CN112735132B - Vehicle convergence guiding system and method - Google Patents

Vehicle convergence guiding system and method Download PDF

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CN112735132B
CN112735132B CN202011602376.1A CN202011602376A CN112735132B CN 112735132 B CN112735132 B CN 112735132B CN 202011602376 A CN202011602376 A CN 202011602376A CN 112735132 B CN112735132 B CN 112735132B
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CN112735132A (en
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姜圣
丁闪闪
王维锋
陈爱伟
万剑
刁含楼
吴岚
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China Design Group Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • 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
    • 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
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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Abstract

The invention discloses a vehicle confluence guiding system and a method, wherein the system comprises: a roadside system: the system is used for carrying out analysis decision according to the real-time perceived traffic flow information so as to obtain an analysis decision result; wherein the traffic flow information includes: traffic flow operation statistical information and vehicle operation information; the analysis decision result comprises a vehicle guidance path, a vehicle suggested speed and risk early warning information; a vehicle-mounted system: the system is used for receiving and broadcasting the vehicle guidance path and the vehicle suggested speed fed back by the road side system; the information release system comprises: the system is used for issuing risk early warning information provided by the road side system and identifying the position of the vehicle according to vehicle operation information provided by the road side system. The invention can realize the induction of the confluent vehicles in advance, separate traffic conflict points, avoid the direct conflict of the vehicles and improve the traffic efficiency of the traffic trunk line.

Description

Vehicle convergence guiding system and method
Technical Field
The invention relates to a vehicle convergence guiding system and method, and belongs to the technical field of intelligent traffic.
Background
The development of technologies such as vehicle-road cooperation, edge calculation, artificial intelligence and the like provides basic technical support for people to realize higher-level automatic driving in the intelligent road. However, before realizing fully-meaningful automatic driving, how to provide driving safety reminding for vehicles in a traffic flow and reduce traffic conflicts and even traffic accidents caused by driving states such as a visual field blind area, overspeed violation and the like are one of the problems to be solved at present.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a vehicle convergence guiding system and a vehicle convergence guiding method, which can reduce the occurrence of traffic conflicts.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a vehicle guidance system, the system comprising:
a roadside system: the system is used for carrying out analysis decision according to the real-time perceived traffic flow information so as to obtain an analysis decision result; wherein the traffic flow information includes: traffic flow operation statistical information and vehicle operation information; the analysis decision result comprises a vehicle guidance path, a vehicle suggested speed and risk early warning information;
a vehicle-mounted system: the system is used for receiving and broadcasting the vehicle guidance path and the vehicle suggested speed fed back by the road side system;
the information release system comprises: the system is used for issuing risk early warning information provided by the road side system and identifying the position of the vehicle according to vehicle operation information provided by the road side system.
With reference to the first aspect, further, the roadside system includes:
a data acquisition unit: the system is used for sensing traffic flow operation statistical information and vehicle operation information in real time; the traffic flow operation statistical information comprises the real-time traffic flow of the current road section and the average speed of the current road section;
road side control unit: the system comprises a pre-established ramp plane coordinate system, a vehicle guidance path and a vehicle recommended speed, wherein the pre-established ramp plane coordinate system is used for determining vehicles which are likely to collide and collision prediction points according to running information of the vehicles, and a pre-established guidance algorithm is used for determining the vehicle guidance path and the vehicle recommended speed;
roadside communication unit: and the vehicle guidance path and the vehicle suggested speed are sent to the vehicle-mounted system.
With reference to the first aspect, further, the roadside control unit is in communication connection with the roadside communication unit, the data acquisition unit and the information distribution system through optical fibers, respectively.
With reference to the first aspect, further, the vehicle-mounted system includes:
an in-vehicle communication unit: the vehicle guidance path and the vehicle suggested speed are used for receiving the vehicle guidance path and the vehicle suggested speed sent by the road side system;
on-vehicle unit of broadcasting: the vehicle guidance route and the vehicle suggested speed transmitted by the vehicle-mounted communication unit are received and broadcasted.
With reference to the first aspect, the vehicle-mounted communication unit is further connected with the roadside communication unit in a wireless communication mode through 5G-V2X, LTE-V2X and DSRC communication modes.
With reference to the first aspect, further, the information distribution system includes:
information board: the main line and the ramp sides are arranged at the junction point of the ramp and used for releasing risk early warning information to the vehicle; the risk early warning information includes: the ramp and the main line vehicle pass through early warning information and lane change early warning information;
a vehicle position identification unit: the method is used for tracking and calibrating the real-time positions of the vehicles on the adjacent lanes on the main line and the ramp.
