CN113723699B - Method and system for warning correction handle control of expressway safety vehicle speed in severe weather - Google Patents
Method and system for warning correction handle control of expressway safety vehicle speed in severe weather Download PDFInfo
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Abstract
The invention discloses a method and a system for warning safety vehicle speed correction handle control of a severe weather highway, and belongs to the field of intelligent transportation. According to the invention, fitting is carried out according to the speed limit and the vehicle distance required by related regulations, based on a fitted road traffic safety speed limit equation, corresponding continuous safety speed limit values under the conditions of low visibility in severe weather, wet road, strong wind and the like are calculated, and then the maximum limit safety vehicle speed for avoiding collision accidents is calculated; the safety vehicle speed regulation of habitual control of a driver under severe weather conditions is counted through road traffic macroscopic data, and the scene correction of safety vehicle speed regulation is carried out on the road sections of different road conditions of a target vehicle driver under severe weather conditions in real time. On the basis of related laws and regulations, the invention combines the general driving behavior habit optimization with statistical significance to determine the safe vehicle speed correction control strategy, achieves real-time and timely early warning, avoids overfall through reasonable selection of correction degree, and has system viscosity widely applied to social drivers and passengers.
Description
Technical Field
The invention relates to a method for correcting and controlling safety vehicle speed dynamic scene of a highway under the conditions of low visibility, wet road and slippery road, strong wind and the like of road traffic in severe weather, a method and a system for early warning traffic risks of the highway and a confluence area, and belongs to the field of intelligent traffic.
Background
The low visibility of severe weather road traffic such as group fog, haze, rainfall, snowfall, hail, sand storm and the like can form a driver's view range obstacle, the visual field is limited, road side traffic reminding marks (words) and road surface marked lines (digital data) are difficult to see clearly, and the unreasonable azimuth density of marks (including LED information boards) marked lines and the like can ' take over ' under the high-speed state of a vehicle and the shielding of a side vehicle without effect, so that the response time of the driver becomes longer than the normal road visibility when the emergency occurs in front of the road, and malignant traffic accidents are extremely easy to occur. Data is published according to the 6 th period of 2018 of China highway; the number of dead traffic people with low visibility of the road traffic is less than 200 meters is 59.43% of the total number of dead traffic accidents; taking the expressway along the river of Jiangsu as an example, the traffic accidents in 2020 occur as 2097, and the ratio of the split point accidents of the expressway is 19.12%, the ratio of the combined point accidents is 21.41% and the total ratio is about 40.52% due to the low visibility of the road, the influence of the view angle obstacle at night and the like. For a long time, because of lacking continuous, accurate and effective digital monitoring means for sudden mass fog and bad weather along roads, real-time accompanying real-time and timely reminding services cannot be provided for public travel according to law, and almost all drivers control (self-considered) safe speed and distance according to respective driving habits, the method cannot be executed according to regulations of road traffic safety law about bad weather low-visibility speed limit and distance, and cannot be operated according to theoretical calculation limit safe distance control methods, so that major traffic safety accident hidden danger is formed, and the method also becomes a bottleneck that the first road is difficult to surmount in building intelligent highway and road collaborative ecology.
The reduction of the visibility of road traffic under the condition of rainfall and snowfall is often ignored, and in fact, even if the rainfall and snowfall are small, the movement of the windscreen wiper can interfere with the driver to identify the outline of the lane marking or the outline of the car in front of the road, so that the drivers in the whole are subconscious to reduce the speed of the vehicle. According to the full data detection statistics of the radar on a certain section of the Jiangsu eastern expressway: the average speed of the road vehicle is obviously reduced during the rainfall and snowfall process, and the average speed of the road vehicle is reduced by 5-10km/h in small rain and snowfall compared with the average speed in normal weather, and the average speed of the road vehicle is reduced by 20-40km/h in large rain and snowfall. Some drivers have fear of uncertain danger (safety risk) of ice and snow weather, and the drivers generally lower consciousness and reduce the speed of the vehicle. The driver with good driving skill, driving experience and caution can effectively prevent accidents; accident is easily caused by drivers with weak driving skills, inexperienced or inattentive and psychological tension.
Although people know that the friction force of wet and ice and snow smooth road surfaces after rain and snow is much smaller than that of dry road surfaces, the people cannot voluntarily drive the safety vehicle speed due to the wet and slippery road surface scene (the reduction is not obvious according to the statistics of detection data) after the visibility of road traffic is recovered in actual driving, and the people are usually used to control the vehicle speed to advance according to the dry road surfaces, and traffic accidents are easy to happen. Therefore, the traffic safety risk of the expressway, particularly the junction area of the main road and the ramp is dynamically monitored and evaluated in real time, drivers in a driving state are reminded to control the safety speed in the whole process, the safety traffic risk can be remarkably reduced, and traffic accidents can be actively prevented. According to the method, large sample data of behavior habit control is investigated according to the driving speed and distance of an automobile in severe weather, particularly in low-visibility environment, of a certain section of a highway in the eastern part of Jiangsu: when the night visibility is lower than four hundred meters, most drivers do not decelerate and still keep the average speed of about 82km/h to drive, compared with the average speed of 3-5 km/h in the normal visibility.
The influence of strong wind on the driving safety is also often ignored by people. The wind directions acting on the automobile comprise downwind, upwind and crosswind, and the wind directions have different degrees of influence on the traffic safety of the automobile, wherein the biggest influence on the running safety of the automobile is strong crosswind. The automobile is not shadow and trace, and due to the characteristics of high speed, high traffic volume, high closure of the expressway and the like of the vehicles on the expressway, the response capability is too slow or the response action is inaccurate under the windy weather of a general driver, the automobile is only alert when the automobile is caused to have drift feel under the windy environment, the psychological mood is unstable if the automobile is accompanied with heavy rain or snow blowing, the attention range is reduced, the internal tension is easy, the action is not coordinated, even the misoperation action occurs, and the like, and traffic accidents are caused. If the wind is windy or upwind, the braking distance of the vehicle can be relatively increased or shortened due to the action of wind force, and if the wind force is overlarge, the deviation of the braking effect is large, and the rear-end collision, sideslip or side turning of the vehicle can be easily caused. The safety influence of the lateral strong wind on the running vehicles on the expressway, especially on the buses running on bridges and on buses, dangerous chemical vehicles and trucks on roads is great, drivers often neglect to control the safety vehicle speed in the lateral strong wind environment, and the safety vehicle speed needs to be calculated according to different grades and directions of the lateral strong wind and is accompanied with real-time reminding and early warning.
