CN112258832A - Method for operating vehicle information-based cluster cloud meteorological information perception and release system - Google Patents
Method for operating vehicle information-based cluster cloud meteorological information perception and release system Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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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
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
Abstract
A method for operating a cluster cloud meteorological information perception and release system based on vehicle information relates to the field of vehicle active safety. The system comprises a universal vehicle-mounted sensing early warning terminal device and a roadside server, wherein the vehicle-mounted sensing early warning terminal device sends vehicle running state information acquired in real time to the roadside server to judge the cluster fog weather, when the cluster fog weather is judged to occur, the cluster fog level is continuously judged, a cluster fog area is determined, and finally vehicle early warning strategy information is generated in a condition-based and grading manner and sent to the vehicle-mounted sensing early warning terminal device. The system can only indirectly obtain the group fog weather information through the vehicle running state information on the premise of not arranging all road section weather monitoring facilities and vehicle external weather sensors, and timely transmits and releases the information, thereby effectively improving the safety of the vehicle running under the condition of the group fog weather and avoiding traffic accidents.
Description
Technical Field
The invention relates to the field of automobile active safety, in particular to a method for operating a vehicle information-based cluster fog image information perception and release system.
Background
In the analysis of causes of traffic accidents (obtained from the analysis of traffic accident data in Beijing and Tianjin), accidents caused by environmental factors are the most frequent and the most severe, wherein the cloud of fog is one of bad weather which is very easy to cause serious traffic accidents. Sudden cloud images lead to a significant reduction in visibility, and an increase in air humidity causes a reduction in the coefficient of friction of the road surface, in which case the mood of the driver is liable to fluctuate, especially for inexperienced drivers. Therefore, in this case, the driver is liable to take an inappropriate driving operation behavior due to emotional stress, thereby causing a traffic accident.
The existing method for identifying bad weather such as foggy cluster is to adopt a roadside weather monitor, and because the difficulty of covering the weather detector on the whole highway is high and the cost is high, the method for operating the foggy cluster weather information perception and distribution system based on vehicle information is designed, the foggy cluster weather is effectively detected by utilizing the running state data of the vehicle, early warning strategies are generated in a grading mode according to foggy clusters of different grades and different distances between the vehicle and the foggy cluster areas, a driver is assisted to take correct driving operation behaviors to safely pass through the foggy cluster areas or avoid foggy cluster road sections, the safety of foggy day driving can be effectively improved, and the early warning cost is reduced.
Disclosure of Invention
The invention aims to provide a method for operating a cluster fog weather information perception and release system based on vehicle information, which can detect the occurrence of cluster fog weather by adopting vehicle operation state data collected in real time, continuously judge the cluster fog level and determine a cluster fog area when judging the cluster fog weather, finally generate vehicle early warning strategy information in a grading manner according to conditions and send the vehicle early warning strategy information to vehicle-mounted perception and early warning terminal equipment, and is favorable for improving the safety of vehicle operation under the condition of cluster fog weather. The invention provides an overall implementation scheme of a group fog early warning system and a specific method for operating the system.
In order to solve the defects of the prior art, the system for sensing and releasing the cloud weather based on the vehicle information comprises a universal vehicle-mounted sensing and early-warning terminal device and a roadside server, wherein the universal vehicle-mounted sensing and early-warning terminal device comprises: the road side server comprises a data storage module, a cluster fog weather judgment module and a grading early warning module, and the cluster fog weather judgment module comprises a cluster fog occurrence judgment submodule, a cluster fog grade judgment submodule and a cluster fog region judgment submodule.
A method for operating a vehicle information-based cloud weather information aware distribution system, comprising the steps of:
a. the general vehicle-mounted perception early warning terminal device obtains vehicle running state data in real time and sends the latest obtained vehicle running state data to the roadside server through the vehicle-mounted 5G communication terminal device, wherein the general vehicle-mounted perception early warning terminal device comprises a vehicle running data acquisition module, a group fog early warning module and a vehicle-mounted 5G communication module, the roadside server comprises a data storage module, a group fog weather judgment module, a grading early warning module and a roadside 5G communication module, and the group fog weather judgment module comprises a group fog generation judgment submodule, a group fog grade judgment submodule and a group fog region judgment submodule.
b. And the data storage module inputs the vehicle running state data within the latest 1min into the cluster fog occurrence judgment submodule after each data updating, judges whether cluster fog weather exists or not, and calls the cluster fog grade judgment submodule and the cluster fog area judgment submodule simultaneously to judge the cluster fog grade and determine the cluster fog area range when the judgment result is the cluster fog weather.
