CN114312561B - Three-dimensional motor vehicle triangle warning sign of variable laser beam based on fault vehicle and rear vehicle distance relation - Google Patents
Three-dimensional motor vehicle triangle warning sign of variable laser beam based on fault vehicle and rear vehicle distance relation Download PDFInfo
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Abstract
The invention discloses a variable laser beam three-dimensional motor vehicle triangular warning board based on the distance relation between a fault vehicle and a rear vehicle, and relates to the technical field of safety warning. The invention utilizes millimeter wave radar to detect the actual measurement distance between the rear vehicle and the warning board, the speed of the rear vehicle and the position of the rear vehicle in the lane, the actual measurement distance between the fault vehicle and the warning board and the position of the fault vehicle in the lane; the decision module calculates the braking distance of the rear vehicle by analyzing the collected data, and makes corresponding decisions according to the relation between the braking distance of the rear vehicle and the two measured distances and the corresponding algorithm. The issuing module emits triangular warning light beams with corresponding sizes according to the decision information, so that the limitation that the triangular warning board for the motor vehicle is always static is broken, and the warning effect of the triangular warning board for the motor vehicle is improved.
Description
Technical Field
The invention relates to the technical field of safety warning, in particular to a variable laser beam three-dimensional motor vehicle triangular warning board based on the distance relation between a fault vehicle and a rear vehicle.
Background
The triangle warning board for the motor vehicle is used as a safety prompt device, and has the main function of placing the triangle warning board for the motor vehicle at a certain distance behind the vehicle when the vehicle has traffic accidents or faults, thereby reminding a driver of the rear vehicle to speed down, stop or change lanes in time. The conventional triangular warning board for the motor vehicle is small in size, the warning degree of the reflective board for the driver of the rear vehicle is small, and the driver of the rear vehicle cannot be guaranteed to find the triangular warning board for the motor vehicle in time, so that unnecessary traffic accidents are generated.
The Chinese patent publication No. CN106828302A discloses a triangle warning board for prompting the failure of a front car and a rear car group, which sends a prompt to a rear car with the warning board through a flashing neon lamp and a reflecting material or through a voice transmitter, so that the rear car can stop or change the road to reduce the occurrence of secondary accidents.
The Chinese patent publication No. CN112049039A discloses an audible and visual induction alarm type triangular warning board which gives strong visual and audible stimulus to the driver of the coming vehicle through a flashing light and an audio player, and prompts the driver to pay attention to the condition of the road ahead and to slow down, change the road or stop the vehicle properly.
Summarizing the problems with existing patents of this type are: after the triangular warning board for the motor vehicle is fixed at a certain point, only static improvement and innovation are carried out on the triangular warning board for the motor vehicle, dynamic improvement and innovation are not considered on the triangular warning board for the motor vehicle according to different speeds of the vehicle coming from the rear, and reminding of a fault vehicle and vehicles on adjacent lanes is not considered.
Disclosure of Invention
In order to solve the problems, the invention provides a variable laser beam three-dimensional motor vehicle triangular warning board based on the distance relation between a fault vehicle and a rear vehicle. The invention has the core content of a component group of a triangular warning board for a motor vehicle, a working principle and an implementation algorithm for adjusting the size of a triangular laser beam.
The component set mainly comprises a three-dimensional triangle shell, two millimeter wave radars, two laser transmitters, a controller, a decision module, a battery pack for supplying energy to each instrument and a bracket.
The working principle of the invention is that the millimeter wave radar is utilized to detect the actual measurement distance between the rear vehicle and the warning board, the speed of the rear vehicle and the position of the rear vehicle in the lane, the actual measurement distance between the fault vehicle and the warning board and the position of the fault vehicle in the lane; the decision module calculates the braking distance of the rear vehicle by analyzing the collected data, and makes corresponding decisions according to the relation between the braking distance of the rear vehicle and the two measured distances and the corresponding algorithm. The issuing module is used for controlling the laser emitter to emit triangular warning light beams with corresponding sizes to a rear vehicle driver, personnel at a fault vehicle and vehicles in adjacent lanes according to decision information, so that the triangular warning light beams emitted by the laser emitter are used for giving proper stimulation to the rear vehicle driver, the personnel at the fault vehicle and the vehicles in the adjacent lanes, the rear vehicle driver is prompted to conduct actions of decelerating, changing lanes or stopping, personnel at the fault vehicle are reminded to avoid in time and the vehicles in the adjacent lanes are warned to pay attention to avoid, the limitation that the triangular warning board for the motor vehicle is always in a static state is broken, and the warning effect of the triangular warning board for the motor vehicle is improved.
The implementation algorithm for adjusting the size of the triangular warning light beam emitted by the laser emitter is divided into two types, and the two types serve the situation that a rear vehicle and a fault vehicle cannot collide, and the size of the coverage of the triangular warning light beam is mainly determined according to the relation between the braking distance of the rear vehicle and two measured distances; another class serves the case of a collision of a rear vehicle with a faulty vehicle, and the size of the coverage of the triangular warning beam is determined by using a BP neural network.
The invention adopts the following technical scheme:
a variable laser beam stereoscopic triangular warning sign for a motor vehicle based on a relationship of a distance of a faulty vehicle from a rear vehicle, comprising:
the system comprises a data acquisition module, a decision module, a release module and a support module. Wherein:
The data acquisition module is used for acquiring data such as speed, position and distance of a vehicle behind the triangular warning board of the motor vehicle and data such as distance and position of a fault vehicle in real time, and transmitting the data to the decision module.
The decision module is used for receiving the data collected by the data collection module, calculating the braking distance of the rear vehicle and determining the size of the emitted triangular warning light beam by utilizing a corresponding algorithm under different conditions.
The release module: and the device is used for adjusting the size of the triangular warning light beam emitted by the laser emitter according to the calculation result of the decision module and controlling the laser emitter to emit the triangular warning light beam to the fault vehicle and the rear vehicle.
