CN112382132A - Urban tramcar level crossing automobile early warning system and method based on vehicle-road cooperation - Google Patents
Urban tramcar level crossing automobile early warning system and method based on vehicle-road cooperation Download PDFInfo
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- CN112382132A CN112382132A CN202011255474.2A CN202011255474A CN112382132A CN 112382132 A CN112382132 A CN 112382132A CN 202011255474 A CN202011255474 A CN 202011255474A CN 112382132 A CN112382132 A CN 112382132A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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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
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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
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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Abstract
The invention provides an urban tramcar level crossing automobile early warning system and method based on vehicle-road cooperation. The method comprises the following steps: when a vehicle driver selects a destination in a navigation system and a navigation path is determined, a path planning module detects whether the path passes through a level crossing between an urban rail and a motor vehicle road. If the vehicle is in the state of the intersection, the vehicle information module and the information communication module respectively acquire the state information of the automobile and the nearby tramcar and transmit the state information to the analysis module when the vehicle runs to a certain distance away from the intersection. And the analysis module judges and analyzes the scene according to the received information and gives a corresponding instruction. And the information prompting module sends out corresponding passing suggestions or warning reminders after receiving the instructions. The invention realizes that the vehicles can give reasonable prompts according to the condition information of the vehicles and the tramcars before passing through the level crossing of the tramcar track and the motorway, so that the vehicles can safely and orderly pass through the level crossing of the urban track and the motorway.
Description
Technical Field
The invention relates to the technical field of automobile early warning automatic systems, in particular to an urban tramcar level crossing automobile early warning system and method based on vehicle-road cooperation.
Background
The modern tramcar is a rail traffic form between a road and a subway, and integrates new technologies of modern subways, light rails, electrically driven automobiles and the like. Compared with the traditional public transport, the bus has the advantages of large passenger capacity, high running speed, comfortable riding, environmental protection and the like; compared with urban subways, the modern tramcar is built on the ground, so that the cost and expenditure, the construction period and the operation and maintenance cost are greatly reduced, and the tramcar is gradually popularized in China in recent years.
Urban traffic is rapidly evolving, with new challenges and difficulties. In recent years, with the increase of consumption consciousness and the vigorous development of automobile sales, urban traffic is under great pressure, and accidents between automobiles and modern trams occur frequently. Although each intersection is provided with a prompting lamp for reminding and commanding by workers, the situation is not improved obviously due to limited visual field of drivers, accidents still occur occasionally, and the accidents cannot be eradicated fundamentally.
Disclosure of Invention
According to the technical problems, the urban tramcar level crossing automobile early warning system and method based on vehicle-road cooperation are provided. The invention realizes that the vehicles can give reasonable prompts according to the condition information of the vehicles and the tramcars before passing through the level crossing of the tramcar track and the motorway, so that the vehicles can safely and orderly pass through the level crossing of the urban track and the motorway.
The technical means adopted by the invention are as follows:
the utility model provides an urban tram level crossing car early warning system based on car road is in coordination, includes: the system comprises a path planning module, a vehicle information module, an information communication module, an analysis module and an information prompt module which are electrically connected;
the route planning module is used for acquiring and identifying the traffic track information of the vehicle, and confirming whether the vehicle passes through a level crossing of an urban electric vehicle track and a motor vehicle lane and whether a set threshold value of the level crossing is reached;
the vehicle information module is used for acquiring the state information of the vehicle and sending the acquired information to the analysis module;
the information communication module is used for acquiring the state information of the nearby tramcar and sending the acquired information to the analysis module;
the analysis module is used for receiving the information acquired by the vehicle information module and the information communication module, judging the current situation of the vehicle according to the received information and a preset control strategy, and further sending instruction information of the current scene;
the information prompt module is used for receiving the instruction information sent by the analysis module and sending reasonable prompt according to the instruction information.
Further, the state information of the vehicle includes: position information, velocity information, and time information; the state information of the tramcar comprises: location information, speed information, and time information.
Further, the preset control strategy comprises:
when the automobile reaches the early warning monitoring position, if the automobile reaches the level crossing later than the tramcar, the automobile can pass safely;
if the automobile arrives at the level crossing earlier than the tramcar and the lead time is within the range of the dangerous time interval, a safety warning is sent out;
if the automobile arrives at the level crossing before the tramcar and the lead time is not in the dangerous time interval range, the automobile can safely pass through.