c. And inputting the latest longitude and latitude coordinates, the cluster fog area and the cluster fog grade of the vehicle into a grading early warning module, and generating three grades of vehicle early warning strategies according to the position of the vehicle in the cluster fog area and the cluster fog grade.
d. The vehicle early warning strategy is transmitted to the group fog early warning module through the roadside 5G communication module, and the group fog early warning module carries out prompt of early warning strategy information through voice and a vehicle-mounted display screen.
e. And the roadside server sends the cloud area range to other surrounding roadside servers through the roadside 5G communication module.
f. And c, the roadside server receiving the cluster fog area range executes the steps c, d and e.
The vehicle operating state data specifically includes: the speed and the acceleration of the vehicle, the distance between the vehicle and the vehicle ahead, the driving direction, the lane departure times, whether a horn is started or not, whether a wiper is started or not and the longitude and latitude coordinates.
And the data storage module allocates the data storage space of the vehicle for the vehicle newly entering the road section covered by the server, and if the data updating is not carried out on a certain vehicle for 10s continuously, the server considers that the vehicle drives away from the road section covered by the server, and releases the data storage space of the vehicle.
The input values of the cluster fog occurrence judgment submodule comprise: the speed, the acceleration and the distance between the vehicle and the vehicle ahead of the vehicle are determined such that the cluster fog generation probability Pf is 30% if one of the following conditions is satisfied in the data of the vehicle within the latest 1min, 50% if two of the following conditions are satisfied, and 70% if the following three conditions are satisfied, as follows:
wherein Tc is the continuous deceleration duration unit of the vehicle in seconds, Td is the continuous increasing duration unit of the distance between the vehicle and the front vehicle in seconds, As is the acceleration unit in meters per second2。
The cloud occurrence probability values determined for all vehicle data input within the latest 1min are plotted as the Y-axis and the vehicle numbers as the X-axis to form a cloud occurrence probability histogram. If the cluster fog occurrence probability Pf of 2 consecutive vehicles is greater than or equal to 30% from the ith vehicle and the cluster fog occurrence probability Pf of 3 consecutive vehicles is less than 30% from the ith + N, (N is 3, 4, 5, …, N) vehicle, then the histogram area Sz between the vehicle i and the vehicle i + N and the rectangular area Sr with the distance between the vehicle i and the vehicle i + N in the histogram being wide and the distance Pf being 70% being high are calculated, and finally the cluster fog occurrence probability Pa is calculated to be greater than or equal to 70% to determine that a cluster fog image is occurring in the road section.
And creating a group fog occurrence list, wherein the group fog occurrence list is used for storing the running state data of the vehicles in the latest 1min between the starting vehicle i and the ending vehicle i + n in the group fog area, and the running state data comprises a vehicle speed field, a lane departure frequency field, a field whether to trigger a horn, a field whether to start a wiper and vehicle longitude and latitude coordinates.
And the input data of the cluster fog grade judgment submodule is a cluster fog generation list.
The cluster fog grade judgment submodule divides the severity of cluster fog into three grades, namely a first grade, a second grade and a third grade.
The first-level cluster fog needs to meet the following conditions, 70% of vehicles in the vehicle speed fields in the input cluster fog generation list meet the conditions, and the vehicle speed V after the vehicle is decelerated meets 40< V < 60 (km/h).
The second-level cluster fog needs to meet the following conditions, 70% of vehicles in the vehicle speed fields in the input cluster fog generation list meet the conditions, the vehicle speed V after the vehicle is decelerated meets 20< V < 40(km/h), and the opening proportion of a windshield wiper and the number of times of vehicle whistle are larger than historical data under the condition that no cluster fog exists in the same time period.
The third-level cluster fog needs to meet the following conditions, 70% of vehicles in the vehicle speed fields in the input cluster fog generation list meet the conditions, the vehicle speed V after the vehicle is decelerated meets V less than or equal to 20(km/h), and the opening proportion of a windshield wiper, the vehicle whistle times and the lane departure times are larger than historical data under the condition that no cluster fog exists in the same time period.
And input data of the cluster fog area judgment submodule are a cluster fog occurrence list, and the cluster fog occurrence area is determined according to longitude and latitude coordinate values of the vehicle i and the vehicle i + n at the moment of starting deceleration by respectively obtaining the longitude and latitude coordinate fields of the vehicle i and the vehicle i + n.
