CN115063966A - Highway construction area early warning system and method for ACC car following driving - Google Patents
Highway construction area early warning system and method for ACC car following driving Download PDFInfo
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- CN115063966A CN115063966A CN202210607229.6A CN202210607229A CN115063966A CN 115063966 A CN115063966 A CN 115063966A CN 202210607229 A CN202210607229 A CN 202210607229A CN 115063966 A CN115063966 A CN 115063966A
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- construction area
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- 238000010276 construction Methods 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000011144 upstream manufacturing Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 8
- 206010039203 Road traffic accident Diseases 0.000 abstract description 5
- 230000002265 prevention Effects 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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Classifications
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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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- 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
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
- G08B21/0261—System arrangements wherein the object is to detect trespassing over a fixed physical boundary, e.g. the end of a garden
-
- 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
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
- G08B21/0266—System arrangements wherein the object is to detect the exact distance between parent and child or surveyor and item
-
- 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
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries
Abstract
The invention relates to the field of traffic accident prevention of highway construction areas, in particular to a highway construction area early warning system and method for ACC car following driving. The method and the system have the advantages that the early warning is carried out on the ACC vehicle running with the vehicle, and a driver is reminded to take over the vehicle and drive safely; when the ACC vehicle runs into the construction area, early warning is carried out on constructors in the construction area, and the constructors are evacuated; through carrying out the early warning to ACC vehicle driver and construction area personnel, reduce the possibility that the traffic accident takes place, reduce the loss of lives and property.
Description
Technical Field
The invention relates to the field of traffic accident prevention in a highway construction area, in particular to a highway construction area early warning system and method aiming at ACC car following driving.
Background
The increase of the road maintenance workload brings the increase of road traffic accidents, and the cases of life and property loss of drivers and constructors caused by the fact that vehicles rush into construction areas are not exhaustive. An adaptive cruise system (ACC) is an auxiliary intelligent driving system which is developed more mature and widely applied at present, and is particularly widely applied to follow-up running on a highway.
On an expressway, when an ACC vehicle runs with the vehicle, particularly when the ACC vehicle runs with a truck, because a front vehicle has a good visual field and a long visual distance, the ACC vehicle can find the construction of a front road in advance and change the road, a driver of the ACC vehicle following behind cannot timely detect the construction condition of the front road, the vehicle cannot be controlled necessarily, and an ACC system can automatically control the vehicle to run with acceleration, at the moment, the ACC vehicle has great possibility of rushing into a construction area to cause accidents, so that the driver of the ACC vehicle needs to be warned to drive safely; and when the vehicle is about to break into the construction area, the early warning is carried out on constructors, and the constructors are evacuated in time.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide an early warning system and method for an ACC following driving expressway construction area.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme.
The early warning system for the highway construction area for the ACC following driving comprises a radar and vision all-in-one machine, a millimeter wave radar, an embedded industrial personal computer, a first alarm and a second alarm;
the embedded industrial personal computer is respectively connected with the radar and video all-in-one machine, the millimeter wave radar, the first alarm and the second alarm;
the radar and video all-in-one machine is used for acquiring vehicle motion information, including vehicle speed, relative distance between the vehicle and relative position between the vehicle and the vehicle;
the millimeter wave radar is used for acquiring the speed of the vehicle, the distance between the vehicle and the millimeter wave radar and the relative direction information of the vehicle;
the embedded industrial personal computer is used for judging whether the vehicle is an ACC vehicle running with the vehicle, judging whether the ACC vehicle has a risk of rushing into a construction area or not and controlling the first alarm and the second alarm to give an alarm;
the first alarm is used for carrying out danger early warning on the ACC vehicle; the second alarm is used for carrying out early warning on the intrusion of personnel in the construction area.
