CN115610440B - Double-radar curve speed measurement early warning system based on millimeter waves - Google Patents
Double-radar curve speed measurement early warning system based on millimeter waves Download PDFInfo
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- 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
- B60W40/072—Curvature of the road
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- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The invention relates to the technical field of highway safety facilities, in particular to a millimeter wave-based double-radar curve speed measurement early warning system, which comprises: the system comprises a data collection unit, a wireless communication unit, an information processing unit and a prompt early warning unit; the wireless communication unit is respectively in wireless connection with the data collection unit and the information processing unit, and the information processing unit is electrically connected with the prompt early warning unit; the data collection unit is used for collecting road information and vehicle information; the wireless communication unit is used for receiving the road information and the vehicle information, converting the road information and the vehicle information to generate a preprocessing signal and transmitting the preprocessing signal to the information processing unit; the information processing unit is used for analyzing the preprocessed signals so as to generate early warning signals; the prompt early warning unit is used for displaying the early warning signal. The invention has perfect structure and can achieve the technical effects of quickly and accurately measuring the speed and sending out an early warning signal.
Description
Technical Field
The invention relates to the technical field of highway safety facilities, in particular to a millimeter wave-based double-radar curve speed measurement early warning system.
Background
With the increasing perfection of the road network, the performance of equipment aiming at ensuring the road safety is continuously improved along with the demand so as to ensure the safety of vehicles on the driving road. Because of the influence of factors such as geographical conditions, especially in mountainous areas, hills and other lands, the vehicles inevitably encounter curves, and traffic accidents are very easy to occur when the vehicles which are not familiar with road conditions run on the curves. At present, aiming at a curve with frequent accidents, a convex mirror is generally arranged in a curve driving area, so that a driver can observe the conditions of other vehicles on the curve, and then the speed and the direction of the running vehicle are adjusted, and the occurrence of traffic accidents is avoided. However, the convex lens surface is easy to be damaged, so that the visual field is not clear, and the vehicle speed and the direction can be adjusted in time when the driver cannot enter a curve, therefore, a curve early warning system which can accurately and quickly measure the vehicle speed so as to prompt the driver to adjust the vehicle speed and the direction effectively is urgently needed to solve the problem.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a millimeter wave-based double-radar curve speed measurement early warning system, aiming at overcoming the defects in the prior art, and the millimeter wave-based double-radar curve speed measurement early warning system comprises the following components: the system comprises a data collection unit, a wireless communication unit, an information processing unit and a prompt early warning unit; the wireless communication unit is respectively in wireless connection with the data collection unit and the information processing unit, and the information processing unit is electrically connected with the prompt early warning unit; the data collection unit is used for collecting road information and vehicle information, wherein the road information comprises road surface conditions and environment conditions on a curve, and the vehicle information comprises running speed of a running vehicle; the data collection unit comprises a double-radar vehicle speed measurement module, the double-radar vehicle speed measurement module comprises a first radar and a second radar, the first radar and the second radar are arranged in parallel at intervals in the vertical direction relative to the same ground position, and the double-radar vehicle speed measurement module is used for measuring the running speed of the running vehicle when the running vehicle enters a curve; the wireless communication unit is used for receiving the road information and the vehicle information, converting the road information and the vehicle information to generate a preprocessing signal and transmitting the preprocessing signal to the information processing unit; the information processing unit is used for analyzing the pre-processing signal so as to generate an early warning signal; the prompt early warning unit is used for displaying the early warning signal. According to the invention, the double-radar vehicle speed measurement module is used for rapidly and accurately measuring the running speed of the running vehicle entering the curve, the running speed is transmitted to the signal processing unit through the wireless communication unit to generate the early warning signal, and the early warning signal is displayed through the prompt early warning unit, so that a driver is reminded to adjust the running speed and direction of the vehicle according to the real-time road condition when entering the curve in time, and further the traffic accident of the curve is avoided. The invention has perfect structure, reduces operation error, greatly increases early warning reliability, reduces the incidence rate of traffic accidents at the curve and increases the safety guarantee on the driving road of citizens while achieving the technical effects of rapidly and accurately measuring speed and sending out early warning signals.
