CN111554124A - Intersection truck right-turning anti-collision early warning system and early warning method - Google Patents
Intersection truck right-turning anti-collision early warning system and early warning method Download PDFInfo
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- CN111554124A CN111554124A CN202010301666.6A CN202010301666A CN111554124A CN 111554124 A CN111554124 A CN 111554124A CN 202010301666 A CN202010301666 A CN 202010301666A CN 111554124 A CN111554124 A CN 111554124A
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Abstract
The invention discloses a right-turning anti-collision early warning system for a large truck at an intersection, which comprises geomagnetism, a camera, a roadside unit, an edge industrial personal computer, a vehicle-side camera and a wireless communication module, wherein a vehicle-mounted unit, an ultrasonic radar, RTK positioning equipment, a CAN bus module, an ECU, a terminal alarm device and an active braking device are arranged on the large truck. The invention also provides a method for carrying out right-turning anti-collision early warning on a large truck at an intersection by using the system. By the method, real-time information of a person-vehicle-road-environment can be acquired, the running states of different traffic participation bodies at the intersection are analyzed, quick and effective collision safety early warning is made, and the traffic safety level is improved.
Description
Technical Field
The invention relates to the field of intelligent traffic, in particular to a right-turning anti-collision early warning system and an early warning method for a truck at an intersection.
Background
In an urban intelligent traffic control system, video information of a road intersection is often uploaded to a traffic monitoring center platform, and the monitoring center platform processes videos and extracts traffic parameters. Due to the rapid increase of the number and the video capacity of the video cameras, the traffic monitoring center platform faces a large processing load and a large running cost, and on the other hand, the traffic monitoring mode in a centralized mode and a cloud mode can cause the problems of untimely traffic information processing, low timeliness of a traffic control scheme and the like. Currently, the vehicle-road cooperation technology is rapidly developed, and the information of vehicles, roads and other participants needs to be processed and optimized in real time, which puts high requirements on the timeliness of calculation.
When the modes such as optical fiber access or wireless communication are interrupted accidentally, the intelligent road side equipment cannot utilize the detected or collected related information due to no calculation and processing capacity, and further the effect of regional road traffic control and management can be influenced. Based on the reasons, a Mobile Edge Computing technology (MEC) is introduced, an Edge industrial personal computer is arranged beside the road side equipment, so that the intelligent road side information fusion and analysis in an off-line state and an on-line state are realized, and the real-time performance, the reliability and the effectiveness of the intelligent vehicle-road cooperative control system are improved.
The safety accidents of large trucks often occur, which often cause serious casualties and property loss. When a large truck turns, the turning radii of the front inner wheel and the rear inner wheel are different, so that the track of the front wheel and the track of the rear wheel are different, in addition, the height of the truck body of the truck is high, the visual field range of a rearview mirror is limited, and the truck has a plurality of visual field blind areas during running. When a large truck turns right at an intersection, if the large truck is fast and straightly driven and turns left, such as non-motor vehicles (bicycles and electric vehicles), a driver of the large truck is limited by a blind area of vision, the driver often cannot see the non-motor vehicles/pedestrians, and the conditions that the large truck collides or even rolls the non-motor vehicles/pedestrians can occur, so that serious casualties are caused.
The Chinese patent publication No. CN109658700A discloses an intersection anti-collision early warning device and an early warning method, wherein a vehicle-mounted unit is mounted on a vehicle, a road side unit is mounted on a roadside, after the vehicle enters an intersection area, the position information and the moving track of the vehicle are sent, the position information and the moving track of other vehicles and moving targets are received, then whether an area with crossed tracks exists is judged according to the calculated and predicted tracks, and collision early warning is carried out. The method requires that each vehicle passing through the intersection is provided with a vehicle-mounted unit with calculation capability, each vehicle is independently calculated, on one hand, the construction and communication transmission cost of the system is high, on the other hand, the existing road traffic detection equipment (such as geomagnetism, video cameras and the like) resources are not utilized, the fusion processing of traffic information is lacked, and the comprehensive traffic control of non-motor vehicles/pedestrians cannot be carried out from the perspective of the system.
