrahigh vehicle is close to the height-limiting position, and effectively early warn the ultrahigh vehicle which cannot pass through the height-limiting position, thereby effectively solving the problem that the prior early warning mode cannot achieve effective early warning.
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The invention is described in further detail below with reference to the figures and specific embodiments.
FIG. 1 is a schematic flow chart of a reminding method for preventing an ultrahigh vehicle running on an auxiliary road from entering a height-limited road section according to the invention;
fig. 2 is a scene schematic diagram of the reminding method for preventing the ultrahigh vehicle running on the auxiliary road from entering the height-limited road section.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to examples, but it will be understood by those skilled in the art that the following examples are only illustrative of the present invention and should not be construed as limiting the scope of the present invention.
Referring to fig. 1 and 2, an embodiment of the present invention provides a method for preventing an ultrahigh vehicle driving on an auxiliary road from entering a height-limited road section, including the following steps:
step 1, detecting whether a height limit condition exists in front of a road where a vehicle runs or not according to real-time position information of the vehicle and road information where the vehicle runs.
The height limiting conditions in the invention comprise various height limiting conditions such as a height limiting door, a tunnel height limiting, an overpass height limiting and the like.
Step 2, limiting the speed v according to the main road of the current road where the vehicle runs1Speed limiting v for auxiliary road2And speed v of the vehicleiJudging whether the self vehicle runs on the auxiliary road or not;
specifically, the method comprises the following substeps:
substep 2.1, obtaining main road speed limit v of the current road driven by the vehicle1Speed limit v for road and road2；
Substep 2.2, limiting speed v of main road according to current road driven by vehicle1Speed limiting v for auxiliary road2And speed v of the vehicleiAnd judging whether the vehicle runs on the auxiliary road:
if v isi≥v2Judging that the self-vehicle runs on the main road of the current road;
if v isi<v2Continuing to judge in the next substep;
substep 2.3, obtaining the minimum running speed v of the vehicles in the same direction from the adjacent lanes of the vehiclem(ii) a If v ism-viIf the speed is more than or equal to V, judging that the self vehicle runs on the auxiliary road; wherein V is a speed difference threshold; in this embodiment, the speed difference threshold V is 10 m/s.
If not, continuing to judge in the next substep;
substep 2.4, acquiring the number of lanes in the same direction on the current road where the own vehicle is located, and judging whether non-motor vehicles and pedestrians exist in the current road user;
if the number of lanes in the same direction on the current road where the own vehicle is located is more than or equal to 2 and no non-motor vehicles or pedestrians exist in the current road user, judging that the own vehicle runs on the main road;
otherwise, judging that the self vehicle runs on the auxiliary road.
Step 3, judging whether the self-vehicle approaches the height limit position or not according to the self-vehicle position and the height limit position; if the self-vehicle approaches the height limit position, judging whether the self-vehicle can smoothly pass through the height limit;
if H is less than H, wherein H is the height of the bicycle and the height of the H limit; judging that the vehicle can pass through the height limit on the auxiliary road, and at the moment, early warning for a vehicle driver approaching the height limit position is not needed;
and if H is larger than or equal to H, judging that the vehicle cannot pass through the height limit on the auxiliary road, and performing early warning reminding on a vehicle driver according to an early warning rule.
And 4, if the self-vehicle cannot safely pass the height limit, early warning is carried out on a driver of the self-vehicle according to the time distance between the position of the self-vehicle and the position of the height limit.