Experimental study at home and abroad shows that: when the lateral wind speed is smaller (below level 6), the side slip of the automobile under the action of the lateral force is not obvious in a flat road section generally, and the influence on driving safety is small. When the lateral wind speed is greater than 6 levels, the influence of lateral force and yaw force on the driving safety of the automobile is more and more obvious along with the increase of the speed or the wind force, and under the comprehensive actions of the gravity, the power, the supporting force, the friction force, the lifting force, the lateral pressure force, the upwind resistance and the like of the automobile, the driving safety stability and the psychological emotion are influenced, and if the automobile encounters snow blowing, heavy rain, sand storm weather and a bridge road section under the interference of heavy wind, the driving safety risk is obviously increased. The car has good running stability in a crosswind environment due to small lateral area and low gravity center. The large-sized vehicle has large lateral area and high gravity center, and when encountering heavy wind, rain, snow, dust and special danger of a bridge road section and adopting braking operation, the large-sized vehicle is extremely easy to generate side-slip rollover or rear-end collision, and changes the road to interfere with major traffic accidents of vehicles running on other lanes.
According to experimental data research of the scene of the eastern expressway traffic flow path section of Jiangsu, the experimental data are found that: on one hand, each driver has a 'safe driving behavior rule' which is dominant in habituation and more confident, and poor vehicle speed and vehicle distance control habit which possibly induce accidents exists in different degrees for almost all drivers in severe weather environment, but the safety vehicle speed (or vehicle distance) correction scene intervention which is different in all-course different road section accompanying type and is effective in real time is lacking; on the other hand, the existing safe vehicle speed and vehicle distance algorithm and early warning control mode or the experimental value based on the rule threshold or limit control (emergency brake) often lead to the phenomenon of overrule or general non-compliance of impermissible people. This is the main reason why road traffic is more prone to traffic accidents in severe weather. Therefore, the invention has the main purposes of calculating the driving safety vehicle speed under the condition of low visibility of road traffic in real time, calculating the safety vehicle speed handle control values corresponding to different road surface wet sliding degrees and different grade directions of lateral strong wind in real time, realizing the dynamic early warning of drivers on the whole road section to correct poor safety vehicle speed handle control habits, selecting the correction threshold value favorable for the development of good driving behavior habits, and implementing a grading early warning mode to effectively prevent traffic accidents. The method is characterized in that a point is required to be supplemented, the speed and distance sensing and judgment of a driver in the high-speed dynamic driving following process are different in a complex environment, so that a safety speed correction handle control rule suitable for all drivers does not exist, only a correction method suitable for most drivers to accept can be selected, but the correction method is based on the method according to the traffic flow data statistical differential analysis of different road scenes and the personalized requirements of the drivers, and further the safety behavior handle control habit of all drivers is obtained.
Disclosure of Invention
The invention aims to: aiming at the problems existing in the prior art, the invention aims to provide a method for correcting and controlling the safety vehicle speed of a expressway in severe weather, and a method and a system for early warning traffic risks in expressways and confluence areas based on correcting and controlling the safety vehicle speed.
The technical scheme is as follows: in order to achieve the aim of the invention, the invention adopts the following technical scheme:
a method for correcting and controlling the safety speed of expressway in bad weather includes such steps as calculating the safety speed of expressway when the visibility of road traffic is less than 200 m or when the road is in high wind weather of 6 or more levels, and correcting according to the road surface condition of different roads;
the method for calculating and correcting the handle-controlled safe vehicle speed when the visibility of road traffic is less than 200 meters comprises the following steps:
according to the fitted road traffic low-visibility safety speed-limiting equation, calculatingSafety speed limit v under current road traffic visibility Speed limiting The method comprises the steps of carrying out a first treatment on the surface of the The road traffic low visibility safety speed limit equation is obtained by fitting corresponding speed limits and vehicle distance thresholds of different severe weather road traffic low visibility according to laws and regulations;
Calculating the maximum safe vehicle speed v for avoiding collision according to the emergency braking reaction time, the braking deceleration, the current road traffic visibility and the vehicle length Limit of ；
According to formula v Low visibility handle control ＝(v Limit of -v Speed limiting )·k+v Speed limiting Calculating and correcting handle-controlled safe vehicle speed v Low visibility handle control The method comprises the steps of carrying out a first treatment on the surface of the Wherein k is the selected ratio value;
the method for calculating and correcting the handle-controlled safe vehicle speed when the road is in the windy weather with more than 6 grades comprises the following steps:
according to the wind speed, wind direction and driving behavior habit of different road sections under the current high wind level, calculating and correcting the controlled safe vehicle speed v Big wind handle control ；
For a specified bridge section, calculating correction handle control safe vehicle speed v 'under different high wind grades according to a fitted correction equation of the vehicle running safe vehicle speed under the condition of the road side direction high wind' Big wind handle control The method comprises the steps of carrying out a first treatment on the surface of the The safe vehicle speed correction equation is obtained by speed limit fitting corresponding to different high wind grades according to experimental data reference laws and regulations;
the method for correcting the corrected and controlled safe vehicle speed according to different road surface types comprises the following steps: setting different road surface braking coefficients according to the wet skid degree of different road surface types, and correcting the calculated corrected safe vehicle speed by the road surface braking coefficients to obtain the final corrected safe vehicle speed v of the expressway in bad weather Handle control 。
Further, the method further comprises the following steps: when the road does not have more than 6 grades of high winds and the visibility is more than 200 meters, if snow or ice is formed on a highway section or a bridge deck lane, fitting an ice and snow safety speed limit equation according to legal regulation requirements, and calculating v Speed limit for ice and snow road surface The method comprises the steps of carrying out a first treatment on the surface of the The ice and snow safety speed limit equation is based on the ice road surface or bridge corresponding to snowSurface speed limit threshold and ice and snow wet skid temperature coefficient f t And the ice and snow safety speed limit of the low-temperature road section of the ground surface is obtained through fitting.
Further, the road traffic low visibility safety speed limit equation is expressed as:
wherein (1)>Is road traffic visibility.
Further, the maximum safe limit for avoiding collisions is calculated according to the following formula:
wherein a is Brake device For braking deceleration, t Reaction time In order to provide an emergency braking response time,for road traffic visibility, L Vehicle length The vehicle length is L, and L is the safety distance when two vehicles are parked still.
Further, the proportional value k is determined according to the following method: counting the vehicle speed distribution under different visibility, and enabling the vehicle speed data in the set proportion range to be at or below the safe vehicle speed by adjusting the proportion value k; at v Low visibility handle control When the calculated value of (2) exceeds the legal speed limit, taking the value as the legal speed limit value; v when the visibility of road traffic is below 30 meters Low visibility handle control ＝v Speed limiting 。
Further, the road traffic visibility is counted according to 30-50 m, 51-100 m and 101-200 m respectively, the habitual control speed when the low visibility meeting the set condition is obtained, the calculation is carried out according to the road traffic visibility of 200, 100 and 50 m respectively, and the ratio value k under different road traffic visibility is determined respectively.
Further, the fitted correction equation of the automobile running safety speed under the condition of the lateral strong wind of the road is expressed as follows:
v’ big wind handle control ＝170-15·F Wind power grade The method comprises the steps of carrying out a first treatment on the surface of the Wherein F is Wind power grade Is the road wind power grade.
