CN115063966B - Expressway construction area early warning system and method for ACC following vehicle running - Google Patents
Expressway construction area early warning system and method for ACC following vehicle running Download PDFInfo
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- CN115063966B CN115063966B CN202210607229.6A CN202210607229A CN115063966B CN 115063966 B CN115063966 B CN 115063966B CN 202210607229 A CN202210607229 A CN 202210607229A CN 115063966 B CN115063966 B CN 115063966B
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- vehicle
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- construction area
- early warning
- personal computer
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- 238000010276 construction Methods 0.000 title claims abstract description 83
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 13
- 238000011144 upstream manufacturing Methods 0.000 claims description 9
- 238000011010 flushing procedure Methods 0.000 claims description 3
- 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
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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 in expressway construction areas, in particular to an expressway construction area early warning system and an expressway construction area early warning method aiming at ACC following driving. The invention gives an early warning to the ACC vehicle which runs along with the vehicle, and reminds a driver to take over the vehicle and drive safely; when the ACC vehicles run into the construction area, early warning is carried out on constructors in the construction area, and the constructors are evacuated; through early warning to ACC vehicle driver and construction district personnel, reduce the possibility of traffic accident emergence, reduce the loss of life and property.
Description
Technical Field
The invention relates to the field of traffic accident prevention in expressway construction areas, in particular to an expressway construction area early warning system and an expressway construction area early warning method aiming at ACC following driving.
Background
The increase of the road maintenance workload brings about the increase of road traffic accidents, and the cases including the life and property losses of drivers and constructors caused by the fact that vehicles rush into construction areas are not enumerated. The adaptive cruise system (ACC) is an auxiliary intelligent driving system which is developed and widely applied at present, and particularly has wide application in following vehicles on highways.
On a highway, when an ACC vehicle runs along with a vehicle, particularly when the ACC vehicle runs along with a truck, the visual field of the front vehicle is good, the visual distance is far, the construction of the front road can be detected in advance and the road change can be carried out, the driver of the ACC vehicle which follows the front road can not timely detect the construction condition of the front road, the vehicle can not be controlled necessarily, the ACC system can automatically control the vehicle to run in an accelerating way, and 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, and the driver of the ACC vehicle is required to drive safely; and when the vehicle is about to break into the construction area, the construction personnel are warned, so that the construction personnel can be 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 a highway construction area for ACC following vehicle driving.
In order to achieve the above purpose, the present invention is realized by the following technical scheme.
The highway construction area early warning system for the ACC following vehicle comprises a thunder integrated 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 integrated machine, the millimeter wave radar, the first alarm and the second alarm;
the radar integrated machine is used for acquiring vehicle motion information, and comprises vehicle speed, relative distance between vehicles and relative positions between vehicles;
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 which runs along with the vehicle or not, judging whether the ACC vehicle is at risk of rushing into a construction area or not, and controlling the first alarm and the second alarm to alarm;
the first alarm is used for carrying out danger early warning on the ACC vehicle; the second alarm is used for carrying out intrusion early warning on personnel in a construction area.
An early warning method of an early warning system of a highway construction area for ACC following vehicle driving comprises the following steps:
step 1, a thunder vision integrated machine obtains the relative distance between vehicles in an upstream road of a construction area and the relative position of the vehicles and transmits the relative distance and the relative position of the vehicles to an embedded industrial personal computer, and the embedded industrial personal computer judges whether vehicles running in a train are available or not;
step 2, the radar integrated machine acquires acceleration of two vehicles in a queued running state and transmits the acceleration to the embedded industrial personal computer, and the embedded industrial personal computer judges whether the rear vehicle is an ACC vehicle or not;
step 3, the millimeter wave radar obtains the speed of the ACC vehicle and the front vehicle of the ACC vehicle in the road at the upstream of the construction area, the distance between the front vehicle and the millimeter wave radar and the relative direction information, and the distance and the relative direction information are transmitted to the embedded industrial personal computer; the embedded industrial personal computer calculates and obtains the running track of the vehicle and the average acceleration in the running track;
step 4, judging whether the front vehicle changes lanes or not according to the track of the front vehicle when the ACC vehicle and the front vehicle are in the construction lanes; after the lane change of the front vehicle, when the ACC vehicle passes through the thunder integrated machine, the embedded industrial personal computer controls the first alarm to perform danger early warning on the ACC vehicle;
step 5, calculating the time TTC for the ACC vehicle to continue running in the current running state until the ACC vehicle enters the construction zone 2 ；
TTC of ACC vehicle 2 If the speed of the ACC vehicle exceeds 80km/h or the distance between the ACC vehicle and a construction area is smaller than 150m, the risk of the ACC vehicle rushing into the construction area exists; if the speed of the ACC vehicle is less than 80km/h and the distance between the ACC vehicle and the construction area is greater than 150 meters, the risk of flushing the construction area does not exist in the ACC vehicle;
when ACC vehicle TTC 2 3 seconds or more, if the distance between the ACC vehicle and the construction area is 150 meters or more, 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 smaller than 150 meters, the ACC vehicle is at risk of rushing into the construction area;
and 6, when the ACC vehicle is at risk of rushing into the construction area, the embedded industrial personal computer controls the second alarm to perform rushing-in early warning on personnel in the construction area.
