CN121565017A - Intelligent early warning control method and system for highway profile marks - Google Patents

Intelligent early warning control method and system for highway profile marks

Info

Publication number
CN121565017A
CN121565017A CN202610092528.9A CN202610092528A CN121565017A CN 121565017 A CN121565017 A CN 121565017A CN 202610092528 A CN202610092528 A CN 202610092528A CN 121565017 A CN121565017 A CN 121565017A
Authority
CN
China
Prior art keywords
warning
collision
interval
contour
mark
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202610092528.9A
Other languages
Chinese (zh)
Inventor
张金开
马燕萍
何梁浩
林瑜
方彦博
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xiamen Xinghua Ding Automation Technology Co ltd
Fujian Xiamen Expressway Management Co ltd
Original Assignee
Xiamen Xinghua Ding Automation Technology Co ltd
Fujian Xiamen Expressway Management Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xiamen Xinghua Ding Automation Technology Co ltd, Fujian Xiamen Expressway Management Co ltd filed Critical Xiamen Xinghua Ding Automation Technology Co ltd
Priority to CN202610092528.9A priority Critical patent/CN121565017A/en
Publication of CN121565017A publication Critical patent/CN121565017A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B5/00—Visible signalling systems, e.g. visible personal calling systems or remote indication of seats occupied
    • G08B5/22—Visible signalling systems, e.g. visible personal calling systems or remote indication of seats occupied using electric transmission; using electromagnetic transmission
    • G08B5/36—Visible signalling systems, e.g. visible personal calling systems or remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
    • G08B5/38—Visible signalling systems, e.g. visible personal calling systems or remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources using flashing light
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses an intelligent early warning control method and system for a highway profile mark, wherein the method comprises the steps of detecting the collision state of the profile mark in real time through a collision detection module preset on the profile mark, acquiring the original pile number and the collision severity parameter of the collided profile mark when a collision event is detected, wherein the collision severity parameter at least comprises the number of the collided profile marks, the instantaneous speed and the collision acceleration peak value of an accident vehicle, sending a pre-warning message to a rear Fang Lunkuo mark in the vehicle coming direction based on a wireless communication network, wherein the pre-warning message comprises the original pile number and the collision severity parameter, determining a warning interval range by adopting a preset grading rule in response to the collision severity parameter being smaller than a preset threshold value, calculating the difference value between the pile number and the original pile number by a rear Fang Lunkuo mark, and determining the warning interval based on the preset grading rule or a dynamic expansion model. The control method can dynamically calculate the range of the warning interval, and realize real-time monitoring, accurate warning and efficient processing of accidents.

Description

Intelligent early warning control method and system for highway profile marks
Technical Field
The invention relates to the technical field of expressway safety, in particular to an intelligent early warning control method and system for an expressway outline marker.
Background
The delineator is used as an important component of road safety facilities and is usually arranged on two sides or a central separation belt of a road, and is used for delineating the road line shape under night or low-light conditions through the retroreflection optical property so as to assist a driver to distinguish the driving direction.
Because the existing profile marks have single functions, have only a static light reflecting function, cannot actively sense traffic states or road surface anomalies such as traffic accidents, lack active dynamic warning capability and cooperate with data interaction of a highway management system, and cannot realize intelligent, networked and autonomous collaborative decision-making functions.
The invention patent No. CN114936668A discloses a road accident pre-warning system based on a contour mark, which is characterized in that when a vehicle accident happens, a pre-warning signal is sent to a pre-warning processing platform, further, the front road section and the rear road section are respectively intercepted at the front side and the rear side by taking the accident point as a midpoint, the range of a secondary pre-warning road section is calculated, the corresponding pre-warning light of the contour mark in the road section is further controlled to flash, the contour mark of the scheme does not have active dynamic warning capability, and the warning function of a warning section cannot be triggered at the first time when the collision accident happens.
Therefore, the application aims to provide an intelligent early warning control method and system for the highway profile mark, which can actively trigger a dynamic warning function according to the collision severity.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intelligent early warning control method and system for a highway profile mark, which are used for solving the technical problems.