Further, according to the wind speed, the wind direction and the driving behavior habits of different road sections under the current high wind level, the formula for calculating and correcting the controlled safe vehicle speed is as follows:
v big wind handle control ＝v Habit of +d Wind direction ·v Wind speed
Wherein v is Habit of In order to enable the speed of the vehicle to be in a preset proportion range below the habitual speed by adjusting the p value according to the p-th percentile of the speed distribution of the vehicle under the condition that the traffic of each road section of the expressway is smooth under the current high wind level, v Phoenix speed D is the current wind speed Wind direction And < 0 is the wind direction correction coefficient.
Further, the greater the road surface wet skid degree is, the smaller the corrected correction handle control safety vehicle speed is; the formula for controlling the safe vehicle speed through correction and correction of the road surface braking coefficient is as follows:
Wherein v is v Low visibility handle control Or v Big wind handle control ，Is the road surface braking coefficient.
Further, according to national and local road traffic regulations, the speed limit threshold value of the snow ice road surface (bridge deck) and the ice and snow wet skid temperature coefficient f are corresponding t Fitting an ice and snow safety speed limit equation of the low-temperature road sections of bridges, overpasses, tuyeres, dorsalis and the like, and expressing the ice and snow safety speed limit equation as follows:
to facilitate the roadThe surface temperature is converted into a temperature value,wherein t is 0 when t=0-4 ℃, and a negative integer when t is less than 0.
A method for early warning the whole-course traffic risk of a severe weather highway comprises the following steps:
when the visibility of road traffic is below 200 meters or when the road is in high wind weather with more than 6 grades, the safety vehicle speed v is corrected and controlled Handle control Substituting the equation to obtain the safe vehicle distance:
and reminding the safe speed and the safe distance of the passing vehicle according to the calculation result.
Will v A Substituting equation parking vision distance:
wherein v is A Is the running speed of the vehicle. And calculating the parking sight distance of the passing vehicle according to the above method, and reminding the vehicle with the parking sight distance smaller than the safe vehicle distance.
Further, when snow or ice is formed on the road surface, grading early warning is carried out according to the surface environment temperature, and speed limit reminding is carried out on the ice and snow road surface.
A highway confluence region traffic risk early warning method comprises the following steps:
when the visibility of road traffic is below 200 meters or when the road is in high wind weather with more than 6 grades, the safety vehicle speed v is corrected and controlled Handle control Substituting the equation for safe distance between vehiclesCalculating to obtain a safe distance S Safety distance between vehicles And safety speed and ramp speed are carried out on the main road or ramp vehicles with set distance before entering the confluence areaA safety distance reminder;
according to the parking line-of-sight equationCalculating the parking sight distance of the vehicle on the main road or the ramp, and reminding the corresponding vehicle if the parking sight distance of the vehicle on the main road or the ramp is smaller than the safe vehicle distance; wherein v is A Is the running speed of the vehicle.
Further, when the road traffic visibility monitored in real time is greater than 200 meters and the wind power level is less than 6 levels, one or more of the following early warning modes are carried out:
when a traffic lane is in a traffic lane at the junction region and a traffic lane at the outer side of the main road, a vehicle at a low speed or a large-scale vehicle is in illegal parking, and a vehicle enters a ramp, reminding the main road or the ramp vehicle with a set distance before entering the junction region;
when vehicles do not enter the ramp, reminding the main road with a set distance before entering the converging region;
When a low-speed vehicle or a large-sized vehicle from a ramp is arranged on an accelerating lane of the confluence region and a vehicle enters from one side of a main road or a ramp, reminding the main road or the ramp vehicle with a set distance before entering the confluence region;
when illegal parking, low-speed vehicles and large-scale vehicles are not found, calculating whether collision risks exist in a converging area of a main road and a ramp coming vehicle or not, wherein the specific method comprises the following steps of: calculating the time t when two vehicles of the main road vehicle A and the ramp vehicle B reach the end of the forbidden merging area A And t B The method comprises the steps of carrying out a first treatment on the surface of the At t A ＝t B Reminding the vehicles on the main road and the ramp of decelerating; at t A ＞t B When the vehicle distance between the two vehicles is calculated and compared with the safe vehicle distance, if the vehicle distance between the two vehicles is smaller than the safe vehicle distance, a prompt is sent to the ramp vehicles; at t A ＜t B Calculating and comparing the distance between the two vehicles and the safe distance, and sending a prompt to a main road vehicle if the distance between the two vehicles is smaller than the safe distance;
reminding ramp vehicles with set distance before entering a confluence region when the average speed of more than three continuous vehicles outside a main road is greater than a set threshold value or the average parking sight distance is smaller than the set threshold value;
when the road surface is wet and slippery, snow is accumulated or frozen, the safe speed v of the main road or ramp vehicle is calculated according to the following formula Confluence safety And reminds the driver:
Wherein S is Actual distance between vehicles Is the actual distance between the current vehicle and the preceding vehicle.
Based on the same inventive concept, the computer system provided by the invention comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the computer program is loaded to the processor to realize the method for correcting and controlling the safe vehicle speed of the expressway in bad weather, or the method for early warning the traffic risk of the confluence area of the expressway.
The beneficial effects are that: according to the invention, firstly, according to the safety speed and the vehicle distance threshold value specified by the national and local traffic safety regulations about low visibility of severe weather and the control requirements of the road under the conditions of ice accumulation, snow accumulation, wet and slippery snow and strong wind, a road traffic safety speed limit fitting equation is calculated, and based on the fitted road traffic safety speed limit equation, the corresponding continuous safety speed limit (function) value under the conditions of low visibility of severe weather, wet and slippery road, strong wind and the like of a whole-course positioning target vehicle is calculated; then calculating the maximum limit safety vehicle speed for avoiding collision accidents according to comprehensive factors such as the emergency situation of the road, the response action of the road, the low visibility of the road traffic and the like; the method comprises the steps of counting the habitual control safety vehicle speed law of a driver under severe weather conditions through road traffic macroscopic data, selecting a proper proportion value as a correction value of a bad safety vehicle speed control habit determined between dynamic driving vehicle safety speed limit and maximum limit safety vehicle speed, correcting a scene of safety vehicle speed control of a target driver under severe weather conditions in real time, and carrying out grading early warning on traffic risks of severe weather highways and confluence areas thereof in real time and timely for the whole drivers. On the basis of national and local road traffic regulations, the invention combines the general driving behavior habit optimization of people (with statistical significance) to determine the safe vehicle speed correction handle control strategy, achieves real-time and timely early warning, avoids overfall through reasonable selection of correction degree, and has system viscosity widely applied to social drivers and passengers. Because the energy of the collision of the high-speed vehicle and the braking efficiency are square relations of the vehicle speed, no traffic accident or large collision accident can be caused without the vehicle speed or the relative vehicle speed out of control.
Compared with the prior art, the invention has the following advantages: 1. the invention considers various bad weather factors, and includes safety risk identification and early warning measures corresponding to low visibility of road traffic, different conditions of road surfaces and normal conditions. 2. On the basis of the road traffic safety method, the invention establishes the adaptive speed limit and vehicle distance standard of most people according to the general driving behaviors of the people, avoids overrules and is suitable for the adverse effect. 3. Based on the method provided by the invention, various early warning modes can be adopted, the early warning time is quick, and real-time and timely early warning can be realized.
