CN116466644B - Vehicle performance supervision system and method based on PLC control - Google Patents
Vehicle performance supervision system and method based on PLC control Download PDFInfo
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Abstract
The invention relates to the technical field of vehicle networking and PLC (programmable logic controller), in particular to a vehicle performance monitoring system and method based on PLC control.
Description
Technical Field
The invention relates to the technical field of Internet of vehicles and PLC (programmable logic controller), in particular to a vehicle performance monitoring system and method based on PLC control.
Background
Along with the development of social economy, automobiles gradually become a tool for riding instead of walking of people's life and work, and the automobiles enter people's life, so that the potential safety hazards brought by the automobiles are brought, users need to predict the performance of the automobiles so as to remind the users, the users are convenient to reasonably arrange, but accurate prediction results are difficult to obtain in many cases, the predicted results and actual results have great influence, the use of the users is influenced, the performance optimization of the automobiles is influenced, and the serious potential safety hazards are buried for drivers and others.
In view of the foregoing, there is a need for a vehicle performance monitoring system and method based on PLC control.
Disclosure of Invention
The invention aims to provide a vehicle performance monitoring system and method based on PLC control, which aims to solve the problems in the background technology, and the invention provides the following technical scheme:
a vehicle performance supervision method based on PLC control, the method comprising the steps of:
s1, acquiring a vehicle driving route and a vehicle speed through a vehicle networking platform, and judging whether a driving state of a driver is healthy or not according to a vehicle pose state;
s2, acquiring a combined intersection vehicle interval driving route and a vehicle speed through a vehicle networking platform, and analyzing a main road and auxiliary road collision index by combining a driving state and a vehicle state of a driver;
s3, calculating a collision risk value of the overtaking vehicle and the merging intersection vehicle according to the analysis result of the collision risk condition of the main and auxiliary intersection vehicles in the S2, comparing the calculation result with a preset value of a database, and sending out an early warning signal when the collision risk exceeds the preset value;
s4, receiving an early warning signal through the PLC, and automatically executing an automatic spot brake function by the vehicle to reduce the speed of the vehicle.
Further, the method in S1 includes the following steps:
step 1001, obtaining a section running road section, wherein the section running road section comprises a straight road section and a merging intersection, the position of any time point of a main road driver vehicle is taken as a reference point, the reference point is taken as an origin o, the running direction of the driver vehicle is taken as a y axis, and the direction perpendicular to the running direction of the vehicle is taken as an x axis after passing through the origin, so as to construct a plane rectangular coordinate system;
step 1002, acquiring vehicle path information of a driver in a standard driving state through historical data, and marking a set of corresponding points of the vehicle path information in unit time as a set A in the plane rectangular coordinate system, wherein the standard driving state indicates that the vehicle driven by the driver always keeps middle movement of a straight road section;
step 1003, obtaining a coordinate point corresponding to the driver vehicle in the rectangular planar coordinate system at the ith moment, and recording the coordinate point as a (x) i ，y i )，
Step 1004, calculating the driving state of the driver at the ith moment, and marking the driving state as Z i ，
Z i ＝|x i -x iA |，
Wherein x is iA The abscissa value representing the coordinate point corresponding to the i-th moment in the set a,
if Z i =0, it is determined that the driver is in the standard driving state,
if Z i Not equal to 0, further determining the driving state of the driver;
step 1005, calculating fatigue index of the driving section, denoted as ρ,
wherein w represents the total number of section segments, ω is a proportionality coefficient, which is a database preset constant,
step 1006, obtaining the analysis result of step 1005, comparing the analysis result with a threshold preset in the database, if Z i =0, then it indicates that the driver is in the normal driving state, if Z i And if not equal to 0 and the fatigue index rho of the driver is larger than a preset threshold value, judging that the driver is in a fatigue driving state.
According to the invention, the corresponding driving route in the standard driving state of the driver is obtained from the historical data and mapped to the two-dimensional space for analysis by constructing the plane rectangular coordinate system, and the data reference is provided for the subsequent analysis of the collision condition between the driver and the combined intersection vehicles in different driving states by taking the set of the points mapped by the standard driving route in the plane rectangular coordinate system as the reference value and combining the difference condition between the corresponding coordinate point of the driver vehicle at the ith moment in the plane rectangular coordinate system and the reference value.