According to a first aspect of the present application, an intelligent pre-warning control method for a highway profile is provided, including:
S1, detecting the collision state of a profile mark in real time through a collision detection module preset on the profile mark, and when a collision event is detected, acquiring an original pile number and a collision severity parameter of the collided profile mark, wherein the collision severity parameter at least comprises the number of the collided profile marks, the instantaneous speed of an accident vehicle and a collision acceleration peak value;
S2, transmitting a pre-warning message to a rear Fang Lunkuo mark of a vehicle coming direction based on a wireless communication network, wherein the pre-warning message comprises an original pile number and collision severity parameters;
s3, determining a warning interval range by adopting a preset grading rule in response to the collision severity parameters being smaller than a preset threshold value;
Triggering a dynamic expansion model to recalculate the warning interval range in response to any collision severity parameter being greater than or equal to a preset threshold, wherein the dynamic expansion model calculates a basic reaction distance and a basic braking distance based on the instantaneous speed of an accident vehicle, the reaction time of a driver and the road friction coefficient of an accident road section, superimposes a safety redundant distance corresponding to the road line shape of the accident road section to obtain a synthesized distance, performs weighted calculation on the synthesized distance by combining the number of the collided profile marks, and performs secondary correction on the synthesized distance after weighted calculation based on a collision acceleration peak value to obtain a final warning interval range;
S4, calculating the difference value between the pile number of the pile and the original pile number by using a post Fang Lunkuo mark And determining an affiliated warning interval based on a preset grading rule or a dynamic expansion model, wherein:
When (when) When the alarm belongs to the first alarm interval, the rear Fang Lunkuo marks alternately flash red and blue alarm lamps;
When (when) When the alarm belongs to the second alarm interval, the rear Fang Lunkuo marks flash red alarm lamps;
When (when) When belonging to the third warning interval, the rear Fang Lunkuo marks flash yellow warning lamps.
By adopting the technical scheme, when a vehicle on an expressway hits the profile marks on the guardrails on two sides, the hit profile mark sends an early warning message containing the original pile number and the collision severity parameters to the direction of the vehicle, when the post Fang Lunkuo mark receives the pre-warning message, the distance between the hit profile mark and the post profile mark (the distance between the profile mark pile number and the expressway entrance is obtained by calculating the difference between the post number of the hit profile mark and the original pile number) (for example, the profile mark pile number at the position 96m along the vehicle driving direction from the entrance is M096, and the profile mark pile number at the position 1200m is K1+200), and the warning interval at the post Fang Lunkuo mark is further judged through a preset grading rule or a dynamic expansion model. All the contour marks in the first warning interval flash red and blue warning lamps, the red and blue warning lamps prompt a rear driver that the warning interval is a high dangerous road section, the red and blue alternate flashing can quickly attract the attention of the driver, prompt the driver to keep vigilance and reduce the driving speed as soon as possible, secondary accidents are avoided, all the contour marks in the second warning interval flash red warning lamps, the red warning lamps prompt the rear driver that the warning interval is a dangerous road section, the driver is required to pay attention to a distance from an accident occurrence point, the driver is reminded to slow down and cautiously drive in advance, the safety of the driver passing through a special road section is ensured, all the contour marks in the third warning interval flash yellow warning lamps, the yellow lamp light plays a warning role, the rear driver is warned in advance, the road section in front is indicated to have accidents, the driver is not required to overstressed, the driver is required to slow down and keep paying attention, and the driving safety is ensured. The number of the collided profile marks and the collision severity parameters are combined to judge the severity of the accident, and then whether the range of the warning interval needs to be preset or dynamically expanded is judged, a wireless communication network is adopted for message transmission, the transmission speed is improved, and when collision event information is transmitted to a highway server of a machine room, an early warning message can be transmitted to the vehicle coming direction at the same time, so that the rapid early warning function of the accident road section is realized.