The support module is used for supplying energy and physical support required by the work of each module.
Preferably, the support module comprises a battery pack, a triangular warning board shell for a stereoscopic motor vehicle and a bracket. The battery pack is arranged in the triangular warning board shell of the three-dimensional motor vehicle; the support is arranged below the triangular warning board shell for the stereoscopic motor vehicle and used for supporting the triangular warning board shell for the stereoscopic motor vehicle.
Preferably, the data acquisition module comprises two millimeter wave radars. The two millimeter wave radars are arranged inside the triangular warning board shell of the three-dimensional motor vehicle. One millimeter wave radar faces the fault vehicle and collects fault vehicle data; the other millimeter wave radar is directed to the rear vehicle, and collects rear vehicle data.
Preferably, the decision module is arranged inside a triangular warning board shell of the three-dimensional motor vehicle.
Preferably, the issuing module comprises a controller and two laser emitters. The controller is arranged in the triangular warning board shell of the three-dimensional motor vehicle; the two laser transmitters are arranged inside the triangular warning board shell of the three-dimensional motor vehicle. One laser emitter faces the fault vehicle and emits triangular warning light beams to the fault vehicle; the other laser transmitter is directed toward the rear vehicle and emits a triangular warning beam toward the rear vehicle.
The working method based on the system comprises the following steps:
S1: the method comprises the steps of arranging a three-dimensional motor vehicle triangle warning board, collecting data of a fault vehicle and a rear vehicle by a data collecting module, detecting the speed of the rear vehicle, measuring the actual distance between the motor vehicle triangle warning board and the rear vehicle and the actual distance between the motor vehicle triangle warning board and the fault vehicle, and positioning the fault vehicle and the rear vehicle in a lane.
S2: according to the basic data acquired in the step S1, the decision module calculates the braking distance of the rear vehicle, and according to the actual measurement distance between the warning sign and the rear vehicle, the braking distance of the rear vehicle and the actual measurement distance between the warning sign and the fault vehicle, the possible situation of the rear vehicle in the running and braking process is judged, and the coverage size of the triangular warning light beam emitted by the laser emitter is determined according to the algorithm corresponding to each situation.
S3: according to the possible situations of the rear vehicle in the running and braking processes and the sizes of the triangular warning light beams under the conditions determined according to the corresponding algorithm, which are judged by the decision module in the step S2, the controller in the release module controls the laser emitter to emit the triangular warning light beams with the sizes required by the conditions, and the triangular warning light beams are projected in front of the rear vehicle, at the position of the fault vehicle or on the adjacent lanes, so that the drivers of the rear vehicle, the personnel nearby the fault vehicle and the drivers of the adjacent lanes are reminded and make corresponding driving selections.
Preferably, three-dimensional motor vehicle triangle warning boards are arranged, data of a fault vehicle and a rear vehicle are collected, and the speed and the braking distance of the rear vehicle are detected, and the distance between the motor vehicle triangle warning boards and the rear vehicle and the distance between the motor vehicle triangle warning boards and the fault vehicle are detected. The method comprises the following steps: the millimeter wave radar facing the rear vehicle collects the speed of the rear vehicle, the actual distance between the rear vehicle and the triangular warning sign for the motor vehicle, and the position of the rear vehicle in the lane; the millimeter wave radar facing the faulty vehicle collects the actual distance between the triangular warning sign for the motor vehicle and the faulty vehicle, and the position of the faulty vehicle in the lane.
Preferentially, according to the basic data collected in the step S1, the decision module calculates the braking distance of the rear vehicle and the actual distance between the warning sign and the rear vehicle, and the braking distance of the rear vehicle and the actual distance between the warning sign and the fault vehicle, so that the possible situations of the rear vehicle in the running and braking process are judged, and the size of the triangular warning light beam is determined according to the algorithm corresponding to each situation. The method comprises the following steps: the situations that may occur during travel and braking of a rear vehicle fall into three categories:
First kind: rear vehicle braking distance < actual measurement distance of triangle warning sign for motor vehicle and rear first vehicle
Second kind: the measured distance between the triangle warning board for the motor vehicle and the first vehicle behind is less than or equal to the sum of the braking distance of the first vehicle behind and the measured distance measured by the two millimeter wave radars
Third kind: the braking distance of the rear vehicle is equal to or more than the sum of measured distances measured by two millimeter wave radars
Preferentially, according to the possible situations of the rear vehicle in the running and braking processes and the sizes of the triangular warning light beams under the respective situations determined according to the corresponding algorithm, which are judged by the decision module in the S2, the laser emitter in the issuing module emits the triangular warning light beams with the sizes required by the respective situations and projects the triangular warning light beams in front of the rear vehicle, at the position of the fault vehicle and in the adjacent lanes, so that the drivers of the rear vehicle, the personnel nearby the fault vehicle and the drivers of the adjacent lanes are reminded and make corresponding driving selections. The method comprises the following steps: after the issuing module receives the information sent by the decision-making module, a controller in the issuing module controls the laser emitter to emit triangular warning light beams with the sizes required by each condition, and the triangular warning light beams are projected in front of a rear vehicle, at a fault vehicle or on an adjacent lane.
Preferably, the side length of the triangle warning light beam formed by the laser emitter in the triangle warning board for the motor vehicle is at most 3m in the same lane, and according to the actual distance between the warning board and the rear vehicle, the braking distance of the rear vehicle and the actual distance between the warning board and the fault vehicle, the relationship of the sum of the actual measured distances measured by the two millimeter wave radars also changes.
Preferably, the width of the urban road lane is 3.25m at the lowest, so that the maximum side length of the triangular warning light beam in the same lane is 3m in order to ensure that the triangular warning light beam does not influence the normal running of vehicles in adjacent lanes and can reach the maximum warning degree.
Preferably, the rear vehicle braking distance L is obtained by:
wherein: v is the rear vehicle speed; The adhesion coefficient between the tire and the road surface is related to the type of the road surface, the surface condition of the road surface, the tire pattern, the tire pressure, the speed and other factors, the value is between 0.3 and 1, and the specific value can be obtained by looking up a table in traffic engineering; i is road longitudinal gradient, the upward slope is positive, and the downward slope is negative.
Preferably, when the braking distance L < the measured distance S 1 between the triangular warning sign for the motor vehicle and the rear first vehicle, the side length calculation formula of the triangular warning beam emitted by the laser emitter facing the rear first vehicle:
wherein: s 1 is the actual measurement distance between the triangular warning board for the three-dimensional motor vehicle and the first vehicle behind; l is the braking distance of the first vehicle behind; m 1 is the side length of the triangular warning beam emitted by the laser transmitter towards the first vehicle behind.
Preferably, when the measured distance S 1 between the triangular warning board for the three-dimensional motor vehicle and the first vehicle behind is less than or equal to the braking distance L and is less than the sum S of the measured distances measured by the two millimeter wave radars, the laser emitter of the first vehicle behind emits the triangular warning light beam with the maximum side length of 3 m. The laser transmitter facing the fault vehicle calculates the size of the triangular warning light beam emitted by the laser transmitter according to a formula.
The side length calculation formula of the triangular warning light beam emitted by the laser emitter facing the fault vehicle:
Wherein: s 1 is the actual measurement distance between the triangular warning board for the motor vehicle and the first vehicle behind; s 2 is the actual measurement distance between the triangle warning board for the motor vehicle and the fault vehicle; l is the braking distance of the first vehicle behind; m 2 faces the side length of the triangular warning beam emitted by the laser transmitter of the faulty vehicle.
Preferably, when the braking distance L is equal to or greater than the sum S of the measured distances measured by the two millimeter wave radars, then the rear vehicle inevitably collides with the faulty vehicle. At the moment, the laser emitter facing the rear vehicle emits a triangular warning light beam with the side length of 3m to remind a driver of the rear vehicle to quickly take braking measures, so that the collision degree is reduced; the laser emitter facing the fault vehicle judges the situation that the fault vehicle moves to different adjacent lanes after rear-end collision of the first vehicle and the fault vehicle occurs according to the speed of the rear vehicle detected by the two millimeter wave radars, the position in the lane and the stop position of the fault vehicle in the lane, and the decision module in the three-dimensional motor vehicle triangular warning sign, by analyzing the speed, the braking distance, the position of the rear vehicle and the position of the fault vehicle, the issuing module controls the laser emitter facing the fault vehicle to emit triangular warning light beams with the size of wrapping the lane where the fault vehicle is and the adjacent lane where the fault vehicle moves after being collided, warns personnel at the fault vehicle to withdraw rapidly, and prompts the vehicles in the adjacent lanes to take avoidance protective operation.
Preferentially, when the triangular warning light beam emitted by the laser emitter covers the adjacent lane, the side length of the light beam covering the adjacent lane is fixed to be the maximum value of 3m, and the side length cannot be adjusted according to the distance to the adjacent lane. The sum of the side lengths of the triangular warning light beams covering the lane where the fault vehicle is located and the adjacent lane where the fault vehicle moves after being crashed is fixed to be 6m, namely the side length of the light beam covering the lane where the fault vehicle is located is fixed to be the maximum value of 3m, and the side length of the light beam covering the adjacent lane is fixed to be the maximum value of 3m.
Aiming at the situation that the braking distance L is more than or equal to the sum S of measured distances measured by two millimeter wave radars, the invention provides a method for determining the situation that a crashed fault vehicle moves to different adjacent lanes after the rear-end collision of the vehicle is determined based on a BP neural network. The method specifically comprises the following steps:
Step one: the method comprises the steps of collecting speed, distance and position data of vehicles behind a triangular warning board of a three-dimensional motor vehicle and distance and position data of a fault vehicle.
Step two: and constructing a three-layer BP neural network model.
Step three: according to the result obtained by the BP neural network model in the second step, the release module controls the laser transmitter to transmit triangular warning light beams with the sizes required by matching each situation
Preferably, in the first step, speed, distance and position data of the vehicle behind the triangular warning sign for the three-dimensional motor vehicle and distance and position data of the fault vehicle are collected. The method comprises the following steps: the fault vehicle distance and position data, the rear vehicle speed, the distance and the position data are collected by using two millimeter wave radars.
Preferentially, in the second step, a three-layer BP neural network model is constructed. The method comprises the following steps: and determining the number of neuron nodes of an input layer, a hidden layer and an output layer in the three-layer BP neural network. The number of neuron nodes in the input layer is X= { X 1,X2,X3,X4 }; wherein X 1 is the speed V of the first vehicle, X 2 is the braking distance L of the first vehicle, X 3 is the position N 1,X4 of the first vehicle in the lane, and N 2 of the damaged vehicle body is the position of the first vehicle in the lane. Input layer neuron nodeWhen X 3 = 0, the first vehicle behind is in the left half of the lane; when X 3 = 1, the first vehicle at the rear is located in the right half of the lane; input layer neuron node/>When X 4 = 0, the faulty vehicle is bumped into the left half of the tail; when X 4 =1, the rear faulty vehicle is bumped into the right half of the rear. The number of the neuron nodes of the output layer is 1, the output value represents the situation that the fault vehicle moves to different adjacent lanes after being collided, the range of the output value is between 0 and 1, the movement threshold value after the fault vehicle is collided is set to be 0.5, namely when the output value of the output layer is smaller than 0.5, the fault vehicle is indicated to move to the adjacent left lane; when the output value of the output layer is greater than or equal to 0.5, the fault vehicle is indicated to move to the adjacent right lane.
Preferably, the number of hidden layer nodes is calculated using an empirical formula:
Wherein: n 1 hidden layer neuron node number; n is the number of the input layer neuron nodes; m is the number of the output layer neuron nodes; a is a constant between 1 and 10.
Preferably, since the output value of the output layer represents the situation that the faulty vehicle moves to the adjacent lane, the input sample needs to be normalized before being input.
Preferentially, in the third step, according to the result obtained by the BP neural network model in the second step, the issuing module controls the laser emitter to emit triangular warning light beams with the size required by each situation. The method comprises the following steps: in the second step, the decision module transmits information to the issuing module when the BP neural network obtains the condition that the fault vehicle moves to different adjacent lanes after being collided, and the controller in the issuing module controls the laser emitter to emit triangular warning light beams covering the original lane where the fault vehicle is located and the adjacent left or right lane to be moved after being collided.
Preferably, in the second step, the established BP neural network model needs to be trained before the actual prediction of the situation that the faulty vehicle is bumped. Namely: and taking the historical data of the crashed fault vehicle as a training sample, putting the training sample into an input layer for determining the number of the neuron nodes, and outputting a value through an excitation function through a hidden layer and an output layer. And comparing the network output value with the actual output value, if the network output value is inconsistent with the actual output value, modifying the connection weight and the threshold value of the network according to a certain rule until the network output value is consistent with the actual output value, and inputting data into the trained network to obtain an output result.
Preferentially, the excitation functions of the hidden layer and the output layer of the BP neural network adopt Sigmoid functions:
compared with the prior art, the invention has the beneficial effects that:
(1) The side length of the triangular warning light beam emitted by the laser emitter inside the triangular warning board for the motor vehicle can be correspondingly changed according to the speed and the distance of the rear vehicle, so that the warning sign of the triangular warning board for the motor vehicle is changed from static to dynamic, and the warning degree is improved.
(2) The millimeter wave radar for acquiring fault vehicle data and the laser transmitter for reminding related personnel at the position of the fault vehicle are arranged in the triangular warning board for the motor vehicle, so that the related personnel at the position of the fault vehicle are reminded to avoid the rear vehicle in time while reminding the rear vehicle, and double insurance is provided for the personnel at the position of the fault vehicle.
(3) According to the invention, by means of a BP neural network model, when the braking distance L of a rear vehicle is predicted to be larger than or equal to the sum S of measured distances measured by two millimeter wave radars, the situation that the crashed vehicle moves to different adjacent lanes after rear-end collision of the vehicle is determined, and then the triangular warning light beam emitted by the laser emitter is adjusted to cover the adjacent lanes to which the crashed vehicle is about to move, so that the vehicles on the adjacent lanes are warned to take deceleration or avoidance measures in time.
Drawings
FIG. 1 is a schematic diagram of the structure of a three-dimensional triangular warning sign device for a variable laser beam three-dimensional motor vehicle based on the distance relation between a faulty vehicle and a rear vehicle;
FIG. 2 is a flow chart of the operation of the variable laser beam stereoscopic triangular warning sign for a motor vehicle according to the present invention based on the distance relationship between the faulty vehicle and the rear vehicle;
FIG. 3 is a schematic diagram of the BP neural network according to the present invention;
FIG. 4 is a diagram of a variable laser beam stereoscopic triangular warning sign for a motor vehicle according to the present invention based on the relationship between the distance of a faulty vehicle and the distance of a rear vehicle;
FIG. 5 is a schematic diagram of a first operation of the present invention showing the relationship between the braking distance and the actual distance;
FIG. 6 is a schematic diagram of a second operation of the present invention in relation to the actual distance of the vehicle braking distance;
FIG. 7 is a schematic diagram of a third operation of the present invention showing the relationship between the braking distance and the actual distance.
The specific embodiment is as follows:
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail with reference to the accompanying drawings. It should be noted that the scope of the present invention is not limited to the following examples, but may be adapted in other embodiments.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", etc. refer to an orientation or a positional relationship based on that shown in the drawings, and are merely relational terms, which are used for convenience in describing structural relationships of various components or elements of the present invention, and do not denote any one of the components or elements of the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1, a variable laser beam three-dimensional motor vehicle triangle warning sign based on a distance relation between a faulty vehicle and a rear vehicle, comprising: the three-dimensional motor vehicle triangular warning sign comprises a three-dimensional motor vehicle triangular warning sign outer shell (1), a laser emitter (2) facing a rear vehicle, a millimeter wave radar (3) facing the rear vehicle, a millimeter wave radar (4) facing a fault vehicle, a laser emitter (5) facing the fault vehicle, a controller (6), a decision module (7), a battery pack (8), a bracket (9) and a switch (10).
The device comprises a laser emitter (2) facing a rear vehicle, a millimeter wave radar (3) facing the rear vehicle, a millimeter wave radar (4) facing a fault vehicle, a laser emitter (5) facing the fault vehicle, a controller (6), a decision module (7) and a battery pack (8), which are all arranged in a triangular warning board outer shell (1) of the motor vehicle; the bracket (9) is arranged below the triangular warning board outer shell (1) for the motor vehicle; the switch (10) is arranged on the bottom side of the plate surface of the triangular warning board outer shell (1) facing the rear vehicle.
Wherein, the laser transmitter (2) facing the rear vehicle is arranged at the uppermost part of the surface of the triangular warning board outer shell (1) facing the rear vehicle of the motor vehicle; a millimeter wave radar (3) facing the rear vehicle is provided below a laser emitter (2) facing the rear vehicle; a millimeter wave radar (4) toward a faulty vehicle is provided below a millimeter wave radar (3) toward a rear vehicle; a laser transmitter (5) facing the faulty vehicle is arranged below a millimeter wave radar (4) facing the faulty vehicle; the battery pack (8) is arranged at the left lower part inside the triangular warning board outer shell (1) for the motor vehicle; the controller (6) is arranged at the right lower part of the inside of the triangular warning board outer shell (1) of the motor vehicle; the decision module (7) is arranged at the left side of the controller (6).
The decision module (7) comprises a processor and is used for judging and selecting the side length coverage size of the triangular warning light beams emitted by the two laser transmitters.
As shown in fig. 2, a workflow of a variable laser beam three-dimensional motor vehicle triangle warning sign based on a distance relation between a faulty vehicle and a rear vehicle includes the steps of:
Step 1: the three-dimensional motor vehicle triangle warning board (1) is arranged, the data acquisition module acquires data of a fault vehicle and a rear vehicle, the speed of the rear vehicle is detected, the distance between the motor vehicle triangle warning board and the rear vehicle and the distance between the motor vehicle triangle warning board and the fault vehicle are detected, and the positions of the fault vehicle and the rear vehicle in a lane are detected.
A three-dimensional motor vehicle triangle warning sign (1) is placed at a distance behind an accident vehicle, the distance being different according to the grade and nature of the road on which the vehicle is located. After the placement, a switch (10) on the warning sign is turned on, millimeter wave radars (3) and (4) in the triangular warning sign for the three-dimensional motor vehicle start to automatically collect the speed value of the first vehicle behind, the distance between the triangular warning sign for the motor vehicle and the rear vehicle and the distance between the triangular warning sign for the motor vehicle and the fault vehicle, and the positions of the fault vehicle and the rear vehicle in the lane. And transmitting the speed value and the distance value into a decision module.
Step 2: according to the basic data acquired in the step 1, a decision module (7) calculates the braking distance of the rear vehicle and the actual distance between the warning sign and the rear vehicle, and the braking distance of the rear vehicle and the actual distance between the warning sign and the fault vehicle, so that the possible situations of the rear vehicle in the running and braking process are judged, and the size of the triangular warning light beam is determined according to the algorithm corresponding to each situation.
Further, according to the relationship between the actual distance between the warning sign and the rear vehicle, the braking distance of the rear vehicle and the actual distance between the warning sign and the faulty vehicle, the following three cases can be classified:
First kind: braking distance < actual measurement distance between triangle warning sign for motor vehicle and first vehicle behind
Second kind: the measured distance between the triangle warning board for the motor vehicle and the first vehicle behind is less than or equal to the braking distance < the sum of the measured distances measured by the two millimeter wave radars
Third kind: the braking distance is equal to or greater than the sum of measured distances measured by two millimeter wave radars
Further, the rear vehicle braking distance L is obtained by:
wherein: v is the rear vehicle speed; The adhesion coefficient between the tire and the road surface is related to the type of the road surface, the surface condition of the road surface, the tire pattern, the tire pressure, the speed and other factors, the value is between 0.3 and 1, and the specific value can be obtained by looking up a table in traffic engineering; i is road longitudinal gradient, the upward slope is positive, and the downward slope is negative.
Further, for the first case, when the braking distance L < the measured distance S 1 between the triangular warning sign for the motor vehicle and the first vehicle behind, the side length calculation formula of the triangular warning light beam emitted by the laser emitter (2) of the first vehicle behind is:
wherein: s 1 is the actual measurement distance between the triangular warning board for the three-dimensional motor vehicle and the first vehicle behind; l is the braking distance of the first vehicle behind; m 1 is the side length of the triangular warning beam emitted by the laser transmitter towards the first vehicle behind.
Further, for the second case, when the measured distance S 1 between the three-dimensional motor vehicle triangle warning board and the rear first vehicle is smaller than or equal to the braking distance L and is smaller than the sum S of the measured distances measured by the two millimeter wave radars, the laser emitter (2) of the rear first vehicle emits the triangle warning light beam with the maximum side length of 3 m. A laser transmitter (5) facing the faulty vehicle calculates the magnitude of the triangular warning light beam emitted by the laser transmitter according to the formula.
The calculation formula of the side length of the triangular warning light beam emitted by the laser emitter (5) facing the fault vehicle:
Wherein: s 1 is the actual measurement distance between the triangular warning board for the motor vehicle and the first vehicle behind; s 2 is the actual measurement distance between the triangle warning board for the motor vehicle and the fault vehicle; l is the braking distance of the first vehicle behind; m 2 faces the side length of the triangular warning beam emitted by the laser transmitter of the faulty vehicle.
Further, for the third case, when the braking distance L is equal to or greater than the sum S of the measured distances measured by the two millimeter wave radars, then the rear-end collision of the rear vehicle with the faulty vehicle is inevitable. At the moment, a laser emitter (2) facing the rear vehicle emits a triangular warning light beam with the side length of 3m to remind a driver of the rear vehicle to quickly take braking measures, so that the collision degree is reduced; the laser emitter (5) facing the fault vehicle judges the situation that the fault vehicle moves to different adjacent lanes after rear-end collision of the first rear vehicle and the fault vehicle occurs according to the speed of the rear vehicle, the position in the lane and the stay position of the fault vehicle in the lane, which are detected by the two millimeter wave radars (3) (4), and the decision module (7) in the three-dimensional motor vehicle triangle warning sign (1), wherein the decision module is used for judging the situation that the fault vehicle moves to the adjacent different lanes after rear-end collision of the first rear vehicle and the fault vehicle occurs by analyzing the speed, the braking distance, the position and the position of the rear vehicle, so that the laser emitter (5) facing the fault vehicle emits triangle warning beams with the size of wrapping the lane where the fault vehicle is and the adjacent lane where the fault vehicle moves after collision, warning personnel at the fault vehicle withdraw rapidly, and the vehicles on the adjacent lanes are prompted to take avoidance protective operation.
Step 3: according to the possible situations of the rear vehicle in the running and braking processes judged by the decision module (7) in the step 2 and the sizes of the triangular warning light beams under the respective situations determined according to the corresponding algorithm, a controller (6) in the release module controls the laser transmitters (2) (5) to emit the triangular warning light beams with the sizes required by the respective situations, and the triangular warning light beams are projected in front of the rear vehicle, so that a driver of the rear vehicle is reminded and makes corresponding driving selections.
As shown in fig. 3, for the third situation, the braking distance L is greater than or equal to the sum S of measured distances measured by two millimeter wave radars, and the invention determines the situation that the failed vehicle moves to different adjacent lanes after the rear-end collision of the vehicle by using the BP neural network to determine the coverage size of the triangular warning light beam required by matching each situation and emitted by the laser emitter (5) in the issuing module, and specifically comprises the following steps:
step one: and establishing a three-layer BP neural network model by using the acquired data, and carrying out forward propagation.
The established BP neural network model comprises three layers, namely an input layer, a hidden layer and an output layer. In the input layer, the number of neuron nodes in the input layer is X= { X 1,X2,X3,X4 }, wherein X 1 is the vehicle speed V of the first vehicle behind, X 2 is the braking distance L of the first vehicle behind, X 3 is the position N 1,X4 of the first vehicle behind in the vehicle lane, and the position N 2 of the damaged vehicle body of the fault vehicle when the vehicle collides with the fault vehicle is the same as the running track of the rear vehicle. Since the output value of the output layer represents the situation that the faulty vehicle moves to the adjacent lane, the input data needs to be normalized before being input.
Wherein the input layer neuron nodeWhen X 3 = 0, the first vehicle behind is in the left half of the lane; when X 3 = 1, the first vehicle at the rear is located in the right half of the lane; input layer neuron node/>When X 4 = 0, the faulty vehicle is bumped into the left half of the tail; when X 4 =1, the faulty vehicle is bumped into the right half of the rear.
The number of hidden layer nodes is calculated by using an empirical formula:
Wherein: n 1 hidden layer neuron node number; n is the number of the input layer neuron nodes; m is the number of the output layer neuron nodes; a is a constant between 1 and 10.
In the output layer, the number of the neuron nodes of the output layer is 1, the output value represents the situation that the fault vehicle moves to different adjacent lanes after being collided, the output value range is between 0 and 1, the movement threshold value after the fault vehicle is collided is set to be 0.5, namely when the output value of the output layer is smaller than 0.5, the fault vehicle is indicated to move to the adjacent left lane; when the output value of the output layer is greater than or equal to 0.5, the fault vehicle is indicated to move to the adjacent right lane.
The net input value T j for the jth neuron of the hidden layer is:
Wherein: n is the number of input nodes of the input layer; w ji is the weight from the ith input node to the jth hidden layer neuron, and the initial value is set to be 0.07; x i is the value of the input layer ith neuron node; b j is the threshold value of the jth hidden layer neuron, and the initial value is set to 0.
After the net input T j of the jth neuron of the hidden layer passes through the transfer function f 1 (·), the output of the jth neuron of the hidden layer is obtained:
yj＝f1(Tj)
Wherein: y j is the output value of the hidden layer; f 1 (·) is the transfer function of the hidden layer, typically the Sigmoid function: T j is the net input value to the jth neuron of the hidden layer.
The output layer has only one neuron node, and the net input value Z of the neuron is as follows:
Wherein: k is the number of hidden layer input nodes; v j1 is the weight from the input node of the j hidden layer to the unique output node of the output layer, and the initial value is set to be 0.07; y j is the input value transferred from the jth node of the hidden layer to the node of the output layer; b is the threshold of the output layer neuron, and the initial value is set to 0.
After the net input value Z of the output layer node passes through the transfer function f 2 (·), the output of the output layer neuron is obtained:
Q＝f2(Z)
Wherein: f 2 (·) is the transfer function of the output layer, typically the Sigmoid function: z is the net input value to the output layer neuron.
Step two: and according to the result obtained by the BP neural network model in the step two, the release module controls the laser transmitter (5) to transmit triangular warning light beams with the sizes required by each condition.
The BP neural network outputs a value between 0 and 0.5 or between 0.5 and 1, which indicates the situation that the faulty vehicle moves to different adjacent lanes after being bumped. The decision module (7) determines adjacent lanes which are to be covered by the triangular warning light beams emitted by the laser emitter (5) according to the output value of the BP neural network, and transmits decision information to the release module, and the controller (6) in the release module controls the laser emitter (5) to emit the triangular warning light beams covering the adjacent left or right lanes.
Before the established BP neural network model is used for formally predicting the situation that the fault vehicle is bumped and moved, model training, namely an error signal back propagation flow, is needed to be carried out, so that the BP neural network model can accurately judge the movement situation of the fault vehicle after being bumped.
Firstly, training learning samples are obtained by utilizing historical data after a fault vehicle is crashed, and an initial weight value between a hidden layer node and an output layer node in the network is set to be 0.07 and an initial threshold value of hidden layer and output layer neurons is set to be 0.
Wherein c learning samples are input in the input layer, and the output value Q (c) is obtained after the c-th sample is input into the network. And (3) obtaining an error of the c sample by adopting an error function:
wherein: t (c) is the expected output value of the output layer node; q (c) is the actual output value of the output layer node.
For c learning samples, the global error is:
for the weight change from the hidden layer to the output layer, the accumulated error algorithm adjusts w j1:
wherein: η is the learning rate taken as 0.02.
Wherein, the chain theorem is obtained by:
The weight adjustment formula for obtaining hidden layer to output layer neurons is:
for the weight change from the input layer to the hidden layer, the weight change from the hidden layer to the output layer can be obtained by the same method:
wherein: η is the learning rate taken as 0.02.
Wherein, the chain theorem is obtained by:
the weight adjustment formula of each neuron from the input layer to the hidden layer is obtained as follows:
For output layer neuron threshold variation, the cumulative error algorithm adjusts b:
wherein: η is the learning rate taken as 0.02.
Wherein, the chain theorem is obtained by:
/>
the resulting output layer neuron threshold adjustment formula is:
Δb＝-η(t(c)-Q(c))
For hidden layer neuron threshold changes, the same applies to output layer neuron threshold changes:
wherein: η is the learning rate taken as 0.02.
Wherein, the chain theorem is obtained by:
The hidden layer neuron threshold adjustment formula is obtained as:
Δbj＝-η(t(c)-Q(c))f′2(Z)vj1f′1(Tj)
step three: and circularly performing forward propagation and backward propagation, calculating the error of the network output value and the actual output value, modifying the weight and the threshold value, inputting test data until the network output value is consistent with the actual output value, and judging the result.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (2)
1. A method of applying a variable laser beam stereoscopic triangular warning sign for a motor vehicle based on a distance relationship of a faulty vehicle to a rear vehicle, the triangular warning sign comprising:
the system comprises a data acquisition module, a decision module, a release module and a support module; wherein:
The data acquisition module is used for acquiring the speed, the position and the distance of the vehicle behind the triangular warning board of the motor vehicle and the distance of the fault vehicle in real time, and transmitting the data to the decision module;
The decision module is used for receiving the data collected by the data acquisition module, calculating the braking distance of the rear vehicle and determining the size of the emitted triangular warning light beam by utilizing a corresponding algorithm under different conditions;
the release module: the system comprises a decision module, a laser transmitter, a control module and a control module, wherein the decision module is used for calculating the decision module, the control module is used for adjusting the size of a triangular warning light beam emitted by the laser transmitter and controlling the laser transmitter to emit the triangular warning light beam to a fault vehicle and a rear vehicle;
The support module is used for supplying energy and physical support required by the work of each module;
characterized in that the method comprises the following steps:
S1: the method comprises the steps that three-dimensional triangle warning boards for motor vehicles are arranged, a data acquisition module acquires data of a fault vehicle and a rear vehicle, the speed of the rear vehicle is detected, the actual measurement distance between the triangle warning boards for motor vehicles and the rear vehicle and the actual measurement distance between the triangle warning boards for motor vehicles and the fault vehicle are detected, and the positions of the fault vehicle and the rear vehicle in a lane are detected;
S2: according to the basic data acquired in the step S1, a decision module calculates the braking distance of the rear vehicle and the actual measurement distance between the warning sign and the rear vehicle, the braking distance of the rear vehicle and the actual measurement distance between the warning sign and the fault vehicle, the possible occurrence of the situation of the rear vehicle in the running and braking process is judged, and the coverage size of the triangular warning light beam emitted by the laser emitter is determined according to the algorithm corresponding to each situation;
S3: according to the possible situations of the rear vehicle in the running and braking processes and the sizes of the triangular warning light beams under the conditions determined according to the corresponding algorithm, which are judged by the decision module in the S2, a controller in the release module controls the laser transmitter to emit the triangular warning light beams with the sizes required by the conditions, and the triangular warning light beams are projected in front of the rear vehicle, at the position of the fault vehicle or on the adjacent lanes, so that a driver of the rear vehicle, personnel nearby the fault vehicle and the driver of the adjacent lanes are reminded and corresponding driving selections are made;
the three-dimensional motor vehicle triangle warning board is arranged, and data of a fault vehicle and a rear vehicle are collected, specifically: the millimeter wave radar facing the rear vehicle collects the speed of the rear vehicle, the actual distance between the rear vehicle and the triangular warning sign for the motor vehicle, and the position of the rear vehicle in the lane; the millimeter wave radar facing the fault vehicle collects the actual distance between the triangular warning board for the motor vehicle and the fault vehicle, and the position of the fault vehicle in the lane;
the situations that may occur during travel and braking of a rear vehicle fall into three categories:
First kind: rear vehicle braking distance < actual measurement distance of triangle warning sign for motor vehicle and rear first vehicle
Second kind: the measured distance between the triangle warning board for the motor vehicle and the first vehicle behind is less than or equal to the sum of the braking distance of the first vehicle behind and the measured distance measured by the two millimeter wave radars
Third kind: the braking distance of the rear vehicle is equal to or more than the sum of measured distances measured by two millimeter wave radars
According to the possible situations of the rear vehicle in the running and braking processes and the sizes of the triangular warning light beams under the conditions determined according to the corresponding algorithm, which are judged by the decision module in the step S2, the laser transmitters in the release module transmit the triangular warning light beams with the sizes required by the conditions and project the triangular warning light beams in front of the rear vehicle, at the position of the fault vehicle and on the adjacent lanes, so that the drivers of the rear vehicle, the personnel nearby the fault vehicle and the drivers of the adjacent lanes are reminded and make corresponding driving selections; the method comprises the following steps: after the issuing module receives the information sent by the decision-making module, a controller in the issuing module controls a laser emitter to emit triangular warning light beams with the size required by each condition, and the triangular warning light beams are projected in front of a rear vehicle, at a fault vehicle or on an adjacent lane;
The side length of a triangular warning light beam formed by a laser emitter in the triangular warning board of the motor vehicle is at most 3m in the same lane, and the side length of the triangular warning light beam formed by the laser emitter in the triangular warning board of the motor vehicle is also changed according to the relation between the actual distance between the warning board and the rear vehicle, the braking distance of the rear vehicle and the sum of the actual distances measured by the two millimeter wave radars;
the rear vehicle braking distance L is obtained by:
wherein: v is the rear vehicle speed; the adhesion coefficient between the tire and the road surface is 0.3-1, and the adhesion coefficient is the type of the road surface, the surface condition of the road surface, the tire pattern, the tire pressure and the vehicle speed; i is the road longitudinal gradient, the upward slope is positive, and the downward slope is negative;
When the braking distance L < the actual measurement distance S 1 between the triangle warning board for the motor vehicle and the rear first vehicle, the side length calculation formula of the triangle warning light beam emitted by the laser emitter facing the rear first vehicle:
Wherein: s 1 is the actual measurement distance between the triangular warning board for the three-dimensional motor vehicle and the first vehicle behind; l is the braking distance of the first vehicle behind; m 1 is the side length of the triangular warning light beam emitted by the laser emitter facing the first rear vehicle;
When the measured distance S 1 between the three-dimensional motor vehicle triangle warning board and the rear first vehicle is less than or equal to the braking distance L and is less than the sum S of the measured distances measured by the two millimeter wave radars, the laser transmitter of the rear first vehicle emits a triangle warning light beam with the maximum side length of 3 m; calculating the size of a triangular warning light beam emitted by a laser emitter according to a formula by the laser emitter facing the fault vehicle;
the side length calculation formula of the triangular warning light beam emitted by the laser emitter facing the fault vehicle:
Wherein: s 1 is the actual measurement distance between the triangular warning board for the motor vehicle and the first vehicle behind; s 2 is the actual measurement distance between the triangle warning board for the motor vehicle and the fault vehicle; l is the braking distance of the first vehicle behind; m 2 faces the side length of the triangular warning beam emitted by the laser emitter of the faulty vehicle;
When the braking distance L is more than or equal to the sum S of the measured distances measured by the two millimeter wave radars, the rear-end collision of the rear vehicle and the fault vehicle is inevitable; at the moment, the laser emitter facing the rear vehicle emits a triangular warning light beam with the side length of 3m to remind a driver of the rear vehicle to quickly take braking measures, so that the collision degree is reduced; the laser emitter facing the fault vehicle judges the situation that the fault vehicle moves to different adjacent lanes after rear-end collision of the first vehicle and the fault vehicle occurs according to the speed of the rear vehicle detected by the two millimeter wave radars, the position in the lane and the stop position of the fault vehicle in the lane, and the decision module in the three-dimensional motor vehicle triangular warning sign, by analyzing the speed, the braking distance, the position of the rear vehicle and the position of the fault vehicle, the issuing module controls the laser emitter facing the fault vehicle to emit triangular warning light beams with the size of wrapping the lane where the fault vehicle is and the adjacent lane where the fault vehicle moves after being collided, warns personnel at the fault vehicle to withdraw rapidly, and prompts the vehicles in the adjacent lanes to take avoidance protective operation.
2. The method according to claim 1, characterized in that it comprises in particular:
Aiming at the situation that the braking distance L is more than or equal to the sum S of measured distances measured by two millimeter wave radars, the method specifically comprises the following steps:
step one: collecting speed, distance and position data of a vehicle behind a triangular warning board of the three-dimensional motor vehicle and distance and position data of a fault vehicle;
Step two: constructing a three-layer BP neural network model;
Step three: according to the result obtained by the BP neural network model in the second step, the release module controls the laser transmitter to transmit triangular warning light beams with the sizes required by matching each situation
In the first step, speed, distance and position data of a vehicle behind a triangular warning board for a three-dimensional motor vehicle and distance and position data of a fault vehicle are collected; the method comprises the following steps: acquiring fault vehicle distance and position data, and rear vehicle speed, distance and position data by using two millimeter wave radars;
In the second step, a three-layer BP neural network model is constructed; the method comprises the following steps: determining the number of neuron nodes of an input layer, a hidden layer and an output layer in the three-layer BP neural network; the number of neuron nodes in the input layer is X= { X 1,X2,X3,X4 }; wherein X 1 is the speed V of the first vehicle behind, X 2 is the braking distance L of the first vehicle behind, X 3 is the position N 1,X4 of the first vehicle behind in the lane, and N 2 of the damaged body of the fault vehicle is the position N 1,X4 of the first vehicle behind in the lane, which is the position where the vehicle behind keeps the running track unchanged and collides with the fault vehicle; input layer neuron node When X 3 = 0, the first vehicle behind is in the left half of the lane; when X 3 = 1, the first vehicle at the rear is located in the right half of the lane; input layer neuron node/>When X 4 = 0, the faulty vehicle is bumped into the left half of the tail; when X 4 = 1, the rear malfunctioning vehicle is bumped into the right half of the rear; the number of the neuron nodes of the output layer is 1, the output value represents the situation that the fault vehicle moves to different adjacent lanes after being collided, the range of the output value is between 0 and 1, the movement threshold value after the fault vehicle is collided is set to be 0.5, namely when the output value of the output layer is smaller than 0.5, the fault vehicle is indicated to move to the adjacent left lane; when the output value of the output layer is more than or equal to 0.5, indicating that the fault vehicle moves to the adjacent right lane;
the number of hidden layer nodes is calculated by using an empirical formula:
Wherein: n 1 hidden layer neuron node number; n is the number of the input layer neuron nodes; m is the number of the output layer neuron nodes; a is a constant between 1 and 10;
because the output value of the output layer reflects the situation that the fault vehicle moves to the adjacent lane, the input sample needs to be normalized before being input;
In the third step, according to the result obtained by the BP neural network model in the second step, the release module controls the laser transmitter to transmit triangular warning light beams with the size required by each condition; the method comprises the following steps: in the second step, the decision module transmits information to the release module under the condition that the BP neural network obtains that the fault vehicle moves to different adjacent lanes after being collided, and a controller in the release module controls the laser transmitter to transmit triangular warning light beams covering the original lane where the fault vehicle is located and the adjacent left or right lane to be moved after being collided;
In the second step, before the established BP neural network model is used for formally predicting the situation that the fault vehicle is bumped and moved, model training is needed; namely: the historical data after the fault vehicle is bumped is used as a training sample to be placed into an input layer for determining the number of the nerve cell nodes, and a value is output through an excitation function through a hidden layer and an output layer; comparing the network output value with the actual output value, if the network output value is inconsistent with the actual output value, modifying the connection weight and the threshold value of the network until the network output value is consistent with the actual output value, and inputting data into the trained network to obtain an output result;
excitation functions of a hidden layer and an output layer of the BP neural network adopt Sigmoid functions:
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