Compared with the prior art, the invention has the beneficial effects that: early warning is carried out on an ACC vehicle which runs along with the vehicle, and a driver is reminded of taking over the vehicle and driving safely; when the ACC vehicles run into the construction area, early warning is carried out on constructors in the construction area, and the constructors are evacuated; through early warning to ACC vehicle driver and construction district personnel, reduce the possibility of traffic accident emergence, reduce the loss of life and property.
Drawings
The invention will now be described in further detail with reference to the drawings and to specific examples.
FIG. 1 is a schematic diagram of an application scenario of an embodiment of the present invention directed to an early warning system for highway construction zones for ACC following traffic;
fig. 2 is a flowchart of an early warning method of the early warning system for the highway construction area of the following car running of the ACC.
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 for illustrating the present invention and should not be construed as limiting the scope of the present invention.
Referring to fig. 1, an early warning system for an expressway construction area of ACC following traffic includes a radar integrated 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 integrated machine, the millimeter wave radar, the first alarm and the second alarm;
the radar integrated machine is used for acquiring vehicle motion information, and comprises vehicle speed, relative distance between vehicles and relative positions between vehicles; the thunder all-in-one machine is arranged at the position 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 which runs along with the vehicle or not, judging whether the ACC vehicle is at risk of rushing into a construction area or not, and controlling the first alarm and the second alarm to alarm;
the first alarm is used for carrying out danger early warning on the ACC vehicle; the first alarm and the radar integrated machine are arranged together; the second alarm is used for carrying out intrusion early warning on personnel in a construction area.
Referring to fig. 2, an early warning method for an early warning system of an expressway construction area where an ACC follows a car, includes the steps of:
step 1, a thunder vision integrated machine obtains the relative distance between vehicles in an upstream road of a construction area and the relative position of the vehicles and transmits the relative distance and the relative position of the vehicles to an embedded industrial personal computer, and the embedded industrial personal computer judges whether vehicles running in a train are available or not;
the embedded industrial personal computer judges whether vehicles in the train run or not, specifically, when the front and rear vehicles in the upstream road keep the relative distance between 60 and 120 meters within 10 seconds and no other vehicles intervene, the two vehicles are judged to be in the train run state;
step 2, the radar integrated machine acquires acceleration of two vehicles in a queued running state and transmits the acceleration to the embedded industrial personal computer, and the embedded industrial personal computer judges whether the rear vehicle is an ACC vehicle or not;
the embedded industrial personal computer judges whether the rear vehicle is an ACC vehicle or not, specifically, the acceleration of the current vehicle changes, and the acceleration change value delta a is larger than or equal to minus 1m/s 2 And less than or equal to 1m/s 2 And if the rear vehicle can make corresponding speed change within 1s and the safety time interval of the rear vehicle is kept within 2.5-3.5 s, the rear vehicle is an ACC vehicle which runs along with the vehicle.