Preferably, in S3:
Responsive to AndAndDetermining a warning interval range by adopting a preset grading rule;
Responsive to Or (b)Or (b)Triggering the dynamic expansion model to recalculate the warning interval range, wherein,The number of the bumped profile marks,Is the instantaneous speed of the accident vehicle,A collision acceleration peak value for the accident vehicle,Is the highest speed limit value of the accident road section,Is the gravity acceleration value;
the dynamic expansion model satisfies:
;
When (when) When the acquisition of the data is not possible, the dynamic expansion model satisfies:
;
wherein, the In order to dynamically expand the range of the warning interval,In order for the reaction time of the driver,Is the road surface friction coefficient of the accident road section,For the safety redundancy distance of the device,Is an acceleration weight coefficient.
By adopting the technical scheme, when the number of the collided profile marks is smaller than 3 and the instantaneous speed of an accident vehicle is smaller than 80% of the highest speed limit value of a road section and the collision acceleration peak value is smaller than 3 times of the gravity acceleration are simultaneously satisfied, a preset grading rule is used for dividing the warning interval (the range from the collided profile mark 500m is a first warning interval, 500m-1000m is a second warning interval and 1000m-1500m is a third warning interval), the above-mentioned collision severity parameters can be synchronously transmitted to a highway server of a machine room, a worker can acquire relevant information of the accident in real time through a highway management system, when the above-mentioned arbitrary collision severity parameter exceeds a specified threshold value, the information returned to the highway server also comprises the severity level of the accident so that the worker can rapidly determine the accident level and perform rescue work, further, a dynamic expansion model can calculate a basic reaction distance through the instantaneous speed of the accident vehicle and the reaction time of the worker, the instantaneous speed is combined with the road friction coefficient of the road surface of the accident road section to obtain the basic reaction distance, the instantaneous speed is combined with the corresponding to the road surface friction coefficient of the accident road section, the two-type safety profile marks are overlapped to obtain the corresponding to the safety profile of the road section, the instantaneous speed is adjusted to obtain the instantaneous collision severity value, the collision severity value can not be adjusted to the final dynamic speed is adjusted to the instantaneous collision threshold value, the collision safety value is adjusted to be the maximum, the collision safety value is adjusted to the instantaneous collision safety value is adjusted to the safety value is not is suitable for the road peak value, and the safety of the accident is adjusted, and the accident is completely has high safety is high, the method effectively guides the driver of the rear vehicle to prevent in advance, reduces the risk of secondary accidents and ensures the driving safety of the expressway.
Further preferably, the section division ratio of the dynamic expansion model is:
When (when) When the back Fang Lunkuo is the first warning section;
When (when) When the rear Fang Lunkuo is in the second warning section;
When (when) And when the back Fang Lunkuo is in the third warning section.
Through adopting above-mentioned technical scheme, the warning interval scope of dynamic expansion model calculation divides according to proportion, wherein first warning interval, the interval of third warning respectively accounts for 30%, second warning interval accounts for 40%, the third warning interval mainly plays the warning effect to the rear driver in the place that is far away from the accident point, when the interval of second warning gradually transits to first warning interval, indicate that the distance with the accident point is nearer, the driver reacts not in time and takes place secondary accident easily, therefore the scope of second warning interval is great, use red warning light to continuously remind the driver to concentrate on and slow down and dodge, avoid the emergence of secondary accident, the proportion division of warning interval both accords with actual safety demands such as vehicle braking, driver reaction time, the driver of being convenient for discerns the response fast again, the intuitiveness of accident early warning has been strengthened, standardized division rule ensures the uniformity of profile mark system, make the back Fang Lunkuo mark judge the warning level fast and trigger corresponding light, effectively guide the driver take reasonable measure.
Still more preferably, in the preset classification rule, the preset value of the first warning interval isThe preset value of the second warning interval isThe preset value of the third warning interval isAnd whenWhen the warning section is divided by the section proportion of the dynamic expansion model, whenAnd when the warning interval is kept at a preset value.
