CN112530169A - Adaptive tidal lane change system - Google Patents
Adaptive tidal lane change system Download PDFInfo
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- CN112530169A CN112530169A CN202011182412.3A CN202011182412A CN112530169A CN 112530169 A CN112530169 A CN 112530169A CN 202011182412 A CN202011182412 A CN 202011182412A CN 112530169 A CN112530169 A CN 112530169A
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- telescopic
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- telescopic mechanism
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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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F15/00—Safety arrangements for slowing, redirecting or stopping errant vehicles, e.g. guard posts or bollards; Arrangements for reducing damage to roadside structures due to vehicular impact
- E01F15/006—Lane control by movable lane separating barriers, e.g. shiftable barriers, retractable kerbs ; Apparatus or barriers specially adapted therefor, e.g. wheeled barriers
-
- 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
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to an adaptive tidal lane change system, the system comprising: a first telescopic mechanism which is arranged below the left ground surface at the central position of the bidirectional lane and consists of a plurality of telescopic units; the second telescopic mechanism is arranged below the right ground at the central position of the bidirectional lane and consists of a plurality of telescopic units; and the digital processing chip is used for sending a first control instruction to the controller of each telescopic unit of the second telescopic mechanism and sending a second control instruction to the controller of each telescopic unit of the first telescopic mechanism when the time for continuously receiving the first conversion instruction exceeds the limit. The self-adaptive tidal lane change system is flexible in design and wide in application. The real-time quantity of the left and right vehicles of the bidirectional lane can be identified by utilizing the characteristic that the steering wheel can be detected from the front of the vehicle and the steering wheel cannot be detected from the rear of the vehicle, so that the utilization efficiency of the lane is ensured.
Description
Technical Field
The invention relates to the field of tidal lanes, in particular to a self-adaptive tidal lane change system.
Background
The tidal lane is a variable lane, and one or more lanes with vehicle driving directions which are changed along different time periods are set in a city according to different conditions of traffic flow in the morning and in the evening.
Due to the tidal phenomenon of traffic, namely, the traffic flow in the morning direction is large and the reverse flow is small; and the traffic in the coming-out direction is large at night, so that the congestion phenomenon is aggravated. Aiming at the situation, the traffic organization is carried out in a way of changing lanes in traffic diversion reconstruction, namely: increasing the number of lanes in the entering direction and decreasing the number of lanes in the exiting direction when there are many vehicles entering the city at the early peak, and increasing the number of lanes in the exiting direction and decreasing the number of lanes in the entering direction when there are many vehicles exiting the city at the late peak
The tidal lane facility takes a special control vehicle as a moving platform, adopts an innovative design and takes an S-shaped water horse shifting track as a main characteristic, achieves the automatic operation of shifting an isolation water horse by one lane by one-time operation of a water horse shifting system, and is a comprehensive system integrating mechanical, electronic, fluid control and vehicle technology.
Disclosure of Invention
In order to solve the technical problems in the related field, the invention provides an adaptive tidal lane change system which can effectively identify the real-time quantity of vehicles on the left side and the right side of a bidirectional lane by utilizing the characteristic that a steering wheel can be detected from the front of the vehicle and the characteristic that the steering wheel cannot be detected from the rear of the vehicle, and introduces a customized change mechanism to complete the automatic change of the tidal lane of the bidirectional lane, thereby reducing the manual change cost and ensuring the utilization efficiency of the lane.
Therefore, the invention at least needs to have the following three key points:
(1) identifying and counting the number of vehicles on the left lane and the right lane of the bidirectional lane in real time by adopting a targeted detection mechanism so as to determine a tidal lane change mode of the bidirectional lane based on the identification and counting results;
(2) the method comprises the steps that a customized tidal lane change mechanism comprising a first telescopic mechanism and a second telescopic mechanism is adopted to complete the field processing of the widening of the right lane and the widening of the left lane of a bidirectional lane;
(3) the real-time quantity of the left and right vehicles of the bidirectional lane is effectively identified by utilizing the characteristic that the steering wheel can be detected from the front of the vehicle and cannot be detected from the rear of the vehicle, and important reference data is provided for executing subsequent tidal lane change on the left side or the right side.