In the aspect of right-turn collision avoidance of a large truck, Chinese patent publication No. CN105869439A discloses a road intersection collision avoidance early warning method based on a vehicle-road cooperation technology, road side equipment is arranged at a road intersection, GPS information is sent to the road side equipment through vehicles and vehicle-mounted equipment at the intersection, the road side equipment carries out collision prediction analysis on the GPS information of the vehicle position, and when collision risk exists, a road side unit sends collision early warning information to the vehicles. However, the vehicle GPS positioning accuracy at the intersection is often affected by factors such as the layout of base stations, satellite ephemeris error, human beings, and the like, and generally the positioning accuracy is about 5-10 meters, and the accuracy needs to be improved in the aspect of intersection turning collision avoidance application.
Chinese utility model patent publication No. CN208085588U discloses a cargo vehicle turns right vision blind area warning system, and this system is through the turn signal who gathers the car, starts the image information of the right side blind area when wide angle camera gathers the car and turns to, when detecting the blind area and having the pedestrian, reports to the police. The single video camera is used for obtaining the image information of the vehicle running blind area, although the risk of right-turning collision of the truck can be reduced to a certain extent, the monitoring system also has some obvious defects, firstly, the truck body of the large truck is longer, the blind area range is larger, a plurality of video cameras are required to be installed, the monitoring effect is better, and secondly, the working effect of the video cameras is easily influenced by light (such as cloudy days, rainy days, foggy days, late days and the like).
In general, in the existing warning system and/or method, the sources of the information of the road and the vehicle are relatively single (for example, only image information, vehicle speed and position information, no operation information of non-motor vehicles/pedestrians, and no intersection operation information).
Disclosure of Invention
The invention aims to overcome the defects of the prior art, fully utilizes static and dynamic information of a large truck, non-motor vehicles/pedestrians and intersections, integrates the existing detected traffic information, the operation information of the large truck and the operation track information of the non-motor vehicles/pedestrians, and establishes a large truck right-turning anti-collision early warning system by using vehicle-road cooperation and edge calculation technologies.
The invention also aims to provide an early warning method for carrying out right-turning anti-collision early warning on a large truck by using the system.
Therefore, the technical scheme of the invention is as follows:
the large truck right-turn anti-collision early warning system at the intersection comprises geomagnetism, a camera, a roadside unit, an edge industrial personal computer, a truck side camera and a wireless communication module, wherein a truck-mounted unit, an ultrasonic radar, RTK positioning equipment, a CAN bus module, an ECU (electronic control unit), a terminal alarm device and an active braking device are mounted on the large truck, and the geomagnetism is mounted on a right-turn lane or a straight-going and right-turn lane of an entrance lane of the intersection and used for detecting whether a right-turn vehicle is a large truck or not; the camera is arranged on a traffic signal lamp control rod of an intersection entrance road or 4-6 meters above a road 8-30 meters away from a stop line of the entrance road and is used for shooting a running track video of a non-motor vehicle and/or a pedestrian at the entrance road in real time when the right-turning vehicle is detected to be a large truck by the geomagnetism; the vehicle side camera is mounted on a right front door of the large truck and is used for carrying out video monitoring on a turning blind area when the large truck turns right; the terminal alarm device is used for carrying out early warning prompt in the form of buzzing and voice; the active braking device is used for carrying out emergency braking on the truck according to braking instructions sent by the CAN bus and the ECU; the vehicle-mounted unit is connected with the ultrasonic radar, the vehicle-side camera, the RTK positioning equipment, the CAN bus module and the terminal alarm device and is used for respectively sending the obstacle information detected by the ultrasonic radar, the blind area video acquired by the vehicle-side camera, the RTK high-precision positioning information, the vehicle steering angle of the CAN bus module and the vehicle speed information to the roadside unit through the wireless communication module; when collision early warning sent by the road side unit is received, the vehicle-mounted unit carries out early warning and active braking through the terminal alarm device and the active braking device respectively; the road side unit is used for acquiring information sent by the vehicle-mounted unit, traffic information acquired through geomagnetism and videos shot by the camera, sending the information to the edge industrial personal computer through the wireless communication module, and sending a collision early warning instruction of the edge industrial personal computer to the vehicle-mounted unit; the edge industrial personal computer performs information interaction with the road side unit through the wireless communication module; obtaining intersection information, non-motor vehicle/pedestrian running videos and large truck running information from a road side unit; and (3) tracking the running track of the non-motor vehicle/pedestrian in real time by using a video analysis technology, comparing the position and the track of the large truck in real time, making a collision early warning decision, and sending a collision early warning instruction to the road side unit.