By adopting the technical scheme, whenWhen the warning section keeps the hierarchical structure of the preset grading rule, the range of the preset grading rule accords with the statistical result of the expressway accident database, 80 percent of conventional accident scenes can be covered, the post Fang Lunkuo mark can quickly judge the warning level of the area where the warning section is positioned by using the preset grading rule, thereby avoiding complex operation, improving the response efficiency of the system,When the method is used, the proportion division of the dynamic expansion model is started, the method can adapt to the rest 20% of important accident scenes, such as chain rear-end collision, the warning interval division is more attached to the actual risk degree, the accident early warning accuracy is enhanced, the processing efficiency of the simple accident scene is guaranteed through the preset grading rule, the complex serious scene is also handled by means of the dynamic expansion model, the adaptability of the system to different accident levels is improved, and reasonable warning under various conditions is ensured.
It is further preferred that the composition of the present invention,The following conditions are satisfied:
;
wherein, the As a function of the natural index of refraction,For the duration of the collision.
By adopting the technical scheme, the acceleration weight coefficient is associated with the collision duration, so that the dynamic optimization of the warning interval is realized, when the collision duration is short, the acceleration weight coefficient is smaller, the expansion amplitude of the warning interval is small, and when the collision duration is increased, the acceleration weight coefficient is increased, the warning interval is correspondingly expanded, the warning range can be flexibly adjusted according to the actual severity of the collision, the warning range is moderate when the collision is slight (the collision duration is short), the excessive early warning is avoided, and when the collision is serious (the collision duration is long), the warning interval is expanded, and the safety of the vehicle behind is fully ensured.
Further preferably, the setting is thatMaximum value of (2)3000M, whenAnd when the system is used, the rear Fang Lunkuo marks of the expressway emergency lane are controlled to alternately flash the red and blue warning lamps, and the high-risk warning is pushed to the navigation platform.
By adopting the technical scheme, the maximum value of the warning interval range of the dynamic expansion model is limited, invalid early warning expansion is avoided, when the warning interval range exceeds 3000m, the vehicle braking response time exceeds the human physiological limit (the vehicle speed is 120km/h, 32 seconds are needed), meanwhile, when the calculated value of the dynamic expansion model exceeds the limited maximum value, the outline marks (the outline marks are symmetrically arranged on guardrails on two sides of a highway) on one side of an emergency lane in the vehicle coming direction alternately flash red and blue warning lamps, the warning grade of a rear warning interval is forcedly improved, a rear driver is rapidly reminded of serious accidents in front, and meanwhile, a third-party navigation platform is linked to push high-risk early warning of the road section, so that a driver not entering the road section can be reminded of detouring, and the occurrence of interlinked accidents due to overlarge vehicle flow is avoided.
Preferably, when the post Fang Lunkuo label sends the pre-alarm message in S2, the method further comprises the following steps:
s201, adopting an improved AODV protocol to select a main node from a post Fang Lunkuo standard;
S202, the master node repackages the pre-alarm message, wherein the pre-alarm message after encapsulation also comprises the current hop count And maximum number of hopsForwarding the packaged early warning message to a subsequent node hop by hop along the vehicle coming direction based on the 2.4G frequency band until the warning interval is covered;
Responsive to The main node adds and encapsulates the emergency mark to the early warning message, and preferentially occupies a special emergency channel of the communication gateway, and forces the subsequent nodes to forward the early warning message at minimum intervals;
Responsive to The master node synchronously activates a Bluetooth broadcasting function of a rear Fang Lunkuo target within a range of 500m of the bumped profile, and pushes an avoidance command to vehicles within the range.