Drawings
FIG. 1 is a flow chart of a method for correcting and controlling the safe vehicle speed of a severe weather highway according to an embodiment of the invention.
Fig. 2 is a schematic diagram (side view) of the layout of the highway confluence area device in the embodiment of the invention.
Fig. 3 is a schematic layout view (top view) of a highway confluence area device in an embodiment of the invention.
Detailed Description
The technical scheme of the invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments.
As shown in FIG. 1, the embodiment of the invention discloses a method for correcting and controlling the safe vehicle speed of a severe weather highway, which mainly relates to the correction and control of the safe vehicle speed in the severe weather highway with the visibility of less than 200 meters and over 6 grades of strong wind weather, and calculates the correction and control safe vehicle speed and corrects according to different road types when the visibility of the road traffic is less than 200 meters or over 6 grades of strong wind weather.
Specifically, when the visibility of road traffic is below 200 meters, the method for calculating the corrected handle-controlled safe vehicle speed is as follows:
firstly, according to a fitted road traffic low-visibility safety speed limit equation, calculating a safety speed limit v in a current road traffic low-visibility environment Speed limiting 。
In the step, a road traffic low visibility safety speed limit equation is fitted according to corresponding speed limit and safety vehicle distance threshold values when the low visibility of the road traffic in severe weather required by national and local road traffic safety regulations is smaller than 200, 100, 50 and 30 meters. The fitted road traffic low visibility safety speed limit equation (function) is expressed as:
the invention can realize real-time road traffic visibilityThe method and the device can be obtained by calculation by an AI video monitoring module of the lightning-shooting all-in-one machine according to the road image acquired in real time, and can be specifically referred to as CN111932560B, namely a method and a device for calculating the distance between low-visibility video images of road traffic. In a low visibility road traffic environment, the driver is once in danger of emergency braking.
Then, calculating the maximum safe vehicle speed V with low visibility of the road traffic for avoiding collision according to the emergency braking reaction time, the braking deceleration, the current road traffic visibility, the vehicle length and the like Limit of 。
Wherein, the emergency braking reaction time of automobile drivingt Reaction time Taking 1.5s, braking deceleration a Brake device Taking 6m/s according to vehicle type 2 Taking 4m/s from a cart 2 ，L Vehicle length For the length of the vehicle, L is the safety distance when two vehicles are parked at rest, and generally 5 meters is taken.
Finally, calculating the safety vehicle speed v of the low visibility correction handle control Low visibility handle control Which is the safe speed limit v Speed limiting And the maximum safe vehicle speed v Limit of Intermediate k position (k e (0.1)):
v low visibility handle control ＝(v Limit of -v Speed limiting )·k+v Speed limiting
Selecting a ratio value k according to the vehicle speed distribution under low visibility of traffic of different road sections, so that v Low visibility handle control Vehicle speed data satisfying about p% or less on the flat section may be at a safe vehicle speed and below. p is regulated according to the road traffic safety regulation and speed limit, and combines the driving behavior habit of people (habitually controlling the speed v when counting low visibility) Habit of ) The expected value of the safe vehicle speed is properly corrected and determined, and in order to avoid the phenomenon of overkill and impersonation, the first p value (correction degree) can be p more than or equal to 85 (so as to continuously prevent and reduce the traffic accident target to be properly and timely adjusted). According to statistics, the traffic accident 378781 occurs in 2019 in China, and the traffic accident occurrence rate of drivers is about 0.083% (neglecting the non-driving personnel). The safety stability that the driver driving behavior has stronger probability statistical significance is illustrated, and the driving behavior is mainly governed by the subconscious of the driver and forms the program habit for a long time. The speed behavior of 85% of drivers of the road traffic flow and the corresponding statistical data of the keeping vehicle distance have the obvious safety and stability rule of the drivers, can be used as an important model of safe driving habit (threshold values of the safety vehicle speed and the like of the drivers), and can concomitantly correct and develop good habit for other bad driving behaviors; and (3) performing effect measurement through relevant road characteristic parameters, continuously adjusting and optimizing a safety vehicle speed threshold value, and periodically and repeatedly training to continuously enable the driving behavior habit to approach the optimal.
When (when)Is lower than 200,100. At 50 meters, 85% of the detection statistics v of a certain road section Habit of Respectively smaller than v 200 、v 100 、v 50 Calculating k:
from the road detection data, finding: the road conditions are different, and different detection road sections have different v Habit of Performance is thatBelow 200, 100, 50 meters, there is 85% of road certain section detection statistics v Habit of Respectively smaller than different v 200 、v 100 、v 50 The value, according to the above formula, the k value is obtained and substituted into the upper low visibility to obtain v by the control calculation formula Low visibility handle control ；
When (when)When the rise is greater than 200 meters, k=0.5;
when (when)When falling below 30 meters, k=0;
when v Low visibility handle control ＞v Normal condition speed limit V when (v) Low visibility handle control The value of (a) becomes v Normal condition speed limit Wherein v is Normal condition speed limit 120km/h for the trolley and 100km/h for the cart.
In the road sections such as bridges, overpasses, tunnels, curves, ramps, turn junctions and the like, whenWhen falling below 200 meters, k=0;
when (when)The vehicle speed is reduced to below 200 meters, and the target vehicle speed v is found Bicycle with bicycle body ≥v Limit of In case of emergency, the driver should be reminded to slow down and recommended according to v Low visibility handle control Value handle control safe vehicle speed running (when vehicle speed reaches maximum safe vehicle speed v calculated according to emergency braking deceleration under low visibility environment) Limit of The rear-end collision of the rear vehicle is extremely easy to be caused during the value time).
When the road is in more than 6 grades of windy weather, the method for calculating and correcting the safety vehicle speed is as follows:
when the general road section is in more than 6 grades of windy weather, according to the wind speed, wind direction and driving behavior habit of different road sections under the current windy grade, calculating the corrected and controlled safe vehicle speed v under the windy weather Big wind handle control 。
v Big wind handle control ＝v Habit of +d Wind direction ·v Wind speed
Wherein v is Habit of The p-th percentile of the vehicle speed distribution is obtained according to the condition of low vehicle flow (smooth vehicle running) of each section of the expressway under the current high wind level. And p is defined according to the speed limit of the road traffic safety law, and the expected value of the safety vehicle speed is properly corrected and determined by combining the driving behavior habit of a person, and in order to avoid the phenomenon of overrule and impermissibility, the p value can be p more than or equal to 85 for the first time (so as to properly and timely adjust the aim of continuously preventing and reducing traffic accidents). v Wind speed Is the current wind speed. Wind direction correction factor d Wind direction The values of (2) are as follows:
table 1 wind direction correction factor value table
| Included angle between wind direction and vehicle flow direction | d Wind direction |
| 0° | -1 |
| 45° | -1.5 |
| 90° | -2 |
| 135° | -1.5 |
| 180° | -1 |
In particular, for some appointed bridge sections, such as Yangtze river bridge and extra large bridge sections (long extra large bridge for short), when the weather of high wind more than 6 grades appears, according to the fitted correction equation of the safe vehicle speed of the automobile under the condition of high wind on the lateral direction of the road, the correction handle control safe vehicle speed v 'under different high wind grades is calculated' Big wind handle control 。
In the step, a safe vehicle speed correction equation is obtained according to the corresponding speed limit fitting when experimental data refer to the strong wind grades 6, 8, 9 and 10 specified in the working standard of highway traffic control under the severe weather condition of Jiangsu province:
v′ big wind handle control ＝170-15·F Wind power grade
Wherein F is Wind power grade And the current road section wind power grade.