Optionally, the data collection unit further includes a traffic flow collection module and a climate collection module, and the traffic flow collection module is configured to capture a live image on a curve, so as to obtain the road condition; the weather collecting module is used for collecting the weather conditions around the curve, so that the environmental conditions are obtained. The traffic flow acquisition module and the climate acquisition module are utilized to quickly acquire the traffic flow, the vehicle type and the climate condition on the curve, and a solid data base is laid for generating accurate and reliable early warning signals.
Optionally, the data collection unit further includes a distance measurement module, an angle measurement module, and a frequency measurement module, and the measuring the driving speed of the driving vehicle when entering a curve by using the dual-radar vehicle speed measurement module includes: the distance measurement module respectively acquires the height of the first radar relative to the ground in the vertical direction
And the height of the second radar in the vertical direction relative to the ground
(ii) a The distance measurement module is also used for respectively obtaining the distance between the first radar and the ground in the signal emission direction according to the spatial position relation between the first radar and the second radar
And the distance of the second radar from the ground
(ii) a The angle measurement module respectively obtains first inclination angles of the first radar and the second radar relative to the vertical direction according to the installation directions of the first radar and the second radar
And a firstTwo dip angles
(ii) a The frequency measurement module respectively obtains first Doppler frequencies through the relative movement of the running vehicle and the first radar and the second radar
And a second Doppler frequency
(ii) a The dual radar vehicle velocity measurement module measures the first Doppler frequency
And the second Doppler frequency
Respectively combining the first radar and the second radar with the space geometric position relation of the running vehicle movement, thereby respectively obtaining a first vehicle speed
And a second vehicle speed
And obtaining a plurality of sets of the first speeds of the same running vehicle
And the second vehicle speed
And averaging the data to obtain the running speed V. The double-radar vehicle speed measuring module is combined with data collected by other modules of the data collecting unit to perform simple and quick operation, so that the running speed with small error is obtained, and the budget response speed and the operation accuracy of the early warning system are improved.
Optionally, the dual radar vehicle velocity measurement module converts the first doppler frequency
And a second Doppler frequency
Respectively combining the first radar and the second radar with the space geometric position relation of the running vehicle movement, thereby respectively obtaining a first vehicle speed
And a second vehicle speed
And obtaining a plurality of sets of the first speeds of the same running vehicle
And the second vehicle speed
The data of (2) further performing an averaging process on the data to obtain the running speed V, wherein the running speed V satisfies the following formula:
wherein i represents ith group data measured for the same running vehicle within the measurement ranges of the first radar and the second radar, and λ is the wavelength of signals transmitted by the first radar and the second radar. According to the formula, the confirmation of the speed of the running vehicle can be confirmed by a plurality of groups of parameters respectively, so that the operability is better for the measurement of the running speed in the actual situation, and the accuracy of the running speed of the running vehicle is improved by the mean value processing.
Optionally, the wireless communication unit includes a receiving module, a converting module and a transmitting module, the receiving module is electrically connected to the transmitting module through the converting module, the receiving module is configured to receive the road information and the vehicle information collected by the data collecting unit, the converting module is configured to sort the road information and the vehicle information to obtain the preprocessed signal, and the transmitting module is configured to transmit the preprocessed signal to the information processing unit.
Optionally, the information processing unit includes a plurality of data analysis modules, a data depth processing module, and an early warning signal generation module, and the plurality of data analysis modules, the data depth processing module, and the early warning signal generation module are connected in pairs.
Optionally, the information processing unit is configured to analyze the preprocessed signal to generate an early warning signal, and includes: the multi-path data analysis module filters the preprocessed signals to obtain preliminary integration data; the data deep processing module combines the preliminary integration data with an original database in the data deep processing module, wherein the original database comprises an original vehicle speed signal, an original vehicle flow signal, an original climate signal, an original road signal, a vehicle speed threshold, a vehicle flow threshold and a curve running fluency threshold, and original resources in the original database are fed back and iterated for multiple times to obtain live data; the early warning signal generation module obtains the early warning signal by combining the original resource by utilizing the live data and the preliminary integration data, wherein the early warning signal comprises a display signal, a sound signal and a light signal. The information processing unit is provided with the corresponding original database for each different curve, so that accurate early warning prompts are given to vehicles entering each different curve more accurately, and the accident rate of the curve is reduced.