Step 3, the millimeter wave radar obtains the speed of the ACC vehicle and the front vehicle of the ACC vehicle in the road at the upstream of the construction area, the distance between the front vehicle and the millimeter wave radar and the relative direction information, and the distance and the relative direction information are transmitted to the embedded industrial personal computer; the embedded industrial personal computer calculates and obtains the running track of the vehicle and the average acceleration in the running track;
step 4, judging whether the front vehicle changes lanes or not according to the track of the front vehicle when the ACC vehicle and the front vehicle are in the construction lanes; after the current vehicle changes lanes, the ACC vehicle can automatically accelerate, and the ACC vehicle is extremely likely to rush into a construction area to cause accidents, so that when the ACC vehicle passes through the thunder all-in-one machine, the embedded industrial personal computer controls the first alarm to perform 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 continue running in the current running state until the ACC vehicle enters 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 runs 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 greater than 150 meters, the risk of flushing the construction area does not exist in the ACC vehicle;
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, after the lane change of the front vehicle, the ACC vehicle has enough time to perform lane change operation, 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 smaller than 150 meters, the ACC vehicle is at risk of rushing into the construction area;
and 5, when the ACC vehicle is at risk of rushing into the construction area, the embedded industrial personal computer controls the second alarm to perform rushing-in early warning on personnel in the construction area, and the voice alarm and the explosion flash warning lamp are started to quickly evacuate the constructors.
While the invention has been described in detail in this specification with reference to the general description and the specific embodiments thereof, it will be apparent to one skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (3)
1. An early warning method of an early warning system of a highway construction area for ACC following vehicle driving is characterized in that the method is based on the early warning system of the highway construction area, and the system comprises the following steps:
the system comprises a radar integrated 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 integrated machine, the millimeter wave radar, the first alarm and the second alarm;
the radar integrated machine is used for acquiring vehicle motion information, and comprises vehicle speed, relative distance between vehicles and relative positions between vehicles;
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 which runs along with the vehicle or not, judging whether the ACC vehicle is at risk of rushing into a construction area or not, and controlling the first alarm and the second alarm to alarm;
the first alarm is used for carrying out danger early warning on the ACC vehicle; the second alarm is used for carrying out intrusion early warning on personnel in a construction area;
the method comprises the following steps:
step 1, a thunder vision integrated machine obtains the relative distance between vehicles in an upstream road of a construction area and the relative position of the vehicles and transmits the relative distance and the relative position of the vehicles to an embedded industrial personal computer, and the embedded industrial personal computer judges whether vehicles running in a train are available or not;
step 2, the radar integrated machine acquires acceleration of two vehicles in a queued running state and transmits the acceleration to the embedded industrial personal computer, and the embedded industrial personal computer judges whether the rear vehicle is an ACC vehicle or not;
step 3, the millimeter wave radar obtains the speed of the ACC vehicle and the front vehicle of the ACC vehicle in the road at the upstream of the construction area, the distance between the front vehicle and the millimeter wave radar and the relative direction information, and the distance and the relative direction information are transmitted to the embedded industrial personal computer; the embedded industrial personal computer calculates and obtains the running track of the vehicle and the average acceleration in the running track;
step 4, judging whether the front vehicle changes lanes or not according to the track of the front vehicle when the ACC vehicle and the front vehicle are in the construction lanes; after the lane change of the front vehicle, when the ACC vehicle passes through the thunder integrated machine, the embedded industrial personal computer controls the first alarm to perform danger early warning on the ACC vehicle;
step 5, calculating the time TTC for the ACC vehicle to continue running in the current running state until the ACC vehicle enters 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 runs 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 greater than 150 meters, the risk of flushing the construction area does not exist in the ACC vehicle;
when the TTC of the ACC vehicle is greater than or equal to 3 seconds, if the distance between the ACC vehicle and a 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 smaller than 150 meters, the ACC vehicle is at risk of rushing into the construction area;
and 6, when the ACC vehicle is at risk of rushing into the construction area, the embedded industrial personal computer controls the second alarm to perform rushing-in early warning on personnel in the construction area.
2. The early warning method for the highway construction area early warning system for the ACC following vehicle driving according to claim 1, wherein the embedded industrial personal computer judges whether vehicles in the train driving exist or not, specifically, when the relative distance between the front vehicle and the rear vehicle in the upstream road is kept between 60 and 120 m within 10s, no other vehicles are involved, and the two vehicles are judged to be in the train driving state.
3. The method for pre-warning an expressway construction area pre-warning system for following an ACC vehicle according to claim 1, wherein 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 Δa is greater than or equal to-1 m/s 2 And less than or equal to 1m/s 2 And if the rear vehicle can make corresponding speed change within 1s and the safety time interval of the rear vehicle is kept within 2.5-3.5 s, the rear vehicle is an ACC vehicle which runs along with the vehicle.
Priority Applications (1)
| 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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| CN115063966A CN115063966A (en) | 2022-09-16 |
| CN115063966B true CN115063966B (en) | 2024-01-26 |
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| CN115063966A (en) | 2022-09-16 |
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