CN114801733A - Highway bend anti-sideslip speed-limiting system based on road surface adhesion coefficient estimation - Google Patents

Highway bend anti-sideslip speed-limiting system based on road surface adhesion coefficient estimation Download PDF

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CN114801733A
CN114801733A CN202210658912.2A CN202210658912A CN114801733A CN 114801733 A CN114801733 A CN 114801733A CN 202210658912 A CN202210658912 A CN 202210658912A CN 114801733 A CN114801733 A CN 114801733A
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vehicle
road
speed
adhesion coefficient
curve
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何永明
冯佳
李金凤
王荃
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Northeast Forestry University
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Northeast Forestry University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/18—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Analytical Chemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses an ultra-high speed highway curve sideslip prevention speed-limiting system based on pavement adhesion coefficient estimation, which consists of a data acquisition subsystem (1), a data processing subsystem (2) and an early warning feedback subsystem (3), wherein the data acquisition subsystem (1) consists of a millimeter wave radar (5), a license plate recognition device (6) and the pavement adhesion coefficient estimationThe system comprises a calculation device (4) and a cloud server (7), wherein a data processing subsystem (2) processes information through a processor (8), an early warning feedback subsystem (3) comprises a vehicle-mounted display screen (10), a road side display screen (9) and a vehicle-mounted voice broadcast device (11), and the processor (8) is used for analyzing the acquired information to obtain the maximum speed limit value of the curve road section
Figure 36726DEST_PATH_IMAGE001
And the real-time speed information and the maximum speed limit value of the vehicle are input into an early warning feedback subsystem (3) to dynamically limit the speed of the vehicle in real time, so that the vehicle can safely pass through a curve.