Finally, for v Low visibility handle control Or v Big wind handle control We need to make corrections again for different road types (normal/wet/snow/ice). According to the current road surface condition, calculating to obtain the final corrected handle-controlled safe vehicle speed
Wherein v is v Low visibility handle control Or v Big wind handle control ，Is made of pavementThe dynamic efficiency coefficient influences the braking efficiency aiming at the wet and slippery degree of the road surface, and has larger influence on the road traffic safety. According to statistics of single car accidents on six highways in some western provinces of China: the number of casualties caused by the single vehicle on wet and ice and snow roads respectively accounts for 46.46 percent and 33.85 percent of the total number of single vehicle accidents on road surface factors, and mainly because drivers do not pay caution on severe roads such as water flooding, ponding, pits, roadblocks and the like when driving on wet roads, and the deviation of the safety vehicle speed is excessively large on ice and snow roads. / >The values are as follows:
table 2 general road surface braking efficiency coefficient value table
Monitoring the degree of ice and snow covered roads according to AI video, and implementing hierarchical risk control according to national and local road traffic safety regulation requirements: the method comprises the steps that when snow is accumulated on a highway section (bridge deck) lane, dangerous goods transportation vehicles are forbidden to pass through a control section, when snow is accumulated on the lane and ice is not accumulated on the lane, large-scale buses and dangerous goods transportation vehicles are forbidden to pass through the control section, and when the large-area ice is accumulated on the lane, various vehicles are forbidden to pass through the control section;
for other vehicles allowed to pass, the ground surface temperature is different due to the characteristics of bridges, overpasses, foundation pavement and topography positions (wind gap, shade and the like), and the vehicles correspond to snow accumulation and ice accumulationThe value is required to be further optimized and corrected according to the corresponding speed limit threshold value of the snow ice road surface (bridge deck) and the ice and snow wet skid temperature coefficient f t Fitting an ice and snow safety speed limit equation of the low-temperature road sections of bridges, overpasses, tuyeres, dorsalis and the like, and expressing the ice and snow safety speed limit equation as follows:
assuming the ground surface environment temperature t (DEG C) in rainy and snowy days, when t=0-4 ℃, the rainfall and snowing are generally wet snow, and the rainfall and snowing are often in a mixed water state; when t= -1 ℃, the road sections such as bridges, overpasses, tuyeres, dorsalis and the like can accumulate ice; and ice is accumulated on a large section when t is less than minus 2-6 ℃. Taking t=0, -1, -4 ℃ corresponding to the road ice and snow wet skid temperature coefficient f t For 0, 1 and 2, the speed limit threshold value 80, 40 and 20 (km/s) corresponding to ice and snow weather is fitted to the road sections such as bridge, overpass, tuyere, back-to-back and the like to control the safety vehicle speed v Speed limit for ice and snow road surface Is a correction relation equation of (2). In order to facilitate the conversion of the road surface temperature,wherein, when t=0-4 ℃, 0 is taken, and when t is less than 0, a negative integer is taken.
On the basis of the method for correcting and controlling the safety vehicle speed of the expressway in severe weather, the other embodiment of the invention discloses a method for early warning the traffic risk of the expressway in severe weather, which corrects and controls the safety vehicle speed v when the low visibility of road traffic or the high wind level exceeds 6 levels Handle control Substituting the vehicle distance into a safe vehicle distance equation, and calculating to obtain a safe vehicle distance S Safety distance between vehicles Reminding the safe speed and the safe distance of the passing vehicles; and calculates the parking sight distance S of the passing vehicle according to the parking sight distance equation Distance of vision for parking For S Distance of vision for parking ＞S Safety distance between vehicles Is provided for reminding the vehicle.
Specifically, the safety distance and the parking sight distance equation both consider road surface braking coefficients of different road conditions:
wherein v is A For the running speed of the target vehicle S Distance of vision for parking Habitual (comfortable) braking deceleration a of medium-taking target vehicle Brake device ＝2m/s 2 Driver reaction time t Reaction time ＝1.5s。
And (3) calculating the speed limit of the ice and snow road surface according to the ground surface environment temperature t (DEG C) under the condition that ice and snow appear on the road surface. And can be divided into three risk level pre-warnings:
a) When the surface environment temperature t epsilon [0,4], the unit road section is low risk
b) When the surface environment temperature t epsilon [ -1,0], the unit road section is a stroke risk
c) When the surface environment temperature t epsilon (- ≡minus 1), the unit road section is high risk
Specifically, the speed limit on icy and snowy roads is calculated by the following formula:
wherein,t is taken to be 0 when t=0-4 ℃, and a negative integer is taken when t is less than 0.
On the basis of the method for correcting and controlling the safety vehicle speed of the expressway in severe weather, the other embodiment of the invention discloses an all-weather expressway junction region traffic risk early warning method, which is used for calculating whether a road traffic low visibility, a junction region accelerating lane or a main road outer lane has illegal parking and low-speed vehicles or not through AI video analysis and radar monitoring. Calculating the visibility monitoring value in real time through AI video analysisAnd recording, and monitoring whether the road surface has wet and slippery snow and ice in real time. And monitoring in real time or acquiring wind power and wind direction from a meteorological department and recording. The radar is used for monitoring the average speed or the average stopping sight distance (the stopping sight distance: the shortest driving distance required by a driver when the driver sees the outline of a front obstacle and stops safely before habitual braking reaches the obstacle) of three continuous vehicles on the lane outside the main road. Calculating the speed, model and parking of all incoming vehicles on main road and ramp Visual distance->Safety distance between vehicles
Specifically, the merge area traffic risk early warning rule includes:
1. when AI video analysis results inAnd when the wind weather is below 200 meters or above 6 grades, starting the first early warning mode.
a) For a vehicle equipped with a double-time positioning vehicle-mounted terminal or a mobile phone APP (in the embodiment of the invention, the double-time positioning vehicle-mounted terminal or the mobile phone APP is real-time and timely, and generally refers to software and hardware for implementing the scheme of the invention), 500 meters before the vehicle enters a confluence area, the vehicle is reminded by voice to inform the vehicle of the safety vehicle speed (namely, the safety vehicle speed is controlled by the correction handle) and the safety vehicle distance which are required to be maintained after the vehicle is corrected according to the road surface condition under the current road low visibility or the current wind power level.
b) If the radar monitoring finds that the main road or ramp has more than 1 (including 1) automobile S Distance of vision for parking ＞S Safety distance between vehicles The coming vehicles on the main road or the ramp are reminded by voice, and the safety vehicle speed and the vehicle distance are controlled according to the calculated correction.
c) The information board prompts: "road traffic visibility xx meters/high wind xx class, please keep the vehicle speed xx, observe, and drive cautiously".