The early warning method of the early warning system for the expressway construction area running with the ACC comprises the following steps:
step 1, a radar vision all-in-one machine acquires the relative distance between vehicles and the relative position of the vehicles in an upstream road of a construction area and transmits the relative distance and the relative position to an embedded industrial personal computer, and the embedded industrial personal computer judges whether the vehicles run in a queue or not;
step 2, the radar and vision integrated machine acquires the accelerated speeds of two vehicles in a queue driving state and transmits the accelerated speeds to the embedded industrial personal computer, and the embedded industrial personal computer judges whether the rear vehicle is an ACC vehicle;
step 3, the millimeter wave radar acquires the speeds of the ACC vehicle and the front vehicle of the ACC vehicle in the upstream road of the construction area, the distance between the ACC vehicle and the millimeter wave radar and the relative direction information, and transmits the information to the embedded industrial personal computer; the embedded industrial personal computer calculates and obtains the driving track of the vehicle and the average acceleration in the driving track;
step 4, when the ACC vehicle and the front vehicle are positioned in the construction lane, judging whether the front vehicle changes the lane according to the driving track of the front vehicle; after the current vehicle changes lanes, when the ACC vehicle passes through the radar all-in-one machine, the embedded industrial personal computer controls the first alarm to carry out danger early warning on the ACC vehicle;
step 5, calculating the time TTC for the ACC vehicle to continuously run in the current running state until the ACC vehicle breaks into the construction area 2 ；
TTC of vehicle when ACC 2 The time is less than 3 seconds, if the speed of the ACC vehicle exceeds 80km/h or the distance between the ACC vehicle and a construction area is less than 150m, the ACC vehicle risks rushing into the construction area; if the speed of the ACC vehicle is less than 80km/h and the distance between the ACC vehicle and the construction area is more than 150 meters, the ACC vehicle does not have the risk of rushing into the construction area;
TTC of vehicle when ACC 2 The time is more than or equal to 3 seconds, and if the distance between the ACC vehicle and the construction area is more than or equal to 150 meters, the ACC vehicle does not have the risk of rushing into the construction area; if the distance between the ACC vehicle and the construction area is less than 150 meters, the ACC vehicle risks rushing into the construction area;
and 6, when the ACC vehicle has the risk of rushing into the construction area, the embedded industrial personal computer controls the second alarm to early warn the personnel in the construction area to break into.
Compared with the prior art, the invention has the beneficial effects that: carrying out early warning on an ACC vehicle running with the vehicle to remind a driver of taking over the vehicle and driving safely; when the ACC vehicle runs into the construction area, early warning is carried out on constructors in the construction area, and the constructors are evacuated; through carrying out the early warning to ACC vehicle driver and construction area personnel, reduce the possibility that the traffic accident takes place, reduce the loss of lives and property.
Drawings
The invention is described in further detail below with reference to the figures and specific embodiments.
Fig. 1 is a schematic view of an application scenario of an embodiment of an early warning system for an ACC vehicle following highway construction area according to the present invention;
fig. 2 is a flowchart of an early warning method of the early warning system for the highway construction area in which the ACC vehicle follows the vehicle according to the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to examples, but it will be understood by those skilled in the art that the following examples are only illustrative of the present invention and should not be construed as limiting the scope of the present invention.
Referring to fig. 1, the highway construction area early warning system for ACC vehicle following driving comprises a radar-vision all-in-one machine, a millimeter wave radar, an embedded industrial personal computer, a first alarm and a second alarm;
the embedded industrial personal computer is respectively connected with the radar and video all-in-one machine, the millimeter wave radar, the first alarm and the second alarm;
the radar and video all-in-one machine is used for acquiring vehicle motion information, including vehicle speed, relative distance between the vehicle and relative position between the vehicle and the vehicle; the radar and vision all-in-one machine is arranged 200 meters upstream of the construction area;
the millimeter wave radar is used for acquiring the speed of the vehicle, the distance between the vehicle and the millimeter wave radar and the relative direction information of the vehicle; the millimeter wave radar is arranged in the construction area;
the embedded industrial personal computer is used for judging whether the vehicle is an ACC vehicle running with the vehicle, judging whether the ACC vehicle has a risk of being rushed into a construction area or not and controlling the first alarm and the second alarm to give an alarm;
the first alarm is used for carrying out danger early warning on the ACC vehicle; the first alarm and the radar and television integrated machine are arranged together; the second alarm is used for carrying out early warning on the intrusion of personnel in the construction area.