Further, the determining the current situation of the vehicle includes:
whether the vehicle passes through a level crossing between an urban electric vehicle track and a motor vehicle lane or not;
whether the vehicle passes through the level crossing of the urban tramway and the motor vehicle lane before the tramcar;
whether the time difference between the vehicle and the tramcar reaching the level crossing is within the range of a dangerous zone or not;
whether the vehicle needs to be reminded with the help of car HUD new line display.
The invention also provides an urban tramcar level crossing automobile early warning method based on vehicle-road cooperation, which comprises the following steps:
s1, a driver determines a destination and a preselected route, the path planning module acquires and identifies the traffic track information of the vehicle, and when the vehicle is confirmed to pass through a level crossing of a motor vehicle lane and an urban electric vehicle track and reach a set level crossing threshold value, the path planning module sends a starting instruction to the vehicle information module and the information communication module, and the step S2 is executed;
s2, the vehicle information module acquires the state information of the vehicle, the information communication module simultaneously acquires the state information of the nearby tramcar to pass by sending an application to the roadbed information platform, and transmits the acquired state information of the vehicle and the acquired state information of the tramcar to the analysis module to execute the step S3;
s3, the analysis module receives the state information of the vehicle and the state information of the tramcar, respectively calculates the time when the vehicle and the tramcar reach a level crossing, generates instruction information of the current scene by combining a preset vehicle early warning control strategy, transmits the instruction information to the information prompt module, and executes the step S4;
and S4, the information prompt module receives the instruction information sent by the analysis module, generates suggestions or warnings conforming to the current situation according to the instruction information, and reminds the driver by means of an automobile HUD head-up display device.
Further, the preset vehicle warning control strategy in step S3 includes:
s31, defining the adjacent tramcars as a first direction tramcar and a second direction tramcar respectively, when the vehicle reaches the early warning distance threshold D0, the analysis module calculates the estimated arrival time of the vehicle and the adjacent tramcars at the level crossing according to the received vehicle state information and the adjacent tramcar state information, and executes the step S32;
s32, the analysis module judges whether the tramcar arrives at the intersection later than the first direction by comparing the time when the tramcar is predicted to arrive at the level crossing with the time when the tramcar is predicted to arrive at the level crossing nearby, and if yes, the step S33 is executed; otherwise, go to step S35;
s33, the analysis module judges whether the time that the vehicle leads the tramcar in the first direction is within a safety interval range, if so, the step S35 is executed; otherwise, go to step S34;
s34, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display red subtitles of 'slowing down and slowing down, and paying attention to the train';
s35, the analysis module judges whether the tramcar arrives at the level crossing later than the second direction or not by comparing the time when the tramcar is predicted to arrive at the level crossing with the time when the tramcar is predicted to arrive at the level crossing nearby, and if yes, the step S36 is executed; otherwise, go to step S37;
s36, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display a green caption of 'normally driving, do not need to accelerate';
s37, the analysis module 40 judges whether the time that the vehicle leads the tramcar in the second direction is within the safety interval range, if so, the step S39 is executed; otherwise, go to step S38;
s38, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display red subtitles of 'slowing down and slowing down, and paying attention to the train';
and S39, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display a green caption of 'normally driving, and do not need to accelerate'.
A storage medium comprises a stored program, wherein when the program runs, the urban streetcar level crossing automobile early warning method based on vehicle-road cooperation is executed.
An electronic device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the urban tramcar level crossing automobile early warning method based on vehicle-road cooperation through the computer program.
Compared with the prior art, the invention has the following advantages:
1. the urban tramcar level crossing automobile early warning system based on the vehicle-road cooperation provided by the invention is communicated with a roadbed information communication platform by virtue of a vehicle-road cooperation device to acquire the required tramcar information, acquires the condition information of the vehicle, judges and processes the situation according to the acquired information in real time, improves the intelligent degree of automobile passing, and ensures the safety of a driver and the stability of urban traffic operation.
2. According to the urban tramcar level crossing automobile early warning system based on vehicle-road cooperation, the driver is clearly and clearly informed of the scene information and the corresponding suggestions through the automobile HUD head-up display device, so that the view blind area of the driver on an urban rail can be well made up, and the driver can conveniently make reasonable avoidance and other operations.