Further, the method in S2 includes the following steps:
step 2001, acquiring a k vehicle interval driving route of a combined intersection and an average vehicle speed V1 through a vehicle networking platform;
step 2002, inquiring the relation between the braking force of the driving vehicle of the main road driver and the speed of the vehicle through historical data, and marking as J1,
wherein the method comprises the steps ofAlpha is a database preset constant,/->Represents the brake pedal pressure value of the vehicle driven by the driver at the ith moment, epsilon represents the error value, the error value is a database preset constant,
step 2003, inquiring and combining the relation between the braking force and the speed of the kth vehicle at the intersection through historical data, marking as J2,
wherein the method comprises the steps of The brake pedal pressure value of the kth running vehicle at the ith moment is represented;
step 2004, mapping the merged intersection position information into a plane rectangular coordinate system, and recording as point B (x h ,y h ) And obtains the average driving speed V2 of the main lane driver,
if the vehicles driven by the drivers before the intersection are combined to brake and decelerate, the collision risk index at the moment is marked as X safe1 ，
Wherein X is safe1 Represents a collision risk index corresponding to braking and decelerating by combining vehicles driven by drivers in front of the intersection, and beta represents a proportion coefficient, wherein the proportion coefficient is a proportion coefficientThe number is a database preset constant, x k Represents the abscissa value, y of the kth vehicle of the merging road in the plane rectangular coordinate system k Representing the longitudinal coordinate value, y of the kth vehicle of the merging road in the plane rectangular coordinate system h Represents the ordinate value, x of the position of the merging intersection in a plane rectangular coordinate system h Representing the abscissa value of the position of the merging intersection in a plane rectangular coordinate system, V J1 Indicating the corresponding speed reduction difference value V of the brake of the driving vehicle Acceleration of Representing vehicle acceleration conditions, whereinRepresents the distance from the driving vehicle of the main road driver to the meeting point of the merging intersection,representing the distance from the kth vehicle at the merging intersection to the meeting point at the merging intersection, V Acceleration of Indicating the corresponding vehicle acceleration, V if no acceleration is present Acceleration of ＝0；
If the vehicle running on the kth vehicle in front of the fork is braked and decelerated, the collision risk index at the moment is marked as X safe2 ，
Wherein X is safe2 A collision risk index corresponding to braking and decelerating by combining the kth vehicles running in front of the intersection, V J2 Representing a corresponding deceleration difference value of braking of a kth vehicle;
step 2005, obtain the analysis result of step 2004, ifMarking the vehicle driving status as risky, if +.>The running state of the vehicle is marked as safe, if +.>Marking the vehicle driving status as risky, if +.>The driving status of the vehicle is marked as safe, wherein +.>Values are preset for the database.
According to the method, the states and the speed values of the main road and the merging road vehicles are obtained in real time through the Internet of vehicles platform, and corresponding collision risk indexes are analyzed by combining different conditions, wherein the analysis is performed by combining whether the main road vehicles have active braking and decelerating at the merging intersection meeting point and whether the merging intersection vehicles have active braking and decelerating conditions when driving into the main road, the corresponding collision risk indexes are calculated according to different conditions, and the calculation results are marked, so that data reference is provided for the follow-up analysis of whether the overtaking of the main road vehicles and the overtaking of the merging intersection vehicles occur collision conditions.
Further, the method in S3 includes the following steps:
step 3001, obtaining the marking result of step 2005;
step 3002, obtaining the average running speed of the overtaking required to be V3, constructing an overtaking model,
if the driver has no vehicle condition in front of the vehicle, the overtaking vision distance is S C1 ，
Wherein t is + Indicating the acceleration time of the overtaking vehicle, a indicating the average acceleration of the overtaking vehicle,indicating the constant-speed running time of the overtaking vehicle, wherein 3.6 is the distance between the front and rear vehicles in unit time,
if drivingWhen the vehicle condition exists in front of the driver, the overtaking sight distance is S C2 ，
Wherein V is Q Representing a vehicle travel speed in front of the driver's vehicle;
step 3003, mapping the overtaking visual distance end point into a plane rectangular coordinate system, and marking as a point C (x C ，y C ) If the merging intersection has a vehicle merging condition, the corresponding vehicle collision risk value expression is:
where τ is a database preset constant, if F pz If the overtaking vehicle overtakes, the risk is marked, otherwise, the safety is marked, wherein the time required by the overtaking vehicle to reach the overtaking vision distance end point position is compared with the time required by the merging intersection vehicle to reach the overtaking vision distance end point position, and when only the overtaking vehicle overtakes, the merging intersection exists on the road, and the merging intersection vehicle is converged in the main lane position and is close to the overtaking vision distance end point position;
step 3004, combining the analysis results of step 2002 and step 3003 to obtain a total collision risk, denoted as Z p ，
Z P ＝F pz +X safe ，
If Z P No early warning is given when =1, wherein only F pz ＝1，X safe The situation party corresponding to=0 can mark safe driving, otherwise, an early warning signal is sent out.
