CN112863201B - Guiding method based on expressway agglomerate fog area multi-stage early warning system - Google Patents
Guiding method based on expressway agglomerate fog area multi-stage early warning system Download PDFInfo
- Publication number
- CN112863201B CN112863201B CN202110017119.XA CN202110017119A CN112863201B CN 112863201 B CN112863201 B CN 112863201B CN 202110017119 A CN202110017119 A CN 202110017119A CN 112863201 B CN112863201 B CN 112863201B
- Authority
- CN
- China
- Prior art keywords
- visibility
- ith
- information
- fog
- early warning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
-
- 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
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
- E01F9/553—Low discrete bodies, e.g. marking blocks, studs or flexible vehicle-striking members
- E01F9/559—Low discrete bodies, e.g. marking blocks, studs or flexible vehicle-striking members illuminated
-
- 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
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/604—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings
- E01F9/615—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings illuminated
- E01F9/617—Illuminated or wired-up posts, bollards, pillars or like upstanding bodies or structures for traffic guidance, warning or control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a guiding method based on a multi-stage early warning system of a mass fog area of a highway. The invention sequentially arranges a luminous spike, a vehicle detection module, a visibility controller and a visibility wireless communication module at a safety interval L, and arranges a traffic volume detection device and a traffic volume wireless communication module at an entrance; arranging a group fog variable signboard early warning module and an early warning wireless communication module at an outlet; the traffic volume detection equipment and the visibility controller respectively transmit the detected traffic volume grade and visibility grade information to the central processing unit through the wireless communication module; the central processing unit calculates the coverage range of the group fog according to the visibility grade information to obtain the danger grade of the group fog, and simultaneously, the early warning information is wirelessly transmitted to the group fog variable signboard early warning module and the vehicle-mounted terminal to remind a driver to take corresponding decisions; and when the visibility grade information is in the second grade and the third grade, starting a guiding strategy and taking corresponding guiding measures. The invention ensures the safe and efficient traffic through a grading early warning guiding method.
Description
Technical Field
The invention belongs to the technical field of intelligent traffic, and particularly relates to a guiding method based on a multi-stage early warning system of a highway cluster fog area.
Background
In recent years, serious and oversize traffic accidents caused by mist on expressways in China frequently occur, and the harm of the mist on the traffic safety of the expressways is extremely high. The influence of the cluster fog on dangerous driving behaviors of the driver is the mutability, and the cluster fog can be improved from two aspects of early warning and guiding. In the aspect of early warning, according to the Lu-cause behavior model, when a driver faces the external environment change caused by the sudden cluster fog, if the driver does not obtain early warning information before, poor stress reaction can be generated due to lack of prior experience, and the probability of taking poor driving behavior is increased; if the driver obtains the early warning information, the driver can prepare and prevent the driver in advance to reduce dangerous driving behaviors; in guidance, the sudden fog causes the sudden visibility reduction of the driver and the sudden loss of the driving information, further aggravates the stress response of the driver, and if the driving information of the driver is effectively compensated, the dangerous driving behavior of the driver is improved. However, the existing expressway agglomerate fog early warning method is not flexible enough, and cannot effectively early warn the mutation of agglomerate fog.
In the aspect of guidance of a fog zone of an expressway, the invention patent with the publication number of CN108932859A discloses a fog zone induction lamp device which is arranged on two sides of the expressway, and when no vehicle passes through the induction lamp device, the induction lamp device is turned on to be yellow, so that linear induction is realized, and a road boundary is displayed; when the vehicle detection device detects that a vehicle passes by, the induction lamp in a certain range behind the vehicle detection device is turned on to be red, so that the driving safety distance of the vehicle is guaranteed. The induction lamp device can compensate the missing driving information of the driver under the foggy condition to a certain extent, but the compensation effect is limited. The induction lamp device only provides road line shape and road boundary information, and cannot provide lane information, and expressways are multi-lane highways, and sudden lane change caused by insufficient sight of drivers under the condition of cluster fog is also one of important reasons for traffic accidents; meanwhile, the induction lamp device only provides that the induction lamp in a certain range behind the vehicle is lighted to be red, but lacks the limit of the range.
Disclosure of Invention
Aiming at the problem of frequent accidents in the mass fog area of the expressway, the invention aims to provide a guiding method based on a multi-stage early warning system in the mass fog area of the expressway, the method is easy to implement, under the condition that mass fog occurs on the expressway, the driver is given definite traffic early warning and guiding information according to the danger degree of the mass fog affected area, the tension of the driver is relieved, and the traffic safety level of the mass fog area of the expressway is further improved.
In order to achieve the purpose, the technical scheme of the invention is a guiding method based on a multi-stage early warning system in a mass fog area of a highway.
The multi-stage early warning system based on the expressway agglomerate fog area comprises: a first light emitting spike, a second light emitting spike, a third light emitting spike; the first vehicle detection module, the second vehicle detection module and the Nth vehicle detection module; a first visibility controller, an Nth visibility controller; the system comprises a first visibility wireless communication module, an Nth visibility wireless communication module, a traffic detection module, a traffic wireless communication module, a group fog variable signboard early warning module, an early warning wireless communication module and a central server;
the ith light-emitting spike is connected with the ith vehicle detection module in a wired mode; the ith light-emitting spike is connected with the ith visibility controller in a wired mode; the ith visibility controller is connected with the ith visibility wireless communication module in a wired mode; the ith visibility wireless communication module is wirelessly connected with the central server; the traffic volume detection module is connected with the traffic volume wireless communication module in a wired mode; the traffic wireless communication module is wirelessly connected with the central server; the group fog variable signboard early warning module is connected with the early warning wireless communication module in a wired mode; the early warning wireless communication module is connected with the central server in a wireless mode;
the ith luminous spike, the ith vehicle detection module, the ith visibility controller and the ith visibility wireless communication module are sequentially arranged at a section of the highway where fog is frequently generated at a safety interval L.