Optionally, the data deep processing module includes a classification sub-module, a vehicle speed comparison sub-module, a vehicle flow comparison sub-module, a curve running smoothness comparison sub-module, a road condition analysis sub-module, an iteration sub-module, and a data synthesis sub-module, the data deep processing module combines the preliminary integrated data with an original database in the data deep processing module, the original database includes an original vehicle speed signal, an original vehicle flow signal, an original climate signal, an original road signal, a vehicle speed threshold, a vehicle flow threshold, and a curve running smoothness threshold, and feeds back and iterates original resources in the original database for multiple times to obtain live data, including: the classification submodule performs signal classification on the preliminary integration data to obtain signals of different types, wherein the signals of different types comprise a vehicle speed signal, a vehicle flow signal, a climate signal and a road signal; the vehicle speed comparison submodule compares the vehicle speed signal with the vehicle speed threshold and the original vehicle speed signal, and generates a first early warning signal when the vehicle speed signal exceeds the vehicle speed threshold and the original vehicle speed signal, wherein the first early warning signal is used for prompting the running vehicle to control the vehicle speed; the traffic flow comparison submodule is combined with the original traffic flow signal, the traffic flow signal and the traffic flow threshold, and when the traffic flow signal exceeds the traffic flow threshold in the original database, a second early warning signal is generated and used for prompting the running vehicle to pay attention to the conditions of the front vehicle and the rear vehicle when the running vehicle is in the curve; the curve running fluency comparison sub-module obtains curve running fluency by using the original vehicle flow signal, the original road signal and the vehicle flow signal, compares the curve running fluency with the curve running fluency threshold, and generates a third early warning signal when the curve running fluency is lower than the curve running fluency threshold in the original database, wherein the third early warning signal is used for prompting the running vehicle to pay attention to the conditions of the front vehicle and the rear vehicle when the running vehicle is at the curve; the road condition analysis submodule generates a fourth early warning signal according to the vehicle speed signal, the traffic flow signal, the curve running fluency, the road information, the original vehicle speed signal and the original road information of the original traffic flow signal and by combining the climate signal, wherein the fourth early warning signal is used for prompting the running vehicle to pay attention to the weather and the road condition of the curve; the iterative submodule is used for iteratively updating the original speed signal, the original traffic flow signal, the original climate signal and the original road signal by combining the speed signal, the traffic flow signal, the climate signal and the road signal to obtain updated preliminary integration data; and the data synthesis sub-module integrates the first early warning signal, the second early warning signal, the third early warning signal and the fourth early warning signal, and combines the updated preliminary integration data to obtain the live data. The data deep processing module utilizes a plurality of sub-modules to process data, and improves the efficiency of system operation.
Optionally, the prompt and early warning unit comprises a signal distribution module and a signal display module, the signal distribution module is used for arranging the early warning signals and transmitting the early warning signals to different early warning devices, the signal display module comprises the different early warning devices, and the early warning devices are used for completing early warning actions.
Optionally, the early warning device comprises an LED display screen, a buzzer and an indicator light, the LED display screen is used for displaying the vehicle condition and the weather condition of the curve and displaying the license plate number of the vehicle in violation, and the buzzer is used for giving out a warning sound so as to early warn the vehicle running in the curve; the lighting mode or the color of the indicator light is used for prompting the curve condition in front of the running vehicle. The running vehicles entering the curve are prompted in various modes, so that the performance of the early warning system is greatly improved, and the accident rate of the curve is reduced.
Drawings
FIG. 1 is a schematic diagram of a millimeter wave-based dual-radar curve speed measurement early warning system module;
FIG. 2 is a schematic diagram of modules in the data collection unit of the present invention;
FIG. 3 is a block diagram of a wireless communication unit according to the present invention;
FIG. 4 is a block diagram of an information processing unit according to the present invention;
FIG. 5 is a schematic view of a sub-module of the data depth processing module of the present invention;
FIG. 6 is a schematic diagram of a module in the warning prompting unit according to the present invention;
fig. 7 is a schematic view of the installation of a part of the component modules of the system of the present invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below, and it should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known circuits, software, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale.
