CN115050176A - Vehicle-road cooperative control system for accident multi-issue point section safety early warning and control method thereof - Google Patents
Vehicle-road cooperative control system for accident multi-issue point section safety early warning and control method thereof Download PDFInfo
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- CN115050176A CN115050176A CN202210502123.XA CN202210502123A CN115050176A CN 115050176 A CN115050176 A CN 115050176A CN 202210502123 A CN202210502123 A CN 202210502123A CN 115050176 A CN115050176 A CN 115050176A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The invention discloses a vehicle-road cooperative control system for accident multi-issue point section safety early warning, which comprises: the vehicle information acquisition system is used for acquiring road information, vehicle information and communication information; the interactive system is used for interaction among the data; the decision control system is used for making decisions and controlling the vehicle road system; the vehicle road information acquisition system includes: the road side subsystem: the system is used for acquiring road information, pedestrian and non-motor vehicle information, road surface conditions and weather conditions; the vehicle-mounted subsystem is used for acquiring the motion state of the vehicle, the positioning information of the vehicle and the driving environment information; and the wireless communication subsystem is used for realizing the communication among all data. The wireless communication subsystem comprises a vehicle-road communication module, a roadside device communication module and a vehicle-vehicle communication module, and the vehicle-road cooperative control system disclosed by the invention is more accurate in flow control of the specified road section, so that the passing efficiency of the road section is greatly improved.
Description
Technical Field
The invention relates to the technical field of traffic safety management, in particular to a vehicle-road cooperative control system for accident multi-issue section safety early warning.
Background
Traffic control is the improvement of traffic running environment by using various control software and hardware, including means of traffic signals, traffic police, electronic computers, variable marker lights and the like to reasonably regulate and induce traffic flow. The vehicle-road cooperative system (IVICS) emphasizes information interaction between vehicles and vehicles, and cooperatively manages the roads and vehicles on the basis of full-time-space dynamic information acquisition and fusion, so that real-time full-time-space traffic information is provided for traffic participants, and a high-efficiency and safe road traffic system is formed, thereby improving the vehicle operation efficiency and ensuring the traffic safety. At present, traffic control under the cooperative environment of the vehicle and the road has the following evolution:
(1) the control object is: the evolution from special control objects, such as bus priority and emergency rescue vehicles, to control of mixed traffic flows.
(2) A control target: the evolution from single control targets, such as average vehicle delay and vehicle parking times, to green, safe and comprehensive operation efficiency.
(3) The control range is as follows: and the control is switched to the complex road network control from the single intersection.
However, the existing vehicle road system control still has the problems of decision failure and feeling deviation.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a vehicle-road cooperative control system for accident multi-issue-point safety early warning, which is used for solving the problems in the prior art.
The technical scheme adopted by the invention is as follows:
a vehicle road cooperative control system for accident multi-issue point section safety early warning comprises:
the vehicle information acquisition system is used for acquiring road information, vehicle information and communication information;
the interactive system is used for interaction among the data;
the decision control system is used for making decisions and controlling the vehicle road system;
the vehicle road information acquisition system includes:
the road side subsystem: the system is used for acquiring road information, pedestrian and non-motor vehicle information, road surface conditions and weather conditions;
the vehicle-mounted subsystem is used for acquiring the motion state of a vehicle, vehicle positioning information and driving environment information;
and the wireless communication subsystem is used for realizing the communication among the data.
Preferably, the wireless communication subsystem comprises a vehicle road communication module, a roadside device communication module and a vehicle-to-vehicle communication module.
Preferably, the decision control system comprises a pre-accident decision module and a traffic management measure module.
Preferably, the pre-accident decision module comprises a safety early warning module and a vehicle speed limiting module.
Preferably, the vehicle speed limiting module comprises road condition limitation, traffic guidance and a variable speed limit sign.
Preferably, the road side subsystem comprises a road traffic condition acquisition module, a pedestrian and non-motor vehicle condition acquisition module and a road surface condition and weather condition acquisition module.