Specifically, the method comprises the following substeps:
substep 4.1, calculating the time distance TTC according to:
wherein S is the distance from the vehicle to the height-limiting position, viThe speed of the bicycle;
substep 4.2, dividing the early warning into different levels according to the time-to-distance (TTC) value;
if the TTC is more than or equal to 10s, a primary early warning strategy is adopted; the early warning mode adopted at the moment can be that a speaker is used for voice prompting that the front is high to the limit and the driver is to pay attention to avoiding or other similar prompting words, or the driver can be prompted by playing a sound with lighter and relaxing sound;
if TTC is less than 10s and is less than or equal to 5s, a secondary early warning strategy is adopted; the early warning mode adopted at the moment can be that a speaker is used for voice prompting that the front limit height cannot pass through and the driver is reminded of avoiding or other similar prompting words, or a sound with heavier and relaxed sound can be played to prompt the driver;
if TTC is less than 5s, a three-level early warning strategy is adopted; the early warning mode adopted at the moment can be that the voice prompt of the loudspeaker is used for' limiting the danger of height, decelerating! "or other similar prompts, or a heavier and more urgent voice prompt may be played simultaneously to prompt the driver.
When the vehicle runs to the distance height limit position of 300 meters, early warning is started, and according to the real-time distance TTC value, the vehicle driver is subjected to graded early warning, so that the purpose of real early warning is achieved for the driver, and accidents are prevented.
In addition, the embodiment of the invention also provides a device for preventing the ultrahigh vehicle running on the auxiliary road from entering the height-limited road section, and the device is used for implementing the reminding method for preventing the ultrahigh vehicle running on the auxiliary road from entering the height-limited road section. The output ends of the vehicle speed sensor, the electronic map, the GPS and the sensor fusion unit are respectively connected with the input end of the microprocessor, the output ends of the millimeter wave radar and the camera are connected with the input end of the sensor fusion unit, and the output end of the microprocessor is connected with the input end of the early warning module.
The speed sensor is mounted on the output shaft of the vehicle transmission, and the output end of the speed sensor is connected with the input port of the microprocessor and used for measuring the real-time speed of the vehicle.
The output end of the electronic map is connected with the input end of the microprocessor and used for providing various road information for the vehicle, wherein the road information comprises information such as road speed limit, height limit, lane number and the like.
The GPS positioning system can be installed in the middle position of a front bumper of the vehicle, and the output end of the GPS positioning system is connected with the input port of the microprocessor and used for positioning the real-time position of the vehicle.
The millimeter wave radar can be fixedly installed at the centers of the front bumper and the rear bumper of the vehicle through bolts, and the output end of the millimeter wave radar is connected with the input end of the sensor fusion unit and used for collecting parameters such as the relative distance, the relative angle and the relative speed of the vehicle and the surrounding vehicles.
The camera can be installed at the top end of the vehicle, the output end of the camera is connected with the input end of the sensor fusion unit, and the camera is used for collecting image information of other road users (including motor vehicles, non-motor vehicles and pedestrians) in front of the road and collecting other information such as obstacles in front of the road.
The sensor fusion unit is used for fusing data collected by the millimeter wave radar and the camera and transmitting the fused data to the data processor.
The data processor is used for detecting whether a height limit condition exists in front of a road where the vehicle runs or not according to the real-time position information of the vehicle and the road information where the vehicle runs.
The data processor is further configured to limit the speed v according to the received main road speed1Speed limiting v for auxiliary road2And speed v of the vehicleiAnd information, namely judging whether the vehicle runs on the auxiliary road.
The data processor is also used for judging whether the self-vehicle approaches the height limit position or not according to the acquired real-time position and the height limit position of the self-vehicle; and judging whether the self vehicle can smoothly pass through the height limit according to the height of the self vehicle stored in the data processor and the acquired height limit.
The data processor is further used for calculating the time distance between the self-vehicle position and the height limit position according to the acquired self-vehicle real-time position, the height limit position and the self-vehicle real-time speed, and controlling the early warning module to give an early warning to the driver according to a preset early warning rule.
In the above embodiment, the early warning module is a speaker, and the speaker is mounted on an instrument panel of the vehicle; the early warning module in the invention can also be a warning lamp and other warning devices.