According to the invention, an overtaking model is built, front and rear vehicles of a driver in a main road are combined for analysis, overtaking risks of overtaking vehicles required for analysis are calculated according to whether the vehicles exist in front of the driver, overtaking vision distance of the overtaking vehicles is calculated, the overtaking vehicles are combined with information of the main road, collision conditions of the overtaking vehicles and the vehicles at the combined road are judged, an early warning signal is sent according to a judging result, and the early warning signal is received through a PLC (programmable logic controller) controller, so that the running vehicles autonomously execute point braking and speed reduction, and the running safety is improved.
Further, in the step S4, the early warning signal is received through the PLC controller, the vehicle autonomously performs the automatic spot brake function, the vehicle speed is reduced, according to the analysis result in the step 3004, the early warning signal is received through the PCL controller, the driving vehicle autonomously performs the automatic spot brake operation, and when the driving vehicle speed is reduced to the standard vehicle speed, the early warning signal is eliminated, and the standard vehicle speed is a constant preset in the database.
The system comprises a vehicle information extraction module, a driving state analysis module, a vehicle driving state evaluation module, a collision risk prediction module and an early warning module:
the vehicle information extraction module is used for obtaining a running route and a vehicle speed value of a corresponding vehicle in the running process of the vehicle through the vehicle networking platform, and the pose condition of the adjacent vehicle and the vehicle speed value of the corresponding vehicle;
the driving state analysis module is used for analyzing the pose state of a driving vehicle of a driver according to the data acquired by the vehicle information extraction module and judging whether the driving state of the driver is healthy or not according to the analysis result;
the vehicle running state evaluation module is used for acquiring a running route and a running speed value of a peripheral vehicle section through the vehicle networking platform according to the analysis result of the running state analysis module, and carrying out main and auxiliary road mouth collision index analysis by combining the running state of a driver and the vehicle state;
the collision risk prediction module is used for predicting a collision risk index of the overtaking vehicle and the merging intersection vehicle entering the main road according to the evaluation result of the vehicle running state evaluation module, and comparing the obtained collision risk index with a database preset value;
the early warning module is used for sending an early warning signal to the situation that the collision risk value exceeds the preset value according to the analysis result of the collision risk prediction module, receiving the early warning signal through the PLC controller, and automatically executing automatic spot braking to reduce the speed of the vehicle.
Further, the vehicle information extraction module comprises a vehicle route extraction module, a vehicle speed monitoring module and a vehicle pose monitoring unit:
the vehicle route extraction module is used for acquiring a driving route of a corresponding vehicle in a driving process in real time;
the vehicle speed monitoring module is used for monitoring the running speed of the corresponding vehicle in real time;
the vehicle pose monitoring unit is used for monitoring pose conditions of adjacent vehicles and vehicle speed values in real time.
Further, the driving state analysis module comprises a vehicle pose analysis unit and a driving state judgment unit:
the vehicle pose analysis unit is used for analyzing the pose state of a driving vehicle of a driver;
the driving state judging unit is used for judging whether the driving state of the driver is healthy or not according to the analysis result of the vehicle pose analyzing unit.
Further, the vehicle running state evaluation module includes a surrounding environment monitoring unit, a collision index calculating unit:
the surrounding environment monitoring unit is used for acquiring an interval running route and an interval running speed of the surrounding vehicle through the PLC chip in combination with the analysis result of the running state analysis module;
the collision index calculation unit is used for analyzing the collision index of the main road opening and the auxiliary road opening by combining the surrounding environment monitoring unit and the driving state of the driver.
Further, the collision risk prediction module includes a collision risk assessment unit and a risk value comparison unit:
the collision risk assessment unit is used for predicting a collision risk value occurring in the running process of the vehicle according to the calculation result of the collision index calculation unit;
the risk value comparison unit is used for acquiring the collision risk value obtained by the collision risk evaluation unit, comparing the obtained collision risk value with a preset value of a database, and judging whether a collision condition exists in the driving process of the driver interval.