By adopting the technical scheme, in the process of forwarding the early warning message, the outline mark with a certain distance from the bumped outline mark needs to be selected as the main node, and then the main node repackages the pre-warning message to forward hop by hop, so that the information can be ensured to effectively cover the warning interval, the communication efficiency and reliability can be improved, and when the alarm is triggered, the alarm is triggeredWhen the emergency mark is added and the emergency channel is occupied preferentially, the emergency mark is forced to be forwarded quickly, the early warning information is ensured to be transmitted in time when the collision is serious, and when the collision is seriousWhen the collision warning system is used, the rear Fang Lunkuo mark in the collision outline mark 500m is activated to carry out a Bluetooth broadcast pushing avoidance instruction, so that the vehicle can acquire avoidance information rapidly in a short distance, the response speed and accuracy of the warning system are improved in a multi-dimensional manner, and key information can be effectively transmitted under collision scenes with different severity degrees.
Further preferably, S201 further includes:
S211, broadcasting a route request packet RREQ to the coming direction of the vehicle by the collision outline, wherein the RREQ comprises a target direction identifier and a minimum residual electric quantity percentage threshold value Synchronizing mark and original pile number;
and S212, scoring the post Fang Lunkuo mark by adopting a scoring formula, wherein the scoring formula meets the following conditions:
;
Wherein Score is the Score of the post Fang Lunkuo target, and the post outline target as a candidate node needs to meet the following requirements Distance to the bumped delineatorSignal strength;
S213, comparing the Score of each rear outline marker meeting the requirements, selecting the rear Fang Lunkuo marker with the highest Score as a main node, wherein the rear Fang Lunkuo between the bumped outline marker and the main node is marked as an intermediate node, and when the main node and the intermediate node receive the RREQ containing the synchronous mark, triggering the local warning and caching the collision event information immediately.
By adopting the technical scheme, the target direction identifier strictly limits the transmission direction of the pre-alarm message to the rear of the vehicle coming direction, the screening range of the main node is defined, the election condition of the residual electric quantity is added, the endurance of the nodes is ensured, the nodes with sufficient electric quantity, short distance and strong signal are strictly screened out, the communication quality is ensured, the Score is calculated by using a scoring formula, the optimal comprehensive performance of the main node can be ensured, the transmission path of the pre-alarm message is optimized, meanwhile, when the intermediate node between the bumped profile mark and the main node receives the RREQ containing the synchronous mark, the local warning is immediately triggered and information is cached, the local quick response and information retention are realized, and each jump of the transmission of the pre-alarm message after the main node only needs 625 microseconds at least, so that the pre-alarm message can cover the whole warning interval quickly.
Still further preferably, the master node dynamically adjusts the maximum hop count of the packaged early warning message according to the range of the warning interval, so as to satisfy the following conditions:
;
wherein, the The covered distance for single hop transmission;
In the process of hop-by-hop forwarding of the master node, the subsequent nodes are according to And (3) withThe ratio of (2) dynamically adjusts the transmit power:
When (when) When the standard power emission is adopted;
When (when) When the power enhancement mode is started;
During each hop transmission, it is located in Post Fang Lunkuo mark synchronous receiving pre-alarm message in range, calculatingAnd judging the warning interval to which the warning signal belongs.
By adopting the technical scheme, the master node can dynamically adjust the maximum hop count, ensure that the transmission covers a complete warning interval, avoid blind transmission or insufficient coverage, the follow-up node adjusts the transmitting power according to the ratio of the current hop count to the maximum hop count, start a power enhancement mode to ensure that the key hop count can be successfully transmitted under the appointed condition, optimize the power consumption and simultaneously improve the transmission reliability, in the transmission process of each hop, all profile marks positioned in the range of the covered distance of single hop transmission synchronously receive the pre-warning message, calculate the difference value between the pile number of the master node and the original pile number, quickly judge the warning interval where the master node is positioned, timely trigger corresponding warning light, improve the warning response speed, ensure the complete transmission of the warning information, optimize the resource utilization and ensure the high-efficiency operation of the system.