2. When the visibility of road traffic is more than 200 meters and no high wind with the level of more than 6 is generated, if AI video analysis finds that the accelerating lane of the confluence region and the lane at the outer side of the main road have illegal parking, low-speed vehicles or large-sized vehicles, and the radar detects that the ramp has vehicles to enter, the early warning mode II is started immediately.
a) For a main road and a ramp coming vehicle equipped with a double-time positioning vehicle-mounted terminal or a mobile phone APP, before the main road coming vehicle enters a confluence region (the main road coming vehicle advances by 500 meters, the ramp coming vehicle advances by 100 meters, and the following is the same) voice notification: "road barrier in front confluence region, ramp with car to collect, please drive carefully-! ".
b) The information board prompts: "road barrier in front confluence region, ramp with car to collect, please drive carefully-! "
3. If the AI video analysis finds that the accelerating lane of the merging area and the lane at the outer side of the main road have illegal parking when the visibility of the road traffic is more than 200 meters and no high wind with the level of more than 6, the radar does not detect that the ramp has vehicles to enter, and the early warning mode III is started.
a) For a main road coming vehicle using a double-time positioning vehicle-mounted terminal or a mobile phone APP, before the main road coming vehicle enters a confluence area, informing the main road coming vehicle of the double-time positioning vehicle-mounted terminal or the mobile phone APP: "front confluence region, please carefully drive-! "
b) The information board prompts: "front confluence region, please carefully drive-! "
4. If the AI video analysis finds that the accelerating lane of the confluence region has a low-speed vehicle or a large-sized vehicle from a ramp when the visibility of the road traffic is more than 200 meters and no high wind with more than 6 grades, and the radar detects that the vehicle enters from one side of the main road or the ramp, the early warning mode IV is started.
a) For a vehicle using a dual-time positioning vehicle-mounted terminal or a mobile phone APP, before the vehicle enters a confluence area from a main road/ramp, the vehicle is informed by voice: "ramp has low speed vehicle coming in, please drive carefully-! "
b) The information board prompts the main road/ramp: "ramp has low speed vehicle coming in, please drive carefully-! "
5. If the AI video analysis does not find that the accelerating road is stopped, the vehicle is at a low speed or a large-sized vehicle when the road traffic visibility is more than 200 meters and no high wind is above 6 grades, calculating whether collision risks exist in a confluence area of a main road and a ramp incoming vehicle, and starting an early warning mode five.
And comparing the dynamic data of the coming vehicles of the lanes at the outer side of each main road with the dynamic data of the ramp vehicles. As shown in figures 2 and 3, A and B are respectively taken as the outside road and the ramp incoming vehicle of the main road, and the vehicle speed is v A And v B The distance between the two vehicles and the radar is S respectively 1 And S is 2 . Wherein the B vehicle is parallel to the main road direction v BX The dividing speed perpendicular to the main road direction is v BY . The included angle between the main road and the ramp is alpha. The vehicle speed v of the B vehicle actually parallel to the ramp direction B The method comprises the following steps:
S A and S is equal to B It is assumed that A, B two vehicles continue to travel at a constant speed, and after passing through a large-scene radar, the two vehicles continue to travel at a distance. Calculating the moment t when A, B two vehicles reach the end of the forbidden merge area A0 、t B0 Respectively the time from the radar snapshot to A, B vehicle time S Forbidden And forbidding the merging of the marked line length for the merging area.
According to t A 、t B Can be divided into three cases
a) When t A ＝t B When in use, red early warning is carried out to remind the main road and ramp vehicles of decelerating
b) When t A ＞t B And when the vehicle is a rear vehicle, the vehicle A is a front vehicle. And calculating and comparing the distance between the two vehicles and the safe distance. The safe distance between the front car and the rear car is calculated, the driver of the front car has better sight than the driver of the rear car, and the driver is consciously braked and decelerated under the emergency generally, a B Taking 6m/s 2 The following of the car is always free from urgent feeling, and the car cannot be braked suddenly, a A Taking 2m/s 2 。L A 、L B Is the length of the vehicle. L is the safety distance when two vehicles are parked still. A vehicle braking reaction time t Reaction time Take 1.5s.
If at this time S A -S B ≥L S And if the vehicle is safe, otherwise, entering a yellow early warning, and sending a prompt to the ramp vehicle to pay attention to the main road vehicle and ask for slow down.
c) When t A ＜t B And when the vehicle is a rear vehicle, B is a front vehicle. And calculating and comparing the relation between the distance between the two vehicles and the safe distance.
If at this time S B -S A ≥L S And if the vehicle is safe, otherwise, the vehicle enters an orange slow flashing early warning, and sends a prompt to the main road vehicle, namely 'slow vehicle before taking care, please slow down and slow down'.
6. When the visibility of the road traffic is greater than 200 meters and no high wind with the level of more than 6 is generated, when the average speed of more than three (including three) vehicles on the outer side of the main road is greater than a certain threshold value or the average parking sight distance is less than a certain threshold value, starting an early warning mode six.
a) For a vehicle using a double-time positioning vehicle-mounted terminal or a mobile phone APP, 100m before the vehicle enters a confluence region from a ramp, informing the vehicle of the confluence region: the main road vehicle is fast and please carefully observe the remittance.
b) The information board prompts the ramp: the main road vehicle is fast and please carefully observe the remittance.
7. When the road traffic visibility is greater than 200 meters and no high wind with the level of more than 6, if the road surface is detected to be slippery, snow or ice through AI video analysis, a warning mode seven is started.
a) And for the coming vehicles on the main road or the ramp, if the traffic flow is more than 2, calculating the safety vehicle speed which the main road or the ramp should keep according to the current distance between the main road or the ramp and the front and rear vehicles.
Wherein S is Actual distance between vehicles For the actual distance between the current vehicle and the front vehicle, the reaction time is 1.5s, and the braking deceleration trolley is 6m/s 2 Taking 4m/s from a cart 2 。
b) For a vehicle using the dual-time positioning vehicle-mounted terminal or the mobile phone APP, the vehicle is informed of the safe vehicle speed and is driven carefully.
c) The information board prompts: "road surface slippery/snow/ice, please slow down and drive carefully".
In summary, the early warning strategy and mode in the highway confluence region traffic risk early warning method disclosed by the embodiment of the invention are as follows, and the early warning mode and mode can be selected or combined according to the requirements when the method is specifically implemented.