Although the present invention has been described in detail in this specification with reference to specific embodiments and illustrative embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made thereto based on the present invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (6)
1. A reminding method for preventing an ultrahigh vehicle running on an auxiliary road from entering a height-limited road section is characterized by comprising the following steps:
step 1, detecting whether a height limit condition exists in front of a road where a vehicle runs or not according to real-time position information of the vehicle and road information where the vehicle runs;
step 2, limiting the speed v according to the main road of the current road where the vehicle runs1Speed limiting v for auxiliary road2And speed v of the vehicleiJudging whether the self vehicle runs on the auxiliary road or not;
step 2 comprises the following substeps:
substep 2.1, obtaining main road speed limit v of the current road driven by the vehicle1Speed limit v for road and road2；
Substep 2.2, limiting speed v of main road according to current road driven by vehicle1Speed limiting v for auxiliary road2And speed v of the vehicleiAnd judging whether the vehicle runs on the auxiliary road:
if v isi≥v2Judging that the self-vehicle runs on the main road of the current road;
if v isi<v2Continuing to judge in the next substep;
substep 2.3, obtaining the minimum running speed v of the vehicles in the same direction from the adjacent lanes of the vehiclem(ii) a If v ism-viIf the speed is more than or equal to V, judging that the self vehicle runs on the auxiliary road; wherein V is a speed difference threshold;
if not, continuing to judge in the next substep;
substep 2.4, acquiring the number of lanes in the same direction on the current road where the own vehicle is located, and judging whether non-motor vehicles and pedestrians exist in the current road user;
if the number of lanes in the same direction on the current road where the own vehicle is located is more than or equal to 2 and no non-motor vehicles or pedestrians exist in the current road user, judging that the own vehicle runs on the main road;
otherwise, judging that the self vehicle runs on the auxiliary road;
step 3, judging whether the self-vehicle approaches the height limit position or not according to the self-vehicle position and the height limit position; if the self-vehicle approaches the height limit position, judging whether the self-vehicle can smoothly pass through the height limit;
and 4, if the self-vehicle cannot safely pass the height limit, early warning is carried out on a driver of the self-vehicle according to the time distance between the position of the self-vehicle and the position of the height limit.
2. The method for avoiding ultra-high vehicles driving on secondary roads from driving on a high-limited road section as claimed in claim 1, wherein the speed difference threshold V is 10 m/s.
3. The reminding method for avoiding the ultra-high vehicle driving on the auxiliary road from driving into the height-limited road section according to claim 1, wherein the step 4 comprises the following substeps:
substep 4.1, calculating the time distance TTC according to:
wherein S is the distance from the vehicle to the height-limiting position, viThe speed of the bicycle;
substep 4.2, dividing the early warning into different levels according to the time-to-distance (TTC) value; and according to the time distance between the self-vehicle position and the height limit position, early warning is carried out on the self-vehicle driver.
4. The reminding method for avoiding the ultra-high vehicle running on the auxiliary road from entering the height-limited road section according to claim 1, wherein in the step 4, when the distance from the vehicle to the height-limited position is 300 meters, the driver of the vehicle starts to be warned.
5. A device for preventing an ultrahigh vehicle running on an auxiliary road from entering a height-limited road section is used for implementing the reminding method for preventing the ultrahigh vehicle running on the auxiliary road from entering the height-limited road section, which is characterized by comprising a vehicle speed sensor, an electronic map, a GPS (global positioning system) positioning system, a millimeter wave radar, a camera, a microprocessor, a sensor fusion unit and an early warning module;
the output ends of the vehicle speed sensor, the electronic map, the GPS and the sensor fusion unit are respectively connected with the input end of the microprocessor, the output ends of the millimeter wave radar and the camera are connected with the input end of the sensor fusion unit, and the output end of the microprocessor is connected with the input end of the early warning module.
6. The apparatus for avoiding the entrance of the ultra-high vehicle on the highway according to claim 5, wherein the early warning module is a speaker and is installed on the dashboard of the vehicle.
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