Referring to fig. 1 and fig. 2, the present embodiment provides a millimeter wave-based dual-radar curve speed measurement early warning system, including: the system comprises a data collection unit, a wireless communication unit, an information processing unit and a prompt early warning unit; the wireless communication unit is respectively in wireless connection with the data collection unit and the information processing unit, the information processing unit is electrically connected with the prompt early warning unit, the volume of the early warning system is greatly reduced by using a wireless connection method, the practicability of the early warning system is enhanced, meanwhile, the wireless transmission between data also reduces the time of data transmission, and the timely early warning performance of the early warning system is improved; the data collection unit is used for collecting road information and vehicle information, wherein the road information comprises road surface conditions and environment conditions on a curve, and the vehicle information comprises the running speed of a running vehicle; the data collection unit includes a dual radar vehicle speed measurement module including a first radar and a second radar, wherein the first radar and the second radar are both radar speed measurement devices designed based on millimeter waves, the radar speed measurement devices designed based on millimeter waves have a large bandwidth, a high resolution, a small size of antenna components, and can adapt to a severe environment, and particularly, in the present embodiment, the first radar and the second radar are vertically spaced apart from each other in parallel with respect to the same ground position, and particularly, the spacing may be selected to be 20 cm, the dual radar vehicle speed measurement module is configured to measure the driving speed of the driving vehicle when the driving vehicle enters a curve, and further, in yet another alternative embodiment, when the first radar is damaged due to an objective factor, the driving speed of the driving vehicle on the curve may be measured by the second radar alone, and likewise, in yet another alternative embodiment, when the second radar is damaged due to an objective factor, the driving speed of the driving vehicle on the curve may be measured by the first radar alone, thereby enhancing the durability of the dual radar vehicle early warning system; the wireless communication unit is used for receiving the road information and the vehicle information, converting the road information and the vehicle information to generate a preprocessing signal and transmitting the preprocessing signal to the information processing unit; the information processing unit is used for analyzing the pre-processing signal so as to generate an early warning signal; the prompt early warning unit is used for displaying the early warning signal. The data collecting units are arranged on two sides and above a road, and the wireless communication unit, the information processing unit and the prompting and early warning unit are all arranged on the outer side of the curve, so that running vehicles on the road connected with the two sides of the curve can observe display and early warning signals. The invention has perfect structure, reduces operation error, greatly increases early warning reliability, reduces the incidence rate of traffic accidents at the curve and increases the safety guarantee on the driving road of citizens while achieving the technical effects of rapidly and accurately measuring speed and sending out early warning signals.
Referring to fig. 2, in a further optional embodiment, the data collecting unit further includes a traffic flow collecting module and a climate collecting module, the traffic flow collecting module is configured to capture a live image of a curve, so as to obtain the road condition, specifically, in this embodiment, the traffic flow collecting module may specifically select a high-speed camera to perform road shooting recording, and obtain data such as a size of a traffic flow and a type of a vehicle in the curve to be shot by collecting data such as a type of the vehicle, a number of the vehicles, and a time interval of the shooting recording in the image of the shooting recording; the weather collection module is used for collecting weather conditions around the bend so as to obtain the environmental conditions, specifically, in the embodiment, the weather collection module can be specifically selected to be a portable weather station, and the portable weather station can collect weather data such as local wind speed, wind direction, precipitation, visibility of fog weather, and is convenient and comprehensive in data. The traffic flow acquisition module and the climate acquisition module are utilized to quickly acquire the type, traffic flow and climate condition of the vehicle on the curve, and a solid data base is laid for generating accurate and reliable early warning signals.
In an optional embodiment, referring to fig. 2, the data collection unit further includes a distance measurement module, an angle measurement module, and a frequency measurement module, and the measuring the driving speed of the driving vehicle when entering a curve by using the dual-radar vehicle speed measurement module includes: the distance measurement module respectively acquires the height of the first radar relative to the ground in the vertical direction
And the height of the second radar in the vertical direction relative to the ground
In particular, in this embodiment, the distance measuring module may be specifically selected to be a tape measure; the distance measurement module is also used for respectively obtaining the distance between the first radar and the ground in the signal emission direction according to the spatial position relation between the first radar and the second radar
And the distance of the second radar from the ground
In particular, in a further alternative embodiment, the distance measuring module may be in particular chosen as a laser height gauge; the angle measurement module, according to the installation orientations of the first radar and the second radar, in detail, in this embodiment, the angle measurement module may specifically be selected as an angle measurement instrument, and obtains first inclination angles of the first radar and the second radar with respect to the vertical direction respectively
And a second angle of inclination
Further, the first inclination angle in the installation orientation
And a second angle of inclination
The detection ranges of the first radar and the second radar can be maximized respectively; the frequency measuring module is based on the relative movement of the running vehicle and the first radar and the second radar, and in particular, the frequency measuring module can be selected from an analog receiver, a digital receiver and a mode in the embodimentThe analog-digital hybrid receiver and the signal processor are combined together to obtain the first Doppler frequency
And a second Doppler frequency
(ii) a The dual radar vehicle velocity measurement module measures the first Doppler frequency
And the second Doppler frequency
Respectively combining the first radar and the second radar with the space geometric position relation of the running vehicle movement, thereby respectively obtaining a first vehicle speed
And a second vehicle speed
And obtaining a plurality of sets of the first speeds of the same running vehicle
And the second vehicle speed
And averaging the data to obtain the running speed V. The double-radar vehicle speed measurement module is combined with data collected by other modules of the data collection unit to perform simple and quick operation, so that the running speed with small error is obtained, and the budget response speed and the operation accuracy of the early warning system are improved.