The input values of the grading early warning module comprise: the module comprises the latest longitude and latitude coordinates of the vehicle, a cluster fog area, a cluster fog grade and an early warning distance X, and the module comprises three early warning levels in total.
The early warning system comprises a first early warning level and a third early warning level, wherein the early warning strategy of the level comprises three vehicle emergency plans, the first vehicle emergency plan is suitable for the condition that the group fog level is the first level and the distance between the vehicle and the group fog generation area is not limited, the second vehicle emergency plan is suitable for the condition that the group fog level is the second level and the distance between the vehicle and the group fog area road section or the group fog area initial position is less than or equal to the early warning distance X, and the third vehicle emergency plan is suitable for the condition that the group fog level is the third level and the distance between the vehicle and the group fog area road section or the group fog area initial position is less than or equal to the early warning.
And the second early warning level is suitable for the condition that the cluster fog level is two or three, the distance between the vehicle and the initial position of the cluster fog area is greater than the early warning distance X, but the path of the vehicle cannot be replanned, namely, no ramp capable of driving away from the road exists between the position of the vehicle and the initial position of the cluster fog area or no path capable of avoiding the cluster fog area exists.
And a third early warning level, wherein the vehicle early warning strategy of the level is suitable for the condition that the level of the cluster fog is two or three, the distance between the vehicle and the road section of the cluster fog area is greater than the early warning distance X, and the vehicle can be subjected to path re-planning, namely, a ramp capable of driving away from the road exists between the position of the vehicle and the initial position of the cluster fog area or a path capable of avoiding the cluster fog area exists.
The method of claim 1, wherein the determination of the cloud warning distance X is related to an average speed of the vehicle and a cloud level, and the determination of the warning distance X is as follows:
X＝300+200*(θv+θf)
θvis the influence coefficient of the average speed of the vehicle, theta is determined if the average speed Vs of the vehicle satisfies 0 ≦ Vs < 40v0.2, theta if the vehicle average speed Vs satisfies 40 ≦ Vs < 60v0.4, theta if the vehicle average speed Vs satisfies 60 ≦ Vs < 100v0.6, if the vehicle average speed Vs satisfies Vs ≧ 100 θv＝1。
θfIs the influence coefficient of the cluster fog grade, if the cluster fog grade is 1 grade, then thetaf0.4, theta if the cluster mist grade is 2 gradef0.6, theta if the mist grade is 3 gradesf＝1。
The specific content of the vehicle safety implementation plan in the first early warning level comprises the following steps: guiding the vehicle to reduce the speed to below 60 km, turning on fog light, turning on dipped headlight, turning on clearance light and front and back position light.
The second specific content of the vehicle safety implementation plan in the first early warning level comprises guiding the vehicle to reduce the speed to below 40 kilometers, turning on fog lights, turning on dipped headlights, turning on clearance lights, front and rear position lights and danger warning flash lights, keeping a lane and whistling.
The third concrete content of the vehicle safety implementation plan in the first early warning level comprises guiding the vehicle to reduce the speed to below 20 kilometers, turning on fog lamps, turning on dipped headlights, turning on clearance lamps, front and rear position lamps, dangerous alarm flashlights and whistling and suggesting to find a temporary safety zone for parking.
The specific contents of the second early warning level comprise: issuing the optimal following distance and the optimal driving behavior to the vehicles in the road section, wherein the contents are as follows: when the distance Df between the vehicle and the starting position of the cluster fog area and the early warning distance X meet the relation that Df is larger than X +100(m), prompting that cluster fog exists at the Df meter in front of the vehicle and guiding a driver to reduce the speed of the vehicle to be below 60 kilometers, wherein the optimal vehicle following distance Dc is larger than or equal to 60 (m); when the distance Df between the vehicle and the road section of the cluster fog area and the early warning distance X meet the relation Df is X +100(m), if the cluster fog level is at one level, guiding the driver to execute a first vehicle emergency plan in a first early warning level, wherein the optimal following distance Dc is more than or equal to 60 (m); if the group fog level is the second level, the driver is guided to execute a second vehicle emergency plan in the first early warning level, and the optimal vehicle following distance Dc is more than or equal to 100 (m); and if the cluster fog level is three, guiding the driver to execute a third vehicle emergency plan in the first early warning level, wherein the optimal vehicle following distance Dc is more than or equal to 150 (m). .
The specific content of the third early warning level comprises the following steps: and acquiring a ramp port through which the vehicle can enter and exit, and implementing re-planning of a vehicle driving path to avoid a mist region.