The RTK positioning equipment is installed on an instrument desk in the middle of a front windshield of a cab of a large truck. The vehicle side camera is arranged at a position 20-40 cm below a handle of a right front door of the large truck. The ultrasonic radar is arranged on a front bumper of the truck and used for detecting obstacles below a front windshield and in a dead zone of an A column on the right side of the truck and giving an alarm when the distance between the obstacles and the truck is smaller than a preset value.
A method for carrying out right-turn anti-collision early warning through the intersection truck right-turn anti-collision early warning system comprises the following steps:
the camera shoots the running condition of the intersection, and the vehicle type information of a right-turn lane or a straight-going and right-turn lane of an intersection entrance way is acquired through geomagnetism;
the geomagnetism detects the vehicle type and the load tonnage of the vehicle passing through the lane, and when the vehicle type and the load tonnage are detected to be large cargos, the camera shoots the running condition of the non-motor vehicle/pedestrian in real time; the RTK positioning equipment sends real-time three-dimensional coordinate information of a large truck to the vehicle-mounted unit, and the vehicle-mounted unit acquires the steering angle of the large truck, the position and the moment of starting steering at the intersection and the running vehicle speed information through the CAN bus module and sends the steering angle, the position and the moment of starting steering at the intersection and the running vehicle speed information to the road side unit through the wireless communication module; the road side unit acquires information sent by the vehicle-mounted unit, traffic information acquired through geomagnetism and video information acquired through the camera;
the roadside unit transmits the acquired information to the edge industrial personal computer through the wireless communication module or optical fiber transmission;
the edge industrial personal computer detects the non-motor vehicles/pedestrians in the camera video in real time by using a video analysis technology, tracks of the non-motor vehicles/pedestrians with fine granularity are tracked, and the positions and tracks of the non-motor vehicles/pedestrians near the intersection are determined; meanwhile, the edge industrial personal computer analyzes the real-time running track and position of the large truck, and then starts collision early warning analysis;
the edge industrial personal computer judges the longitudinal distance difference of the large truck and the non-motor vehicle/pedestrian running track in real time, and starts collision early warning when the longitudinal distance difference is divided by the straight-going speed of the non-motor vehicle/pedestrian and is less than or equal to the set collision early warning time; the edge industrial personal computer judges the transverse distance between the large truck and the non-motor vehicle/pedestrian in real time, and starts collision early warning when the difference of the horizontal coordinates is smaller than or equal to the collision transverse early warning interval;
after collision early warning is triggered, the road side unit sends a video monitored by a camera in real time, a truck running track analyzed by an edge industrial personal computer and a relative position real-time image of a non-motor vehicle/pedestrian to a display screen of a truck cab through the wireless communication module for a driver to refer; in addition, the truck carries out early warning prompt in the form of buzzing and voice; when the ultrasonic radar of the truck body is in collision prompt, the truck ECU sends a braking instruction, and the truck is emergently braked.
Wherein the position information of the large truck and the non-motor vehicle/pedestrian is obtained by the following method:
establishing a position coordinate system: establishing a coordinate system by taking the central line of the inlet road as a Y axis and taking a straight line which passes through an RTK base station at the mounting position of the inlet road and is vertical to the Y axis as an abscissa, and placing the real-time positions of the large truck and the non-motor vehicle in the coordinate system to reflect the running tracks of the large truck and the non-motor vehicle in real time;
determining the range of a collision avoidance safety area when the large truck turns right: drawing a running track of a right front wheel and a running track of a right rear wheel according to the distribution of the wheelbase, the wheelbase and the turning radius of the large truck, taking an intersection area of the two track lines as an absolute forbidden zone, and taking a position 2-2.5 meters around the absolute forbidden zone as a collision avoidance safety zone;
let the right rear wheel of the large truck start turning to the right at point F, and record the time as the initial time t0When the steering angle of the front wheel of the large truck is α, the forward speed is V, and the coordinate of the point F is (x)h0,yh0) The projection of point F on the x-axis is point F', the lateral resolution of the wagon is Vsin α, the longitudinal resolution of the wagon is Vcos α, at t0At the moment, the position of the non-motor vehicle/pedestrian is the point H, and the coordinate of the point H is (x)f0,yf0) The projection of the point H on the x axis is a point H'; at time t, suppose the potential collision point of a truck and a non-motor vehicle/pedestrian is G, and the coordinate of the G point is (x)h1,yh1) The trajectory line of the right rear wheel of the large truck is a curve FG, and the running trajectory of the non-motor vehicle/pedestrian is a straight line HI; the distance between point F 'and point H' is denoted as L, which is the difference between the abscissa of the truck and the non-motor vehicle/pedestrian, i.e. the lateral distance separation of the truck and the non-motor vehicle.