According to an aspect of the present invention, there is provided an adaptive tidal lane change system, the system comprising:
the first telescopic mechanism is arranged below the left ground at the central position of the bidirectional lane and is composed of a plurality of telescopic units, and the arrangement directions of the plurality of telescopic units are parallel to the central line of the bidirectional lane.
More specifically, the adaptive tidal lane change system according to the present invention further comprises:
and the power analysis mechanism is arranged on the left side of the first telescopic mechanism, is connected with a power interface of the first telescopic mechanism and is used for acquiring the real-time power supply voltage and the real-time power supply current of the first telescopic mechanism.
More specifically, in the adaptive tidal lane change system according to the present invention:
the power analysis mechanism calculates the product of the real-time power supply voltage and the real-time power supply current of the first telescopic mechanism to obtain the current input power of the first telescopic mechanism.
More specifically, the adaptive tidal lane change system according to the present invention further comprises:
and the cooling fan is arranged on the right side of the first telescopic mechanism, is connected with the power analysis mechanism and is used for receiving the current input power of the first telescopic mechanism.
More specifically, the adaptive tidal lane change system according to the present invention further comprises:
the second telescopic mechanism is arranged below the right ground at the central position of the bidirectional lane and consists of a plurality of telescopic units, and the arrangement directions of the plurality of telescopic units are parallel to the central line of the bidirectional lane;
the first telescopic mechanism further comprises a plurality of isolation blocks, and each isolation block is arranged above one telescopic unit and below the ground;
the second telescopic mechanism also comprises a plurality of isolation blocks, and each isolation block is arranged above one telescopic unit and below the ground;
each telescopic unit consists of a vertical telescopic rod, a controller and a micro motor, wherein the micro motor is respectively connected with the controller and the vertical telescopic rod;
the visual monitoring equipment is used for respectively identifying vehicle objects and steering wheel objects in each frame of on-site ultra-clear images shot by the bidirectional lane from right above the intersection position of the bidirectional lane so as to obtain the number of real-time vehicles and the number of real-time steering wheels;
the request triggering mechanism is connected with the visual monitoring equipment and used for sending a first conversion instruction when the proportion of the number of the real-time steering wheels to the number of the real-time vehicles is within a first proportion range;
the digital processing chip is connected with the request triggering mechanism and is used for sending a first control instruction to the controller of each telescopic unit of the second telescopic mechanism and sending a second control instruction to the controller of each telescopic unit of the first telescopic mechanism when the time for continuously receiving the first conversion instruction exceeds the limit;
the intersection position of the two-way lane shot for the two-way lane is the starting position of the left lane of the two-way lane and is the ending position of the right lane of the two-way lane;
when the controller of each telescopic unit receives a first control instruction, the micro motor is driven to drive the vertical telescopic rod to extend from the ground to the ground;
wherein, in the request trigger mechanism, the first proportional range is between zero and one third, and the second proportional range is between one and two thirds.
The self-adaptive tidal lane change system is flexible in design and wide in application. The real-time quantity of the left and right vehicles of the bidirectional lane can be identified by utilizing the characteristic that the steering wheel can be detected from the front of the vehicle and the steering wheel cannot be detected from the rear of the vehicle, so that the utilization efficiency of the lane is ensured.
Detailed Description
An embodiment of the adaptive tidal lane change System of the present invention will be described in detail below.
The research object of the adaptive control is a system with a certain degree of uncertainty, and the term "uncertainty" means that a mathematical model describing the controlled object and the environment thereof is not completely determined, and comprises some unknown factors and random factors.
Any one actual system has varying degrees of uncertainty, sometimes highlighted inside the system and sometimes highlighted outside the system. From the inside of the system, the structure and parameters of the mathematical model describing the controlled object are not necessarily known accurately by the designer in advance. As the influence of the external environment on the system can be equivalently represented by a number of disturbances. These disturbances are often unpredictable. In addition, some uncertainty factors generated during measurement enter the system. In the face of these various kinds of uncertainty, how to design a proper control action to make a certain specified performance index reach and keep the optimal or approximately optimal is a problem to be researched and solved by adaptive control.