With reference to the first aspect, further, the vehicle position identification unit includes a ground induction lamp;
the ground induction lamps are arranged on the ground of the rightmost guardrail of the main line and the leftmost guardrail of the ramp, automatically induce the positions of the vehicles, and measure the real-time positions of the vehicles on the ramp and the main line in the region through the color change marks.
In a second aspect, the present invention provides a vehicle guidance method of the vehicle guidance system described in any one of the preceding claims, the method including:
analyzing and deciding the real-time perceived traffic flow information to obtain an analysis decision result; wherein the traffic flow information includes: traffic flow operation statistical information and vehicle operation information; the analysis decision result comprises a vehicle guidance path, a vehicle suggested speed and risk early warning information;
sending the vehicle guidance path and the vehicle suggested speed to a vehicle-mounted system;
and sending the risk early warning information to an information issuing system, and sending an instruction to the information issuing system at the same time, so that the information issuing system identifies the position of the vehicle according to the vehicle running information.
With reference to the second aspect, further, the method for making an analysis decision on traffic flow information perceived in real time includes:
and determining vehicles which are likely to collide and collision prediction points by adopting a pre-established ramp plane coordinate system according to the running information of each vehicle, and determining vehicle guidance paths and vehicle suggested speeds by adopting a preset guidance algorithm.
With reference to the second aspect, further, the method for determining the vehicle suggested vehicle speed comprises the following steps:
predicting a vehicle which reaches a collision prediction point firstly and a vehicle which reaches the collision prediction point later according to the current speed of the vehicle which is likely to collide and the collision prediction point;
determining a recommended vehicle speed of a vehicle which arrives at the collision prediction point after the vehicle arrives according to the following calculation formula:
Figure BDA0002869648680000031
wherein v ist maxThe maximum vehicle speed of the vehicle which reaches the collision prediction point; shThe current distance between the vehicle which reaches the collision prediction point and the collision prediction point; sxThe current distance between the vehicle which reaches the collision prediction point first and the collision prediction point is calculated; v. ofx0The current vehicle speed of the vehicle which reaches the collision prediction point first; v. ofh0The current vehicle speed of the vehicle which reaches the collision prediction point later; lxThe length of the body of the vehicle that reaches the collision prediction point first.
Compared with the prior art, the invention has the following beneficial effects:
the roadside system carries out analysis decision according to real-time sensed traffic flow information to obtain an analysis decision result, wherein the analysis decision result comprises a vehicle induced path, vehicle suggested vehicle speed and risk early warning information, judges whether intervention guidance in the current traffic flow running state can cause traffic flow disorder in advance by combining with reality, broadcasts the vehicle induced path and the vehicle suggested vehicle speed through a vehicle-mounted system, and induces the vehicle in time, so that the driving speed of a main line vehicle is not greatly influenced by ramp confluence, and the trunk line passing efficiency is ensured; meanwhile, traffic conflict points are separated, and direct conflict of vehicles is avoided; meanwhile, risk early warning information is issued through an information issuing system, the real-time position of the vehicle is identified, and an early warning effect can be achieved for the converged vehicle.
Drawings
Fig. 1 is a schematic block diagram of a vehicle guidance system according to an embodiment of the present invention;
FIG. 2 is a schematic plan view of a main line and ramp junction and upstream traffic flow detection provided by an embodiment of the present invention;
fig. 3 is a schematic plan view of a vehicle confluence guide provided in an embodiment of the present invention;
fig. 4 is a flowchart of a vehicle guiding method according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
as shown in fig. 1, the structural schematic block diagram of a vehicle guidance system provided in an embodiment of the present invention is shown, where the vehicle guidance system mainly includes a road side system, an information distribution system, and an on-vehicle system, and the road side system is in communication connection with the information distribution system and the on-vehicle system, respectively. In the embodiment of the invention, the roadside control unit is respectively in communication connection with the roadside communication unit, the data acquisition unit and the information release system through optical fibers; the vehicle-mounted communication unit is in wireless communication connection with the roadside communication unit through 5G-V2X, LTE-V2X and DSRC communication modes.
A roadside system: the system is used for carrying out analysis decision according to the real-time perceived traffic flow information so as to obtain an analysis decision result; wherein the traffic flow information includes: traffic flow operation statistical information and vehicle operation information; the analysis decision result comprises a vehicle guidance path, a vehicle suggested speed and risk early warning information;
a vehicle-mounted system: the system is used for receiving and broadcasting the vehicle guidance path and the vehicle suggested speed fed back by the road side system;
the information release system comprises: the system is used for issuing risk early warning information provided by the road side system and identifying the position of the vehicle according to vehicle operation information provided by the road side system.