Referring to fig. 2, the early warning method of the early warning system for the highway construction area in which the ACC vehicle travels with the vehicle includes the following steps:
step 1, a radar vision all-in-one machine acquires the relative distance between vehicles and the relative position of the vehicles in an upstream road of a construction area and transmits the relative distance and the relative position to an embedded industrial personal computer, and the embedded industrial personal computer judges whether the vehicles run in a queue or not;
the embedded industrial personal computer judges whether vehicles are in a queue for driving, and particularly judges that the two vehicles are in the queue for driving when the relative distance between the front vehicle and the rear vehicle in an upstream road is kept between 60 and 120 meters within 10s and no other vehicle is involved;
step 2, the radar and vision integrated machine acquires the accelerated speeds of two vehicles in a queue driving state and transmits the accelerated speeds to the embedded industrial personal computer, and the embedded industrial personal computer judges whether the rear vehicle is an ACC vehicle;
the embedded industrial personal computer judges whether the rear vehicle is an ACC vehicle, specifically, the acceleration of the current vehicle changes, and the acceleration change value delta a is larger than or equal to-1 m/s 2 And is less than or equal to 1m/s 2 And if the rear vehicle can make corresponding speed change in 1s and the safe time interval of the rear vehicle is kept within 2.5-3.5 s, the rear vehicle is an ACC vehicle running with the rear vehicle.
Step 3, the millimeter wave radar acquires the speed of the ACC vehicle and the front vehicle of the ACC vehicle in the upstream road of the construction area, the distance between the ACC vehicle and the millimeter wave radar and the relative direction information, and transmits the information to the embedded industrial personal computer; the embedded industrial personal computer calculates and obtains the driving track of the vehicle and the average acceleration in the driving track;
step 4, when the ACC vehicle and the front vehicle are positioned in the construction lane, judging whether the front vehicle changes the lane according to the driving track of the front vehicle; when the ACC vehicle passes through the radar all-in-one machine, the embedded industrial personal computer controls the first alarm to carry out danger early warning on the ACC vehicle and reminds a driver to take over the vehicle and drive safely;
step 4, calculating the time TTC for the ACC vehicle to continuously run in the current running state until the ACC vehicle breaks into the construction area;
when the TTC of the ACC vehicle is less than 3 seconds, if the speed of the ACC vehicle exceeds 80km/h or the distance between the ACC vehicle and a construction area is less than 150m, the ACC vehicle risks rushing into the construction area; if the speed of the ACC vehicle is less than 80km/h and the distance between the ACC vehicle and the construction area is more than 150 meters, the ACC vehicle does not have the risk of rushing into the construction area;
when the TTC of the ACC vehicle is more than or equal to 3 seconds, if the distance between the ACC vehicle and a construction area is more than or equal to 150 meters, the ACC vehicle has enough time to carry out lane changing operation after a front vehicle changes lanes, and the ACC vehicle does not have the risk of rushing into the construction area; if the distance between the ACC vehicle and the construction area is less than 150 meters, the ACC vehicle risks rushing into the construction area;
and 5, when the ACC vehicle has the risk of rushing into the construction area, the embedded industrial personal computer controls the second alarm to carry out early warning on the intrusion of the construction area personnel, starts a voice alarm and an explosion warning lamp and quickly evacuates the construction personnel.
Although the present invention has been described in detail in this specification with reference to specific embodiments and illustrative embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made thereto based on the present invention. Accordingly, it is intended that all such modifications and alterations be included within the scope of this invention as defined in the appended claims.
Claims (4)
1. The early warning system for the highway construction area for the ACC following driving is characterized by comprising a radar and vision all-in-one machine, a millimeter wave radar, an embedded industrial personal computer, a first alarm and a second alarm;
the embedded industrial personal computer is respectively connected with the radar and video all-in-one machine, the millimeter wave radar, the first alarm and the second alarm;
the radar and video all-in-one machine is used for acquiring vehicle motion information, including vehicle speed, relative distance between the vehicle and relative position between the vehicle and the vehicle;
the millimeter wave radar is used for acquiring the speed of the vehicle, the distance between the vehicle and the millimeter wave radar and the relative direction information of the vehicle;
the embedded industrial personal computer is used for judging whether the vehicle is an ACC vehicle running with the vehicle, judging whether the ACC vehicle has a risk of rushing into a construction area or not and controlling the first alarm and the second alarm to give an alarm;
the first alarm is used for carrying out danger early warning on the ACC vehicle; the second alarm is used for carrying out early warning on the intrusion of personnel in the construction area.