The self-adaptive control is the same as the conventional feedback control and the optimal control, and is a control method based on a mathematical model, and the difference is that the prior knowledge about the model and the disturbance, which is the basis of the self-adaptive control, is less, and the information about the model needs to be continuously extracted in the running process of the system, so that the model is gradually improved. Specifically, the model parameters may be continuously identified based on the input and output data of the object, which is called online identification of the system. With the continuous production process, the model becomes more accurate and closer to reality through online identification. Since models are constantly being developed, it is clear that the control actions integrated on the basis of such models will also be constantly being developed. In this sense, the control system has a certain adaptability. For example, when the system is in the design stage, the system may not perform well when being put into operation at the beginning due to the lack of initial information of the object characteristics, but as long as a period of operation elapses, the control system gradually adapts to adjust itself to a satisfactory working state through online identification and control. For example, in some control objects, the characteristics of the control objects may change significantly during operation, but the system can adapt gradually by identifying and changing the controller parameters online.
In the prior art, for the tide change mode of the bidirectional lane, a manual change mode or a customized vehicle change mode is adopted, however, the former needs a large amount of labor cost, the personal safety of constructors cannot be effectively guaranteed, and the latter needs to arrange special vehicles for changing and needs to seal the bidirectional lane for a long time.
In order to overcome the defects, the invention builds a self-adaptive tidal lane change system, and can effectively solve the corresponding technical problem.
An adaptive tidal lane change system is shown according to an embodiment of the present invention comprising:
the first telescopic mechanism is arranged below the left ground at the central position of the bidirectional lane and consists of a plurality of telescopic units, and the arrangement directions of the plurality of telescopic units are parallel to the central line of the bidirectional lane;
the power analysis mechanism is arranged on the left side of the first telescopic mechanism, is connected with a power interface of the first telescopic mechanism and is used for acquiring real-time power supply voltage and real-time power supply current of the first telescopic mechanism;
the power analysis mechanism calculates the product of the real-time power supply voltage and the real-time power supply current of the first telescopic mechanism to obtain the current input power of the first telescopic mechanism;
the heat radiation fan is arranged on the right side of the first telescopic mechanism, is connected with the power analysis mechanism and is used for receiving the current input power of the first telescopic mechanism;
the second telescopic mechanism is arranged below the right ground at the central position of the bidirectional lane and consists of a plurality of telescopic units, and the arrangement directions of the plurality of telescopic units are parallel to the central line of the bidirectional lane;
the first telescopic mechanism further comprises a plurality of isolation blocks, and each isolation block is arranged above one telescopic unit and below the ground;
the second telescopic mechanism also comprises a plurality of isolation blocks, and each isolation block is arranged above one telescopic unit and below the ground;
each telescopic unit consists of a vertical telescopic rod, a controller and a micro motor, wherein the micro motor is respectively connected with the controller and the vertical telescopic rod;
the visual monitoring equipment is used for respectively identifying vehicle objects and steering wheel objects in each frame of on-site ultra-clear images shot by the bidirectional lane from right above the intersection position of the bidirectional lane so as to obtain the number of real-time vehicles and the number of real-time steering wheels;
the request triggering mechanism is connected with the visual monitoring equipment and used for sending a first conversion instruction when the proportion of the number of the real-time steering wheels to the number of the real-time vehicles is within a first proportion range;
the digital processing chip is connected with the request triggering mechanism and is used for sending a first control instruction to the controller of each telescopic unit of the second telescopic mechanism and sending a second control instruction to the controller of each telescopic unit of the first telescopic mechanism when the time for continuously receiving the first conversion instruction exceeds the limit;
the intersection position of the two-way lane shot for the two-way lane is the starting position of the left lane of the two-way lane and is the ending position of the right lane of the two-way lane;
when the controller of each telescopic unit receives a first control instruction, the micro motor is driven to drive the vertical telescopic rod to extend from the ground to the ground;
wherein, in the request trigger mechanism, the first proportional range is between zero and one third, and the second proportional range is between one and two thirds.