In the vehicle guidance system provided by the embodiment of the invention, the roadside system carries out analysis decision according to the real-time sensed traffic flow information to obtain an analysis decision result, wherein the analysis decision result comprises a vehicle guidance path, a vehicle suggested speed and risk early warning information; meanwhile, risk early warning information is issued through an information issuing system, the real-time position of the vehicle is identified, and an early warning effect can be achieved for vehicle convergence.
Wherein, roadside system sets up with the road roadside, and it includes:
a data acquisition unit: the system is used for sensing traffic flow operation statistical information and vehicle operation information in real time; the traffic flow operation statistical information comprises the real-time traffic flow of the current road section and the average speed of the current road section; the vehicle running information includes a running path of a single running vehicle, vehicle speed, position information, and the like. The data acquisition unit can be a video device, and can also be a radar or video radar integrated detection device.
Road side control unit: the system comprises a pre-established ramp plane coordinate system, a vehicle guidance path and a vehicle recommended speed, wherein the pre-established ramp plane coordinate system is used for determining vehicles which are likely to collide and collision prediction points according to running information of the vehicles, and a pre-established guidance algorithm is used for determining the vehicle guidance path and the vehicle recommended speed; specifically, a mode of preferentially guiding a main line vehicle to change lanes to reduce the conflict with the ramp vehicle path may be adopted; secondly, under the condition that the lane cannot be changed, vehicle speed guidance is adopted to control the distance between the main line vehicle and the ramp vehicle when the main line vehicle and the ramp vehicle are intersected;
roadside communication unit: and the vehicle guidance path and the vehicle suggested speed are sent to the vehicle-mounted system.
The on-vehicle system mounting in car end includes:
an in-vehicle communication unit: the vehicle guidance path and the vehicle suggested speed are used for receiving the vehicle guidance path and the vehicle suggested speed sent by the road side system;
on-vehicle unit of broadcasting: the vehicle guidance route and the vehicle suggested speed transmitted by the vehicle-mounted communication unit are received and broadcasted. Specifically, on-vehicle report unit's report content divide into 2 kinds: the vehicle in main line travel issues safe driving warning information, recommended driving path information (i.e., vehicle guidance path), or a vehicle recommended speed through the junction to the driver. Vehicles running on the ramp issue safe driving early warning information and vehicle suggested speed passing through the confluence part to drivers;
the information distribution system includes:
information board: the main line and the ramp sides are arranged at the junction point of the ramp and used for releasing risk early warning information to the vehicle; the risk early warning information includes: the ramp and the main line vehicle pass through early warning information and lane change early warning information;
a vehicle position identification unit: the system is used for tracking and calibrating the real-time positions of vehicles on adjacent lanes on the main line and the two sides of the ramp, is used for prompting early warning and plays an auxiliary role.
As an embodiment of the present invention, the vehicle position identification unit may be a ground induction lamp, the ground induction lamp is disposed on the ground of the rightmost guardrail of the main line and the leftmost guardrail of the ramp, automatically senses the position of the vehicle, and identifies the real-time position of the vehicle on the ramp and the main line in the measurement area through color change.
The vehicle-mounted road side multi-reminding guiding device guides a driver in a vehicle-mounted and road side multi-reminding (visual and auditory) mode, and ensures that the early warning and guiding efficiency is maximized in various modes.
Example two:
the embodiment of the invention provides a vehicle guiding method, which is executed by a road side system and can be realized by adopting the vehicle guiding system in the first embodiment, and the method comprises the following steps:
analyzing and deciding the real-time perceived traffic flow information to obtain an analysis decision result; wherein the traffic flow information includes: traffic flow operation statistical information and vehicle operation information; the analysis decision result comprises a vehicle guidance path, a vehicle suggested speed and risk early warning information;
sending the vehicle guidance path and the vehicle suggested speed to a vehicle-mounted system;
and sending the risk early warning information to an information issuing system, and sending an instruction to the information issuing system at the same time, so that the information issuing system identifies the position of the vehicle according to the vehicle running information.