The traffic volume detection equipment and the traffic volume wireless communication module are arranged at an entrance of a mass fog and multi-outburst road section of the expressway;
arranging the group fog variable signboard early warning module and the early warning wireless communication module at an exit of a group fog multi-occurrence section of the expressway, wherein i belongs to [1, N ];
the ith luminous spike consists of a plurality of LED lamps in the driving direction of a highway foggy and multi-emitting section and is arranged on a road edge line and a lane boundary line;
the ith visibility controller confirms the ith visibility grade information according to the visibility identification distance, compares the ith visibility grade information with a visibility threshold value, controls the ith light-emitting spike to be turned on to be yellow if the ith visibility grade information is smaller than the visibility threshold value, and otherwise controls the ith light-emitting spike to be turned off; the ith visibility controller wirelessly transmits ith visibility grade information to the central server through the ith visibility wireless communication module;
the ith vehicle detection module is used for collecting the headway time of two adjacent vehicles, if the headway time of the two adjacent vehicles is smaller than a time threshold value, the light color at the edge line of the ith light-emitting spike road is controlled to be red, and otherwise, the light color at the edge line of the ith light-emitting spike road is controlled to be kept yellow;
the traffic volume detection equipment is used for collecting traffic volume, comparing the traffic volume with a multi-section traffic volume threshold value to obtain traffic volume grade information, and wirelessly transmitting the traffic volume grade information to the central server through a traffic volume wireless communication module
The central server obtains early warning information according to the first visibility grade information, the second visibility grade information, the third visibility grade information and the traffic quantity grade information, the early warning information is wirelessly transmitted to the early warning wireless communication module, and the early warning wireless communication module transmits the early warning information to the group fog variable signboard early warning module to perform early warning prompt.
The guiding method comprises the following steps:
step 1: calculating the safety intervals of the ith light-emitting spike, the ith vehicle detection module, the ith visibility controller and the ith visibility wireless communication module, obtaining ith visibility grade information by the ith visibility controller according to the identified visibility distance, and wirelessly transmitting the ith visibility grade information to the central server; the traffic volume detection module detects traffic vehicle flow and carries out grade division to obtain traffic volume grade information, the traffic volume grade information is wirelessly transmitted to the central server, the central processor confirms the group fog coverage range according to the obtained N pieces of visibility level information, and i belongs to [1, N ];
step 2: the central server defines a road section area and a danger level of the highway where the fog occurs according to the received visibility level information and traffic level information of different positions, and wirelessly transmits warning information to the cluster fog variable signboard early warning equipment outside the corresponding road section area; the cluster fog variable signboard early warning device carries out early warning on vehicles on the highway according to the cluster fog danger level and warns the vehicles which do not drive into the highway section to adopt corresponding driving decision behaviors; meanwhile, the central server transmits the road section early warning information to the vehicle terminal in a wireless transmission mode.
And step 3: when the visibility grade information of the ith visibility controller is in a second level or a third level, starting the ith vehicle detection module, and simultaneously lighting the ith light-emitting spike to be yellow by the ith vehicle detection module; and in the step 3, the ith light-emitting spike is lightened to be yellow after the ith vehicle detection module is started. If the ith visibility grade information is first grade, the ith vehicle detection module is in a closed state, the ith vehicle detection module cannot light the ith light-emitting spike, and i belongs to [1, N ];
and 4, step 4: if the ith vehicle detection module detects that the time headway is less than the time threshold, controlling the light color at the edge line of the ith light-emitting spike road to be red, otherwise, controlling the light color at the edge line of the ith light-emitting spike road to keep yellow unchanged, wherein i belongs to [1, N ];
preferably, the calculation safety interval in step 1 is:
wherein L is a safety interval, S0The safety distance is the safety distance that the rear vehicle does not collide with the front vehicle after stopping, v is the 85% vehicle speed under the condition of normal running of the expressway, t is the reaction time of the driver, g is the gravity acceleration, and f is the friction coefficient;
step 1, the ith visibility controller confirms that the ith visibility grade information is as follows according to the visibility identification distance:
if the visibility of the ith visibility controller identifies the distance>L1, i-th visibility level information, i.e., TNiIs a first stage;
if the visibility recognition distance of the ith visibility controller is between [ L2-L1 ]]The ith visibility level information, namely TNiIs in the second stage;
if the visibility of the first visibility controller identifies the distance<L2, i-th visibility level information TNiIs three-stage.
Step 1, the traffic volume detection module detects traffic vehicle flow and carries out grade division to obtain traffic volume grade information as follows:
if the traffic flow of the half-hour traffic vehicle is less than W1, the traffic grade information is first grade;
if the traffic flow of the half-hour traffic vehicle is between [ W1, W2], the traffic level information is of a second level;
and if the traffic flow of the half-hour traffic vehicle is greater than W2, the traffic level information is in three levels.
Step 1, the central processing unit confirms that the coverage range of the foggy group is as follows according to the obtained N pieces of visibility level information:
if k pieces of visibility grade information in the obtained N pieces of visibility grade information are two-level or three-level, the coverage range of the foggy object at the moment is k × L, wherein k is less than or equal to N;
the visibility grade information sent by the ith visibility controller in the step 1 is:
datai＝{Ci，GPSi}i∈[1，N]
N＝S/L
wherein i is the ith safety interval position of the highway fogged and multi-outburst road section, S is the total length of the defined highway fogged and multi-outburst road section, N is the number of the safety intervals determined by arranging the safety intervals L, and CiInformation of ith visibility grade; dataiVisibility level information data packet, GPS, sent for the ith visibility control deviceiThe position pile number information of the first visibility control device is K0.000, and the ith is K (L (i-1)) in order to set the position pile number information when the ith visibility control device is installed.