First case: severe weather road traffic visibility such as fog, haze, rainfall, snowfall, hail, sand storm and the like is below 200 meters or when the wind power level is above 6 levels
Mode one: when the parking sight distance of the main road or ramp vehicle is smaller than the safe vehicle distance calculated according to the corrected safe vehicle speed, high-risk (red or orange flash) early warning (information board, induction lamp, vehicle-mounted terminal or mobile phone APP reminding) and real-time corrected safe vehicle speed reminding (information board, vehicle-mounted terminal or mobile phone APP) are sent to the main road or ramp incoming vehicle. And (3) injection: in the low-speed and low-visibility environment of the vehicle, the radar or the camera has poor monitoring effect, so that red early warning is sent out no matter whether a main road or a ramp is provided with the vehicle.
Second case: when the road traffic visibility is more than 200 meters and the wind power level is less than 6 levels
Mode two: the AI video recognizes that the accelerating lane of the confluence area or the lane outside the main road has illegal parking, low-speed car or large car, and the vehicles entering the ramp are most likely to be forced to be merged into the main road in advance at the moment, and high-risk (red or orange flash) early warning (information board, induction lamp, vehicle-mounted terminal or mobile phone APP warning) is sent to the main road and the vehicles coming from the ramp.
Mode three: the AI video recognizes that there is a parking violation in the accelerating lane of the confluence area or the lane outside the main road, and at this time, the ramp does not have vehicles to enter, and sends out medium risk (orange slow flashing) early warning (information board, induction lamp, vehicle-mounted terminal or mobile phone APP warning) to the coming vehicles of the main road.
Mode four: when the radar detection estimation or AI video identification has a low-speed vehicle or a large-sized vehicle from a ramp in a confluence area accelerating lane, a medium-risk (orange slow flashing) early warning (information board, induction lamp, vehicle-mounted terminal or mobile phone APP reminding) is sent to a main road or a ramp coming vehicle.
Mode five: the accelerating lanes of the confluence area are free of vehicles, the radar monitoring calculates that the vehicles of the lanes at the outer side of the main road and the vehicles of the ramp keep the respective motion states unchanged, the vehicles possibly collide in the confluence area, and sending out medium-risk (orange slow flashing) early warning (information board, induction lamp, vehicle-mounted terminal or mobile phone APP reminding) and real-time correction safety vehicle speed reminding (information board, vehicle-mounted terminal or mobile phone APP) to a main road or ramp incoming vehicle.
Mode six: the radar detection road section of the lane at the outer side of the main road finds that more than three continuous vehicles (including three vehicles) have average vehicle speed greater than a certain threshold value or average parking sight distance smaller than a certain threshold value, and sends out medium-risk (orange slow flashing) early warning (information board, induction lamp, vehicle-mounted terminal or mobile phone APP reminding) to the coming vehicles of the ramp.
Third scenario: the visibility of road traffic is more than 200 meters, the wind power grade is less than 6 grades, and the road surface is slippery after rain and when ice and snow are accumulated
Mode seven: and (3) calculating the recommended safe vehicle speed (vehicle distance) when the road surface is wet and slippery and the road area is ice and snow after rain in real time, and sending a correction safe vehicle speed (vehicle distance) prompt (information board, vehicle-mounted terminal or mobile phone APP prompt) to all vehicles which are about to enter the confluence area.
Fourth scenario: the visibility of road traffic is more than 200 meters, the wind power level is less than 6 levels, and when the accelerating lane of the confluence area and the lane at the outer side of the main road are in no-violation parking and the main road or ramp is in no-coming vehicle
Mode eight: the accelerating lanes of the confluence area and the lanes outside the main road have no illegal parking, and the main road and the ramp do not early warn (blue risk) when the main road or the ramp does not come.
Based on the same inventive concept, the computer system disclosed in the embodiment of the invention comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program is loaded to the processor to realize the method for correcting and controlling the safe vehicle speed of the expressway in bad weather, or the method for early warning the traffic risk of the confluence area of the expressway.
Claims (12)
1. The method is characterized in that when the visibility of road traffic is below 200 meters or when the road is in high wind weather with more than 6 levels, the method calculates the safe vehicle speed of the correction handle control, and corrects according to the wet and slippery degree of different roads;
the method for calculating and correcting the handle-controlled safe vehicle speed when the visibility of road traffic is less than 200 meters comprises the following steps:
According to the fitted road traffic low-visibility safety speed limit equation, calculating the safety speed limit v under the current road traffic visibility Speed limiting The method comprises the steps of carrying out a first treatment on the surface of the The road traffic low visibility safety speed limit equation is obtained by fitting corresponding speed limits and vehicle distance thresholds of different severe weather road traffic low visibility according to laws and regulations;
wherein (1)>Is road traffic visibility;
calculating the maximum safe speed limit v for avoiding collision according to the emergency braking reaction time, the braking deceleration, the current road traffic visibility and the vehicle length Limit of ；
Wherein a is Brake device For braking deceleration, t Reaction time For emergency braking response time, < >>For road traffic visibility, L Vehicle length The vehicle length is L, and the safety distance is the safety distance when two vehicles are parked at rest;
according to formula v Low visibility handle control ＝(v Limit of -v Speed limiting )·k+v Speed limiting Calculating and correcting handle-controlled safe vehicle speed v Low visibility handle control The method comprises the steps of carrying out a first treatment on the surface of the Wherein k is the selected ratio value; the proportional value k is determined according to the following method: counting the vehicle speed distribution under different visibility, and enabling the vehicle speed data in the set proportion range to be at or below the safe vehicle speed by adjusting the proportion value k; at v Low visibility handle control Is calculated to exceed legalWhen the speed is limited, taking the value as legal speed limiting value; v when the visibility of road traffic is below 30 meters Low visibility handle control ＝v Speed limiting ；
The method for calculating and correcting the handle-controlled safe vehicle speed when the road is in the windy weather with more than 6 grades comprises the following steps:
according to the wind speed, wind direction and driving behavior habit of different road sections under the current high wind level, calculating and correcting the controlled safe vehicle speed v Big wind handle control ；
For a specified bridge section, calculating correction handle control safe vehicle speed v 'under different high wind grades according to a fitted correction equation of the vehicle running safe vehicle speed under the condition of the road side direction high wind' Big wind handle control The method comprises the steps of carrying out a first treatment on the surface of the The safe vehicle speed correction equation is obtained by speed limit fitting corresponding to different high wind grades according to experimental data reference laws and regulations;
the method for correcting the corrected and controlled safe vehicle speed according to different road surface types comprises the following steps: setting different road surface braking coefficients according to the wet skid degree of different road surface types, and correcting the calculated corrected safe vehicle speed by the road surface braking coefficients to obtain the final corrected safe vehicle speed v of the expressway in bad weather Handle control 。
2. The method of claim 1, further comprising: when the road does not have more than 6 grades of high winds and the visibility is more than 200 meters, if snow or ice is formed on a highway section or a bridge deck lane, fitting an ice and snow safety speed limit equation according to legal regulation requirements, and calculating v Speed limit for ice and snow road surface The method comprises the steps of carrying out a first treatment on the surface of the The ice and snow safety speed limit equation is based on the corresponding speed limit threshold value of ice road surface or bridge deck with snow and ice and snow wet sliding temperature coefficient f t And the ice and snow safety speed limit of the low-temperature road section of the ground surface is obtained through fitting.