In detail, in an alternative embodiment, the dual radar vehicle velocity measurement module measures the first doppler frequency
And a second Doppler frequency
Respectively combining the first radar and the second radar with the space geometric position relation of the running vehicle movement, thereby respectively obtaining a first vehicle speed
And a second vehicle speed
And obtaining a plurality of sets of the first speeds of the same running vehicle
And the second vehicle speed
The data of (2) further performing an averaging process on the data to obtain the running speed V, wherein the running speed V satisfies the following formula:
wherein i represents ith group data measured for the same running vehicle within the measurement ranges of the first radar and the second radar, and λ is the wavelength of signals transmitted by the first radar and the second radar. According to the formula, the confirmation of the speed of the running vehicle can be confirmed by a plurality of groups of parameters respectively, so that the operability is better for the measurement of the running speed under the actual condition, and meanwhile, the accuracy of the running speed of the running vehicle is improved by the averaging processing.
Referring to fig. 3, in an optional embodiment, the wireless communication unit includes a receiving module, a converting module and a transmitting module, where the receiving module, the converting module and the transmitting module included in the wireless communication unit are all in the prior art, and are not developed and analyzed one by one, specifically, in this embodiment, the receiving module is electrically connected to the transmitting module through the converting module, the receiving module is configured to receive the road information and the vehicle information collected by the data collecting unit, the converting module is configured to collate the road information and the vehicle information to obtain the preprocessed signal, and the transmitting module is configured to transmit the preprocessed signal to the information processing unit.
Referring to fig. 4, in an optional embodiment, the information processing unit includes a multi-channel data analysis module, a data depth processing module, and an early warning signal generation module, and the multi-channel data analysis module, the data depth processing module, and the early warning signal generation module are connected in pairs.
Specifically, in this embodiment, the information processing unit is configured to analyze the preprocessed signal to generate an early warning signal, and includes: the multi-channel data analysis module filters the preprocessed signals to obtain preliminary integrated data, specifically, the filtering includes filtering out interference signals such as redundant signals, error signals, repeated signals and the like in the preprocessed signals to obtain the preliminary integrated data; the data deep processing module combines the preliminary integration data with an original database in the data deep processing module, wherein the original database comprises an original vehicle speed signal, an original vehicle flow signal, an original climate signal, an original road signal, a vehicle speed threshold, a vehicle flow threshold and a curve running smoothness threshold, and original resources in the original database are fed back and iterated for multiple times to obtain live data; the early warning signal generation module obtains the early warning signal by combining the original resource with the live data and the preliminary integration data, wherein the early warning signal comprises a display signal, a sound signal and a light signal, specifically, in the embodiment, the display model comprises character display, digital display and picture display, the sound signal is a buzzing early warning signal, the light signal can be obtained by specifically selecting a high-power LED lamp, and the high-power LED lamp has the advantages of small volume, low power consumption, small heat generation, long service life, high response speed, safety, low voltage, good weather resistance, good directivity and the like. The information processing unit is provided with the corresponding original database for each different curve, so that the vehicle entering each different curve can be accurately given an accurate early warning prompt, and the accident rate of the curve can be reduced.