Description

Highway bend anti-sideslip speed-limiting system based on road surface adhesion coefficient estimation
Technical Field
The invention relates to an anti-sideslip speed-limiting system for a curve of an ultrahigh-speed highway based on road adhesion coefficient estimation, and belongs to the field of automobile safety.
Background
In 2016, the economic efficiency, safety and the like of the super-speed highway are deeply researched since the concept of the super-speed highway is proposed forever, and the result shows that the safety is the biggest obstacle for developing the super-speed highway. The super-speed highway is divided into three grades according to the speed, the design speed of the super-first-grade highway is 100-140 km/h, the design speed of the super-second-grade highway is 120-160 km/h, and the design speed of the super-third-grade highway is 140-180 km/h, and the feasibility of the development of the super-speed highway is demonstrated and the necessity of the development of the super-speed highway is deeply researched. The development of the super-high speed highway is far beyond expectation, the designed speed of the Ulmarie-Alletai intelligent super-high speed highway with reserved automatic driving lanes is 160 km/h, and the super-high speed highway is ready for traffic at the end of 2021. The Hangzhou Shaoxing-Ningbo intelligent super highway with the design vehicle speed of 150 km/h will be accessed in 2022, and a plurality of intelligent super highways with the design vehicle speed of more than 120 km/h are being built.
In 10 months in 2021, the highest design speed of the expressway special for the passenger car is specified to be 140km/h in the technical guidance for expressway engineering special for passenger cars (TCTS 10042-2021) released by the Chinese highway society, and the current highest design speed of the expressway of 120 km/h in China is broken through.
In the 3 rd month in 2022, the national research and development plan "the declaration guideline of the special item of traffic infrastructure key in 2022 year project" of the department of science and technology, it is further clear that the research of designing the ultra-high speed road with the vehicle speed exceeding 120 km/h is further strengthened, and the highest design speed per hour even reaches 200 km.
Along with the construction of the super-speed highway, the hidden danger of vehicle driving safety is brought to people when the people go out conveniently. Particularly, when a vehicle drives into a curve road section of an ultrahigh-speed highway, the phenomena of vehicle runaway, side slip and the like are easily caused due to the fact that the speed of the vehicle is too high. According to statistics, the curve road section is a section with multiple traffic accidents, more than 70% of major traffic accidents in China occur in the curve road section with poor sight distance, dangerous road sides and low technical indexes, and the main reason is that the speed of the vehicle is high. When the vehicle encounters an emergency, such as water and ice accumulation on the ground, the road adhesion coefficient is low, or the vehicle speed is high, the vehicle is easy to sideslip.
The highway bend sideslip prevention system based on the road surface adhesion coefficient estimation has the functions of a traditional vehicle-mounted early warning system and a road side early warning system, the vehicle-mounted device gives feedback to a driver, and meanwhile the road side device can also give warning information to the driver. On the basis, the influence of the real-time road surface adhesion coefficient on the maximum speed limit value of the sideslip of the vehicle is considered. In the traditional sideslip prevention system with fixed adhesion coefficient, if the set adhesion coefficient is larger than the actual road adhesion coefficient, the actual maximum speed limit value is smaller than the set maximum speed limit value, so that the driving safety is endangered; if the set adhesion coefficient is smaller than the actual road adhesion coefficient and the actual maximum speed limit value is larger than the set maximum speed limit value, the system can judge that the vehicle running at the safe speed is unsafe and give wrong feedback to the driver. In order to avoid the sideslip of the vehicle running on the curve section of the super-speed highway, which endangers the driving safety, the curve sideslip prevention speed limit system of the super-speed highway based on the road adhesion coefficient estimation needs to be designed for the super-speed highway with higher designed speed.
Disclosure of Invention
(1) Problems to be solved
The invention aims to solve the technical problem of providing an anti-sideslip speed-limiting system for a curve of an ultra-high-speed highway based on road adhesion coefficient estimation, which can obtain real-time maximum speed-limiting values at different curves through collected road parameters and real-time road adhesion coefficients at different curve sections. By comparing the real-time speed of the vehicle with the real-time maximum speed limit value, visual and auditory warnings can be dynamically given to the vehicle which runs through the curve under different conditions. The vehicle can safely pass through the curve.
(2) Technical scheme
The invention relates to an ultra-high speed highway curve anti-sideslip speed-limiting system based on road adhesion coefficient estimation, which consists of a data acquisition subsystem, a data processing subsystem and an early warning feedback subsystem. The data acquisition subsystem consists of a millimeter wave radar, a license plate recognition device, a road adhesion coefficient estimation device and a cloud server; the data processing subsystem processes the acquired information through a processor; the early warning feedback subsystem is composed of a vehicle-mounted display screen, a vehicle-mounted voice broadcaster and a road side display screen, converts received information into recognizable language data and outputs the recognizable language data to the vehicle-mounted display screen, the vehicle-mounted voice broadcaster and the road side display screen.
The data acquisition subsystem is used for acquiring real-time speed information, license plate numbers, linear information of curve road sections and actual longitudinal slip rate of the vehicles, and inputting the acquired information into the data processing subsystem. The data processing subsystem is used for processing the obtained related information, estimating the actual longitudinal slip rate of the vehicle to obtain a real-time pavement adhesion coefficient, and then obtaining a real-time maximum speed limit value through the real-time pavement adhesion coefficient, the road superelevation and the curve radius information. The real-time speed of the vehicle acquired by the millimeter wave radar is compared with the real-time maximum speed limit value calculated by the system, and the obtained information is input into the early warning feedback subsystem. The early warning feedback subsystem is used for converting the information received in the data processing subsystem into recognizable language data and outputting the recognizable language data to the vehicle-mounted display screen, the vehicle-mounted voice broadcast device and the road side display screen.