2. The early warning method for the ACC vehicle-following expressway construction area early warning system according to claim 1, comprising the steps of:
step 1, a radar vision all-in-one machine acquires the relative distance between vehicles and the relative position of the vehicles in an upstream road of a construction area and transmits the relative distance and the relative position to an embedded industrial personal computer, and the embedded industrial personal computer judges whether the vehicles run in a queue or not;
step 2, the radar and vision integrated machine acquires the accelerated speeds of two vehicles in a queue driving state and transmits the accelerated speeds to the embedded industrial personal computer, and the embedded industrial personal computer judges whether the rear vehicle is an ACC vehicle;
step 3, the millimeter wave radar acquires the speeds of the ACC vehicle and the front vehicle of the ACC vehicle in the upstream road of the construction area, the distance between the ACC vehicle and the millimeter wave radar and the relative direction information, and transmits the information to the embedded industrial personal computer; the embedded industrial personal computer calculates and obtains the driving track of the vehicle and the average acceleration in the driving track;
step 4, when the ACC vehicle and the front vehicle are positioned in the construction lane, judging whether the front vehicle changes the lane according to the driving track of the front vehicle; after the current vehicle changes lanes, when the ACC vehicle passes through the radar all-in-one machine, the embedded industrial personal computer controls the first alarm to carry out danger early warning on the ACC vehicle;
step 5, calculating the time TTC for the ACC vehicle to continuously run in the current running state until the ACC vehicle breaks into the construction area;
when the TTC of the ACC vehicle is less than 3 seconds, if the speed of the ACC vehicle exceeds 80km/h or the distance between the ACC vehicle and a construction area is less than 150m, the ACC vehicle has the risk of rushing into the construction area; if the speed of the ACC vehicle is less than 80km/h and the distance between the ACC vehicle and the construction area is more than 150 meters, the ACC vehicle does not have the risk of rushing into the construction area;
when the TTC of the ACC vehicle is greater than or equal to 3 seconds, if the distance between the ACC vehicle and the construction area is greater than or equal to 150 meters, the ACC vehicle does not have the risk of rushing into the construction area; if the distance between the ACC vehicle and the construction area is less than 150 meters, the ACC vehicle risks rushing into the construction area;
and 6, when the ACC vehicle has the risk of rushing into the construction area, the embedded industrial personal computer controls the second alarm to early warn the personnel in the construction area to break into.
3. The early warning method for the ACC following-driving expressway construction area early warning system according to claim 2, wherein the embedded industrial personal computer judges whether vehicles are in a queue for driving, and specifically, when a relative distance between a front vehicle and a rear vehicle in an upstream road is kept within 10s and is 60-120 m, and no other vehicle is involved, the two vehicles are judged to be in a queue for driving state.
4. The early warning method for the ACC vehicle-following expressway construction area early warning system according to claim 2, wherein the embedded industrial personal computer determines whether the following vehicle is an ACC vehicle, specifically, the current vehicle acceleration changes, and the acceleration change value Δ a is greater than or equal to-1 m/s 2 And is less than or equal to 1m/s 2 And if the rear vehicle can make corresponding speed change in 1s and the safe time interval of the rear vehicle is kept within 2.5-3.5 s, the rear vehicle is an ACC vehicle running with the rear vehicle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210607229.6A CN115063966B (en) | 2022-05-31 | 2022-05-31 | Expressway construction area early warning system and method for ACC following vehicle running |
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| CN202210607229.6A CN115063966B (en) | 2022-05-31 | 2022-05-31 | Expressway construction area early warning system and method for ACC following vehicle running |
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| CN115063966B CN115063966B (en) | 2024-01-26 |
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