Referring to fig. 5, in yet another alternative embodiment, the data deep processing module includes a classification sub-module, a vehicle speed comparison sub-module, a vehicle flow comparison sub-module, a curve running fluency comparison sub-module, a road condition analysis sub-module, an iteration sub-module, and a data synthesis sub-module, the data deep processing module combines the preliminary integrated data with an original database in the data deep processing module, the original database includes an original vehicle speed signal, an original vehicle flow signal, an original climate signal, an original road signal, a vehicle speed threshold, a vehicle flow threshold, and a curve running fluency threshold, and performs multiple feedbacks and iterations on original resources in the original database to obtain live data, including: the classification submodule performs signal classification on the preliminary integration data to obtain signals of different types, wherein the signals of different types comprise a vehicle speed signal, a vehicle flow signal, a climate signal and a road signal; the vehicle speed comparison submodule compares the vehicle speed signal with the vehicle speed threshold and the original vehicle speed signal, and generates a first early warning signal when the vehicle speed signal exceeds the vehicle speed threshold and the original vehicle speed signal, wherein the first early warning signal is used for prompting the running vehicle to control the vehicle speed; the traffic flow comparison submodule is combined with the original traffic flow signal, the traffic flow signal and the traffic flow threshold, and when the traffic flow signal exceeds the traffic flow threshold in the original database, a second early warning signal is generated and used for prompting the running vehicle to pay attention to the conditions of the front vehicle and the rear vehicle when the running vehicle is in the curve; the curve running fluency comparison sub-module obtains curve running fluency by utilizing the original vehicle flow signal, the original road signal and the vehicle flow signal, compares the curve running fluency with the curve running fluency threshold, generates a third early warning signal when the curve running fluency is lower than the curve running fluency threshold in the original database, and the third early warning credit is used for prompting the running vehicle to pay attention to the vehicle conditions before and after the curve; the road condition analysis submodule generates a fourth early warning signal according to the vehicle speed signal, the traffic flow signal, the curve running fluency, the road information, the original vehicle speed signal and the original road information of the original traffic flow signal and by combining the climate signal, wherein the fourth early warning signal is used for prompting the running vehicle to pay attention to the weather and the road condition of the curve; the iteration submodule is used for carrying out iteration updating on the original vehicle speed signal, the original vehicle flow signal, the original climate signal and the original road signal by combining the vehicle speed signal, the vehicle flow signal, the climate signal and the road signal to obtain updated preliminary integration data; and the data synthesis sub-module integrates the first early warning signal, the second early warning signal, the third early warning signal and the fourth early warning signal, and combines the updated preliminary integration data to obtain the live data. The data deep processing module utilizes a plurality of sub-modules to process data, and the operation efficiency of the system is improved.
Referring to fig. 6, in an optional embodiment, the prompt and early warning unit includes a signal splitting module and a signal display module, the signal splitting module is configured to arrange the early warning signals and transmit the early warning signals to different early warning devices, and the signal display module includes the different early warning devices, and the early warning devices are configured to complete early warning actions.
Specifically, in the present embodiment, the early warning device includes an LED display screen, a buzzer and an indicator light, the LED display screen is used for displaying the vehicle condition and the weather condition of the curve and displaying the license plate number of the offending vehicle, in yet another embodiment, the LED display screen also displays the implementation capture picture of the curve, the buzzer is used for emitting a warning sound so as to early warn the vehicle running on the curve, specifically, in yet another alternative embodiment, the warning sound emitted by the buzzer has different frequencies and time intervals, the urgency of the road condition of the curve is represented by the different frequencies and time intervals, for example, in case of blockage at the curve, the vehicle running on the curve is reminded to adjust the speed and direction with a high-frequency urge buzzer; the manner of flashing or the color of the indicator light is used to indicate the status of the curve ahead of the driving vehicle, in particular, in yet another optional embodiment, a green long bright light is selected to indicate the ahead that the curve is clear, and in the same way, other colors may indicate other road states, and in particular may be selected through actual conditions. The running vehicles entering the curve are prompted in various modes, so that the performance of the early warning system is greatly improved, and the accident rate of the curve is reduced.