The traffic volume grade information sent by the traffic volume detection device in the step 1 is as follows:
data1＝{A，T}
the data1 is a traffic volume level information data packet sent by the traffic volume detection device, a is detected traffic volume level information, and T is road segment information where the traffic volume detection device is located.
The information of the coverage range of the cluster fog obtained by the central server in the step 1 is B;
preferably, the central server in step 2 performs quantization processing on the received visibility level information and traffic level information to determine the early warning level of the cloud in the area. The details are as follows:
wherein: w represents the grading index of the highway traffic condition in the cloud weather;
a. b and c represent weight coefficients of all factors;
a represents the traffic volume grade information level;
b represents the coverage range of the group fog, and is the maximum distance under the condition that the visibility grade information is in the second grade and the third grade. (ii) a
CiRepresenting the ith visibility level information level.
The index value of the group fog coverage in the formula is determined according to the braking times, the level of the group fog coverage is determined through a simulated driving simulation test, and the conclusion of the simulated driving simulation test is shown in fig. 3 and 4.
When the grading index is more than 7 and less than 10, the agglomerate fog danger level is one grade;
when the grading index is more than 4 and less than or equal to 7, the agglomerate fog danger level is two levels;
when the grading index is more than 0 and less than or equal to 4, the agglomerate fog danger level is three levels;
and in the step 2, the warning information is wirelessly transmitted to the group fog early warning equipment at the corresponding road section, and the transmitted data is as follows:
data2＝{TNE}
data2 is the warning information that highway section group fog early warning equipment received, and TNE is the group fog danger level of highway section, and when TNE is 1, the group fog danger level is the one-level, and the controller shows the changeable signboard early warning equipment of group fog as "the group fog takes place in the place ahead, please drive away from the high speed"; when the TNE is 2, the cluster fog danger level is two levels, and the controller displays the cluster fog variable signboard early warning equipment as 'cluster fog happens in front, please drive carefully'; when the cluster fog danger level is three levels, corresponding measures are not taken. The specific effect is shown in fig. 5 and 6.
And 2, sending the road section early warning information to a vehicle terminal in a wireless transmission mode, wherein the sent data are as follows:
data3＝{TFE}
data3 is warning data received by the vehicle-mounted terminal equipment, and TFE is the agglomerate fog danger level of the road section; when TFE is 1, the cluster fog danger level is first level, and the vehicle-mounted terminal equipment pushes 'cluster fog occurs on the front road section and please leave the high speed' to the voice of the driver; when TFE is 2, the cluster fog danger level is two levels, and the vehicle-mounted terminal equipment pushes 'cluster fog occurs in the front road section and please drive carefully' to the voice of the driver; when TFE is 3, the cluster fog danger level is three levels, and the vehicle-mounted terminal equipment does not push the driving decision information
Preferably, when the ith vehicle detection module detects that the headway is smaller than the time threshold in the step 4, it indicates that a vehicle is running in front of the vehicle and the following distance is short; the color of the ith light-emitting spike at the road edge line is changed into red, so that the road edge contour is displayed, and the driver is warned to drive cautiously. When the detected headway is not less than the time threshold, the following risk is not present, and the ith luminous spike at the edge line of the road keeps yellow and unchanged, thereby playing the role of indicating the line shape of the road.
The advantages of the present invention are as follows,
the method comprises the steps of evaluating the road section danger degree of a group fog frequent region through a group fog coverage area, traffic volume grade information and visibility grade information, providing a multi-stage early warning guiding method for the group fog region of the expressway, carrying out graded early warning through group fog variable signboard early warning equipment and a voice broadcasting mode, and guiding a driver to take reasonable driving behaviors through different control strategies of a luminous spike.
The characteristics of strong burst property and wide coverage range of the cluster fog are comprehensively considered, the guiding method based on the multi-stage early warning system of the highway cluster fog area is provided, real-time detection of the cluster fog is achieved, a driver is informed of cluster fog information in advance, driving behaviors such as emergency braking and the like caused by the occurrence of the cluster fog are further reduced, and safe and efficient operation of the whole highway cluster fog area is guaranteed. Compared with the existing expressway agglomerate fog early warning method, the method has the advantages of timeliness and easiness in expansion, and is a powerful supplement to the early warning guidance aspect of the expressway agglomerate fog multiple-occurrence area in China at present.
Drawings
FIG. 1 is a schematic layout of a visibility controller, a vehicle detection module and a light emitting spike;
FIG. 2 is a schematic layout diagram of a traffic volume detection module and a cluster fog variable signboard early warning module;
FIG. 3 is a diagram showing the relationship between the coverage of the cluster mist and the dangerous braking frequency obtained by the test;
FIG. 4 is a diagram showing the relationship between the coverage of the cluster mist and the dangerous braking frequency obtained by the test;
FIG. 5 is information of the group fog variable signboard pre-warning device under the secondary pre-warning scheme;
FIG. 6 is information of the group fog variable signboard early warning device under a primary early warning scheme;
FIG. 7 is a schematic diagram of the self-luminous dynamic guide spike.
Fig. 8 is a schematic view of the overall work flow.
Detailed Description
For the purpose of facilitating the understanding and practice of the present invention, as will be described in further detail below with reference to the accompanying drawings and examples, it is to be understood that the examples described herein are for purposes of illustration and explanation, and are not intended to limit the invention.
In the embodiment of the present invention, a covered high speed is taken as an example to implement a total length of a road segment of 17km, and the specific embodiment of the present invention is further described with reference to fig. 1 to 8.
The specific embodiment of the invention relates to a guiding method based on a multi-stage early warning system in a mass fog area of a highway.