When the vehicle is at a certain distance from a curve road section, if the detected real-time speed of the vehicle is greater than the maximum speed limit value of the curve, warning information is simultaneously given to a driver through a road side display screen, a vehicle-mounted display screen and a vehicle-mounted voice broadcast device, the current vehicle speed and the maximum speed limit value of the vehicle are displayed on the vehicle-mounted display screen and the road side display screen, the driver is warned to drive at a reduced speed, and information that the driver needs to drive at a reduced speed is given through the vehicle-mounted voice broadcast device.
(3) Advantageous effects
The road adhesion coefficient estimation-based anti-sideslip speed-limiting system for the curve of the ultra-high-speed highway, provided by the invention, has the main benefits that:
compared with the prior art, the invention can give information to the driver from two aspects of roads and vehicles simultaneously, and can better assist the driver to avoid the sideslip of the curve road section, which causes unnecessary potential safety hazard.
The system can calculate the maximum speed limit value when the vehicle passes through the curve according to the road adhesion coefficient and different curve road sections of the same road so as to ensure driving safety, display the maximum speed limit value on a road side display screen and a vehicle-mounted display screen in real time to remind a driver to control the vehicle speed, dynamically limit the speed of the vehicle in real time, and ensure that the vehicle passes through the curve safely.
Drawings
FIG. 1 is a general structure diagram of an anti-sideslip speed limiting system for a curve of an ultra-high speed road based on road adhesion coefficient estimation.
Fig. 2 is a schematic diagram of the curve warning of the highway.
Fig. 3 is a vehicle mechanics analysis diagram of a curve section.
FIG. 1 shows a data acquisition subsystem; 2. a data processing subsystem; 3. an early warning feedback subsystem; 4. a road surface adhesion coefficient estimation device; 5. a millimeter wave radar; 6. a license plate recognition device; 7. a cloud server; 8. a processor; 9. a roadside display screen; 10. a vehicle-mounted display screen; 11. a vehicle-mounted voice broadcaster; 12. a vehicle; a GPS vehicle locating device.
Detailed Description
The highway curve sideslip prevention speed limiting system based on the road adhesion coefficient estimation is composed of a data acquisition subsystem 1, a data processing subsystem 2 and an early warning feedback subsystem 3. The data acquisition subsystem 1 consists of a millimeter wave radar 5, a license plate recognition device 6, a road adhesion coefficient estimation device 4 and a cloud server 7; the data processing subsystem 2 processes the input information through a processor 8; the early warning feedback subsystem 3 is composed of a vehicle-mounted display screen 10, a road side display screen 9 and a vehicle-mounted voice broadcast device 11. The millimeter wave radar 5, the license plate recognition device 6 and the roadside display screen 9 are arranged on two sides of a road; the road adhesion coefficient estimation device 4, the cloud server 7, the processor 8, the vehicle-mounted display screen 10, the vehicle-mounted voice broadcaster 11 and the GPS vehicle positioning device 13 are mounted on a vehicle 12.
The actual longitudinal slip rate of the vehicle can be obtained according to the prior research
Figure 324623DEST_PATH_IMAGE001
Comprises the following steps:
Figure 181721DEST_PATH_IMAGE002
the road adhesion coefficient estimation device 4 may estimate the road adhesion coefficient by acquiring the wheel angular velocity of the vehicle 12
Figure 876007DEST_PATH_IMAGE003
Rolling radius of wheel
Figure 527568DEST_PATH_IMAGE004
And longitudinal acceleration at the wheel center
Figure 890329DEST_PATH_IMAGE005
Data, calculating to obtain the actual longitudinal slip rate
Figure 285538DEST_PATH_IMAGE006
. The invention comprehensively adopts a road adhesion coefficient estimation algorithm based on a least square method and a road adhesion coefficient estimation algorithm based on a slope method
Figure 834331DEST_PATH_IMAGE007
Then, a road adhesion coefficient estimation algorithm based on a least square method is adopted; in that
Figure 984690DEST_PATH_IMAGE008
And estimating by adopting a road adhesion coefficient estimation algorithm based on a slope method.
When the vehicle does not enter the curve road section, the cloud server 7 can obtain the road superelevation and circular curve radius information of the front curve road section through the accurate positioning of the GPS vehicle positioning device 13; will bend road sectionThe road ultrahigh and circular curve radius information and the vehicle real-time speed information measured by the millimeter wave radar 5
Figure 251723DEST_PATH_IMAGE009
Road surface adhesion coefficient measured by the road surface adhesion coefficient estimating device 4
Figure 450623DEST_PATH_IMAGE010
And input into the data processing subsystem 2. As shown in figure 3 of the drawings,
Figure 666972DEST_PATH_IMAGE011
is a side inclination angle;
Figure 925915DEST_PATH_IMAGE012
is the sprung mass;
Figure 680244DEST_PATH_IMAGE013
the distance from the center of mass of the sprung mass to the roll axis;
Figure 417256DEST_PATH_IMAGE014
is the tilt center height;
Figure 2958DEST_PATH_IMAGE015
is the lateral acceleration;
Figure 432803DEST_PATH_IMAGE016
the wheel track is the wheel track;
Figure 408849DEST_PATH_IMAGE017
、
Figure 949552DEST_PATH_IMAGE018
is the tangential reaction force to which the tire is subjected;
Figure 904607DEST_PATH_IMAGE019
、
Figure 239773DEST_PATH_IMAGE020
is the normal reaction force to which the tire is subjected;
Figure 968695DEST_PATH_IMAGE021
is an ultrahigh angle of the bend. The maximum speed limit value for avoiding sideslip of the vehicle under the condition that the outer side of the road is ultrahigh can be obtained as follows:
Figure 109826DEST_PATH_IMAGE022
in the formula
Figure 607804DEST_PATH_IMAGE023
Is the maximum speed limit value, and the speed limit value,
Figure 113871DEST_PATH_IMAGE024
as the coefficient of the road surface adhesion,
Figure 330089DEST_PATH_IMAGE025
the road is ultrahigh in height,
Figure 25644DEST_PATH_IMAGE026
in order to be the acceleration of the gravity,
Figure 378128DEST_PATH_IMAGE027
is the radius of a circular curve.
The processor 8 calculates the data to obtain the maximum speed limit value of the curve road section
Figure 320676DEST_PATH_IMAGE028
. By comparison
Figure 758611DEST_PATH_IMAGE029
And
Figure 241544DEST_PATH_IMAGE030
if, if
Figure 714114DEST_PATH_IMAGE031
When the vehicle is in use, the driving safety is considered to be possibly endangered at the moment, the real-time speed information and the maximum speed limit value of the vehicle are input into the early warning feedback subsystem 3 and are communicated with the road through the vehicle-mounted display screen 10The side display screen 9 displays, converts the received information into language data, gives an alarm to a driver through the vehicle-mounted language broadcaster 11, and inputs the license plate number recognized by the license plate recognition device 6 into the roadside display screen 9.