In the method, the collision early warning time is 2-3 seconds; the collision transverse early warning interval is 2-3 meters; the wireless communication module comprises a junction WIFI module, a 4G module or a 5G module.
The invention has the following beneficial effects:
the invention obtains real-time information of a person-vehicle-road-environment at an intersection by jointly using the vehicle-mounted unit, the road side unit, the RTK positioning equipment, the ultrasonic radar, the camera, the geomagnetism and the edge industrial personal computer, and analyzes the running states of different traffic participation bodies at the intersection by using the vehicle-road information networking, the wireless communication and the vehicle control technology, thereby being capable of quickly and effectively early warning collision safety of collision danger existing in right turning of a large truck and improving the road traffic safety level.
Drawings
FIG. 1 is a composition and information interaction diagram of a right turn anti-collision early warning system for trucks at an intersection of the present invention;
FIG. 2 is a flow chart of the right turn anti-collision warning method for trucks at an intersection of the present invention;
FIG. 3 is a layout view of an intersection, vehicle, and location coordinate system;
FIG. 4 is a diagram of the differential track travel of the inside wheels of a large truck;
fig. 5 is a large truck, non-motor vehicle/pedestrian trajectory impact analysis plot.
Detailed Description
The early warning system and the control method of the invention are described in detail below with reference to the accompanying drawings and embodiments.
Referring to fig. 1, the intersection van right-turn anti-collision early warning system comprises geomagnetism, a camera, a roadside unit, an edge industrial personal computer, a vehicle-side camera and a wireless communication module, wherein the van is provided with a vehicle-mounted unit, an ultrasonic radar, an RTK positioning device, a CAN bus module, an ECU, a terminal alarm device and an active braking device, and the geomagnetism is arranged on a right-turn lane or a straight-going and right-turn lane of an intersection entrance lane and used for detecting whether a right-turn vehicle is a van or not; the camera is arranged on a traffic signal lamp control rod of an intersection entrance road or 4-6 meters above a road 8-30 meters away from a stop line of the entrance road and is used for shooting a running track video of a non-motor vehicle and/or a pedestrian at the entrance road in real time when the right-turning vehicle is detected to be a large truck by the geomagnetism; the vehicle side camera is mounted on a right front door of the large truck and is used for carrying out video monitoring on a turning blind area when the large truck turns right; the terminal alarm device is used for carrying out early warning prompt in the form of buzzing and voice; the active braking device is used for carrying out emergency braking on the truck according to braking instructions sent by the CAN bus and the ECU; the vehicle-mounted unit is connected with the ultrasonic radar, the vehicle-side camera, the RTK positioning equipment, the CAN bus module and the terminal alarm device and is used for respectively sending the obstacle information detected by the ultrasonic radar, the blind area video acquired by the vehicle-side camera, the RTK high-precision positioning information, the vehicle steering angle of the CAN bus module and the vehicle speed information to the roadside unit through the wireless communication module; when collision early warning sent by the road side unit is received, the vehicle-mounted unit carries out early warning and active braking through the terminal alarm device and the active braking device respectively; the road side unit is used for acquiring information sent by the vehicle-mounted unit, traffic information acquired through geomagnetism and videos shot by the camera, sending the information to the edge industrial personal computer through the wireless communication module, and sending a collision early warning instruction of the edge industrial personal computer to the vehicle-mounted unit; the edge industrial personal computer performs information interaction with the road side unit through the wireless communication module; obtaining intersection information, non-motor vehicle/pedestrian running videos and large truck running information from a road side unit; and (3) tracking the running track of the non-motor vehicle/pedestrian in real time by using a video analysis technology, comparing the position and the track of the large truck in real time, making a collision early warning decision, and sending a collision early warning instruction to the road side unit.
The RTK positioning equipment is installed on an instrument desk in the middle of a front windshield of a cab of a large truck. The vehicle side camera is arranged at a position 20-40 cm below a handle of a right front door of the large truck. The ultrasonic radar is arranged on a front bumper of the truck and used for detecting obstacles below a front windshield and in a dead zone of an A column on the right side of the truck and giving an alarm when the distance between the obstacles and the truck is smaller than a preset value.