The multi-stage early warning system based on the expressway agglomerate fog area comprises: a first light emitting spike, a second light emitting spike, a third light emitting spike; the first vehicle detection module, the second vehicle detection module and the Nth vehicle detection module; a first visibility controller, an Nth visibility controller; the system comprises a first visibility wireless communication module, an Nth visibility wireless communication module, a traffic detection module, a traffic wireless communication module, a group fog variable signboard early warning module, an early warning wireless communication module and a central server;
the ith light-emitting spike is connected with the ith vehicle detection module in a wired mode; the ith light-emitting spike is connected with the ith visibility controller in a wired mode; the ith visibility controller is connected with the ith visibility wireless communication module in a wired mode; the ith visibility wireless communication module is wirelessly connected with the central server; the traffic volume detection module is connected with the traffic volume wireless communication module in a wired mode; the traffic wireless communication module is wirelessly connected with the central server; the group fog variable signboard early warning module is connected with the early warning wireless communication module in a wired mode; the early warning wireless communication module is connected with the central server in a wireless mode;
the ith luminous spike, the ith vehicle detection module, the ith visibility controller and the ith visibility wireless communication module are sequentially arranged at a section of the highway where fog is frequently generated at a safety interval L.
The traffic volume detection equipment and the traffic volume wireless communication module are arranged at an entrance of a mass fog and multi-outburst road section of the expressway;
arranging the group fog variable signboard early warning module and the early warning wireless communication module at an exit of a group fog multi-occurrence section of the expressway, wherein i belongs to [1, N ];
the ith luminous spike consists of a plurality of LED lamps in the driving direction of a highway foggy and multi-emitting section and is arranged on a road edge line and a lane boundary line;
the ith visibility controller confirms the ith visibility grade information according to the visibility identification distance, compares the ith visibility grade information with a visibility threshold value, controls the ith light-emitting spike to be turned on to be yellow if the ith visibility grade information is smaller than the visibility threshold value, and otherwise controls the ith light-emitting spike to be turned off; the ith visibility controller wirelessly transmits ith visibility grade information to the central server through the ith visibility wireless communication module;
the ith vehicle detection module is used for collecting the headway time of two adjacent vehicles, if the headway time of the two adjacent vehicles is smaller than a time threshold value, the light color at the edge line of the ith light-emitting spike road is controlled to be red, and otherwise, the light color at the edge line of the ith light-emitting spike road is controlled to be kept yellow;
the traffic volume detection equipment is used for collecting traffic volume, comparing the traffic volume with a multi-section traffic volume threshold value to obtain traffic volume grade information, and wirelessly transmitting the traffic volume grade information to the central server through a traffic volume wireless communication module
The central server obtains early warning information according to the first visibility grade information, the second visibility grade information, the third visibility grade information and the traffic quantity grade information, the early warning information is wirelessly transmitted to the early warning wireless communication module, and the early warning wireless communication module transmits the early warning information to the group fog variable signboard early warning module to perform early warning prompt.
The vehicle detection module adopts a wave-s wireless geomagnetic vehicle detector;
the visibility controller adopts a TS AVS01 traffic automatic weather station;
the light-emitting spike adopts a plurality of active light-emitting glass spikes with the height less than 6mm, so that the interference on the running of the vehicle is reduced;
the arrangement of the luminous spike, the vehicle detection module and the visibility controller is schematically shown in figure 1.
The traffic volume detection module adopts an OGR-T12 multi-lane multi-target electronic bayonet radar to detect the traffic volume passing through, and the equipment is arranged on the gantry;
the group fog variable signboard early warning module adopts a KXB-16TB1-EL20 portal variable information board;
the group fog variable signboard early warning module and the traffic volume detection module are arranged behind an entrance way of a highway section, and are specifically arranged as shown in fig. 2.
The first visibility wireless communication module, the ith visibility wireless communication module, the traffic wireless communication module and the early warning wireless communication module are all NB-IOT modules, and the NB-IOT modules adopt a narrow-band Internet of things technology and are suitable for data transmission in areas with insufficient signal coverage.
The guiding method comprises the following steps:
step 1: calculating the safety intervals of the ith light-emitting spike, the ith vehicle detection module, the ith visibility controller and the ith visibility wireless communication module, obtaining ith visibility grade information by the ith visibility controller according to the identified visibility distance, and wirelessly transmitting the ith visibility grade information to the central server; the traffic volume detection module detects traffic vehicle flow and carries out grade division to obtain traffic volume grade information, the traffic volume grade information is wirelessly transmitted to the central server, the central processor confirms the group fog coverage range according to the obtained N pieces of visibility level information, and i belongs to [1, N ]; n is 100;
the calculation safety interval in the step 1 is as follows:
wherein L is a safety interval, S0The safety distance that the rear vehicle does not collide with the front vehicle after stopping, v is the 85% vehicle speed under the condition of normal running of the expressway, t is the reaction time of a driver, g is the gravity acceleration, and f is the friction coefficient;
v is 80km/h, S by consulting relevant literature and surveys0Taking 80m, t 1.5 s, g 9.8m/s2F is 0.5, and L is 170m since L is 163.72 m.
Step 1, the ith visibility controller confirms that the ith visibility grade information is as follows according to the visibility identification distance:
if the visibility of the ith visibility controller identifies the distance>L1, i-th visibility level information TNiIs a first stage; l1 ═ 150m
If the visibility recognition distance of the ith visibility controller is between [ L2-L1 ]]The ith visibility level information, namely TNiIs in the second stage; [ L2-L1 ]]＝[50m～150m]
If the visibility of the first visibility controller identifies the distance<L2, i-th visibility level information TNiIs three-stage. L2 ═ 50m
Step 1, the traffic volume detection module detects traffic vehicle flow and carries out grade division to obtain traffic volume grade information as follows:
if the traffic flow of the half-hour traffic vehicle is less than W1, the traffic grade information is first grade; 150 pieces of W1
If the traffic flow of the half-hour traffic vehicle is between [ W1, W2], the traffic level information is of a second level; [ W1, W2] ═ 150, 250 (vehicles) ]
And if the traffic flow of the half-hour traffic vehicle is greater than W2, the traffic level information is in three levels. 250 pieces of W2
Step 1, the central processing unit confirms that the coverage range of the foggy group is as follows according to the obtained N pieces of visibility level information:
if k pieces of visibility grade information in the obtained N pieces of visibility grade information are two-level or three-level, the coverage range of the foggy object at the moment is k × L, wherein k is less than or equal to N;
the visibility grade information sent by the ith visibility controller in the step 1 is:
datai＝{Ci，GPSi}i∈[1，N]
N＝S/L
wherein i is the ith safety interval position of the highway fogged and multi-outburst road section, S is the total length of the defined highway fogged and multi-outburst road section, N is the number of the safety intervals determined by arranging the safety intervals L, and CiInformation of ith visibility grade; dataiVisibility level information data packet, GPS, sent for the ith visibility control deviceiThe position pile number information of the first visibility control device is K0.000, and the ith is K (L (i-1)) in order to set the position pile number information when the ith visibility control device is installed.