Drawings
FIG. 1 is a block diagram of a cloud weather information perception and distribution system based on vehicle data;
FIG. 2 is a schematic view of a method scenario 1 for operating a vehicle data based blob cloud weather information aware distribution system;
FIG. 3 is a schematic view of a method scenario 2 for operating a vehicle data based blob cloud weather information aware distribution system;
fig. 4 is a probability histogram for determining the occurrence probability of the cloud based on the vehicle data.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
As an embodiment of the present invention, the system for sensing and distributing the cloud weather information based on the vehicle data shown in fig. 1 includes: general type vehicle-mounted perception early warning terminal equipment 1 and roadside server 5.
The general vehicle-mounted sensing early warning terminal device 1 is a rear-mounted vehicle-mounted device and CAN be adapted to vehicles of various brands, the data source collected by the device is a vehicle CAN bus, and the collected data CAN be processed, such as the times of vehicle departure from a lane and the information of vehicle driving direction and the like.
General type vehicle-mounted perception early warning terminal equipment: the system comprises a data acquisition module 2, a vehicle-mounted 5G communication module 3 and a cluster fog early warning module 4.
The roadside server 5 includes: the system comprises a roadside 5G communication module 6, a data storage module 7, a cluster fog weather judgment module 8 and a grading early warning module 12.
The cluster fog weather determination module 8 includes: a cluster fog generation judgment submodule 9, a cluster fog grade judgment submodule 10 and a cluster fog area judgment submodule 11.
Hierarchical early warning module 12 may generate three levels of early warning strategies including: a first early warning level 13, a second early warning level 14, a third early warning level 15.
The data acquisition module reads vehicle running state data from a vehicle CAN bus by taking 1s as a time interval, and the data acquisition module comprises: the speed and the acceleration of the vehicle, the distance between the vehicle and the front vehicle, whether a horn is started or not, whether a wiper is started or not and the longitude and latitude coordinates. And identifying whether the vehicle deviates from the lane in real time according to an algorithm in the equipment, and calculating the lane deviation times of the vehicle and the driving direction of the vehicle in a certain time period.
The data acquisition module transmits the latest acquired data to the roadside 5G communication module through the vehicle-mounted 5G communication module, and the roadside 5G communication module inputs the received vehicle running state data to the data storage module.
And after data updating every time, the data storage module inputs the vehicle running state data within the latest 1min into the cluster fog occurrence judgment submodule to judge whether cluster fog weather exists, and when the judgment result is the cluster fog weather, the cluster fog grade judgment submodule and the cluster fog area judgment submodule are simultaneously called to judge the cluster fog grade and determine the cluster fog area range.
And inputting the cluster fog grade output by the cluster fog grade judgment submodule, the cluster fog area range output by the cluster fog area judgment submodule and the latest longitude and latitude coordinates of the vehicle into the grading early warning module.
The hierarchical early warning module generates three levels of vehicle early warning strategies according to the position of the vehicle from the cluster fog area and the cluster fog level, and the three levels of vehicle early warning strategies comprise: the early warning system comprises a first early warning level, a second early warning level and a third early warning level.
And transmitting the early warning strategy output by the grading early warning module to the cluster fog early warning module through the roadside 5G communication module.
The group fog early warning module carries out prompt of early warning strategy information on the driver through voice and a vehicle-mounted display screen.
One set of roadside servers are arranged at intervals, and when any roadside server detects the cloud weather, the cloud weather is transmitted to other roadside servers in a certain range around through a roadside 5G communication module, so that information sharing is realized.
The data storage module allocates data storage space of a vehicle, such as the vehicle A shown in figure 2, for the vehicle newly entering the road section covered by the server; if a certain vehicle continues to be updated for 10s as shown in fig. 2B, the vehicle is considered to be away from the road segment covered by the server, and the server releases the vehicle data storage space.