3. The method for correcting and controlling the safety vehicle speed of the expressway in bad weather according to claim 1, wherein the road traffic visibility is counted according to 30-50 m, 51-100 m and 101-200 m respectively, the habitual control vehicle speed when the low visibility meeting the set condition is obtained is calculated according to the road traffic visibility of 200, 100 and 50 m respectively, and the ratio k under different road traffic visibility is determined respectively.
4. The method for correcting and controlling the safe vehicle speed of the expressway in bad weather according to claim 1, wherein the fitted safe vehicle speed correction equation for driving the automobile under the condition of strong wind on the lateral direction of the road is expressed as follows:
v′ big wind handle control ＝170-15·F Wind power grade The method comprises the steps of carrying out a first treatment on the surface of the Wherein F is Wind power grade Is the road wind power grade.
5. The method for correcting and controlling the safe vehicle speed of the expressway in bad weather according to claim 1, wherein the formula for calculating and correcting and controlling the safe vehicle speed according to the wind speed, the wind direction and the driving behavior habits of different road segments under the current strong wind level is as follows:
v Big wind handle control ＝v Habit of +d Wind direction ·v Wind speed
Wherein v is Habit of In order to enable the speed of the vehicle to be in a preset proportion range below the habitual speed by adjusting the p value according to the p-th percentile of the speed distribution of the vehicle under the condition that the traffic of each road section of the expressway is smooth under the current high wind level, v Wind speed D is the current wind speed Wind direction <And 0 is a wind direction correction coefficient.
6. The method for correcting and controlling the safe vehicle speed of the expressway in bad weather according to claim 1, wherein the greater the road surface wet skid degree is, the smaller the corrected and controlled safe vehicle speed is; the formula for controlling the safe vehicle speed through correction and correction of the road surface braking coefficient is as follows:
wherein v is v Low visibility handle control 、v Big wind handle control Or v' Big wind handle control ，Is the road surface braking coefficient.
7. The method for correcting and controlling the safety vehicle speed of the expressway in bad weather according to claim 2, wherein the formula of the fitted ice and snow safety speed limit equation is as follows:
wherein,t<0 represents temperature.
8. The expressway traffic risk early warning method in bad weather is characterized by comprising the following steps of:
when the visibility of road traffic is below 200 m or when the road is in high wind weather with more than 6 grades, the correction control method for the safety vehicle speed of the expressway in bad weather according to claim 1 is used for correcting the safety vehicle speed v Handle control Substituting the equation for safe distance between vehicles
Calculating to obtain the safe distance between vehicles
S Safety distance between vehicles Reminding the safe speed and the safe distance of the passing vehicles; wherein a is Brake device For braking deceleration, t Reaction time For emergency braking reaction time, L Vehicle length For the length of the vehicle, L is the safety distance when two vehicles are parked still,for the road surface braking coefficient, the wet, snow and ice road surface is larger than the normal road surfaceA brake coefficient of 1;
according to the parking line-of-sight equationCalculating the parking sight distance of the passing vehicle, and reminding the vehicle with the parking sight distance smaller than the safe vehicle distance; wherein v is A Is the running speed of the vehicle.
9. The method for warning the traffic risk of the expressway in bad weather according to claim 8, further comprising the steps of carrying out grading warning according to the surface environment temperature when snow or ice is formed on the road surface, and carrying out speed limit reminding on the ice and snow road surface:
wherein,t<0 represents temperature.
10. The highway confluence region traffic risk early warning method is characterized by comprising the following steps of:
v obtained by the method for correcting and controlling the safety speed of the expressway according to claim 1 when the visibility of road traffic is below 200 meters or when the road is in high wind weather with the level of more than 6 Handle control Substituting the equation for safe distance between vehicles Calculating to obtain a safe distance S Safety distance between vehicles The method comprises the steps of carrying out a safe speed and a safe distance reminding on a main road or ramp vehicle with a set distance before entering a converging area; wherein a is Brake device For braking deceleration, t Reaction time For emergency braking reaction time, L Vehicle length For the length of the vehicle, L is the safety distance when two vehicles are parked still, and>the road surface braking coefficient is larger than the braking coefficient 1 of a normal road surface;
according to the parking line-of-sight equationCalculating the parking sight distance of the vehicle on the main road or the ramp, and reminding the corresponding vehicle if the parking sight distance of the vehicle on the main road or the ramp is smaller than the safe vehicle distance; wherein v is A Is the running speed of the vehicle.
11. The highway confluence region traffic risk early warning method according to claim 10, further comprising: when the road traffic visibility monitored in real time is more than 200 meters and the wind power level is less than 6 levels, one or more of the following early warning modes are carried out:
when a traffic lane is in a traffic lane at the junction region and a traffic lane at the outer side of the main road, a vehicle at a low speed or a large-scale vehicle is in illegal parking, and a vehicle enters a ramp, reminding the main road or the ramp vehicle with a set distance before entering the junction region;
When vehicles do not enter the ramp, reminding the main road with a set distance before entering the converging region;
when a low-speed vehicle or a large-sized vehicle from a ramp is arranged on an accelerating lane of the confluence region and a vehicle enters from one side of a main road or a ramp, reminding the main road or the ramp vehicle with a set distance before entering the confluence region;
when illegal parking, low-speed vehicles and large-scale vehicles are not found, calculating whether collision risks exist in a converging area of a main road and a ramp coming vehicle or not, wherein the specific method comprises the following steps of: calculating the time t when two vehicles of the main road vehicle A and the ramp vehicle B reach the end of the forbidden merging area A And t B The method comprises the steps of carrying out a first treatment on the surface of the At t A ＝t B When it is, it is directed to the main road andthe ramp vehicle reminds to slow down; at the position of
t A >t B When the vehicle distance between the two vehicles is calculated and compared with the safe vehicle distance, if the vehicle distance between the two vehicles is smaller than the safe vehicle distance, a prompt is sent to the ramp vehicles; at t A <t B When the vehicle distance between the two vehicles is calculated and compared with the safe vehicle distance, if the vehicle distance between the two vehicles is smaller than the safe vehicle distance, a prompt is sent to a main road vehicle;
reminding ramp vehicles with set distance before entering a confluence region when the average speed of more than three continuous vehicles outside a main road is greater than a set threshold value or the average parking sight distance is smaller than the set threshold value;
When the road surface is wet and slippery, snow is accumulated or frozen, the safe speed v of the main road or ramp vehicle is calculated according to the following formula Confluence safety And reminding:
wherein S is Actual distance between vehicles Is the actual distance between the current vehicle and the preceding vehicle.
12. A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the computer program when loaded into the processor implements the method according to any of claims 1-11.
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