Referring to fig. 2, a method for performing right turn anti-collision early warning through the intersection truck right turn anti-collision early warning system includes the following steps:
the camera shoots the running condition of the intersection, and the vehicle type information of a right-turn lane or a straight-going and right-turn lane of an intersection entrance way is acquired through geomagnetism;
the geomagnetism detects the vehicle type and the load tonnage of the vehicle passing through the lane, and when the vehicle type and the load tonnage are detected to be large cargos, the camera shoots the running condition of the non-motor vehicle/pedestrian in real time; the RTK positioning equipment sends real-time three-dimensional coordinate information of a large truck to the vehicle-mounted unit, and the vehicle-mounted unit acquires the steering angle of the large truck, the position and the moment of starting steering at the intersection and the running vehicle speed information through the CAN bus module and sends the steering angle, the position and the moment of starting steering at the intersection and the running vehicle speed information to the road side unit through the wireless communication module; the road side unit acquires information sent by the vehicle-mounted unit, traffic information acquired through geomagnetism and video information acquired through the camera;
the roadside unit transmits the acquired information to the edge industrial personal computer through the wireless communication module;
the edge industrial personal computer detects the non-motor vehicles/pedestrians in the camera video in real time by using a video analysis technology, tracks of the non-motor vehicles/pedestrians with fine granularity are tracked, and the positions and tracks of the non-motor vehicles/pedestrians near the intersection are determined; meanwhile, the edge industrial personal computer analyzes the real-time running track and position of the large truck, and then starts collision early warning analysis;
the edge industrial personal computer judges the longitudinal distance difference of the large truck and the non-motor vehicle/pedestrian running track in real time, and starts collision early warning when the longitudinal distance difference is divided by the straight-going speed of the non-motor vehicle/pedestrian and is less than or equal to the set collision early warning time; the edge industrial personal computer judges the transverse distance between the large truck and the non-motor vehicle/pedestrian in real time, and starts collision early warning when the difference of the horizontal coordinates is smaller than or equal to the collision transverse early warning interval;
after collision early warning is triggered, the road side unit sends a video monitored by a camera in real time, a truck running track analyzed by an edge industrial personal computer and a relative position real-time image of a non-motor vehicle/pedestrian to a display screen of a truck cab through the wireless communication module for a driver to refer; in addition, the truck carries out early warning prompt in the form of buzzing and voice; when the ultrasonic radar of the truck body is in collision prompt, the truck ECU sends a braking instruction, and the truck is emergently braked.
The following is a detailed description of the practice of the invention:
first, the roadside unit and the RTK base station are installed. Referring to fig. 3, a roadside unit and a high-precision RTK positioning base station are installed on a traffic signal lamp control rod of an intersection entrance road or 4-6 meters above a road 8-30 meters away from a stop line of the entrance road, and a camera is installed at the same time and used for monitoring real-time traffic operation of the intersection entrance road. In addition, geomagnetism is installed on a right-turn lane or a straight-going and right-turn lane of an intersection entrance lane and is used for detecting whether a right-turn vehicle is a large truck or not.
The method comprises the following steps that RTK positioning equipment, an ultrasonic radar and a vehicle side camera are installed on a large truck, wherein the RTK positioning equipment is installed on an instrument desk in the middle of a front windshield of a cab of the large truck; the camera at the side of the truck is arranged at a position 20-40 cm below a door handle of a right front door of the large truck, and when the truck turns right, the camera is started and used for video monitoring of a turning blind area; the ultrasonic radar is arranged on a front bumper of the truck and used for detecting and alarming obstacles below a front windshield and in a dead zone of an A column on the right side of the truck; and installing an RTK device on the non-motor vehicle for monitoring the running position of the non-motor vehicle in real time.
Next, a position coordinate system is established. Referring to fig. 3, a coordinate system is established with the midline of the inlet port as the Y-axis and the straight line passing through the RTK base station at the inlet port installation position and perpendicular to the Y-axis as the abscissa. And placing the real-time positions of the large truck and the non-motor vehicle in the coordinate system to reflect the running tracks of the large truck and the non-motor vehicle in real time.
And then determining the range of the collision avoidance safety zone when the large truck turns right. Referring to fig. 4, the running locus of the right front wheel and the running locus of the right rear wheel are plotted according to the distribution of the wheel base, and the turning radius (center) of the truck. In FIG. 4, the truck has a front wheel distance AB, a rear wheel distance CD, wheelbases AC and BD (wheelbase length is denoted as l), a turning radius center O, and a left sideThe turning radius of the front wheel is AO, the turning radius of the right front wheel is BO, and the trajectory line of the left front wheel is S1The right front wheel has a trajectory line S2. The rear wheel of the large truck has no steering function, and the actual running track line is S3. The trajectory line S of the right front wheel of the large truck2The intersection area with the running track line of the rear wheel serves as an absolute forbidden area, namely the area enclosed by the EBD in FIG. 4; and the position 2-2.5 meters around the absolute forbidden area is used as the range of the collision avoidance safety area.