Calculating to obtain N as 100 according to the condition that the road section length S is 17Km and the safety interval L is 170 m;
the traffic volume level information sent by the traffic volume detection device in step 1 is:
data1＝{A，T}
the data1 is a traffic volume level information data packet sent by the traffic volume detection device, a is detected traffic volume level information, and T is road segment information where the traffic volume detection device is located.
The information of the coverage range of the cluster fog obtained by the central server in the step 1 is B;
step 2: the central server defines a road section area and a danger level of the highway where the fog occurs according to the received visibility level information and traffic level information of different positions, and wirelessly transmits warning information to the cluster fog variable signboard early warning equipment outside the corresponding road section area; the cluster fog variable signboard early warning device carries out early warning on vehicles on the highway according to the cluster fog danger level and warns the vehicles which do not drive into the highway section to adopt corresponding driving decision behaviors; meanwhile, the central server transmits the road section early warning information to the vehicle terminal in a wireless transmission mode.
And (3) the central server in the step (2) carries out quantitative processing on the received visibility grade information and the traffic grade information so as to determine the cluster fog early warning grade in the area. The details are as follows:
wherein: w represents the grading index of the highway traffic condition in the cloud weather;
a. b and c represent weight coefficients of all factors;
a represents traffic volume level information level;
b represents the coverage range of the cluster fog, which is the maximum distance under the condition that the visibility grade information is second-level and third-level;
Ciinformation level representing ith visibility level
Table 1: expressway traffic condition grading index weight value taking table in cloud weather
The index value of the group fog coverage in the formula is determined according to the braking times, the level of the group fog coverage is determined through a simulated driving simulation test, and the conclusion of the simulated driving simulation test is shown in fig. 3 and 4.
When the grading index is more than 7 and less than 10, the agglomerate fog danger level is one grade;
when the grading index is more than 4 and less than or equal to 7, the agglomerate fog danger level is two levels;
when the grading index is more than 0 and less than or equal to 4, the agglomerate fog danger level is three levels;
and in the step 2, the warning information is wirelessly transmitted to the group fog early warning equipment at the corresponding road section, and the transmitted data is as follows:
data2＝{TNE}
data2 is the warning information that highway section group fog early warning equipment received, and TNE is the group fog danger level of highway section, and when TNE equals 1, the group fog danger level is one-level, and the controller shows group fog emergence group fog, please drive away from the high speed "in the place ahead with the variable signboard early warning equipment of group fog; when the TNE is 2, the cluster fog danger level is two levels, and the controller displays the cluster fog variable signboard early warning equipment as 'cluster fog happens in front, please drive carefully'; when the cluster fog danger level is three levels, corresponding measures are not taken. The specific effect is shown in fig. 5 and 6.
And 2, sending the road section early warning information to a vehicle terminal in a wireless transmission mode, wherein the sent data are as follows:
data3＝{TFE}
data3 is warning data received by the vehicle-mounted terminal equipment, and TFE is the agglomerate fog danger level of the road section; when TFE is 1, the cluster fog danger level is first level, and the vehicle-mounted terminal equipment pushes 'cluster fog occurs on the front road section and please leave the high speed' to the voice of the driver; when TFE is 2, the cluster fog danger level is two levels, and the vehicle-mounted terminal equipment pushes 'cluster fog occurs in the front road section and please drive carefully' to the voice of the driver; when TFE is 3, the cluster fog danger level is three levels, and the vehicle-mounted terminal equipment does not push the driving decision information
And step 3: when the visibility grade information of the ith visibility controller is in a second level or a third level, starting the ith vehicle detection module, and simultaneously lighting the ith light-emitting spike to be yellow by the ith vehicle detection module; and in the step 3, the ith light-emitting spike is lightened to be yellow after the ith vehicle detection module is started. If the ith visibility grade information is first grade, the ith vehicle detection module is in a closed state, the ith vehicle detection module cannot light the ith light-emitting spike, and i belongs to [1, N ]; n is 100
And 4, step 4: if the ith vehicle detection module detects that the time headway is less than the time threshold, controlling the light color at the edge line of the ith light-emitting spike road to be red, otherwise, controlling the light color at the edge line of the ith light-emitting spike road to keep yellow unchanged, wherein i belongs to [1, N ]; n is 100
In the step 4, when the ith vehicle detection module detects that the headway is smaller than the time threshold, it indicates that a vehicle runs in front of the vehicle and the following distance is short; the ith light-emitting spike at the road edge line is changed into red in color so as to display the road edge contour, thereby warning the driver of careful driving, which is schematically shown in fig. 7. When the detected headway is not less than the time threshold, the following risk is not present, and the ith luminous spike at the edge line of the road keeps yellow and unchanged, thereby playing the role of indicating the line shape of the road.