The input values of the cluster fog occurrence judgment submodule comprise: the speed, the acceleration and the distance between the vehicle and the vehicle ahead of the vehicle are determined such that the cluster fog generation probability Pf is 30% if one of the following conditions is satisfied in the data of the vehicle within the latest 1min, 50% if two of the following conditions are satisfied, and 70% if the following three conditions are satisfied, as follows:
wherein Tc is the continuous deceleration duration unit of the vehicle in seconds, Td is the continuous increasing duration unit of the distance between the vehicle and the front vehicle in seconds, As is the acceleration unit in meters per second2。
The cloud occurrence probability values determined for all vehicle data input within the latest 1min are plotted as Y-axis and the vehicle number is plotted as X-axis to form a cloud occurrence probability histogram (see fig. 4). If the cluster fog occurrence probability Pf of 2 consecutive vehicles is equal to or greater than 30% from the i-th vehicle and the cluster fog occurrence probability Pf of 3 consecutive vehicles is less than 30% from the i + N, (N is 3, 4, 5, …, N) vehicle, the histogram area Sz between the vehicle i and the vehicle i + N (shown as 17 in fig. 2) and the rectangular area Sr with a wide distance between the vehicle i and the vehicle i + N in the histogram and a high distance Pf 70% in the histogram (shown as 18 in fig. 2) are calculated, and finally the cluster fog occurrence probability Pa is 70% when the cluster fog occurrence probability Pa is calculated.
The group fog occurrence list is created for storing the running state data of the vehicles (such as the vehicle C, D, E, I shown in fig. 2) between the starting vehicle i and the ending vehicle i + n in the group fog area within the latest 1min, and comprises a vehicle speed field, a lane departure time field, whether a horn is triggered, whether a wiper is turned on and a vehicle longitude and latitude coordinate field.
And the input data of the cluster fog grade judgment submodule is a cluster fog generation list.
The cluster fog grade judgment submodule divides the severity of cluster fog into three grades, namely a first grade, a second grade and a third grade.
The first-order cluster fog needs to satisfy the condition that 70% of the vehicles (such as the vehicle C, D, E, I shown in fig. 2) in the vehicle speed field in the input cluster fog occurrence list satisfy, and the vehicle speed V after the vehicle decelerates satisfies 40< V ≦ 60 (km/h).
The second-level cloud needs to satisfy the condition that 70% of the vehicles (such as the vehicle C, D, E, I shown in fig. 2) in the vehicle speed field in the input cloud occurrence list satisfy, the vehicle speed V after the vehicle decelerates satisfies 20< V ≦ 40(km/h), and the wiper opening ratio and the vehicle whistle number are larger than the historical data under the condition that no cloud exists in the same period.
The third-level cluster fog needs to satisfy the condition that 70% of vehicles (such as the vehicle C, D, E, I shown in fig. 2) in the vehicle speed field in the input cluster fog occurrence list satisfy, the vehicle speed V after the vehicle decelerates satisfies V ≤ 20(km/h), and the wiper opening ratio, the vehicle whistle times and the lane departure times are greater than the historical data under the condition that no cluster fog exists in the same time period.
The input data of the cluster fog area judgment submodule is a cluster fog occurrence list, and the cluster fog occurrence area is determined according to longitude and latitude coordinate values of the two vehicles (such as the vehicle C, I shown in fig. 2) by respectively obtaining longitude and latitude coordinate fields of the vehicle at the time when the vehicle i and the vehicle i + n start to decelerate.
The input values of the grading early warning module comprise: the module comprises the latest longitude and latitude coordinates of the vehicle, the foggy area, the foggy level and the early warning distance X (shown as 16 in figure 2), and the module comprises three early warning levels in total.
The early warning method comprises a first early warning level and a third early warning level, wherein the early warning strategy of the first early warning level comprises three vehicle emergency plans, the first vehicle emergency plan is suitable for the condition that the cluster fog level is one level and the distance between the vehicle and a cluster fog generation area is not limited (such as a vehicle A, C, D, E, F, G, H, I shown in fig. 2), the second vehicle emergency plan is suitable for the condition that the cluster fog level is two levels and the vehicle is in a cluster fog area section (such as a vehicle C, D, E, I shown in fig. 2) or the distance between the vehicle and the start position of the cluster fog area is less than or equal to the early warning distance X (such as a vehicle G, H shown in fig. 2), and the third vehicle emergency plan is suitable for the condition that the cluster fog level is three levels and the vehicle is in a cluster fog area section (such as a vehicle C, D, E, I shown in fig. 2) or the distance between the vehicle.
And a second early warning level, wherein the vehicle early warning strategy of the level is suitable for the condition that the level of the foggy group is two or three, the distance between the vehicle and the starting position of the foggy group area is greater than the early warning distance X, but the vehicle cannot be re-planned in a path, namely, no ramp which can drive away from the road or no path which can avoid the foggy group area exists between the position of the vehicle and the starting position of the foggy group area (such as the vehicle A, F shown in fig. 2).