The method for analyzing and deciding the real-time perceived traffic flow information comprises the following steps:
and determining vehicles which are likely to collide and collision prediction points by adopting a pre-established ramp plane coordinate system according to the running information of each vehicle, and determining vehicle guidance paths and vehicle suggested speeds by adopting a preset guidance algorithm. As shown in fig. 2 to 4, the specific algorithm is as follows:
the method comprises the following steps: fig. 2 is a schematic plan view illustrating a main line and ramp junction and upstream traffic flow detection according to an embodiment of the present invention. Detecting upstream traffic volume V of Lane1 (hereinafter referred to as L1) on the rightmost Lane of the main linel1uTraffic volume V of Ramplp(hereinafter abbreviated as Lp) total traffic volume Vm；
Referring to JTG B01-2014 Highway engineering standards, the grade of service level at the junction of ramps is two or more levels, and when the amount of converged traffic is less than or equal to 1450 pcu/h:
the speed limit is 120km/h, the real-time traffic volume of the four lanes is less than 3200pcu/h, and the real-time traffic volume of the six lanes is less than 4600 pcu/h; the speed limit is 80km/h to 100km/h, the real-time traffic volume of four lanes is less than 2600pcu/h, and the real-time traffic volume of six lanes is less than 3900 pcu/h; the speed limit is 60km/h, the real-time traffic volume of four lanes is less than 2300pcu/h, and the real-time traffic volume of six lanes is less than 3250 pcu/h.
With reference to the driving speed criteria, confirm VmLess than or equal to 1450pcu/h, VfAnd D, meeting the requirements, continuing the step two, and if not, ending the step.
The precondition assumption conditions are as follows: before default guiding, arriving vehicles run at a constant speed, and guided vehicles run at a constant speed.
Step two: when the vehicle enters the detection area, the vehicle at the rightmost lane of the main line (hereinafter referred to as vehicle M) is detected at the same time) Initial velocity v ofm0Time t required for reaching collision prediction point QmAnd a real-time distance s of distance QmInitial velocity v of a ramp vehicle (hereinafter referred to as a vehicle R)r0Time t required for reaching collision prediction point QrAnd a real-time distance s of distance Qr。
Taking the tail end of the diversion line as the original point, the included angle alpha of the tangent line of the diversion line, and the distance w between the vehicle M and the edge of the right lanemDistance w between vehicle R and left lane edgerAnd obtaining the coordinates of the collision prediction point Q as follows:
Figure BDA0002869648680000081
step three: calculating the time T when the vehicle R reaches QrqAnd the time T at which the vehicle M reaches QmqAnd comparing TrqAnd TmqWhether or not the time difference of (2) is not more than 4 s. If so, the vehicle R and the vehicle M have collision risks, active guidance is carried out, and the step four is continued, otherwise, the process is ended.
Step four: and detecting whether a vehicle is arranged at the rear of the left side of the vehicle M, wherein the horizontal headway is more than or equal to 4s, if the vehicle is arranged, the headway is less than 4s, the vehicle R and the vehicle M have direct collision risk, actively guiding the vehicle speed, and continuing to perform the step five. If not, two conditions are included, namely no vehicle exists, and the horizontal headway time is more than or equal to 4s, at this time, the vehicle M is guided to change the lane to the left side, and conflict resolution is finished.
Step five: it is predicted which vehicle R and M will reach point Q first,
if the vehicle R arrives first, the leading vehicle M decelerates to vmt max：
Figure BDA0002869648680000082
Alternatively, if the vehicle M arrives first, the lead vehicle R decelerates to vrt max：
Figure BDA0002869648680000083
Wherein lr、lmThe body lengths of the vehicle R and the vehicle M.
And ending the guide.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (9)

1. A vehicle merge guide system, characterized in that the system comprises:
a roadside system: the system is used for carrying out analysis decision according to the real-time perceived traffic flow information so as to obtain an analysis decision result; wherein the traffic flow information includes: traffic flow operation statistical information and vehicle operation information; the analysis decision result comprises a vehicle guidance path, a vehicle suggested speed and risk early warning information;
a vehicle-mounted system: the system is used for receiving and broadcasting the vehicle guidance path and the vehicle suggested speed fed back by the road side system;
the information release system comprises: the system is used for issuing risk early warning information provided by the road side system and identifying the position of the vehicle according to vehicle operation information provided by the road side system;
the method for determining the vehicle suggested speed comprises the following steps:
predicting a vehicle which reaches a collision prediction point firstly and a vehicle which reaches the collision prediction point later according to the current speed of the vehicle which is likely to collide and the collision prediction point;
determining a recommended vehicle speed of a vehicle which arrives at the collision prediction point after the vehicle arrives according to the following calculation formula:
Figure FDA0003333672930000011
wherein v ist maxThe maximum vehicle speed of the vehicle which reaches the collision prediction point; shVehicle-to-collision for rear-arrival collision prediction pointPredicting the current distance of the point; sxThe current distance between the vehicle which reaches the collision prediction point first and the collision prediction point is calculated; v. ofx0The current vehicle speed of the vehicle which reaches the collision prediction point first; v. ofh0The current vehicle speed of the vehicle which reaches the collision prediction point later; lxThe length of the body of the vehicle that reaches the collision prediction point first.