Referring to fig. 7, in an alternative embodiment, the arrangement of the components of the warning system may be as shown in the figure, that is, a data collecting unit 2 is arranged at a position immediately before the vehicle 1 enters a curve, and the data collecting unit is, as described in any of the previous embodiments of the present invention, provided with a prompt warning unit 3 at a position where the curvature of the curve is maximum, so as to ensure that the speed of the vehicle 1 before entering the curve is effectively collected as much as possible; on the other hand, the purpose of effectively presenting the vehicle 1 in the process of running can be achieved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (9)
1. The utility model provides a two radar bend early warning system that tests speed based on millimeter wave which characterized in that includes: the system comprises a data collection unit, a wireless communication unit, an information processing unit and a prompt early warning unit;
the wireless communication unit is respectively in wireless connection with the data collection unit and the information processing unit, and the information processing unit is electrically connected with the prompt early warning unit;
the data collection unit is used for collecting road information and vehicle information, wherein the road information comprises road surface conditions and environment conditions on a curve, and the vehicle information comprises the running speed of a running vehicle;
the data collection unit comprises a double-radar vehicle speed measurement module, the double-radar vehicle speed measurement module comprises a first radar and a second radar, the first radar and the second radar are arranged in parallel at intervals in the vertical direction relative to the same ground position, and the double-radar vehicle speed measurement module is used for measuring the running speed of the running vehicle when the running vehicle enters a curve;
the wireless communication unit is used for receiving the road information and the vehicle information, converting the road information and the vehicle information to generate a preprocessing signal and transmitting the preprocessing signal to the information processing unit;
the information processing unit is used for analyzing the pre-processing signal so as to generate an early warning signal;
the prompt early warning unit is used for displaying the early warning signal;
wherein, the data collection unit still includes distance measurement module, angle measurement module and frequency measurement module, utilizes dual radar vehicle speed measurement module measures when the vehicle of traveling gets into the bend speed of traveling includes:
the distance measurement module respectively acquires the height of the first radar relative to the ground in the vertical direction
And the height of the second radar in the vertical direction in relation to the ground +>
；
The distance measurement module further obtains the first radar in the signal transmitting direction respectively according to the spatial position relation of the first radar and the second radarDistance of radar from ground
And the distance of the second radar from the ground->
；
The angle measurement module respectively obtains first inclination angles of the first radar and the second radar relative to the vertical direction according to the installation directions of the first radar and the second radar
And a second inclination->
；
The frequency measurement module respectively obtains first Doppler frequencies through the relative motion of the running vehicle and the first radar and the second radar
And a second Doppler frequency>
；
The dual radar vehicle velocity measurement module measures the first Doppler frequency
And said second Doppler frequency>
Respectively combine the first radar and the second radar with the spatial geometrical position relationship of the movement of the running vehicle, so as to respectively obtain a first vehicle speed ^ and ^ according to the spatial geometrical position relationship>
And a second vehicle speed->
And obtaining a plurality of groups of the first vehicle speeds of the same running vehicle>
And the second vehicle speed->
And averaging the data to obtain the running speed V.
2. The millimeter wave based dual-radar curve speed measurement early warning system of claim 1, wherein the data collection unit further comprises a traffic flow collection module and a climate collection module, the traffic flow collection module is used for capturing a live picture on a curve so as to obtain the road condition; the weather collecting module is used for collecting the weather conditions around the curve, so that the environmental conditions are obtained.
3. The millimeter wave based dual-radar curve speed measurement early warning system of claim 1, wherein the dual-radar vehicle speed measurement module is configured to measure the first Doppler frequency
And a second Doppler frequency->
Respectively combine the first radar and the second radar with the spatial geometrical position relationship of the movement of the running vehicle, so as to respectively obtain a first vehicle speed ^ and ^ according to the spatial geometrical position relationship>
And a second vehicle speed->
And obtaining a plurality of groups of first vehicle speeds of the same driving vehicle>
And the second vehicle speed->
The data of (2) further performing an averaging process on the data to obtain the running speed V, wherein the running speed V satisfies the following formula:
wherein i represents the ith group of data measured for the same running vehicle within the measurement ranges of the first radar and the second radar, and λ is the wavelength of the signal transmitted by the first radar and the second radar.
4. The millimeter wave based dual-radar curve speed measurement early warning system of claim 1, wherein the wireless communication unit comprises a receiving module, a conversion module and a transmitting module, the receiving module is electrically connected with the transmitting module through the conversion module, the receiving module is used for receiving the road information and the vehicle information collected by the data collection unit, the conversion module is used for sorting the road information and the vehicle information to obtain the preprocessed signal, and the transmitting module is used for transmitting the preprocessed signal to the information processing unit.
5. The millimeter wave based dual-radar curve speed measurement early warning system of claim 4, wherein the information processing unit comprises a multi-path data analysis module, a data depth processing module and an early warning signal generation module, and the multi-path data analysis module, the data depth processing module and the early warning signal generation module are connected with each other in pairs.