According to the invention, the vehicle state and the vehicle speed value of the section road section are obtained through the Internet of vehicles, the collision index value generated between the vehicle and the adjacent vehicle lane in the running process of the main vehicle lane is analyzed, the running state is adjusted in real time by combining the relations between the braking forces and the vehicle speeds of different vehicles, the collision indexes among the vehicles in different scenes are monitored through calculation, and when the monitored data exceeds the threshold range, an early warning signal is sent out, and the early warning signal is received and emergency treatment is adopted according to the PLC.
Drawings
FIG. 1 is a flow chart of a vehicle performance monitoring method based on PLC control of the present invention;
fig. 2 is a schematic block diagram of a vehicle performance monitoring system based on PLC control according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1: referring to fig. 1, in this embodiment:
the method for supervising the vehicle performance based on the PLC control is realized and comprises the following steps:
s1, acquiring a vehicle driving route and a vehicle speed through a vehicle networking platform, and judging whether a driving state of a driver is healthy or not according to a vehicle pose state;
the method in S1 comprises the following steps:
step 1001, obtaining a section running road section, wherein the section running road section comprises a straight road section and a merging intersection, the position of any time point of a main road driver vehicle is taken as a reference point, and a plane rectangular coordinate system is constructed by taking the reference point as an origin;
step 1002, acquiring vehicle path information of a driver in a standard driving state through historical data, and marking a set of corresponding points of the vehicle path information in unit time as a set A in the plane rectangular coordinate system;
step 1003, obtaining a coordinate point corresponding to the driver vehicle in the rectangular planar coordinate system at the ith moment, and recording the coordinate point as a (x) i ，y i )，
Step 1004, calculating the driving state of the driver at the ith moment, and marking the driving state as Z i ，
Z i ＝|x i -x iA |，
Wherein x is iA The abscissa value representing the coordinate point corresponding to the i-th moment in the set a,
if Z i =0, it is determined that the driver is in the standard driving state,
if Z i Not equal to 0, further determining the driving state of the driver;
step 1005, calculating fatigue index of the driving section, denoted as ρ,
wherein w represents the total number of section segments, ω is a proportionality coefficient, which is a database preset constant,
step 1006, obtaining the analysis result of step 1005, comparing the analysis result with a threshold preset in the database, if Z i =0, then it indicates that the driver is in the normal driving state, if Z i And if not equal to 0 and the fatigue index rho of the driver is larger than a preset threshold value, judging that the driver is in a fatigue driving state.
S2, acquiring a combined intersection vehicle interval driving route and a vehicle speed through a vehicle networking platform, and analyzing a main road and auxiliary road collision index by combining a driving state and a vehicle state of a driver;
the method in S2 comprises the steps of:
step 2001, acquiring a k vehicle interval driving route of a combined intersection and an average vehicle speed V1 through a vehicle networking platform;
step 2002, inquiring the relation between the braking force of the driving vehicle of the main road driver and the speed of the vehicle through historical data, and marking the relation as J1;
step 2003, inquiring and combining the relation between the braking force and the speed of the kth vehicle at the intersection through historical data, and marking the relation as J2;
step 2004, mapping the merged intersection position information into a plane rectangular coordinate system, and recording as point B (x h ,y h ) And obtains the average driving speed V2 of the main lane driver,
if the vehicles driven by the drivers before the intersection are combined to brake and decelerate, the collision risk index at the moment is marked as X safe1 ，
Wherein X is safe1 Represents a collision risk index corresponding to braking and decelerating by combining vehicles driven by drivers in front of an intersection, and beta represents a proportionality coefficient which is a database preset constant, x k Represents the abscissa value, y of the kth vehicle of the merging road in the plane rectangular coordinate system k Representing the longitudinal coordinate value, y of the kth vehicle of the merging road in the plane rectangular coordinate system h Represents the ordinate value, x of the position of the merging intersection in a plane rectangular coordinate system h Representing the abscissa value of the position of the merging intersection in a plane rectangular coordinate system, V J1 Indicating the corresponding speed reduction difference value V of the brake of the driving vehicle Acceleration of Representing the acceleration condition of the vehicle;
if the vehicle running on the kth vehicle in front of the fork is braked and decelerated, the collision risk index at the moment is marked as X safe2 ，
Wherein X is safe2 A collision risk index corresponding to braking and decelerating by combining the kth vehicles running in front of the intersection, V J2 Indicating the corresponding speed reduction difference of the brake of the kth vehicle running vehicleA value;
step 2005, obtain the analysis result of step 2004, ifMarking the vehicle driving status as risky, if +.>The running state of the vehicle is marked as safe, if +.>Marking the vehicle driving status as risky, if +.>The driving status of the vehicle is marked as safe, wherein +.>Values are preset for the database.