2. The vehicle merge guide system according to claim 1, wherein the roadside system includes: a data acquisition unit: the system is used for sensing traffic flow operation statistical information and vehicle operation information in real time; the traffic flow operation statistical information comprises the real-time traffic flow of the current road section and the average speed of the current road section;
road side control unit: the system comprises a pre-established ramp plane coordinate system, a vehicle guidance path and a vehicle recommended speed, wherein the pre-established ramp plane coordinate system is used for determining vehicles which are likely to collide and collision prediction points according to running information of the vehicles, and a pre-established guidance algorithm is used for determining the vehicle guidance path and the vehicle recommended speed;
roadside communication unit: and the vehicle guidance path and the vehicle suggested speed are sent to the vehicle-mounted system.
3. The vehicle confluence guidance system according to claim 2, wherein the roadside control unit is communicatively connected to the roadside communication unit, the data collection unit and the information distribution system through optical fibers, respectively.
4. The vehicle merge guidance system according to claim 2, characterized in that the on-board system includes:
an in-vehicle communication unit: the vehicle guidance path and the vehicle suggested speed are used for receiving the vehicle guidance path and the vehicle suggested speed sent by the road side system;
on-vehicle unit of broadcasting: the vehicle guidance route and the vehicle suggested speed transmitted by the vehicle-mounted communication unit are received and broadcasted.
5. The vehicle guidance system of claim 4, wherein the vehicle-mounted communication unit is wirelessly communicatively coupled to the roadside communication unit via 5G-V2X, LTE-V2X, DSRC communications.
6. The vehicle guidance system according to claim 1, wherein the information distribution system includes:
information board: the main line and the ramp sides are arranged at the junction point of the ramp and used for releasing risk early warning information to the vehicle; the risk early warning information includes: the ramp and the main line vehicle pass through early warning information and lane change early warning information; a vehicle position identification unit: the method is used for tracking and calibrating the real-time positions of the vehicles on the adjacent lanes on the main line and the ramp.
7. The vehicle guidance system according to claim 6, wherein the vehicle position identification unit includes a ground induction lamp;
the ground induction lamps are arranged on the ground of the rightmost guardrail of the main line and the leftmost guardrail of the ramp, automatically induce the positions of the vehicles, and measure the real-time positions of the vehicles on the ramp and the main line in the region through the color change marks.
8. A vehicle confluence guiding method of the vehicle confluence guiding system according to any one of claims 1 to 7, wherein the method comprises:
analyzing and deciding the real-time perceived traffic flow information to obtain an analysis decision result; wherein the traffic flow information includes: traffic flow operation statistical information and vehicle operation information; the analysis decision result comprises a vehicle guidance path, a vehicle suggested speed and risk early warning information;
sending the vehicle guidance path and the vehicle suggested speed to a vehicle-mounted system;
sending the risk early warning information to an information issuing system;
the method for determining the vehicle suggested speed comprises the following steps:
predicting a vehicle which reaches a collision prediction point firstly and a vehicle which reaches the collision prediction point later according to the current speed of the vehicle which is likely to collide and the collision prediction point;
determining a recommended vehicle speed of a vehicle which arrives at the collision prediction point after the vehicle arrives according to the following calculation formula:
Figure FDA0003333672930000031
wherein v ist maxThe maximum vehicle speed of the vehicle which reaches the collision prediction point; shThe current distance between the vehicle which reaches the collision prediction point and the collision prediction point; sxThe current distance between the vehicle which reaches the collision prediction point first and the collision prediction point is calculated; v. ofx0The current vehicle speed of the vehicle which reaches the collision prediction point first; v. ofh0The current vehicle speed of the vehicle which reaches the collision prediction point later; lxThe length of the body of the vehicle that reaches the collision prediction point first.
9. The vehicle guidance method according to claim 8, wherein the method of making an analytical decision on real-time perceived traffic flow information comprises:
and determining vehicles which are likely to collide and collision prediction points by adopting a pre-established ramp plane coordinate system according to the running information of each vehicle, and determining vehicle guidance paths and vehicle suggested speeds by adopting a preset guidance algorithm.
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