The invention also provides a control method of the vehicle-road cooperative control system for accident multi-issue section safety early warning, which comprises the following steps:
s1, initializing the RSU and the OBU;
s2, interacting the information of the vehicle road;
and S3, impedance information is issued, and the RSU issues an optimal path to the OBU.
And S4, updating the information, calculating the minimum impedance according to the real-time position of the vehicle, and generating a new path to be compared with the original path.
S5: and (4) taking the form of an induction path to an end point.
S6, if the vehicle arrives at the destination, the guidance is stopped, otherwise, the step is switched to S2 to repeat the steps.
Preferably, in S1, the RSU acquires the link number i, the located link number il, the direction number jl, and the OD requirement data.
Preferably, itCharacterized in that in the S2, the RSU receives omega of all vehicle position data in the communication range ill The RSU aggregates the traffic data and processes the real-time impedance sequences for all paths between the honest vehicle ODs according to the vehicle requested OD requirements and the impedance function.
Preferably, in S3, the impedance information is issued, and the calculation method adopted by the RSU to issue the optimal path to the OBU is:
compared with the prior art, the invention has the beneficial effects that:
and aiming at a specific traffic scene of an accident multi-point section, a vehicle-road cooperative control system is constructed. The system has the basic aim of integrating the functional subsystems related to the traffic safety of the road accident multi-issue point section in the vehicle-road cooperation on the basis of the real-time interaction of the road side information and the vehicle-mounted information, and adopting a corresponding traffic safety management strategy through the real-time monitoring of the road traffic flow state and the advance prediction of the traffic accident in a control area, so that the traffic safety environment of the accident multi-issue point section is improved, and the decision-making accuracy is improved.
Drawings
FIG. 1 is a control schematic diagram of a control method of a vehicle-road cooperative control system for accident multi-issue section safety early warning according to the present invention;
Detailed Description
The top ten roads ranked in the accident-prone road section of the Suzhou industrial park in 2017 are respectively as follows: star lake street, east loop, modern avenue, great avenue of jinji lake, great avenue of fenchytrix, great avenue of new and middle avenue, great avenue of roche, aventurine street, mascot street, jutsu street, victory road.
Through analysis of data of saturation of channels across key sections in a park, early peak traffic volumes of a star lake street (a roof of the Rou river-Suhong middle road) and the star lake street (south of the Susheng road) are high and both exceed 2000pcu/h, and the road service level is lower than level C. In the top ten road sections with multiple accidents in 2017, which are analyzed based on the traffic accident knowledge map, the star-lake street is ranked first, which indicates that the overlarge traffic flow of the star-lake street is one of potential factors inducing road traffic accidents to a certain extent.
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, the cooperative vehicle-road control system for accident multi-issue section safety early warning provided by the invention comprises a vehicle-road information acquisition system, an interactive system and a decision control system.
The vehicle information acquisition system consists of a road side subsystem, a vehicle-mounted subsystem and a wireless communication subsystem. The road side subsystem is used for collecting road traffic conditions, pedestrian and non-motor vehicle conditions, road surface conditions and weather conditions, the vehicle-mounted subsystem is used for collecting vehicle motion states, vehicle positioning information, driving environment information and other wireless communication subsystems comprise vehicle-road communication, road side equipment communication, vehicle-vehicle communication and the like,
the optimal control scheme is analyzed by acquiring data of the road information and the interactive system and then analyzing and deciding by the decision control system
The analysis and decision method comprises the following steps:
the RSU and OBU are initialized S1. The RSU acquires a road section number i, a road section number il where the RSU is located, a direction number jl and OD demand data.
S2 interaction of vehicle information, RSU receiving all vehicle position data omega in communication range ill The RSU aggregates the traffic data and processes the real-time impedance sequences for all paths between the honest vehicle ODs according to the vehicle requested OD requirements and the impedance function.
And S3, impedance information is issued, and the RSU issues an optimal path to the OBU.
And S4, updating the information, calculating the minimum impedance according to the real-time position of the vehicle, and generating a new path to be compared with the original path. S5: and (4) taking the form of an induction path to an end point.