S3, calculating a collision risk value of the overtaking vehicle and the merging intersection vehicle according to the analysis result of the collision risk condition of the main and auxiliary intersection vehicles in the S2, comparing the calculation result with a preset value of a database, and sending out an early warning signal when the collision risk exceeds the preset value;
the method in S3 comprises the following steps:
step 3001, obtaining the marking result of step 2005;
step 3002, obtaining the average running speed of the overtaking required to be V3, constructing an overtaking model,
if the driver has no vehicle condition in front of the vehicle, the overtaking vision distance is S C1 ，
Wherein t is + Indicating the acceleration time of the overtaking vehicle, a indicating the average acceleration of the overtaking vehicle,indicating the constant-speed running time of the overtaking vehicle,
if the driver has a vehicle condition in front of the vehicle, the overtaking vision distance is S C2 ，
Wherein V is Q Representing a vehicle travel speed in front of the driver's vehicle;
step 3003, mapping the overtaking visual distance end point into a plane rectangular coordinate system, and marking as a point C (x C ，y C ) If the merging intersection has a vehicle merging condition, the corresponding vehicle collision risk value expression is:
where τ is a database preset constant, if F pz If the number is=0, marking risk, otherwise marking safety;
step 3004, combining the analysis results of step 2002 and step 3003 to obtain a total collision risk, denoted as Z p ，
Z P ＝F pz +X safe ，
If Z P No early warning is given when =1, wherein only F pz ＝1，X safe The situation party corresponding to=0 can mark safe driving, otherwise, an early warning signal is sent out.
S4, receiving an early warning signal through a PLC controller, and automatically executing an automatic spot brake function by the vehicle to reduce the speed of the vehicle;
and S4, receiving an early warning signal through a PLC controller, automatically executing an automatic spot brake function by the vehicle, reducing the vehicle speed, receiving the early warning signal through the PCL controller according to the analysis result of the step 3004, and eliminating the early warning signal when the running vehicle automatically executes the automatic spot brake operation and reduces the running vehicle speed to a standard vehicle speed, wherein the standard vehicle speed is a constant preset by a database.
In this embodiment:
a vehicle performance monitoring system based on PLC control (as shown in fig. 2) is disclosed for implementing the specific scheme content of the method.
Example 2: obtaining a section driving road section, setting a point set of a driving vehicle driving route mapped to a plane rectangular coordinate system as a straight line where a y axis is located, wherein the deviation is +/-1,
acquiring corresponding coordinate points of the driver vehicle in the plane rectangular coordinate system at the ith moment, and marking the coordinate points as points A (x i ，y i )，
Obtaining the driving state Z of the driver at the ith moment by calculating the difference i ，
If Z i =0, it is determined that the driver is in the standard driving state,
example 3: setting the braking and decelerating difference value of the driving vehicle of the driver to be 20 yards, and keeping the vehicle at the merging intersection to run at uniform speed, wherein when the driver state before the merging intersection is in a standard driving state and the corresponding driving vehicle brakes and reduces, the collision risk index is X safe1 ，
Obtaining the collision risk index at the moment through comparisonThe running state of the vehicle is marked as safe, and the system does not send out an early warning signal.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A vehicle performance supervision method based on PLC control, the method comprising the steps of:
s1, acquiring a vehicle driving route and a vehicle speed through a vehicle networking platform, and judging whether a driving state of a driver is healthy or not according to a vehicle pose state;
s2, acquiring a combined intersection vehicle interval driving route and a vehicle speed through a vehicle networking platform, and analyzing a main road and auxiliary road collision index by combining a driving state and a vehicle state of a driver;
s3, calculating a collision risk value of the overtaking vehicle and the merging intersection vehicle according to the analysis result of the collision risk condition of the main and auxiliary intersection vehicles in the S2, comparing the calculation result with a preset value of a database, and sending out an early warning signal when the collision risk exceeds the preset value;
s4, receiving an early warning signal through a PLC controller, and automatically executing an automatic spot brake function by the vehicle to reduce the speed of the vehicle;
the method in S1 comprises the following steps:
step 1001, obtaining a section running road section, wherein the section running road section comprises a straight road section and a merging intersection, the position of any time point of a main road driver vehicle is taken as a reference point, and a plane rectangular coordinate system is constructed by taking the reference point as an origin;