6. The millimeter wave based dual-radar curve speed measurement early warning system of claim 5, wherein the information processing unit is configured to analyze the pre-processed signal to generate an early warning signal, and the system comprises:
the multi-path data analysis module filters the preprocessed signals to obtain preliminary integration data;
the data deep processing module combines the preliminary integration data with an original database in the data deep processing module, wherein the original database comprises an original vehicle speed signal, an original vehicle flow signal, an original climate signal, an original road signal, a vehicle speed threshold, a vehicle flow threshold and a curve running smoothness threshold, and original resources in the original database are fed back and iterated for multiple times to obtain live data;
the early warning signal generation module obtains the early warning signal by combining the original resource by utilizing the live data and the preliminary integration data, wherein the early warning signal comprises a display signal, a sound signal and a light signal.
7. The millimeter wave based dual-radar curve speed measurement early warning system of claim 6, wherein the deep data processing module comprises a classification sub-module, a vehicle speed comparison sub-module, a traffic flow comparison sub-module, a curve running smoothness comparison sub-module, a road condition analysis sub-module, an iteration sub-module and a data synthesis sub-module, the deep data processing module combines the preliminary integration data with an original database in the deep data processing module, the original database comprises an original vehicle speed signal, an original vehicle flow signal, an original climate signal, an original road signal, a vehicle speed threshold, a traffic flow threshold and a curve running smoothness threshold, and feeds back and iterates original resources in the original database for multiple times to obtain live data, and the deep data processing module comprises:
the classification submodule performs signal classification on the preliminary integration data to obtain signals of different types, wherein the signals of different types comprise a vehicle speed signal, a vehicle flow signal, a climate signal and a road signal;
the vehicle speed comparison submodule compares the vehicle speed signal with the vehicle speed threshold and the original vehicle speed signal, and generates a first early warning signal when the vehicle speed signal exceeds the vehicle speed threshold and the original vehicle speed signal, wherein the first early warning signal is used for prompting the running vehicle to control the vehicle speed;
the traffic flow comparison submodule is combined with the original traffic flow signal, the traffic flow signal and the traffic flow threshold, and when the traffic flow signal exceeds the traffic flow threshold in the original database, a second early warning signal is generated and used for prompting the running vehicle to pay attention to the conditions of the front vehicle and the rear vehicle when the running vehicle is in the curve;
the curve running fluency comparison sub-module obtains curve running fluency by utilizing the original vehicle flow signal, the original road signal and the vehicle flow signal, compares the curve running fluency with the curve running fluency threshold, generates a third early warning signal when the curve running fluency is lower than the curve running fluency threshold in the original database, and the third early warning credit is used for prompting the running vehicle to pay attention to the vehicle conditions before and after the curve;
the road condition analysis submodule generates a fourth early warning signal according to the vehicle speed signal, the traffic flow signal, the curve running fluency, the road information, the original vehicle speed signal and the original road information of the original traffic flow signal and by combining the climate signal, wherein the fourth early warning signal is used for prompting the running vehicle to pay attention to the weather and the road condition of the curve;
the iteration submodule is used for carrying out iteration updating on the original vehicle speed signal, the original vehicle flow signal, the original climate signal and the original road signal by combining the vehicle speed signal, the vehicle flow signal, the climate signal and the road signal to obtain updated preliminary integration data;
and the data synthesis sub-module integrates the first early warning signal, the second early warning signal, the third early warning signal and the fourth early warning signal, and combines the updated preliminary integration data to obtain the live data.
8. The millimeter wave-based dual-radar curve speed-measuring early-warning system according to claim 1, wherein the prompt early-warning unit comprises a signal splitting module and a signal display module, the signal splitting module is used for sorting the early-warning signals and transmitting the early-warning signals to different early-warning devices, the signal display module comprises the different early-warning devices, and the early-warning devices are used for completing early-warning actions.
9. The millimeter wave based double-radar curve speed measurement early warning system according to claim 8, wherein the early warning device comprises an LED display screen, a buzzer and an indicator light, the LED display screen is used for displaying the curve vehicle condition and the weather condition and displaying the license plate number of an illegal vehicle, and the buzzer is used for giving out a prompt sound so as to early warn a vehicle running on a curve; the lighting mode or the color of the indicator light is used for prompting the curve condition in front of the running vehicle.
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