3. Compared with the intersection indicator light reminding and the staff commanding, the urban tramcar level crossing automobile early warning system based on the vehicle-road cooperation is more suitable for the development trend of future intelligent electronic circuits, can effectively reduce the maintenance cost of the urban tramcar level crossing, radically avoids the occurrence of accidents, and guarantees the life safety and property safety of drivers.
Based on the reason, the invention can be widely popularized in the fields of automobile early warning automation systems and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a block diagram of the system of the present invention.
FIG. 2 is a flow chart of the method of the present invention.
Fig. 3 is a flow chart of a preset vehicle early warning control strategy in the method of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1, the invention provides an urban tram level crossing automobile early warning system based on vehicle-road cooperation, comprising: the system comprises a path planning module, a vehicle information module, an information communication module, an analysis module and an information prompt module which are electrically connected;
the route planning module is used for acquiring and identifying the traffic track information of the vehicle, and confirming whether the vehicle passes through a level crossing of an urban electric vehicle track and a motor vehicle lane and whether a set threshold value of the level crossing is reached;
the vehicle information module is used for acquiring the state information of the vehicle and sending the acquired information to the analysis module;
the information communication module is used for acquiring the state information of the nearby tramcar and sending the acquired information to the analysis module;
the analysis module is used for receiving the information acquired by the vehicle information module and the information communication module, judging the current situation of the vehicle according to the received information and a preset control strategy, and further sending instruction information of the current scene;
the information prompt module is used for receiving the instruction information sent by the analysis module and sending reasonable prompt according to the instruction information.
As a preferred embodiment of the present invention, the state information of the vehicle includes: position information, velocity information, and time information; the state information of the tramcar comprises: location information, speed information, and time information.
As a preferred embodiment of the present invention, the preset control strategy includes:
when the automobile reaches the early warning monitoring position, if the automobile reaches the level crossing later than the tramcar, the automobile can pass safely;
if the automobile arrives at the level crossing earlier than the tramcar and the lead time is within the range of the dangerous time interval, a safety warning is sent out;
if the automobile arrives at the level crossing before the tramcar and the lead time is not in the dangerous time interval range, the automobile can safely pass through.
As a preferred embodiment of the present invention, the determining the current situation of the vehicle includes:
whether the vehicle passes through a level crossing between an urban electric vehicle track and a motor vehicle lane or not;
whether the vehicle passes through the level crossing of the urban tramway and the motor vehicle lane before the tramcar;
whether the time difference between the vehicle and the tramcar reaching the level crossing is within the range of a dangerous zone or not;
whether the vehicle needs to be reminded with the help of car HUD new line display.
The invention also provides an urban tramcar level crossing automobile early warning method based on vehicle-road cooperation, which comprises the following steps: when the automobile equipped with the early warning system is determined to pass through a level crossing of the urban tramcar and reach a set threshold value away from the level crossing after navigation path planning is finished, the vehicle information module and the information communication module transmit the acquired position and speed information of the vehicle and the nearby tramcars to the analysis module; the analysis module calculates the time of the automobile and the tramcar reaching the urban tramcar level crossing, and judges the situation to send out a reasonable instruction; if the tramcar of the automobile behind a certain direction reaches the intersection, the tramcar does not conflict with the tramcar in the direction; if the tramcar arrives at the intersection earlier than a certain direction and the lead time is within the dangerous interval range, the car collides with the tramcar in the direction; if the tramcar arrives at the intersection earlier than a certain direction and the lead time is out of the dangerous interval range, the tramcar does not conflict with the tramcar in the direction; and if and only if the automobile does not conflict with the tramcar in each direction, the analysis module sends a passable instruction to the information prompt module, and otherwise, a deceleration and crawling instruction is sent.