Claims (3)

1. The highway bend sideslip prevention speed limiting system based on road adhesion coefficient estimation is specifically characterized in that: the system is composed of a data acquisition subsystem (1), a data processing subsystem (2) and an early warning feedback subsystem (3), wherein the data acquisition subsystem (1) is composed of a millimeter wave radar (5), a license plate recognition device (6), a road surface adhesion coefficient estimation device (4) and a cloud server (7), the data processing subsystem (2) processes input information through a processor (8), and the early warning feedback subsystem (3) is composed of a vehicle-mounted display screen (10), a road side display screen (9) and a vehicle-mounted voice broadcast device (11).
2. The system for preventing the sideslip and speed limiting of the curve of the ultra-high speed road based on the road adhesion coefficient estimation as claimed in claim 1 is characterized in that: when the vehicle does not enter the curve road section, the cloud server (7) can obtain the road height and the circular curve radius information of the curve road section in front by the accurate positioning of the GPS vehicle positioning device (13), and the road height and the circular curve radius information of the curve road section and the real-time speed information of the vehicle measured by the millimeter wave radar (5) are obtained
Figure 18794DEST_PATH_IMAGE001
And a road surface adhesion coefficient measured by a road surface adhesion coefficient estimating device (4)
Figure 106836DEST_PATH_IMAGE002
And input into the data processing subsystem (2).
3. The system for preventing the sideslip and speed limiting of the curve of the ultra-high speed road based on the road adhesion coefficient estimation as claimed in claim 1 is characterized in that: the processor (8) calculates the data to obtain the curveMaximum speed limit value of road section
Figure 373869DEST_PATH_IMAGE003
By comparing vehicle real-time speed information
Figure 907792DEST_PATH_IMAGE004
And the maximum speed limit value
Figure 311091DEST_PATH_IMAGE005
If, if
Figure 570034DEST_PATH_IMAGE006
When the vehicle is considered to possibly endanger the driving safety, the real-time speed information and the maximum speed limit value of the vehicle are input into the early warning feedback subsystem (3), the real-time speed information and the maximum speed limit value are displayed through the vehicle-mounted display screen (10) and the road side display screen (9), the received information is converted into language data, the language data is used for giving an alarm to a driver through the vehicle-mounted language broadcaster (11), and the license plate number recognized by the license plate recognition device (6) is input into the road side display screen (9).
CN202210658912.2A 2022-06-13 2022-06-13 Highway bend anti-sideslip speed-limiting system based on road surface adhesion coefficient estimation Pending CN114801733A (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105118316A (en) * 2015-09-25 2015-12-02 武汉理工大学 Curved road safe speed calculating method and caution system based on vehicle infrastructure cooperation
US20160133131A1 (en) * 2014-11-12 2016-05-12 GM Global Technology Operations LLC Use of participative sensing systems to enable enhanced road friction estimation
EP3193319A1 (en) * 2016-01-13 2017-07-19 Ekin, Akif Smart recording, control and warning system for crossroad traffic
CN110085057A (en) * 2019-04-26 2019-08-02 吉林大学 A kind of vehicle bend preventing side sliding and side turning safety control system and control method based on bus or train route collaboration
CN113460056A (en) * 2021-08-03 2021-10-01 吉林大学 Vehicle road surface adhesion coefficient estimation method based on Kalman filtering and least square method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160133131A1 (en) * 2014-11-12 2016-05-12 GM Global Technology Operations LLC Use of participative sensing systems to enable enhanced road friction estimation
CN105118316A (en) * 2015-09-25 2015-12-02 武汉理工大学 Curved road safe speed calculating method and caution system based on vehicle infrastructure cooperation
EP3193319A1 (en) * 2016-01-13 2017-07-19 Ekin, Akif Smart recording, control and warning system for crossroad traffic
CN110085057A (en) * 2019-04-26 2019-08-02 吉林大学 A kind of vehicle bend preventing side sliding and side turning safety control system and control method based on bus or train route collaboration
CN113460056A (en) * 2021-08-03 2021-10-01 吉林大学 Vehicle road surface adhesion coefficient estimation method based on Kalman filtering and least square method

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