It should be understood that the above description of the preferred embodiments is given for clarity and not for any purpose of limitation, and that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (2)
1. A guiding method based on a multi-stage early warning system of a highway cluster fog area is characterized by comprising the following steps:
the multi-stage early warning system based on the expressway agglomerate fog area comprises: a first light emitting spike, a second light emitting spike, a third light emitting spike; the first vehicle detection module, the second vehicle detection module and the Nth vehicle detection module; a first visibility controller, an Nth visibility controller; the system comprises a first visibility wireless communication module, an Nth visibility wireless communication module, a traffic detection module, a traffic wireless communication module, a group fog variable signboard early warning module, an early warning wireless communication module and a central server;
the ith light-emitting spike is connected with the ith vehicle detection module in a wired mode; the ith light-emitting spike is connected with the ith visibility controller in a wired mode; the ith visibility controller is connected with the ith visibility wireless communication module in a wired mode; the ith visibility wireless communication module is connected with the central server in a wireless mode; the traffic volume detection module is connected with the traffic volume wireless communication module in a wired mode; the traffic volume wireless communication module is wirelessly connected with the central server; the group fog variable signboard early warning module is connected with the early warning wireless communication module in a wired mode; the early warning wireless communication module is connected with the central server in a wireless mode;
the ith luminous spike, the ith vehicle detection module, the ith visibility controller and the ith visibility wireless communication module are sequentially arranged on a highway section with a lot of foggy fog at a safety interval L;
the traffic volume detection equipment and the traffic volume wireless communication module are arranged at an entrance of a mass fog and multi-outburst road section of the expressway;
arranging the group fog variable signboard early warning module and the early warning wireless communication module at an exit of a group fog multi-occurrence section of the expressway, wherein i belongs to [1, N ];
the ith luminous spike consists of a plurality of LED lamps in the driving direction of a highway foggy and multi-emitting section and is arranged on a road edge line and a lane boundary line;
the ith visibility controller confirms the ith visibility grade information according to the visibility identification distance, compares the ith visibility grade information with a visibility threshold value, controls the ith light-emitting spike to be turned on to be yellow if the ith visibility grade information is smaller than the visibility threshold value, and otherwise controls the ith light-emitting spike to be turned off; the ith visibility controller wirelessly transmits ith visibility grade information to the central server through the ith visibility wireless communication module;
the ith vehicle detection module is used for collecting the headway time of two adjacent vehicles, if the headway time of the two adjacent vehicles is smaller than a time threshold value, the light color at the edge line of the ith light-emitting spike road is controlled to be red, and otherwise, the light color at the edge line of the ith light-emitting spike road is controlled to be kept yellow;
the traffic volume detection equipment is used for collecting traffic volume, comparing the traffic volume with a multi-section traffic volume threshold value to obtain traffic volume grade information, and wirelessly transmitting the traffic volume grade information to the central server through a traffic volume wireless communication module
The central server obtains early warning information according to the first visibility grade information, the second visibility grade information, the third visibility grade information and the traffic quantity grade information, the early warning information is wirelessly transmitted to the early warning wireless communication module, and the early warning wireless communication module transmits the early warning information to the group fog variable signboard early warning module to perform early warning prompt;
the guiding method comprises the following steps:
step 1: calculating the safety intervals of the ith light-emitting spike, the ith vehicle detection module, the ith visibility controller and the ith visibility wireless communication module, obtaining ith visibility grade information by the ith visibility controller according to the identified visibility distance, and wirelessly transmitting the ith visibility grade information to the central server; the traffic volume detection module detects traffic vehicle flow and carries out grade division to obtain traffic volume grade information, the traffic volume grade information is wirelessly transmitted to the central server, the central processor confirms the group fog coverage range according to the obtained N pieces of visibility level information, and i belongs to [1, N ];
step 2: the central server defines a road section area and a danger level of the highway where the fog occurs according to the received visibility level information and traffic level information of different positions, and wirelessly transmits warning information to the cluster fog variable signboard early warning equipment outside the corresponding road section area; the cluster fog variable signboard early warning device carries out early warning on vehicles on the highway according to the cluster fog danger level and warns the vehicles which do not drive into the highway section to adopt corresponding driving decision behaviors; meanwhile, the central server transmits the road section early warning information to the vehicle terminal in a wireless transmission mode;
and step 3: when the visibility grade information of the ith visibility controller is in a second level or a third level, starting the ith vehicle detection module, and simultaneously lighting the ith light-emitting spike to be yellow by the ith vehicle detection module; in the step 3, the ith light-emitting spike is lightened to be yellow after the ith vehicle detection module is started; if the ith visibility grade information is first grade, the ith vehicle detection module is in a closed state, the ith vehicle detection module cannot light the ith light-emitting spike, and i belongs to [1, N ];
and 4, step 4: if the ith vehicle detection module detects that the time headway is less than the time threshold, controlling the light color at the edge line of the ith light-emitting spike road to be red, otherwise, controlling the light color at the edge line of the ith light-emitting spike road to keep yellow unchanged, wherein i belongs to [1, N ];