As a preferred embodiment of the present invention, the above-mentioned urban streetcar level crossing automobile early warning method based on vehicle-road cooperation specifically includes the following steps, as shown in fig. 2:
s1, a driver determines a destination and a preselected route, the path planning module acquires and identifies the traffic track information of the vehicle, and when the vehicle is confirmed to pass through a level crossing of a motor vehicle lane and an urban electric vehicle track and reach a set level crossing threshold value, the path planning module sends a starting instruction to the vehicle information module and the information communication module, and the step S2 is executed;
s2, the vehicle information module acquires the state information of the vehicle, the information communication module simultaneously acquires the state information of the nearby tramcar to pass by sending an application to the roadbed information platform, and transmits the acquired state information of the vehicle and the acquired state information of the tramcar to the analysis module to execute the step S3;
s3, the analysis module receives the state information of the vehicle and the state information of the tramcar, respectively calculates the time when the vehicle and the tramcar reach a level crossing, generates instruction information of the current scene by combining a preset vehicle early warning control strategy, transmits the instruction information to the information prompt module, and executes the step S4;
and S4, the information prompt module receives the instruction information sent by the analysis module, generates suggestions or warnings conforming to the current situation according to the instruction information, and reminds the driver by means of an automobile HUD head-up display device.
As a preferred embodiment of the present invention, as shown in fig. 3, the preset vehicle warning control strategy in step S3 includes:
s31, the tramcar generally has two directions of ascending and descending, the nearby tramcar is respectively defined as the tramcar in the first direction and the tramcar in the second direction, when the vehicle reaches the early warning distance threshold D0, the analysis module calculates the time of the vehicle and the nearby tramcar which are expected to reach the level crossing according to the received vehicle state information and the nearby tramcar state information, and the step S32 is executed;
s32, the analysis module judges whether the tramcar arrives at the intersection later than the first direction by comparing the time when the tramcar is predicted to arrive at the level crossing with the time when the tramcar is predicted to arrive at the level crossing nearby, and if yes, the step S33 is executed; otherwise, go to step S35;
s33, the analysis module judges whether the time that the tramcar leads the first direction is in the safety range, namely whether the difference value between the time that the tramcar reaches the level crossing and the time that the car reaches is smaller than the sum value of the time that the car passes the level crossing, the reaction time of the driver for obtaining information and the like; if yes, go to step S35; otherwise, go to step S34;
s34, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display red subtitles of 'slowing down and slowing down, and paying attention to the train';
s35, the analysis module judges whether the tramcar arrives at the level crossing later than the second direction or not by comparing the time when the tramcar is predicted to arrive at the level crossing with the time when the tramcar is predicted to arrive at the level crossing nearby, and if yes, the step S36 is executed; otherwise, go to step S37;
s36, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display a green caption of 'normally driving, do not need to accelerate';
s37, the analysis module 40 judges whether the time that the tramcar leads the second direction is in the safety range, namely whether the difference value between the time that the tramcar reaches the level crossing and the time that the car reaches is smaller than the sum value of the time that the car passes the level crossing, the reaction time of the driver for obtaining information and the like. If yes, go to step S39; otherwise, go to step S38;
s38, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display red subtitles of 'slowing down and slowing down, and paying attention to the train';
and S39, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display a green caption of 'normally driving, and do not need to accelerate'.
Therefore, reasonable suggestions according with the current situation are provided for automobile drivers through the acquired vehicle information and the information of nearby tramcars, so that the smoothness and the safety of urban traffic are guaranteed, and the intelligence degree, the accuracy and the effectiveness of the automobile early warning system are improved.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a city tram level crossing car early warning system based on car road is in coordination which characterized in that includes: the system comprises a path planning module, a vehicle information module, an information communication module, an analysis module and an information prompt module which are electrically connected;
the route planning module is used for acquiring and identifying the traffic track information of the vehicle, and confirming whether the vehicle passes through a level crossing of an urban electric vehicle track and a motor vehicle lane and whether a set threshold value of the level crossing is reached;
the vehicle information module is used for acquiring the state information of the vehicle and sending the acquired information to the analysis module;
the information communication module is used for acquiring the state information of the nearby tramcar and sending the acquired information to the analysis module;
the analysis module is used for receiving the information acquired by the vehicle information module and the information communication module, judging the current situation of the vehicle according to the received information and a preset control strategy, and further sending instruction information of the current scene;
the information prompt module is used for receiving the instruction information sent by the analysis module and sending reasonable prompt according to the instruction information.
2. The urban streetcar level crossing automobile early warning system based on vehicle-road coordination as claimed in claim 1, wherein the state information of the vehicle comprises: position information, velocity information, and time information; the state information of the tramcar comprises: location information, speed information, and time information.