And a third early warning level, wherein the vehicle early warning strategy of the level is suitable for the condition that the level of the foggy mass is two or three, the distance between the vehicle and the road section of the foggy mass area is greater than the early warning distance X, and the vehicle can be subjected to path re-planning, namely, a ramp which can drive away from the road exists between the position of the vehicle and the initial position of the foggy mass area or a path which can avoid the foggy mass area exists (for example, a vehicle J, K shown in fig. 3).
The determination of the cluster fog early warning distance X is related to the average speed of the vehicle and the cluster fog grade, and the determination formula of the early warning distance X is as follows:
X＝300+200*(θv+θf)
θvis the influence coefficient of the average speed of the vehicle, theta is determined if the average speed Vs of the vehicle satisfies 0 ≦ Vs < 40v0.2, theta if the vehicle average speed Vs satisfies 40 ≦ Vs < 60v0.4, theta if the vehicle average speed Vs satisfies 60 ≦ Vs < 100v0.6, if the vehicle average speed Vs satisfies Vs ≧ 100 θv＝1。
θfIs the influence coefficient of the cluster fog grade, if the cluster fog grade is 1 grade, then thetaf0.4, theta if the cluster mist grade is 2 gradef0.6, theta if the mist grade is 3 gradesf＝1。
The specific content of the vehicle emergency plan in the first early warning level comprises the following steps: guiding the vehicle to reduce the speed to below 60 kilometers, turning on a fog light, turning on a dipped headlight, turning on a clearance light and front and rear position lights; the second vehicle emergency plan concretely comprises the steps of guiding a vehicle to reduce the speed to be below 40 kilometers, turning on a fog light, turning on a dipped headlight, turning on an outline marker light, front and rear position lights and a danger alarm flash light, keeping a lane and whistling; the third concrete content of the vehicle emergency plan comprises guiding the vehicle to reduce the speed to below 20 kilometers, turning on a fog light, turning on a dipped headlight, turning on an outline marker light, front and rear position lights and a danger alarm flash light, whistling and suggesting to find a temporary safety zone to stop.
The specific contents of the second early warning level comprise: issuing the optimal following distance and the optimal driving behavior to the vehicles in the road section, wherein the contents are as follows: when the distance Df between the vehicle and the starting position of the cluster fog area and the early warning distance X meet the relationship that Df is larger than X +100(m), prompting that cluster fog exists at the Df meter in front of the vehicle and guiding a driver to reduce the speed of the vehicle to be below 60 kilometers, wherein the optimal vehicle following distance Dc is larger than or equal to 60 (m); when the distance Df between the vehicle and the road section of the cluster fog area and the early warning distance X meet the relation Df is X +100(m), if the cluster fog level is at one level, guiding the driver to execute a first vehicle emergency plan in a first early warning level, wherein the optimal following distance Dc is more than or equal to 60 (m); if the group fog level is the second level, the driver is guided to execute a second vehicle emergency plan in the first early warning level, and the optimal vehicle following distance Dc is more than or equal to 100 (m); and if the cluster fog level is three, guiding the driver to execute a third vehicle emergency plan in the first early warning level, wherein the optimal vehicle following distance Dc is more than or equal to 150 (m).
The contents of the third early warning level are as follows: and acquiring a ramp port through which the vehicle can enter and exit, and implementing re-planning of a vehicle driving path to avoid a mist region.
Claims (9)
1. A method for operating a vehicle information-based cloud weather information aware distribution system, comprising the steps of:
a. the system comprises a universal vehicle-mounted perception early warning terminal device, a roadside server and a cloud area judgment module, wherein the universal vehicle-mounted perception early warning terminal device acquires vehicle running state data in real time and sends the latest acquired vehicle running state data to the vehicle-mounted 5G communication terminal module, the universal vehicle-mounted perception early warning terminal device comprises a vehicle running data acquisition module, a cluster fog early warning module and a vehicle-mounted 5G communication module, the roadside server comprises a data storage module, a cluster fog weather judgment module, a grading early warning module and a roadside 5G communication module, and the cluster fog weather judgment module comprises a cluster fog generation judgment submodule, a cluster fog grade judgment submodule and a cluster fog area judgment submodule;
b. after data updating every time, the data storage module inputs vehicle running state data within the latest 1min into the cluster fog occurrence judgment submodule to judge whether cluster fog weather exists, and when the judgment result is the cluster fog weather, the cluster fog level judgment submodule and the cluster fog area judgment submodule are simultaneously called to judge the cluster fog level and determine the cluster fog area range;
c. inputting the latest longitude and latitude coordinates, the cluster fog area and the cluster fog grade of the vehicle into a grading early warning module, and generating three grades of vehicle early warning strategies according to the position of the vehicle away from the cluster fog area and the cluster fog grade;
d. the vehicle early warning strategy is transmitted to the cluster fog early warning module through the roadside 5G communication module, and the cluster fog early warning module prompts early warning strategy information through voice and a vehicle-mounted display screen;
e. the roadside server sends the cloud area range to other surrounding roadside servers through a roadside 5G communication module;
f. and c, the roadside server receiving the cluster fog area range executes the steps c, d and e.