the calculation safety interval in the step 1 is as follows:
wherein L is a safety interval, S0The safety distance is the safety distance that the rear vehicle does not collide with the front vehicle after stopping, v is the 85% vehicle speed under the condition of normal running of the expressway, t is the reaction time of the driver, g is the gravity acceleration, and f is the friction coefficient;
step 1, the ith visibility controller confirms that the ith visibility grade information is as follows according to the visibility identification distance:
if the visibility of the ith visibility controller identifies the distance>L1, i-th visibility level information TNiIs a first stage;
if the visibility recognition distance of the ith visibility controller is between [ L2-L1 ]]When i-th visibility level information is TNiIs in the second stage;
if the visibility of the first visibility controller identifies the distance<L2, i-th visibility level information TNiIs three-stage;
step 1, the traffic volume detection module detects traffic vehicle flow and carries out grade division to obtain traffic volume grade information as follows:
if the traffic flow of the half-hour traffic vehicle is less than W1, the traffic grade information is first grade;
if the traffic flow of the half-hour traffic vehicle is between [ W1, W2], the traffic level information is of a second level;
if the traffic flow of the half-hour traffic vehicle is greater than W2, the traffic level information is in three levels;
step 1, the central processing unit confirms that the coverage range of the foggy group is as follows according to the obtained N pieces of visibility level information:
if k pieces of visibility grade information in the obtained N pieces of visibility grade information are two-level or three-level, the coverage range of the foggy object at the moment is k × L, wherein k is less than or equal to N;
the visibility grade information sent by the ith visibility controller in the step 1 is:
datai＝{Ci，GPSi}i∈[1，N]
N＝S/L
wherein i is the ith safety interval position of the highway fogged and multi-outburst road section, S is the total length of the defined highway fogged and multi-outburst road section, N is the number of the safety intervals determined by arranging the safety intervals L, and CiInformation of ith visibility grade; dataiVisibility level information data packet, GPS, sent for the ith visibility control deviceiThe position pile number information of the first visibility control device is K0.000, and the ith visibility control device is K (L (i-1));
the traffic volume level information sent by the traffic volume detection device in step 1 is:
data1＝{A，T}
the data1 is a traffic volume level information data packet sent by the traffic volume detection device, a is detected traffic volume level information, and T is road section information where the traffic volume detection device is located;
the information of the coverage range of the cluster fog obtained by the central server in the step 1 is B;
the central server in the step 2 carries out quantitative processing on the received visibility grade information and the traffic grade information so as to determine the cluster fog early warning grade in the area; the details are as follows:
wherein: w represents the grading index of the highway traffic condition in the cloud weather;
a. b and c represent weight coefficients of all factors;
a represents traffic volume level information level;
b represents the coverage range of the group fog, which is the maximum distance under the condition that the visibility grade information is two-grade and three-grade;
Cirepresents the ith visibility level information level;
the index value of the group fog coverage in the formula is determined according to the braking times, and the level of the group fog coverage is determined through a simulation driving simulation test;
when the grading index is more than 7 and less than 10, the agglomerate fog danger level is one grade;
when the grading index is more than 4 and less than or equal to 7, the agglomerate fog danger level is two levels;
when the grading index is more than 0 and less than or equal to 4, the agglomerate fog danger level is three levels;
and in the step 2, the warning information is wirelessly transmitted to the group fog early warning equipment at the corresponding road section, and the transmitted data is as follows:
data2＝{TNE}
data2 is the warning information that highway section group fog early warning equipment received, and TNE is the group fog danger level of highway section, and when TNE equals 1, the group fog danger level is one-level, and the controller shows group fog emergence group fog, please drive away from the high speed "in the place ahead with the variable signboard early warning equipment of group fog; when the TNE is 2, the cluster fog danger level is two levels, and the controller displays the cluster fog variable signboard early warning equipment as 'cluster fog happens in front, please drive carefully'; when the cluster fog danger level is three-level, no corresponding measures are taken; and 2, sending the road section early warning information to a vehicle terminal in a wireless transmission mode, wherein the sent data are as follows:
data3＝{TFE}
data3 is warning data received by the vehicle-mounted terminal equipment, and TFE is the agglomerate fog danger level of the road section; when TFE is 1, the cluster fog danger level is first level, and the vehicle-mounted terminal equipment pushes 'cluster fog occurs on the front road section and please leave the high speed' to the voice of the driver; when TFE is 2, the cluster fog danger level is two levels, and the vehicle-mounted terminal equipment pushes 'cluster fog occurs in the front road section and please drive carefully' to the voice of the driver; when TFE is 3, the cluster fog danger level is three levels, and the vehicle-mounted terminal equipment does not push the driving decision information.
2. The guiding method based on the highway cloud area multistage early warning system according to claim 1, wherein the guiding method comprises the following steps:
in the step 4, when the ith vehicle detection module detects that the headway is smaller than the time threshold, it indicates that a vehicle runs in front of the vehicle and the following distance is short; the color of the ith light-emitting spike at the road edge line is changed into red, so that the road edge contour is displayed, and the driver is warned to drive cautiously; when the detected headway is not less than the time threshold, the following risk is not present, and the ith luminous spike at the edge line of the road keeps yellow and unchanged, thereby playing the role of indicating the line shape of the road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110017119.XA CN112863201B (en) | 2021-01-07 | 2021-01-07 | Guiding method based on expressway agglomerate fog area multi-stage early warning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110017119.XA CN112863201B (en) | 2021-01-07 | 2021-01-07 | Guiding method based on expressway agglomerate fog area multi-stage early warning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112863201A CN112863201A (en) | 2021-05-28 |