Next, a further explanation will be made on the specific structure of the adaptive tidal lane change system of the present invention.
In the adaptive tidal lane change system:
the request triggering mechanism is also used for sending a second conversion instruction when the proportion of the real-time steering wheel number occupying the real-time vehicle number does not fall into a second proportion range.
In the adaptive tidal lane change system:
and when the controller of each telescopic unit receives a second control instruction, the micro motor is driven to drive the vertical telescopic rod to be retracted to an underground position from the ground.
In the adaptive tidal lane change system:
the digital processing chip is also used for sending a first control instruction to the controller of each telescopic unit of the first telescopic mechanism when the time for continuously receiving the second conversion instruction exceeds the limit;
and the digital processing chip is also used for sending a second control instruction to the controller of each telescopic unit of the second telescopic mechanism when the time for continuously receiving the second conversion instruction exceeds the limit.
In the adaptive tidal lane change system:
in the first telescopic mechanism, the distances between every two of the telescopic units are equal;
in the second telescopic mechanism, the distance between each two of the telescopic units is equal.
The adaptive tidal lane change system may further comprise:
the on-site timing equipment is connected with the visual monitoring equipment and is used for providing timing operation for each task of the visual monitoring equipment;
wherein, in the on-site timing device, different timing processing deadlines are set for each task of the visual monitoring device.
In the adaptive tidal lane change system:
in the visual monitoring device, each task needs to be processed and completed within its corresponding timed processing deadline.
In the adaptive tidal lane change system:
the on-site timing device is also connected with the request triggering mechanism and used for providing timing operation for each task of the request triggering mechanism.
In the adaptive tidal lane change system:
the request triggering mechanism is also provided with a serial communication interface for receiving externally input configuration information through the serial communication interface;
in the request triggering mechanism, configuration information which is received through the serial communication interface and is input from outside comprises specific numerical values of various operating parameters of the request triggering mechanism;
the visual monitoring equipment is provided with a micro-processing unit which is used for providing corresponding control instructions for the cooperative operation of other components in the visual monitoring equipment.
In addition, in the adaptive tidal lane change system, the digital processing chip is a DSP processing device. The DSP chip adopts a Harvard structure with separated programs and data, is provided with a special hardware multiplier, widely adopts pipeline operation, provides special DSP instructions, and can be used for quickly realizing various digital signal processing algorithms. According to the requirements of digital signal processing, a DSP chip generally has some main features as follows: (1) one multiply and one add may be done in one instruction cycle. (2) The program and data spaces are separate and instructions and data may be accessed simultaneously. (3) On-chip with fast RAM, it is usually accessible in two blocks simultaneously via separate data buses. (4) Hardware support with low or no overhead loops and jumps. (5) Fast interrupt handling and hardware I/O support. (6) There are multiple hardware address generators operating in a single cycle. (7) Multiple operations may be performed in parallel. (8) And pipeline operation is supported, so that the operations of fetching, decoding, executing and the like can be executed in an overlapping way.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. An adaptive tidal lane change system, the system comprising:
the first telescopic mechanism is arranged below the left ground at the central position of the bidirectional lane and is composed of a plurality of telescopic units, and the arrangement directions of the plurality of telescopic units are parallel to the central line of the bidirectional lane.
2. The adaptive tidal lane change system of claim 1, further comprising:
and the power analysis mechanism is arranged on the left side of the first telescopic mechanism, is connected with a power interface of the first telescopic mechanism and is used for acquiring the real-time power supply voltage and the real-time power supply current of the first telescopic mechanism.
3. The adaptive tidal lane change system of claim 2, wherein:
the power analysis mechanism calculates the product of the real-time power supply voltage and the real-time power supply current of the first telescopic mechanism to obtain the current input power of the first telescopic mechanism.