The operating conditions of a large truck and a non-motor vehicle/pedestrian are shown in fig. 5. The time when the right rear wheel of the truck starts turning to the right at the point F is recorded as the initial time (t)00), the front wheel steering angle of the large truck is α, the forward speed is V, and the coordinate of point F is (x)h0,yh0) The projection of point F on the x-axis is point F', the lateral resolution of the wagon is Vsin α, the longitudinal resolution of the wagon is Vcos α at t0At the moment, the position of the non-motor vehicle/pedestrian is the point H, and the coordinate of the point H is (x)f0,yf0) The projection of point H on the x-axis is point H'. At time t, suppose the potential collision point of a truck and a non-motor vehicle/pedestrian is G, and the coordinate of the G point is (x)h1,yh1) The trajectory line of the right rear wheel of the large truck is a curve FG, and the running trajectory of the non-motor vehicle/pedestrian is a straight line HI. The distance between point F 'and point H' is designated as L, which is the difference between the abscissas of the truck and the non-motor vehicle/pedestrian, i.e., the lateral distance separation of the truck and the non-motor vehicle.
And then, setting collision early warning conditions and carrying out collision analysis. Recording the collision early warning time as TPreparation of(such as 2-3 seconds), and recording the collision transverse early warning interval as DPreparation of(e.g., 2-3 meters). There are 2 critical early warning states for non-motor vehicles/pedestrians and large truck collisions. Firstly, at the time t (namely the time length from the initial time is t), the difference between the abscissa of the truck, the non-motor vehicle and the pedestrian is less than or equal to the collision transverse early warning distance DPreparation of. The second state is that the difference between the longitudinal coordinate of the large truck and the longitudinal coordinate of the non-motor vehicle/pedestrian is divided by the straight-going speed of the non-motor vehicle/pedestrian, and the division value of the two is less than or equal to the set collision early warning time TPreparation of。
For a first collision-critical state: at time t, the lateral position coordinate of the truck is xh0+ Vsin α × t, non-motor vehicle/pedestrian lateral coordinate xf1The transverse distance between the two is xf1-xh0-Vsin α × t. when xf1-xh0-Vsinα*t≤DPreparation ofAnd triggering collision early warning.
For the second collision critical state: at the moment t, the difference of the abscissa of the truck, the non-motor vehicle/the pedestrian is larger than the collision transverse early warning distance DPreparation ofI.e. xf1-xh0-Vsinα*t>DPreparation ofAnd satisfy (y)h1-yf1)/VNot/row≤TPreparation ofAnd triggering collision early warning. Wherein, yh1At the time of t, the ordinate, y, of the right rear wheel of the truck at the point Ff1As a ordinate of non-motor vehicles/pedestrians, VNot/rowIs the operating speed of the non-motor vehicle/pedestrian.
And updating the positions of the large truck and the non-motor vehicle/pedestrian once every 0.5 second, displaying in a coordinate system, simultaneously analyzing collision tracks of the two trucks in real time, and starting the right-turning collision early warning of the large truck when the 2 kinds of critical early warning conditions are met.
When collision early warning is triggered, the road side unit sends a video monitored in real time to a display screen of a cab of a large truck through wireless communication for a driver to refer to; in addition, the truck carries out early warning and deceleration prompting in the modes of buzzing and voice; when the ultrasonic radar sends a collision prompt, the truck automatically brakes.
The information interaction process among the components of the system is shown in fig. 1. The method comprises the following steps that a truck-mounted unit of a large truck obtains a steering angle of the large truck, a high-precision position and time for starting to steer at an intersection and running vehicle speed information through a CAN bus module and a vehicle-mounted RTK positioning device, and sends the steering angle, the high-precision position and time and the running vehicle speed information to a road side unit through a wireless communication module; the method comprises the following steps that a vehicle-mounted RTK positioning device receives transmission data of an RTK base station of an intersection, then the three-dimensional coordinates of the RTK positioning device (a large truck or a non-motor vehicle) are calculated in real time according to a relative positioning principle, and the three-dimensional coordinates are sent to a vehicle-mounted unit; the roadside unit acquires real-time position information of a large truck, a non-motor vehicle or a pedestrian and sends the real-time position information to the edge industrial personal computer. And the edge industrial personal computer calculates the collision triggering condition in real time, and starts collision early warning when the critical condition is met.