2. The method according to claim 1, wherein the vehicle operating state data comprises in particular: the speed, the acceleration, the distance between the vehicle and the front vehicle, the driving direction, the lane departure times, whether a horn is started, whether a wiper is started and the longitude and latitude coordinates of the vehicle.
3. The method of claim 1, wherein the data storage module allocates data storage space of a vehicle for a vehicle newly entering a road segment covered by the server, and if the vehicle is not updated for 10 seconds, the vehicle is considered to be away from the road segment covered by the server, and the server releases the data storage space of the vehicle.
4. The method of claim 1, wherein the input values of the cloud occurrence determination submodule comprise: the speed, the acceleration and the distance between the vehicle and the vehicle ahead of the vehicle are determined such that the cluster fog generation probability Pf is 30% if one of the following conditions is satisfied in the data of the vehicle within the latest 1min, 50% if two of the following conditions are satisfied, and 70% if the following three conditions are satisfied, as follows:
wherein Tc is the unit of the continuous deceleration duration of the vehicle in seconds, Td is the unit of the continuous increasing duration of the distance between the vehicle and the front vehicle in seconds, and As is the unit of acceleration in meters per second 2;
the cloud occurrence probability values determined for all vehicle data input within the latest 1min are plotted as the Y-axis and the vehicle numbers as the X-axis to form a cloud occurrence probability histogram. If the cluster fog occurrence probability Pf of 2 consecutive vehicles is greater than or equal to 30% from the ith vehicle and the cluster fog occurrence probability Pf of 3 consecutive vehicles is less than 30% from the ith + N, (N is 3, 4, 5, …, N) vehicle, then the histogram area Sz between the vehicle i and the vehicle i + N and the rectangular area Sr with the distance between the vehicle i and the vehicle i + N in the histogram being wide and the distance Pf being 70% being high are calculated, and finally the cluster fog occurrence probability Pa is calculated to be greater than or equal to 70% to determine that a cluster fog image is occurring in the road section.
And creating a group fog occurrence list for storing the running state data of the vehicles in the latest 1min between the starting vehicle i and the ending vehicle i + n in the group fog area, wherein the running state data comprises a vehicle speed field, a lane departure time field, a field of whether to trigger a horn, a field of whether to start a wiper and a vehicle longitude and latitude coordinate field.
5. The method according to claim 1, wherein the input data of the cluster fog level judgment submodule is a cluster fog occurrence list;
the cluster fog grade judgment submodule divides the severity of cluster fog into three grades, namely a first grade, a second grade and a third grade;
the first-level cluster fog needs to meet the following conditions, 70% of vehicles in the vehicle speed fields in the input cluster fog generation list meet the conditions, and the vehicle speed V after the vehicle is decelerated meets the condition that V is more than 40 and less than or equal to 60 (km/h);
the second-level cluster fog needs to meet the following conditions, 70% of vehicles in the vehicle speed fields in the input cluster fog generation list meet the requirements, the vehicle speed V after the vehicle is decelerated meets 20 & ltV & lt/40 (km/h), and the opening proportion of a windshield wiper and the number of times of vehicle whistle are larger than historical data under the condition that no cluster fog exists in the same time period;
the third-level cluster fog needs to meet the following conditions, 70% of vehicles in the vehicle speed fields in the input cluster fog generation list meet the conditions, the vehicle speed V after the vehicle is decelerated meets V less than or equal to 20(km/h), and the opening proportion of a windshield wiper, the vehicle whistle times and the lane departure times are larger than historical data under the condition that no cluster fog exists in the same time period.
6. The method according to claim 1, wherein the input data of the cloud area judgment submodule is a cloud occurrence list, and the cloud occurrence area is determined according to longitude and latitude coordinate values of a vehicle i and a vehicle i + n at the moment when the two vehicles start to decelerate by respectively obtaining the longitude and latitude coordinate fields of the vehicles.