| CN112863201B true CN112863201B (en) | 2022-05-13 |
Family
ID=76004730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110017119.XA Active CN112863201B (en) | 2021-01-07 | 2021-01-07 | Guiding method based on expressway agglomerate fog area multi-stage early warning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112863201B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113386791B (en) * | 2021-06-15 | 2022-09-23 | 长安大学 | Danger avoiding system based on unmanned transport vehicle train in heavy fog weather |
| CN113706889B (en) * | 2021-08-02 | 2022-09-13 | 浪潮通信信息系统有限公司 | Highway agglomerate fog measuring system and method based on target detection and analysis |
| CN113724513A (en) * | 2021-11-02 | 2021-11-30 | 西南交通大学 | Vehicle driving guiding method, device and equipment in fog region and readable storage medium |
| CN114202944B (en) * | 2021-12-13 | 2023-06-16 | 公安部交通管理科学研究所 | Expressway mist mass early warning method, device and system |
| CN114822024A (en) * | 2022-04-19 | 2022-07-29 | 哈尔滨工业大学 | Active safety guidance system for expressway agglomerate fog road section |
| CN115331444A (en) * | 2022-08-16 | 2022-11-11 | 同济大学 | Expressway agglomerate fog eliminating and reducing method and system |
| CN115497292B (en) * | 2022-09-21 | 2024-02-02 | 南京南大安高智能科技发展有限公司 | Real-time monitoring platform for expressway |
| CN116884250B (en) * | 2023-07-12 | 2024-01-26 | 凉山州交通运输应急指挥中心 | Early warning method based on laser radar and expressway early warning system |
| CN117275250A (en) * | 2023-09-20 | 2023-12-22 | 南京鑫荣汇信息科技有限公司 | Early warning device and method for induction of expressway fog area |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201210351Y (en) * | 2008-04-01 | 2009-03-18 | 浙江金基电子技术有限公司 | Intelligent electronic guidance system for fog zone of highway |
| CN106710257A (en) * | 2017-01-25 | 2017-05-24 | 西安纳兴电子科技有限公司 | Autonomous network agglomerate fog frequently occurring region active guidance system and method |
| CN108932859A (en) * | 2018-07-18 | 2018-12-04 | 上海市政工程设计研究总院（集团）有限公司 | A kind of the expressway fog early warning and inducible system of gamut real-time monitoring |
| CN109872554A (en) * | 2019-03-22 | 2019-06-11 | 山西省交通科学研究院有限公司 | A kind of expressway fog zone promotes the bus or train route early warning system of traffic safety |
| CN110085028A (en) * | 2019-05-05 | 2019-08-02 | 同济大学 | A kind of traffic safety risk stratification management-control method under mist weather condition |
| CN111223307A (en) * | 2019-11-26 | 2020-06-02 | 长安大学 | Intelligent prompting and inducing system and method for vehicles on highway |
-
2021
- 2021-01-07 CN CN202110017119.XA patent/CN112863201B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201210351Y (en) * | 2008-04-01 | 2009-03-18 | 浙江金基电子技术有限公司 | Intelligent electronic guidance system for fog zone of highway |
| CN106710257A (en) * | 2017-01-25 | 2017-05-24 | 西安纳兴电子科技有限公司 | Autonomous network agglomerate fog frequently occurring region active guidance system and method |
| CN108932859A (en) * | 2018-07-18 | 2018-12-04 | 上海市政工程设计研究总院（集团）有限公司 | A kind of the expressway fog early warning and inducible system of gamut real-time monitoring |
| CN109872554A (en) * | 2019-03-22 | 2019-06-11 | 山西省交通科学研究院有限公司 | A kind of expressway fog zone promotes the bus or train route early warning system of traffic safety |
| CN110085028A (en) * | 2019-05-05 | 2019-08-02 | 同济大学 | A kind of traffic safety risk stratification management-control method under mist weather condition |
| CN111223307A (en) * | 2019-11-26 | 2020-06-02 | 长安大学 | Intelligent prompting and inducing system and method for vehicles on highway |
Non-Patent Citations (5)
| Title |
|---|
| 基于灰色关联度-主成分法的高速公路雾灾评估模型——以沿海高速江苏段为例;周林义 等;《科学技术与工程》;20201231;第20卷(第01期);第64-68页 * |
| 山区高速公路雾区路段安全性分级研究_;王敏 等;《中国安全科学学报》;20131231;第23卷(第12期);低119-125页 * |
| 雾天环境下高速公路交通安全预警技术探讨;陈队永 等;《第十七届中国科协年会——分8 交通基础设施安全及耐久性论坛论文集中国科学技术协会学会学术部会议论文集》;20151231;第2-6页 * |
| 高速公路团雾影响分析与检测预警系统开发;王健等;《公路》;20180619(第06期);第276-281页 * |
| 高速公路隧道系统交通安全评价模型研究;郑润玉等;《山东交通科技》;20120825(第04期);第9-14页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112863201A (en) | 2021-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112863201B (en) | Guiding method based on expressway agglomerate fog area multi-stage early warning system | |
| CN110853357B (en) | Early warning control system and method for dangerous highway sections and construction areas | |
| CN107742432B (en) | Expressway operation speed active early warning system based on vehicle-road cooperation and control method | |
| CN113257024B (en) | V2I-based rear-end collision prevention early warning method and system for expressway rain and fog environment | |
| CN111768626A (en) | Sound-light-electricity-integrated active highway risk early warning system | |
| US7817064B2 (en) | Road-condition informing apparatus and road-condition informing method | |
| CN106530771B (en) | Traffic guidance device and method for active luminous delineator of highway | |
| CN103500519A (en) | Fog region driving safety intelligent guiding system and method | |
| CN111223307A (en) | Intelligent prompting and inducing system and method for vehicles on highway | |
| JP2004027528A (en) | Road information display system | |
| CN211954685U (en) | Automatic drive vehicle backlight test field | |
| CN115100865A (en) | Management and control system for traffic safety of tunnel portal area | |
| CN108615366B (en) | Guiding method of novel mountain road curve traffic guiding system | |
| CN113628460A (en) | Real-time highway vehicle management and control method based on edge calculation | |
| KR20170077620A (en) | Apparatus and Method for Controlling Driving Speed using Sequential On-and-Off Lighting | |
| CN209989654U (en) | Long downhill road early warning interception system | |
| KR102122548B1 (en) | The pedestrian warning system generating visual alerts based on the distance of the adjacent roadway | |
| KR20180020201A (en) | Apparatus and Method for Controlling Driving Speed using Sequential On-and-Off Lighting | |
| CN113112832A (en) | Fog region highway interchange safety guiding system and method | |
| KR102515036B1 (en) | System for displaying safe driving guidance information having variable display devices and method thereof | |
| CN115641736B (en) | Intelligent guidance system and method for special road section of expressway | |
| CN116087960A (en) | Highway ultrasonic vehicle positioning and risk early warning system and method | |
| KR101257859B1 (en) | Road conditions information control system and thereof warning indicator | |
| CN110766953A (en) | Intelligent underground lamp of letter accuse intersection of car road concerted formula | |
| CN114822024A (en) | Active safety guidance system for expressway agglomerate fog road section |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |