CN114387819B - Monitoring and early warning device for preventing urban road vehicle from rear-end collision in dense fog weather - Google Patents

Monitoring and early warning device for preventing urban road vehicle from rear-end collision in dense fog weather Download PDF

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CN114387819B
CN114387819B CN202210049354.XA CN202210049354A CN114387819B CN 114387819 B CN114387819 B CN 114387819B CN 202210049354 A CN202210049354 A CN 202210049354A CN 114387819 B CN114387819 B CN 114387819B
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vehicle
information acquisition
monitoring
information
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CN114387819A (en
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胡启洲
郑隆鑫
屈宇航
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
    • G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
    • G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

The invention provides a monitoring and early warning device for preventing urban road vehicle rear-end collision under a dense fog condition, which is characterized by comprising a temperature information acquisition module, a humidity information acquisition module, a wind speed information acquisition module, a digital-to-analog conversion device, a visibility detection module, a positioning module, a storage module, a control module, an early warning starting module, a display module and a warning module, wherein the temperature information acquisition module is connected with the humidity information acquisition module; the control module is used as a core module for controlling the function realization of the temperature information acquisition module, the humidity information acquisition module, the wind speed information acquisition module, the visibility detection module, the positioning module, the storage module, the early warning starting module, the display module and the warning module. The invention has the advantages of omnibearing monitoring, strong effectiveness, economy, applicability, convenient maintenance, saving storage space, realizing graded early warning, slow braking and uniform deceleration.

Description

Monitoring and early warning device for preventing urban road vehicle from rear-end collision in dense fog weather
Technical Field
The invention relates to the technical field of monitoring and early warning for preventing rear-end collision of vehicles in severe environments, in particular to a monitoring and early warning device for preventing rear-end collision of vehicles on urban roads in dense fog weather.
Background
In recent years, with the rapid development of urban industry, the economic level of China is continuously improved, and meanwhile, serious environmental problems are brought. For example: the days in foggy days are always high. In the foggy environment, a driver can show driving behaviors different from those in normal weather, and the driving safety is threatened, particularly in the foggy weather, and the visibility is lower than 200 m, so that traffic accidents are easily caused. In order to reduce the occurrence frequency of rear-end collision accidents of urban road vehicles in dense fog weather, the vehicles need a rear-end collision prevention monitoring and early warning device to remind drivers to take relevant measures in time, so that the occurrence of the rear-end collision accidents is effectively avoided.
At present, the invention patents related to the system for preventing the rear-end collision of the vehicle are developed in China, and the patents generally describe the rear-end collision prevention of the vehicle and do not describe the system for preventing the rear-end collision of the vehicle according to specific environments.
In order to improve the effectiveness of preventing urban road vehicle rear-end collision in dense fog weather, monitoring can be carried out aiming at the fog weather, whether fog exists or not is judged, whether the visibility is less than 200 meters or not is judged, whether the vehicle distance and the vehicle speed are monitored in the next step or not is judged, and therefore the storage space can be effectively saved; in addition, the display form of early warning can be enriched, including buzzer, warning light and the like, so that the attention of a driver can be improved, and braking and related measures can be taken in time.
Disclosure of Invention
The invention aims to provide a monitoring and early warning device and a method for preventing urban road vehicle rear-end collision in dense fog weather, which are based on a temperature sensor, a humidity sensor and a wind speed sensor and are used for acquiring information of temperature, relative humidity and wind speed in air; judging whether fog exists, realizing visibility detection of the current city based on a visibility detector, and judging whether early warning is started or not; based on the GPS, the distance between the vehicle and the front vehicle and the current vehicle speed are respectively acquired, whether the vehicle distance is safe or not is judged, and early warning of rear-end collision of the urban road vehicle in dense fog weather is realized, so that the problems in the background art are solved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a prevent urban road vehicle monitoring and early warning device that knocks into back under dense fog weather, its characterized in that includes temperature information acquisition module, humidity information acquisition module, wind speed information acquisition module, digital-to-analog conversion device, visibility detection module, orientation module, storage module, control module, early warning start module, display module and warning module. The control module is used as a core module for controlling the function realization of the temperature information acquisition module, the humidity information acquisition module, the wind speed information acquisition module, the visibility detection module, the positioning module, the storage module, the early warning starting module, the display module and the warning module. Wherein:
the temperature information acquisition module is used for monitoring the temperature of the current city in real time, recording the monitoring information in the storage module and transmitting the monitoring information to the digital-to-analog conversion device in the form of a current signal;
the humidity information acquisition module is used for monitoring the humidity of the current city in real time, recording the monitoring information in the storage module and transmitting the monitoring information to the digital-to-analog conversion device in the form of a current signal;
the wind speed information acquisition module is used for monitoring the wind speed of the current city in real time, recording the monitoring information in the storage module and transmitting the monitoring information to the digital-to-analog conversion device in the form of a current signal;
the digital-to-analog conversion device receives the current signal and converts the temperature, relative humidity and wind speed signals into corresponding numerical signals;
the visibility detection module is used for detecting and analyzing the visibility of the current city in real time and recording the detection information in the storage module;
the early warning starting module is used for analyzing the acquired temperature information, humidity information, wind speed information and visibility information and judging whether fog exists at present according to a calculation result of monitoring data, if fog exists, judging whether the visibility of a road is smaller than 200 meters, and if the visibility of the road is smaller than 200 meters, starting early warning;
the positioning module is used for positioning all vehicles in the current dense fog area in real time and recording the position information and the speed information of the vehicles in the storage module;
the display module is used for displaying the vehicle position information and the vehicle speed information;
the warning module is used for warning a driver that the safety distance is relatively short and certain measures, such as emergency braking, need to be taken;
the storage module is used for storing the temperature information, the humidity information, the wind speed information, the visibility detection information, the position of the vehicle in the current area, the vehicle distance information and the vehicle speed information, and can be called by the early warning starting module, the positioning module, the display module and the warning module under the control of the control module;
in a further embodiment, the control module is realized by a single chip microcomputer, the temperature information acquisition module is realized by a sensor, the humidity information acquisition module is realized by a sensor, the wind speed information acquisition module is realized by a sensor, the vehicle distance information and the vehicle speed information are realized by a GPS (global positioning system), and the storage module is realized by a storage medium, for example: SM card, TF card, XD card, MMC card etc. early warning start module stores in control module's singlechip and can be called by the singlechip and carry out with the form of procedure, and display module adopts the display screen, and warning module adopts bee calling organ and warning light to realize.
In a further embodiment, the temperature information acquisition module comprises a temperature sensor, which is arranged around the urban road and used for monitoring the urban temperature;
in a further embodiment, the humidity information acquisition module comprises a humidity sensor, which is arranged around an urban road and used for monitoring urban relative humidity;
in a further embodiment, the wind speed information acquisition module comprises a wind speed sensor, which is arranged around an urban road and used for monitoring urban wind speed;
in a further embodiment, the visibility detection module comprises visibility sensors which are arranged around urban roads and used for detecting urban air visibility;
in a further embodiment, the positioning module comprises a GPS positioning system for detecting the position information and the speed information of all vehicles in the dense fog area;
in a further embodiment, the display module comprises a display screen, which is arranged in the center of the front part of the main driver and is used for displaying the position information and the speed information of the vehicle on the current road;
in a further embodiment, the warning module comprises a warning buzzer and a warning lamp, and the warning buzzer is arranged in the center of the front platform of the copilot;
in a further embodiment, the system further comprises a computer processing device connected with the control module, the computer processing device comprises an interface unit, an operation panel and an indication unit, wherein:
the control module is connected with the computer processing device through a USB interface provided by the interface unit to realize the communication between the computer processing device and the control module;
the operation panel is realized by a touch display screen and is used for realizing operation instructions such as data cleaning, restarting and debugging of the various sensors of the control module device;
the indicating unit is used for monitoring the temperature information acquisition module, the humidity information acquisition module, the wind speed information acquisition module, the digital-to-analog conversion device, the positioning module, the visibility detection module, the storage module, the control module, the early warning starting module, the display module and the warning module, for example, whether the road ambient temperature, the humidity and the wind speed sensor work normally or not. The working state can be displayed and represented to the system and the user in the form of an indicator light or a text box;
in a further embodiment, the computer processing device is a touch tablet computer.
In a further embodiment, the processing and analyzing of the temperature information, the humidity information, the wind speed information, the visibility information, the position information and the speed information by the early warning starting module comprises the following processes:
step S01: acquiring the temperature level of a temperature information acquisition module, the relative humidity of a humidity information acquisition module and the wind speed condition of a wind speed information acquisition module, and recording the temperature level, the relative humidity and the wind speed condition in a storage module;
step S02: the control module extracts the latest obtained temperature, relative humidity and wind speed information from the storage module according to the current moment;
step S03: preprocessing the acquired information, performing digital-to-analog conversion, and comparing the acquired information with a defined standard level;
step S04: generating reference thresholds for temperature, relative humidity, wind speed;
step S05: if the temperature is-2 to 4 ℃, the relative humidity is more than 90 percent, and the wind speed is less than 3 meters per second, the step S06 is executed, otherwise, the step S02 is executed again;
step S06: the system judges that the current weather is foggy day;
step S07: starting a visibility detection module;
step S08: if the visibility is greater than 200 meters, returning to S02, and if the visibility detector displays that the visibility is less than 200 meters, entering S09;
step S09: starting a traffic emergency early warning system in dense fog weather;
step S10: starting a positioning module;
step S11: the control module extracts the latest vehicle position and vehicle speed on the urban road from the storage module according to the current moment and records the latest vehicle position and vehicle speed in the storage module;
step S12: the control module performs digital-to-analog conversion on the acquired vehicle distance and vehicle speed data information;
step S13: sending the processed data to a vehicle display screen in a dense fog area;
step S14: the control module calls the storage module to analyze the vehicle distance information data of the current vehicle and the front and rear vehicles and the speed information data of the current vehicle in real time, calculates the speeds of the front and rear vehicles according to the vehicle distance information data and the speed information data of the current vehicle, defines the ground friction coefficient by relative humidity, and calculates the safe vehicle distance between the two vehicles;
step S15: if the distance between the current vehicle and the front vehicle is larger than the safe vehicle distance, returning to the step S10, and if the distance between the current vehicle and the front vehicle is smaller than the safe vehicle distance, entering the step S16;
step S16: the control module calls the warning module, the early warning buzzer at the copilot is started, and the warning lamp in the vehicle is on;
step S17: the control module extracts the latest visibility information from the storage module according to the current time, if the visibility at the current time is less than 200 meters, the step S09 is carried out, and if the visibility at the current time is more than 200 meters, the step S018 is carried out;
step S18: and (4) exiting early warning.
In a further embodiment, the defined temperature, relative humidity and wind threshold criteria should be determined according to the conditions of different seasons in different regions.
In a further embodiment, the vehicle speed information adopts a GPS positioning system, and the acquired speed data is converted into the current linear speed v of the vehicle through a digital-to-analog conversion device in the control module 1 。
Further, the method can be used for preparing a novel materialIn the embodiment, the vehicle distance information can obtain the instantaneous displacement difference delta x between the current vehicle and the front and rear vehicles by adopting a GPS (global positioning system) 1 ，Δx 2 I.e. the interval time deltat 1 ，Δt 2 Displacement difference in the very short case.
In a further embodiment, the defined ground friction coefficient is: when the ground is wet, the friction coefficient f =0.5 of the asphalt pavement.
In a further embodiment, the speed v of the current vehicle is assumed when calculating the instantaneous displacement difference Δ x 1 Velocity v of the preceding vehicle 2 Speed v of the rear vehicle 3 Respectively, remain unchanged.
In a further embodiment, the determination of the safe distance between the current vehicle and the front and rear vehicles is divided into four cases:
(1) When in use
Figure GDA0004041151410000051
(namely the speed of the front vehicle is greater than the current vehicle speed), the safe distance between the urban roads is as follows: s 1 ＝v 1 ×t,(t＝1s)；
(2) When in use
Figure GDA0004041151410000052
(namely the speed of the front vehicle is less than the current speed of the vehicle), the safe distance between the urban roads is as follows:
Figure GDA0004041151410000053
(3) When in use
Figure GDA0004041151410000061
(i.e. the speed of the rear vehicle is less than the current speed of the vehicle), the safe distance between the urban roads is as follows: s 3 ＝v 1 ×t,(t＝1s)；
(4) When in use
Figure GDA0004041151410000062
(i.e. the speed of the rear vehicle is greater than the current speed of the vehicle), the safe distance between the urban roads is as follows:
Figure GDA0004041151410000063
in a further embodiment, the urban road safe distance comprises a driver reaction distance;
according to the technical scheme, the invention has the beneficial effects that:
(1) Omnibearing monitoring and strong effectiveness. According to the invention, the temperature sensor, the humidity sensor, the wind speed sensor and the visibility sensor are arranged around the road, so that the environmental condition can be monitored in real time, the coverage area is wide, the formation of fog and the visibility of the air can be ensured to be found in time, the potential danger can be found in time, and the early warning is facilitated in time.
(2) Is economical and applicable and is convenient to maintain. Because whole device adopts the form of modularization, takes the form of distributed installation, and control module is used for controlling the function realization of other modules as the core module, when the function of certain each module goes wrong, can be more convenient find the problem place to maintain.
(3) Save storage space, realize hierarchical early warning. The method comprises the steps of firstly, monitoring whether fog exists or not, starting a visibility inspection and measurement device if the fog exists, and starting a positioning module to perform monitoring and early warning at the moment if the visibility is low; if the fog does not exist, the visibility is good, and the information of the vehicle position, the vehicle distance and the vehicle speed cannot be monitored at the moment, so that the storage space of the storage module is saved.
(4) Slowly braking and uniformly decelerating. The invention carries out early warning based on the comparison of real-time safe vehicle distance and actual vehicle distance, when the safe vehicle distance with a front vehicle is smaller, braking and decelerating measures need to be taken, but emergency braking is not needed, and only the uniform deceleration with the deceleration of a = fg is needed; and when the safe vehicle distance with the rear vehicle is smaller, the alarm lamp can remind the rear vehicle to decelerate, and the current vehicle can adopt lane change to avoid rear-end collision.
Drawings
FIG. 1 is a schematic structural diagram of a monitoring and early warning device for preventing urban road vehicle rear-end collision in dense fog weather in the embodiment;
FIG. 2 is a schematic structural diagram of the monitoring and early warning device for preventing urban road vehicle rear-end collision in dense fog weather in the embodiment;
fig. 3 is a schematic view of a flow chart of the monitoring and early warning device for preventing urban road vehicle rear-end collision in dense fog weather according to the embodiment.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the scope of the present invention.
Example 1
As shown in fig. 1, a monitoring and early warning device 100 for preventing urban road vehicle rear-end collision in dense fog weather comprises a temperature information acquisition module 1, a humidity information acquisition module 2, a wind speed information acquisition module 3, a visibility detection module 4, a storage module 5, a control module 6, an early warning starting module 7, a positioning module 8, a display module 9 and a warning module 10, wherein the control module 6 is respectively connected with the temperature information acquisition module 1, the humidity information acquisition module 2, the wind speed information acquisition module 3, the visibility detection module 4, the storage module 5, the early warning starting module 7, the positioning module 8, the display module 9 and the warning module 10, the display module 9 displays vehicle position and speed information provided by the positioning module 8, and the control module 6 is used as a core module for controlling the functional realization of the modules.
As shown in fig. 1, the control module 6 is used as a core module of the monitoring and early warning device, and is used for controlling and connecting the temperature information acquisition module 1, the humidity information acquisition module 2, the wind speed information acquisition module 3, the visibility detection module 4, the storage module 5, the control module 6, the early warning start module 7, the positioning module 8, the display module 9 and the warning module 10, on the one hand, and is used for connecting with other devices such as an external computer, and the like, so as to realize communication between the device and other devices.
The temperature information acquisition module 1 is used for monitoring urban temperature information affected by the position of the device 100, and the temperature information acquisition module 1 works under the control of the control module 6 and records the monitoring information in the storage module 5;
the humidity information acquisition module 2 is used for monitoring the urban relative humidity information affected by the position of the device 100, the humidity information acquisition module 2 works under the control of the control module 6, and the monitoring information is recorded in the storage module 5;
the wind speed information acquisition module 3 is used for monitoring urban wind speed information affected by the position of the device 100, the wind speed information acquisition module 3 works under the control of the control module 6, and the monitoring information is recorded in the storage module 5;
as a preferred embodiment, the temperature information acquisition module 1, the humidity information acquisition module 2 and the wind speed information acquisition module 3 comprise temperature, humidity and wind speed sensors, and are arranged near urban roads for monitoring whether fog is generated in the cities;
the visibility detection module 4 is used for detecting visibility information of the urban space under the condition of determining fog, the visibility detection module 4 works under the control of the control module 6, and monitoring information is recorded in the storage module 5;
in a preferred embodiment, the visibility detection module 4 includes a visibility detection sensor, which is disposed near a city road and is used for monitoring whether the city visibility is lower than 200 meters;
the storage module 5 is used for storing the acquired temperature information, relative humidity information, wind speed information and visibility information and is called by the early warning starting module 7 under the control of the control module 6;
the early warning starting module 7 is used for judging whether the visibility is less than 200 meters according to the result obtained by the visibility detection module 4, and if the visibility is less than 200 meters, the early warning information of starting the dense fog weather can be sent to the positioning module 8 under the control of the control module 6;
the positioning module 8 is used for positioning all vehicles in the area of the early warning starting module 7, determining the positions and the speeds of all vehicles in the current area, and recording the positioning information in the storage module 5;
the display module 9 is used for displaying the data information of the current road vehicle positioned by the positioning module 8, so that a driver can know the position and speed information of the current vehicle and other vehicles on the road, and the real-time effect of preventing the rear-end collision of the vehicle is realized;
the warning module 10 is used for judging the position and speed information of the displayed vehicle, and if the distance between the current vehicle and the front and rear vehicles is smaller than the safe distance, the monitoring and early warning process for preventing the rear-end collision of the urban road vehicle in the dense fog weather can be realized by a buzzing alarm and the flashing of a warning lamp under the control of the control module 6;
in this embodiment, the control module 6 is implemented by using a single chip microcomputer, the temperature information acquisition module 1 is implemented by using a sensor, the humidity information acquisition module 2 is implemented by using a sensor, the wind speed information acquisition module 3 is implemented by using a sensor, the visibility detection module information acquisition module 4 is implemented by using a sensor, and the storage module 5 is implemented by using a storage medium, for example: SM card, TF card, XD card, MMC card etc. early warning start module 7 stores in control module 6's singlechip with the form of procedure and can be called by the singlechip and carry out, and orientation module 8 adopts GPS positioning system to realize, and display module 9 adopts the display screen to realize, and warning module 10 adopts bee calling organ and warning light to realize.
Example 2
As shown in fig. 2, the apparatus 200 of this embodiment includes the components, assemblies or other combinations described above in the embodiment of fig. 1 (in this embodiment, the same reference numerals are used for the same parts in terms of functions, shapes and positions as those in the embodiment of fig. 1), and the apparatus 200 of this embodiment further includes a microcomputer processing device 11 connected to the control module 6, where the microcomputer processing device 11 includes an interface unit 12, an operation panel 13 and an indication unit 14.
The control module 6 is connected with the computer processing device 11 through a USB interface provided by the interface unit 12, so that the communication between the computer processing device 11 and the control module 6 is realized;
the operation panel 12 is implemented by a touch display screen, and is used for implementing data cleaning and restarting of the control module 6 and operation instructions such as debugging of the sensor;
the indicating unit 13 is used for monitoring the working conditions of the temperature information acquisition module 1, the humidity information acquisition module 2, the wind speed information acquisition module 3, the visibility detection module 4, the storage module 5, the control module 6, the early warning start module 7, the positioning module 8, the display module 9 and the warning module 10, for example: and whether the ambient temperature, humidity and wind speed sensors of the road work normally or not and the like. The operating status may be displayed and characterized to the system and user in the form of indicator lights or text boxes.
In an alternative embodiment, the computer processing device 11 is a touch tablet computer.
As shown in fig. 3, in this embodiment, the processing and analyzing of the collected temperature information, humidity information, wind speed information, and visibility information by the early warning starting module 6 includes the following processes:
step S01: acquiring the temperature level of a temperature information acquisition module, the relative humidity of a humidity information acquisition module and the wind speed condition of a wind speed information acquisition module, and recording the temperature level, the relative humidity and the wind speed condition in a storage module;
step S02: the control module extracts the latest obtained temperature, relative humidity and wind speed information from the storage module according to the current moment;
step S03: preprocessing the acquired information, performing digital-to-analog conversion, and comparing the acquired information with a defined standard level;
step S04: generating reference thresholds for temperature, relative humidity, wind speed;
step S05: if the temperature is-2 to 4 ℃, the relative humidity is more than 90 percent, and the wind speed is less than 3 meters per second, the step S06 is executed, otherwise, the step S02 is executed again;
step S06: the system judges that the current weather is foggy day;
step S07: starting visibility detection module
Step S08: if the visibility is greater than 200 meters, returning to S02, and if the visibility detector displays that the visibility is less than 200 meters, entering S09;
step S09: starting a traffic emergency early warning system in dense fog weather;
step S10: starting a positioning module;
step S11: the control module extracts the latest vehicle position and vehicle speed on the urban road from the storage module according to the current moment and records the latest vehicle position and vehicle speed in the storage module;
step S12: the control module performs digital-to-analog conversion on the acquired vehicle distance and vehicle speed data information;
step S13: sending the processed data to a vehicle display screen in the dense fog area;
step S14: the control module calls a storage module to analyze the vehicle distance information data of the current vehicle and the front and rear vehicles and the speed information data of the current vehicle in real time, calculates the speeds of the front and rear vehicles according to the vehicle distance information data and the speed information data of the current vehicle, defines the ground friction coefficient by relative humidity, and calculates the safe vehicle distance between the two vehicles;
step S15: if the distance between the current vehicle and the front vehicle is larger than the safe vehicle distance, returning to the step S10, and if the distance between the current vehicle and the front vehicle is smaller than the safe vehicle distance, entering the step S16;
step S16: the control module calls the warning module, the early warning buzzer at the copilot is started, and the warning lamp in the vehicle is on;
step S17: the control module extracts and analyzes the latest visibility information from the storage module according to the current moment, if the visibility at the current moment is less than 200 meters, the step S10 is carried out, and if the visibility at the current moment is more than 200 meters, the step S018 is carried out;
step S18: and (4) exiting early warning.
As an alternative embodiment, the defined temperature, relative humidity and wind threshold criteria should be determined according to the conditions of different seasons in different regions; the vehicle speed information adopts a GPS positioning system, and the acquired speed data is converted into the current linear velocity v of the vehicle through a digital-to-analog conversion device in a control module 1 (ii) a The instantaneous displacement difference deltax of the front vehicle and the rear vehicle can be obtained through the positioning module 1 ，Δx 2 I.e. the interval time deltat 1 ，Δt 2 Displacement difference in very short cases; the defined ground friction coefficient is: when the ground is wet, the friction coefficient f =0.5 of the asphalt pavement; assuming that the instantaneous displacement difference Deltax is calculated, the speed v of the current vehicle 1 Velocity v of the preceding vehicle 2 Speed of rear vehiclev 3 Respectively, remain unchanged.
As an alternative embodiment, the determination of the safe inter-vehicle distance between the current vehicle and the preceding vehicle is divided into four cases:
(1) When in use
Figure GDA0004041151410000101
(namely the speed of the front vehicle is greater than the current vehicle speed), the safe distance between the urban roads is as follows: s 1 ＝v 1 ×t,(t＝1s)；
(2) When in use
Figure GDA0004041151410000111
(i.e. the speed of the vehicle ahead is less than the current vehicle speed), the safe distance between the urban roads is:
Figure GDA0004041151410000112
(3) When in use
Figure GDA0004041151410000113
(namely the speed of the rear vehicle is less than the current speed of the vehicle), the safe distance between the urban roads is as follows: s 3 ＝v 1 ×t,(t＝1s)；
(4) When in use
Figure GDA0004041151410000114
(i.e. the speed of the rear vehicle is greater than the current speed of the vehicle), the safe distance between the urban roads is as follows: />
Figure GDA0004041151410000115
The technical scheme provided by the embodiment starts from a vehicle rear-end collision prevention monitoring and early warning technology under the condition of dense fog, and provides convenient integrated development of a device for preventing urban road vehicle rear-end collision in dense fog by combining the characteristics of a low-visibility dense fog weather environment and urban road vehicle operation. The driver can timely take effective deceleration measures such as braking and the like under the condition of low visibility in dense and foggy weather environment, so that the safe distance between the driver and the front vehicle and the rear vehicle is kept, and the purpose of effectively avoiding rear-end collisions is achieved.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the preferred embodiments of the invention and described in the specification are only preferred embodiments of the invention and are not intended to limit the invention, and that various changes and modifications may be made without departing from the novel spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (7)

1. A monitoring and early warning device for preventing urban road vehicle rear-end collision under the dense fog condition is characterized by comprising a temperature information acquisition module, a humidity information acquisition module, a wind speed information acquisition module, a digital-to-analog conversion device, a visibility detection module, a positioning module, a storage module, a control module, an early warning starting module, a display module and a warning module; wherein control module is used for controlling temperature information acquisition module, humidity information acquisition module, wind speed information acquisition module, visibility detection module, orientation module, storage module, early warning start module, display module and warning module's function as core module and realizes, wherein:
the temperature information acquisition module is used for monitoring the temperature of the current city in real time, recording monitoring information in the storage module and transmitting the monitoring information to the digital-to-analog conversion device in the form of a current signal;
the humidity information acquisition module is used for monitoring the humidity of the current city in real time, recording the monitoring information in the storage module and transmitting the monitoring information to the digital-to-analog conversion device in the form of a current signal;
the wind speed information acquisition module is used for monitoring the wind speed of the current city in real time, recording monitoring information in the storage module and transmitting the monitoring information to the digital-to-analog conversion device in the form of a current signal;
the digital-to-analog conversion device receives the current signals and converts the temperature, the relative humidity and the wind speed signals into corresponding numerical signals;
the visibility detection module is used for detecting the visibility of the current city in real time and recording the detection information in the storage module;
the early warning starting module is used for analyzing the detection data of the visibility detection module, judging whether the visibility of the current road is less than 200 meters or not, and starting early warning if the visibility of the current road is less than 200 meters;
the positioning module is used for positioning all vehicles in the dense fog area, acquiring the position information and the speed information of the vehicles and recording the monitoring information in the storage module;
the storage module is used for storing the information in the temperature information acquisition module, the humidity information acquisition module, the wind speed information acquisition module, the visibility detection information acquisition module and the positioning module;
the display module is used for displaying the vehicle position information and the vehicle speed information;
the warning module is used for warning the driver to take certain measures to avoid collision when the actual distance is smaller than the safe distance;
the processing and analysis of the early warning starting module on the temperature information, the humidity information, the wind speed information and the visibility detection information comprises the following processes:
step S01: acquiring the temperature level of a temperature information acquisition module, the relative humidity of a humidity information acquisition module and the wind speed condition of a wind speed information acquisition module, and recording the temperature level, the relative humidity and the wind speed condition into a storage module;
step S02: the control module extracts the latest obtained temperature, relative humidity and wind speed information from the storage module according to the current moment;
step S03: preprocessing the acquired information, performing digital-to-analog conversion, and comparing the acquired information with a defined standard level;
step S04: generating reference thresholds for temperature, relative humidity, wind speed;
step S05: if the temperature is-2 to 4 ℃, the relative humidity is more than 90 percent, and the wind speed is less than 3 meters per second, the step S06 is executed, otherwise, the step S02 is executed again;
step S06: the system judges whether the current weather is foggy day;
step S07: starting a visibility detection module;
step S08: if the visibility is greater than 200 meters, returning to S02, and if the visibility detector displays that the visibility is less than 200 meters, entering S09;
step S09: starting a traffic emergency early warning system in dense fog weather;
step S10: starting a positioning module;
step S11: the control module extracts the latest vehicle position and vehicle speed on the urban road from the storage module according to the current moment and records the latest vehicle position and vehicle speed in the storage module;
step S12: the control module performs digital-to-analog conversion on the acquired vehicle distance and vehicle speed data information;
step S13: sending the processed data to a vehicle display screen in a dense fog area;
step S14: the control module calls the storage module to analyze the vehicle distance information data of the current vehicle and the front and rear vehicles and the speed information data of the current vehicle in real time, calculates the speeds of the front and rear vehicles according to the vehicle distance information data and the speed information data of the current vehicle, defines the ground friction coefficient by relative humidity, and calculates the safe vehicle distance between the two vehicles;
step S15: if the distance between the current vehicle and the front vehicle is larger than the safe vehicle distance, returning to the step S10, and if the distance between the current vehicle and the front vehicle is smaller than the safe vehicle distance, entering the step S16;
step S16: the control module calls the warning module, the early warning buzzer at the copilot is started, and the warning lamp in the vehicle is on;
step S17: the control module extracts the latest visibility information from the storage module according to the current time, if the visibility at the current time is less than 200 meters, the control module goes to step S10, and if the visibility at the current time is more than 200 meters, the control module goes to step S18;
step S18: and (4) exiting early warning.
2. The device of claim 1 for monitoring and pre-warning of urban road vehicle tailgating under dense fog conditions, wherein: the control module is realized by adopting a single chip microcomputer, the temperature information acquisition module, the humidity information acquisition module and the wind speed information acquisition module are realized by adopting sensors, the positioning module is realized by adopting a GPS positioning system, the storage module is realized by adopting a storage medium, the early warning starting module is stored in the single chip microcomputer of the control module in a program form and is called and executed by the single chip microcomputer, the display module is realized by adopting a display screen, and the warning module is realized by adopting a buzzer and a warning lamp.
3. The device of claim 1 for monitoring and pre-warning of urban road vehicle tailgating under dense fog conditions, wherein: the temperature information acquisition module, the humidity information acquisition module and the wind speed information acquisition module are distributed in a city and used for monitoring city meteorological information; when the temperature is-2-4 ℃, the relative humidity is more than 90 percent, and the wind speed is less than 3 meters per second, the fog is judged to exist.
4. The device of claim 1 for monitoring and pre-warning of urban road vehicle tailgating under dense fog conditions, wherein: the visibility detection module comprises laser lamp equipment, is arranged near the urban road and is used for detecting the visibility of the urban road.
5. The device of claim 1 for monitoring and pre-warning of urban road vehicle tailgating under dense fog conditions, wherein: the positioning module comprises a GPS positioning system and is used for monitoring the position and the speed of the vehicle in the urban road network; the display module comprises a display screen, and the display screen is arranged in the center of the front part of the copilot; the warning module comprises a warning buzzer and a warning lamp, and the warning buzzer is arranged in the center of the front platform of the copilot.
6. The device of claim 2 for monitoring and pre-warning of urban road vehicle tailgating under dense fog conditions, wherein: the monitoring and early warning device for preventing urban road vehicle rear-end collision under the dense fog condition further comprises a computer processing device connected with the control module, the computer processing device comprises an interface unit, an operation panel and an indication unit, wherein:
the control module is connected with the computer processing device through a USB interface provided by the interface unit to realize communication between the computer processing device and the control module;
the operation panel is realized by a touch display screen and is used for realizing data cleaning and restarting of the control module device and debugging operation instructions of the various sensors;
the indicating unit is used for monitoring the working conditions of the temperature information acquisition module, the humidity information acquisition module, the wind speed information acquisition module, the visibility detection module, the positioning module, the storage module, the control module, the early warning starting module, the display module and the warning module and transmitting the working conditions to a system and a user.
7. The device of claim 6 for monitoring and pre-warning of urban road vehicle tailgating under dense fog conditions, wherein: the computer processing device is a touch tablet computer.
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