4. The adaptive tidal lane change system of claim 3, further comprising:
and the cooling fan is arranged on the right side of the first telescopic mechanism, is connected with the power analysis mechanism and is used for receiving the current input power of the first telescopic mechanism.
5. The adaptive tidal lane change system of claim 4, further comprising:
the second telescopic mechanism is arranged below the right ground at the central position of the bidirectional lane and consists of a plurality of telescopic units, and the arrangement directions of the plurality of telescopic units are parallel to the central line of the bidirectional lane;
the first telescopic mechanism further comprises a plurality of isolation blocks, and each isolation block is arranged above one telescopic unit and below the ground;
the second telescopic mechanism also comprises a plurality of isolation blocks, and each isolation block is arranged above one telescopic unit and below the ground;
each telescopic unit consists of a vertical telescopic rod, a controller and a micro motor, wherein the micro motor is respectively connected with the controller and the vertical telescopic rod;
the visual monitoring equipment is used for respectively identifying vehicle objects and steering wheel objects in each frame of on-site ultra-clear images shot by the bidirectional lane from right above the intersection position of the bidirectional lane so as to obtain the number of real-time vehicles and the number of real-time steering wheels;
the request triggering mechanism is connected with the visual monitoring equipment and used for sending a first conversion instruction when the proportion of the number of the real-time steering wheels to the number of the real-time vehicles is within a first proportion range;
the digital processing chip is connected with the request triggering mechanism and is used for sending a first control instruction to the controller of each telescopic unit of the second telescopic mechanism and sending a second control instruction to the controller of each telescopic unit of the first telescopic mechanism when the time for continuously receiving the first conversion instruction exceeds the limit;
the intersection position of the two-way lane shot for the two-way lane is the starting position of the left lane of the two-way lane and is the ending position of the right lane of the two-way lane;
when the controller of each telescopic unit receives a first control instruction, the micro motor is driven to drive the vertical telescopic rod to extend from the ground to the ground;
wherein, in the request trigger mechanism, the first proportional range is between zero and one third, and the second proportional range is between one and two thirds;
the request triggering mechanism is further used for sending a second conversion instruction when the proportion of the real-time steering wheel quantity occupying the real-time vehicle quantity does not fall into a second proportion range;
when the controller of each telescopic unit receives a second control instruction, the micro motor is driven to drive the vertical telescopic rod to be retracted to an underground position from the ground;
the digital processing chip is further used for sending a first control instruction to the controller of each telescopic unit of the first telescopic mechanism when the time for continuously receiving the second conversion instruction exceeds the limit;
the digital processing chip is further used for sending a second control instruction to the controller of each telescopic unit of the second telescopic mechanism when the time for continuously receiving the second conversion instruction exceeds the limit;
in the first telescopic mechanism, the distances between every two telescopic units are equal;
in the second telescopic mechanism, the distance between each two of the telescopic units is equal.
6. The adaptive tidal lane change system of claim 5, further comprising:
the on-site timing equipment is connected with the visual monitoring equipment and is used for providing timing operation for each task of the visual monitoring equipment;
wherein, in the on-site timing device, different timing processing deadlines are set for each task of the visual monitoring device.
7. The adaptive tidal lane change system of claim 6, wherein:
in the visual monitoring device, each task needs to be processed and completed within its corresponding timed processing deadline.
8. The adaptive tidal lane change system of claim 7, wherein:
the on-site timing device is also connected with the request triggering mechanism and used for providing timing operation for each task of the request triggering mechanism.
9. The adaptive tidal lane change system of claim 8, wherein:
the request triggering mechanism is also provided with a serial communication interface for receiving externally input configuration information through the serial communication interface;
in the request triggering mechanism, configuration information which is received through the serial communication interface and is input from outside comprises specific numerical values of various operating parameters of the request triggering mechanism;
the visual monitoring equipment is provided with a micro-processing unit which is used for providing corresponding control instructions for the cooperative operation of other components in the visual monitoring equipment.
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Application publication date: 20210319 |