3. The urban streetcar level crossing automobile early warning system based on vehicle-road coordination as claimed in claim 1, wherein said preset control strategy comprises:
when the automobile reaches the early warning monitoring position, if the automobile reaches the level crossing later than the tramcar, the automobile can pass safely;
if the automobile arrives at the level crossing earlier than the tramcar and the lead time is within the range of the dangerous time interval, a safety warning is sent out;
if the automobile arrives at the level crossing before the tramcar and the lead time is not in the dangerous time interval range, the automobile can safely pass through.
4. The urban streetcar level crossing automobile early warning system based on vehicle-road cooperation as claimed in claim 1, wherein said determining the current condition of the vehicle comprises:
whether the vehicle passes through a level crossing between an urban electric vehicle track and a motor vehicle lane or not;
whether the vehicle passes through the level crossing of the urban tramway and the motor vehicle lane before the tramcar;
whether the time difference between the vehicle and the tramcar reaching the level crossing is within the range of a dangerous zone or not;
whether the vehicle needs to be reminded with the help of car HUD new line display.
5. An urban tram level crossing automobile early warning method based on vehicle-road cooperation is characterized in that the early warning method is realized based on the early warning system of any one of claims 1-4, and comprises the following steps:
s1, a driver determines a destination and a preselected route, the path planning module acquires and identifies the traffic track information of the vehicle, and when the vehicle is confirmed to pass through a level crossing of a motor vehicle lane and an urban electric vehicle track and reach a set level crossing threshold value, the path planning module sends a starting instruction to the vehicle information module and the information communication module, and the step S2 is executed;
s2, the vehicle information module acquires the state information of the vehicle, the information communication module simultaneously acquires the state information of the nearby tramcar to pass by sending an application to the roadbed information platform, and transmits the acquired state information of the vehicle and the acquired state information of the tramcar to the analysis module to execute the step S3;
s3, the analysis module receives the state information of the vehicle and the state information of the tramcar, respectively calculates the time when the vehicle and the tramcar reach a level crossing, generates instruction information of the current scene by combining a preset vehicle early warning control strategy, transmits the instruction information to the information prompt module, and executes the step S4;
and S4, the information prompt module receives the instruction information sent by the analysis module, generates suggestions or warnings conforming to the current situation according to the instruction information, and reminds the driver by means of an automobile HUD head-up display device.
6. The urban streetcar level crossing automobile early warning method based on vehicle-road coordination as claimed in claim 5, wherein the preset automobile early warning control strategy in step S3 comprises:
s31, defining the adjacent tramcars as a first direction tramcar and a second direction tramcar respectively, when the vehicle reaches the early warning distance threshold D0, the analysis module calculates the estimated arrival time of the vehicle and the adjacent tramcars at the level crossing according to the received vehicle state information and the adjacent tramcar state information, and executes the step S32;
s32, the analysis module judges whether the tramcar arrives at the intersection later than the first direction by comparing the time when the tramcar is predicted to arrive at the level crossing with the time when the tramcar is predicted to arrive at the level crossing nearby, and if yes, the step S33 is executed; otherwise, go to step S35;
s33, the analysis module judges whether the time that the vehicle leads the tramcar in the first direction is within a safety interval range, if so, the step S35 is executed; otherwise, go to step S34;
s34, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display red subtitles of 'slowing down and slowing down, and paying attention to the train';
s35, the analysis module judges whether the tramcar arrives at the level crossing later than the second direction or not by comparing the time when the tramcar is predicted to arrive at the level crossing with the time when the tramcar is predicted to arrive at the level crossing nearby, and if yes, the step S36 is executed; otherwise, go to step S37;
s36, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display a green caption of 'normally driving, do not need to accelerate';
s37, the analysis module 40 judges whether the time that the vehicle leads the tramcar in the second direction is within the safety interval range, if so, the step S39 is executed; otherwise, go to step S38;
s38, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display red subtitles of 'slowing down and slowing down, and paying attention to the train';
and S39, the analysis module sends an instruction to the information prompt module to prompt the HUD of the automobile to display a green caption of 'normally driving, and do not need to accelerate'.
7. A storage medium comprising a stored program, wherein the program, when executed, performs the method of claim 5.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the method of claim 5 by the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN114863700A (en) * | 2022-04-27 | 2022-08-05 | 中铁四院集团新型轨道交通设计研究有限公司 | Intelligent rail train operation control method, system and medium |
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