The invention combines vehicle-mounted RTK positioning equipment, an ultrasonic radar, a vehicle-side camera, a roadside unit, a camera, a roadside RTK base station and the like to perform high-precision positioning on a large truck and a non-motor vehicle/pedestrian at an intersection, performs high-precision positioning and running track tracking on the large truck and the non-motor vehicle/pedestrian at the intersection by using an intelligent network wireless communication technology, performs early warning and control on potential collision of right turning of the large truck by using the intelligent network wireless communication technology, and improves the road traffic safety level.
In addition, the edge industrial personal computer can compress the video, so that the load of edge calculation is reduced, the monitoring result is not influenced, the video monitoring rate is improved, and the wireless network load in the subsequent information transmission process is reduced.
Claims (9)
1. The utility model provides an intersection van turns on anticollision early warning system in the right side which characterized in that: comprises geomagnetism, a camera, a roadside unit, an edge industrial personal computer, a vehicle-side camera and a wireless communication module, wherein the large truck is provided with a vehicle-mounted unit, an ultrasonic radar, RTK positioning equipment, a CAN bus module, an ECU, a terminal alarm device and an active braking device,
the geomagnetism is arranged on a right-turn lane or a straight-going and right-turn lane of an intersection entrance lane and is used for detecting whether a right-turn vehicle is a large truck or not;
the camera is arranged on a traffic signal lamp control rod of an intersection entrance road or 4-6 meters above a road 8-30 meters away from a stop line of the entrance road and is used for shooting a running track video of a non-motor vehicle and/or a pedestrian at the entrance road in real time when the right-turning vehicle is detected to be a large truck by the geomagnetism;
the vehicle side camera is mounted on a right front door of the large truck and is used for carrying out video monitoring on a turning blind area when the large truck turns right;
the terminal alarm device is used for carrying out early warning prompt in the form of buzzing and voice;
the active braking device is used for carrying out emergency braking on the truck according to braking instructions sent by the CAN bus and the ECU;
the vehicle-mounted unit is connected with the ultrasonic radar, the vehicle-side camera, the RTK positioning equipment, the CAN bus module and the terminal alarm device and is used for respectively sending the obstacle information detected by the ultrasonic radar, the blind area video acquired by the vehicle-side camera, the RTK high-precision positioning information, the vehicle steering angle of the CAN bus module and the vehicle speed information to the roadside unit through the wireless communication module; when collision early warning sent by the road side unit is received, the vehicle-mounted unit carries out early warning and active braking through the terminal alarm device and the active braking device respectively;
the road side unit is used for acquiring information sent by the vehicle-mounted unit, traffic information acquired through geomagnetism and videos shot by the camera, sending the information to the edge industrial personal computer through the wireless communication module, and sending a collision early warning instruction of the edge industrial personal computer to the vehicle-mounted unit;
the edge industrial personal computer performs information interaction with the road side unit through the wireless communication module; obtaining intersection information, non-motor vehicle/pedestrian running videos and large truck running information from a road side unit; and (3) tracking the running track of the non-motor vehicle/pedestrian in real time by using a video analysis technology, comparing the position and the track of the large truck in real time, making a collision early warning decision, and sending a collision early warning instruction to the road side unit.
2. The intersection van right-turn anti-collision early warning system according to claim 1, characterized in that: the RTK positioning equipment is installed on an instrument desk in the middle of a front windshield of a cab of a large truck.
3. The intersection van right-turn anti-collision early warning system according to claim 1, characterized in that: the vehicle side camera is arranged at a position 20-40 cm below a handle of a right front door of the large truck.
4. The intersection van right-turn anti-collision early warning system according to claim 1, characterized in that: the ultrasonic radar is arranged on a front bumper of the truck and used for detecting obstacles below a front windshield and in a dead zone of an A column on the right side of the truck and giving an alarm when the distance between the obstacles and the truck is smaller than a preset value.