step 1002, acquiring vehicle path information of a driver in a standard driving state through historical data, and marking a set of corresponding points of the vehicle path information in unit time as a set A in the plane rectangular coordinate system;
step 1003, obtaining a coordinate point corresponding to the driver vehicle in the plane rectangular coordinate system at the ith moment, and marking the coordinate point as a point，
Step 1004, calculating the driving state of the driver at the ith moment, and recording as，
，
Wherein the method comprises the steps ofThe abscissa value representing the coordinate point corresponding to the i-th moment in the set a,
if it isIt is determined that the driver is in the standard driving state,
if it isFurther determining the driving state of the driver;
step 1005, calculating fatigue index of the driving section of the driver section, and recording as，
，
Where w represents the total number of block segments,is a proportionality coefficient which is a database preset constant,
step 1006, obtaining the analysis result of step 1005, and comparing the analysis result with a threshold preset in the database, ifIndicating that the driver is in a normal driving state if +.>And driver fatigue index->If the driving state is larger than the preset threshold value, judging that the driver is in a fatigue driving state;
the method in S2 comprises the steps of:
step 2001, acquiring a k vehicle interval driving route of a combined intersection and an average vehicle speed V1 through a vehicle networking platform;
step 2002, inquiring the relation between the braking force of the driving vehicle of the main road driver and the speed of the vehicle through historical data, and marking the relation as J1;
step 2003, inquiring and combining the relation between the braking force and the speed of the kth vehicle at the intersection through historical data, and marking the relation as J2;
step 2004, mapping the merged intersection position information into a plane rectangular coordinate system, and marking as a pointAnd obtains the average driving speed V2 of the main lane driver,
if the vehicles driven by the drivers before the crossing are combined to brake and decelerate, the collision risk index is recorded，
，
Wherein the method comprises the steps ofIndicating collision risk index corresponding to braking and decelerating by combining vehicles driven by drivers in front of intersection,/for the driver>Representing a proportionality coefficient, said proportionality coefficient being a database preset constant,/for a database preset constant>Represents the abscissa value of the k-th vehicle of the merging road in the plane rectangular coordinate system, and the +.>Representing the longitudinal coordinate value of the kth vehicle of the merging road in the plane rectangular coordinate system, and the +.>Ordinate value representing the position of the merging intersection in the plane rectangular coordinate system, < >>Represents the abscissa value of the position of the merged intersection in a plane rectangular coordinate system, +.>Indicating the corresponding difference in deceleration of the driver driving the vehicle to brake,/->Representing the acceleration condition of the vehicle;
if the vehicle running on the kth vehicle in front of the fork is braked and decelerated, the collision risk index at the moment is recorded，
，
Wherein the method comprises the steps ofRepresents a collision risk index corresponding to braking and decelerating by combining the kth vehicles running in front of the intersection,representing a corresponding deceleration difference value of braking of a kth vehicle;
step 2005, obtain the analysis result of step 2004, ifMarking the running state of the vehicle as a risk, ifMarking the running state of the vehicle as safe, if +.>Marking the running state of the vehicle as a risk if +.>The driving state of the vehicle is marked as safe, wherein +.>Values are preset for the database.
2. The vehicle performance monitoring method based on PLC control according to claim 1, wherein the method in S3 comprises the steps of:
step 3001, obtaining the marking result of step 2005;
step 3002, obtaining the average running speed of the overtaking required to be V3, constructing an overtaking model,
if the driver has no vehicle condition in front of the vehicle, the overtaking vision distance is S C1 ，
，
Wherein the method comprises the steps ofIndicating the acceleration time of the overtaking vehicle, a indicating the average acceleration of the overtaking vehicle, +.>Indicating the constant-speed running time of the overtaking vehicle,
if the driver has a vehicle condition in front of the vehicle, the overtaking vision distance is S C2 ，
，
Wherein the method comprises the steps ofRepresenting a vehicle travel speed in front of the driver's vehicle;
step 3003, mapping the overtaking visual range end point into a plane rectangular coordinate system, and marking as a pointIf there isIf the merging intersection has the condition of vehicle merging, the corresponding vehicle collision risk value expression is:
，
wherein the method comprises the steps ofPresetting a constant for the database if +.>Marking risk, otherwise marking safety;
step 3004, combining the analysis results of step 2002 and step 3003 to obtain a total collision risk, denoted as Z p ，
，
If it isNo early warning is sent out, only +.>，/>The corresponding situation party can mark safe driving, otherwise, an early warning signal is sent.