If the vehicle reaches the destination, the guidance is stopped, otherwise, the step is switched to S2 to repeat the steps.
In S3, the impedance information is issued, and the calculation method adopted by the RSU to issue the optimal path to the OBU is:
wherein t is the travel time (min) of the vehicle passing through the road section; t is t 0 The travel time (min) of the vehicle passing through the road section and flowing down freely; v is road section traffic flow (veh/h); c is actual traffic capacity (veh/h) of the road section; alpha and beta are impedance influence parameters to be calibrated. y is i Is an accident variable and represents whether the road section i has traffic paralysis or not, if the road has traffic paralysis, y i 1, otherwise y i The calculation method is applicable to a vehicle-road cooperative environment having the functions of detecting and sharing traffic information and traffic accident information.
And gamma is a undetermined parameter and represents the influence degree of the accident on the traffic. If the link is completely paralyzed, γ → + ∞.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that the present embodiments be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. A vehicle road cooperative control system for accident multi-issue point section safety early warning comprises:
the vehicle information acquisition system is used for acquiring road information, vehicle information and communication information;
the interactive system is used for interaction among the data;
the decision control system is used for making decisions and controlling the vehicle road system;
the vehicle road information acquisition system includes:
the road side subsystem: the system is used for acquiring road information, pedestrian and non-motor vehicle information, road surface conditions and weather conditions;
the vehicle-mounted subsystem is used for acquiring the motion state of the vehicle, the positioning information of the vehicle and the driving environment information;
and the wireless communication subsystem is used for realizing the communication among the data.
2. The vehicle-road cooperative control system for accident multi-issue point safety early warning according to claim 1, characterized in that: the wireless communication subsystem comprises a vehicle-road communication module, a roadside device communication module and a vehicle-vehicle communication module.
3. The cooperative vehicle-road control system for accident multi-issue point safety pre-warning according to claim 1, wherein the decision control system comprises a pre-accident decision module and a traffic management measure module.
4. The vehicle-road cooperative control system for accident multi-issue point section safety early warning according to claim 3, wherein the pre-accident decision module comprises a safety early warning module and a vehicle speed limiting module.
5. The cooperative vehicle control system for safety precaution at multiple accident points according to claim 3, wherein the vehicle speed limiting module comprises road condition limitation, traffic guidance and variable speed limit signs.
6. The vehicle-road cooperative control system for accident multi-issue point safety early warning according to claim 1, characterized in that: the road side subsystem comprises a road traffic condition acquisition module, a pedestrian and non-motor vehicle condition acquisition module and a road surface condition and weather condition acquisition module.
7. A control method of a vehicle-road cooperative control system for accident multi-issue section safety early warning comprises the following steps:
s1, initializing the RSU and the OBU;
s2, interacting the information of the vehicle road;
and S3, impedance information is issued, and the RSU issues an optimal path to the OBU.
And S4, updating the information, calculating the minimum impedance according to the real-time position of the vehicle, and generating a new path to be compared with the original path.
S5: and (4) taking the form of an induction path to an end point.
S6, if the vehicle arrives at the destination, the guidance is stopped, otherwise, the step is switched to S2 to repeat the steps.
8. The method for controlling the cooperative vehicle control system for the accident multi-issue segment safety precaution system according to claim 7, wherein in the S1, the RSU obtains a segment number i, a located segment number il, a direction number jl and OD demand data.
9. The method as claimed in claim 7, wherein in the step S2, the RSU receives ω of all vehicle position data in communication range ill The RSU aggregates the traffic data and processes the real-time impedance sequences for all paths between the honest vehicle ODs according to the vehicle requested OD requirements and the impedance function.
10. The method for controlling the vehicle-road cooperative control system for the accident multi-issue-point safety pre-warning according to claim 7, wherein in the step S3, the impedance information is issued, and the RSU issues the optimal path to the OBU by adopting a calculation method comprising:
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2022
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Patent Citations (7)
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| CN110942626A (en) * | 2019-11-21 | 2020-03-31 | 华南理工大学 | Road network mixed flow rate daily variation prediction method considering unmanned vehicles |
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