5. A method for right turn collision avoidance early warning through the intersection van right turn collision avoidance early warning system of any one of claims 1-4, comprising the steps of:
the camera shoots the running condition of the intersection, and the vehicle type information of a right-turn lane or a straight-going and right-turn lane of an intersection entrance way is acquired through geomagnetism;
the geomagnetism detects the vehicle type and the load tonnage of the vehicle passing through the lane, and when the vehicle type and the load tonnage are detected to be large cargos, the camera shoots the running condition of the non-motor vehicle/pedestrian in real time; the RTK positioning equipment sends real-time three-dimensional coordinate information of a large truck to the vehicle-mounted unit, and the vehicle-mounted unit acquires the steering angle of the large truck, the position and the moment of starting steering at the intersection and the running vehicle speed information through the CAN bus module and sends the steering angle, the position and the moment of starting steering at the intersection and the running vehicle speed information to the road side unit through the wireless communication module; the road side unit acquires information sent by the vehicle-mounted unit, traffic information acquired through geomagnetism and video information acquired through the camera;
the roadside unit transmits the acquired information to the edge industrial personal computer through the wireless communication module;
the edge industrial personal computer detects the non-motor vehicles/pedestrians in the camera video in real time by using a video analysis technology, tracks of the non-motor vehicles/pedestrians with fine granularity are tracked, and the positions and tracks of the non-motor vehicles/pedestrians near the intersection are determined; meanwhile, the edge industrial personal computer analyzes the real-time running track and position of the large truck, and then starts collision early warning analysis;
the edge industrial personal computer judges the longitudinal distance difference of the large truck and the non-motor vehicle/pedestrian running track in real time, and starts collision early warning when the longitudinal distance difference is divided by the straight-going speed of the non-motor vehicle/pedestrian and is less than or equal to the set collision early warning time; the edge industrial personal computer judges the transverse distance between the large truck and the non-motor vehicle/pedestrian in real time, and starts collision early warning when the difference of the horizontal coordinates is smaller than or equal to the collision transverse early warning interval;
after collision early warning is triggered, the road side unit sends a video monitored by a camera in real time, a truck running track analyzed by an edge industrial personal computer and a relative position real-time image of a non-motor vehicle/pedestrian to a display screen of a truck cab through the wireless communication module for a driver to refer; in addition, the truck carries out early warning prompt in the form of buzzing and voice; when the ultrasonic radar of the truck body is in collision prompt, the truck ECU sends a braking instruction, and the truck is emergently braked.
6. The method of claim 5, wherein: the position information of the large truck and the non-motor vehicle/pedestrian is obtained by the following method:
establishing a position coordinate system: establishing a coordinate system by taking the central line of the inlet road as a Y axis and taking a straight line which passes through an RTK base station at the mounting position of the inlet road and is vertical to the Y axis as an abscissa, and placing the real-time positions of the large truck and the non-motor vehicle in the coordinate system to reflect the running tracks of the large truck and the non-motor vehicle in real time;
determining the range of a collision avoidance safety area when the large truck turns right: drawing a running track of a right front wheel and a running track of a right rear wheel according to the distribution of the wheelbase, the wheelbase and the turning radius of the large truck, taking an intersection area of the two track lines as an absolute forbidden zone, and taking a position 2-2.5 meters around the absolute forbidden zone as a collision avoidance safety zone;
let the right rear wheel of the large truck start turning to the right at point F, and record the time as the initial time t0When the steering angle of the front wheel of the large truck is α, the forward speed is V, and the coordinate of the point F is (x)h0,yh0) The projection of point F on the x-axis is point F', the lateral resolution of the wagon is Vsin α, the longitudinal resolution of the wagon is Vcos α, at t0At the moment, the position of the non-motor vehicle/pedestrian is the point H, and the coordinate of the point H is (x)f0,yf0) The projection of the point H on the x axis is a point H'; at time t, suppose the potential collision point of a truck and a non-motor vehicle/pedestrian is G, and the coordinate of the G point is (x)h1,yh1) The trajectory line of the right rear wheel of the large truck is a curve FG, and the running trajectory of the non-motor vehicle/pedestrian is a straight line HI; the distance between point F 'and point H' is denoted as L, which is the difference between the abscissa of the truck and the non-motor vehicle/pedestrian, i.e. the lateral distance separation of the truck and the non-motor vehicle.
7. The method of claim 5, wherein: the collision early warning time is 2-3 seconds.
8. The method of claim 5, wherein: the collision transverse early warning interval is 2-3 meters.
9. The method according to any one of claims 5-8, wherein: the wireless communication module comprises a junction WIFI module, a 4G module or a 5G module.
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