3. The method for monitoring the performance of the vehicle based on the PLC control according to claim 2, wherein the step S4 is characterized in that the PLC controller receives the early warning signal, the vehicle autonomously performs the automatic spot brake function, the vehicle speed is reduced, the PCL controller receives the early warning signal according to the analysis result of the step 3004, the vehicle autonomously performs the automatic spot brake operation, and the early warning signal is eliminated when the vehicle speed is reduced to a standard vehicle speed, and the standard vehicle speed is a constant preset in the database.
4. A vehicle performance monitoring system based on PLC control, the system is implemented by applying the vehicle performance monitoring method based on PLC control according to any one of claims 1 to 3, and the system is characterized in that the system comprises a vehicle information extraction module, a driving state analysis module, a vehicle driving state evaluation module, a collision risk prediction module and an early warning module:
the vehicle information extraction module is used for obtaining a running route and a vehicle speed value of a corresponding vehicle in the running process of the vehicle through the vehicle networking platform, and the pose condition of the adjacent vehicle and the vehicle speed value of the corresponding vehicle;
the driving state analysis module is used for analyzing the pose state of a driving vehicle of a driver according to the data acquired by the vehicle information extraction module and judging whether the driving state of the driver is healthy or not according to the analysis result;
the vehicle running state evaluation module is used for acquiring a running route and a running speed value of a peripheral vehicle section through the vehicle networking platform according to the analysis result of the running state analysis module, and carrying out main and auxiliary road mouth collision index analysis by combining the running state of a driver and the vehicle state;
the collision risk prediction module is used for predicting a collision risk index of the overtaking vehicle and the merging intersection vehicle entering the main road according to the evaluation result of the vehicle running state evaluation module, and comparing the obtained collision risk index with a database preset value;
the early warning module is used for sending an early warning signal to the situation that the collision risk value exceeds the preset value according to the analysis result of the collision risk prediction module, receiving the early warning signal through the PLC controller, and automatically executing automatic spot braking to reduce the speed of the vehicle.
5. The PLC control-based vehicle performance monitoring system of claim 4, wherein the vehicle information extraction module comprises a vehicle route extraction module, a vehicle speed monitoring module, and a vehicle pose monitoring unit:
the vehicle route extraction module is used for acquiring a driving route of a corresponding vehicle in a driving process in real time;
the vehicle speed monitoring module is used for monitoring the running speed of the corresponding vehicle in real time;
the vehicle pose monitoring unit is used for monitoring pose conditions of adjacent vehicles and vehicle speed values in real time.
6. The PLC control-based vehicle performance monitoring system according to claim 5, wherein the driving state analysis module includes a vehicle pose analysis unit and a driving state judgment unit:
the vehicle pose analysis unit is used for analyzing the pose state of a driving vehicle of a driver;
the driving state judging unit is used for judging whether the driving state of the driver is healthy or not according to the analysis result of the vehicle pose analyzing unit.
7. The PLC control-based vehicle performance monitoring system according to claim 6, wherein the vehicle running state evaluation module includes a surrounding environment monitoring unit, a collision index calculating unit:
the surrounding environment monitoring unit is used for acquiring an interval running route and an interval running speed of the surrounding vehicle through the PLC chip in combination with the analysis result of the running state analysis module;
the collision index calculation unit is used for analyzing the collision index of the main road opening and the auxiliary road opening by combining the surrounding environment monitoring unit and the driving state of the driver.
8. The PLC control-based vehicle performance monitoring system of claim 7, wherein the collision risk prediction module includes a collision risk assessment unit and a risk value comparison unit:
the collision risk assessment unit is used for predicting a collision risk value occurring in the running process of the vehicle according to the calculation result of the collision index calculation unit;
the risk value comparison unit is used for acquiring the collision risk value obtained by the collision risk evaluation unit, comparing the obtained collision risk value with a preset value of a database, and judging whether a collision condition exists in the driving process of the driver interval.
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