7. The method of claim 1, wherein the input values of the hierarchical early warning module comprise: the system comprises a vehicle, a module, a monitoring module and a warning module, wherein the vehicle comprises the latest longitude and latitude coordinates, a cluster fog area, a cluster fog grade and a warning distance X, and the module comprises three warning levels in total;
the early warning system comprises a first early warning level and a second early warning level, wherein the early warning strategy of the level comprises three vehicle emergency plans, the first vehicle emergency plan is suitable for the condition that the cluster fog level is the first level and the distance between the vehicle and a cluster fog generation area is not limited, the second vehicle emergency plan is suitable for the condition that the cluster fog level is the second level and the distance between the vehicle and a cluster fog area road section or the cluster fog area initial position is less than or equal to the early warning distance X, and the third vehicle emergency plan is suitable for the condition that the cluster fog level is the third level and the distance between the vehicle and the cluster fog area road section or the cluster fog area initial position is less than or equal to the early warning;
the second early warning level is suitable for the condition that the cluster fog level is two or three, the distance between the vehicle and the initial position of the cluster fog area is greater than the early warning distance X, but the vehicle cannot be re-planned, namely, no ramp capable of driving away from the road exists between the position of the vehicle and the initial position of the cluster fog area or no path capable of avoiding the cluster fog area exists;
and a third early warning level, wherein the vehicle early warning strategy of the level is suitable for the condition that the level of the cluster fog is two or three, the distance between the vehicle and the road section of the cluster fog area is greater than the early warning distance X, and the vehicle can be subjected to path re-planning, namely, a ramp capable of driving away from the road exists between the position of the vehicle and the initial position of the cluster fog area or a path capable of avoiding the cluster fog area exists.
8. The method of claim 1, wherein the determination of the cloud warning distance X is related to an average speed of the vehicle and a cloud level, and the determination of the warning distance X is as follows:
X＝300+200*(θv+θf)
θvis the influence coefficient of the average speed of the vehicle, theta is determined if the average speed Vs of the vehicle satisfies 0 ≦ Vs < 40v0.2, theta if the vehicle average speed Vs satisfies 40 ≦ Vs < 60v0.4, theta if the vehicle average speed Vs satisfies 60 ≦ Vs < 100v0.6, if the vehicle average speed Vs satisfies Vs ≧ 100 θv＝1；
θfIs the influence coefficient of the cluster fog grade, if the cluster fog grade is 1 grade, then thetaf0.4, theta if the cluster mist grade is 2 gradef0.6, theta if the mist grade is 3 gradesf＝1。
9. The method of claim 8, wherein a vehicle emergency plan in the first warning level is as follows: guiding the vehicle to reduce the speed to below 60 kilometers, turning on a fog light, turning on a dipped headlight, turning on a clearance light and front and rear position lights; the second vehicle emergency plan concretely comprises the steps of guiding a vehicle to reduce the speed to be below 40 kilometers, turning on a fog light, turning on a dipped headlight, turning on an outline marker light, front and rear position lights and a danger alarm flash light, keeping a lane and whistling; the third concrete content of the vehicle emergency plan comprises guiding the vehicle to reduce the speed to below 20 kilometers, turning on a fog light, turning on a dipped headlight, turning on an outline marker light, front and rear position lights and a danger alarm flash light, whistling and suggesting to find a temporary safety zone to stop;
the specific content of the second early warning level comprises the following steps: issuing the optimal following distance and the optimal driving behavior to the vehicles in the road section, wherein the contents are as follows: when the distance Df between the vehicle and the starting position of the cluster fog area and the early warning distance X meet the relationship that Df is larger than X +100(m), prompting that cluster fog exists at the Df meter in front of the vehicle and guiding a driver to reduce the speed of the vehicle to be below 60 kilometers, wherein the optimal vehicle following distance Dc is larger than or equal to 60 (m); when the distance Df between the vehicle and the road section of the cluster fog area and the early warning distance X meet the relation Df is X +100(m), if the cluster fog level is at one level, guiding the driver to execute a first vehicle emergency plan in a first early warning level, wherein the optimal following distance Dc is more than or equal to 60 (m); if the group fog level is the second level, the driver is guided to execute a second vehicle emergency plan in the first early warning level, and the optimal vehicle following distance Dc is more than or equal to 100 (m); and if the cluster fog level is three, guiding the driver to execute a third vehicle emergency plan in the first early warning level, wherein the optimal vehicle following distance Dc is more than or equal to 150 (m).
The content of the third early warning level is as follows: and acquiring a ramp port through which the vehicle can enter and exit, and implementing re-planning of a vehicle driving path to avoid a mist region.
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