According to a second aspect of the present application, an intelligent pre-warning control system for highway delineators is provided, and the control method according to any one of the above is adopted, comprising:
The profile mark module comprises a plurality of profile marks which are arranged at equal intervals along guardrails on two sides of a highway, and also comprises a collision detection module and a main control module, wherein the collision detection module comprises a Doppler radar sensor and an acceleration sensor which are respectively arranged on the surface and the inside of the profile mark, the main control module comprises a control circuit board, a data processing module, a data storage module, a network communication module and a Bluetooth communication module which are arranged on the control circuit board, and the surface of the profile mark is also provided with a multicolor LED stroboscopic lamp, and the Doppler radar sensor, the acceleration sensor and the multicolor LED stroboscopic lamp are electrically connected with the control circuit board;
The communication gateway module comprises a plurality of communication gateways and a core gateway, wherein the communication gateways are arranged at equal intervals along one side of the expressway, and the core gateway is arranged in an expressway machine room;
The expressway server is arranged in the machine room and is in communication connection with the outline marker through the communication gateway.
Through adopting above-mentioned technical scheme, the real-time accurate collision event that detects of profile mark surface and inside doppler radar sensor, acceleration sensor, data processing module fast analysis realizes the high-efficient transmission of early warning information with the help of network communication module and bluetooth communication module, and polychrome LED stroboscopic lamp is according to warning interval visual display different colours, provides clear dangerous grade suggestion for the driver. The communication gateway module (the communication gateway and the core gateway along the line) ensures stable data transmission, and the expressway server performs unified management coordination, so that real-time monitoring, quick response and effective warning on collision events are realized, the accident handling efficiency is improved, the driving safety is enhanced, the secondary accident risk is reduced, and the safety and smoothness of expressway traffic are ensured.
Compared with the prior art, the application has the beneficial effects that:
According to the intelligent pre-warning control method and system for the highway profile marks, the collision state of the profile marks is monitored in real time through the collision detection module, once collision is detected, relevant parameters are rapidly obtained, a main node is selected by utilizing an improved AODV protocol, a pre-warning message is accurately sent to the rear vehicle direction through wireless communication, and efficient information transmission is ensured. According to the collision severity parameters (the number of the collided profile marks, the instantaneous speed of an accident vehicle, the collision acceleration peak value and the like), a preset grading rule or a dynamic expansion model (the comprehensive driver reaction time, the road surface friction coefficient, the safety redundancy distance and the like, the collided number weighting and the acceleration correction are combined) is intelligently selected to determine a warning section, and then the warning section is subdivided into different warning sections according to a proportion, and is visually displayed (red, blue, red and yellow flickering) through a multicolor LED strobe lamp. The master node dynamically adjusts the maximum hop count of the pre-alarm message, and the subsequent nodes optimize the transmitting power according to the transmission proportion, so that the transmission reliability and the energy consumption balance are ensured. When the collision acceleration reaches a certain threshold value, the emergency channel is occupied preferentially or the Bluetooth broadcast pushing avoidance instruction is activated, and the high-risk scene response is enhanced. The contour mark module (including a sensor, a main control module and a multicolor LED stroboscopic lamp), the communication gateway module (a communication gateway and a core gateway) and the expressway server in the system work cooperatively to realize real-time monitoring, quick response, accurate warning and efficient processing of collision events, obviously improve the driving safety of the expressway, effectively reduce the risk of secondary accidents and optimize the traffic emergency management capability.
Drawings
The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and together with the description serve to explain the principles of the application. Many of the intended advantages of other embodiments and embodiments will be readily appreciated as they become better understood by reference to the following detailed description. Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a control method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of early warning message transmission according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a communication framework in accordance with a particular embodiment of the present invention;
FIG. 4 is a schematic diagram of a control system architecture according to an embodiment of the invention;
FIG. 5 is a schematic exploded view of a delineator, in accordance with certain embodiments of the present invention;
fig. 6 is a diagram illustrating a connection frame between a collision detecting module and a main control module according to an embodiment of the present invention.
Meaning of each number in the figure:
Guardrail 01, outline marker 02, communication gateway 03, core gateway 04, highway server 05, casing 06, base 07, connecting piece 08, control circuit board 09, polychromatic LED stroboscopic lamp 10, rechargeable battery 11, doppler radar sensor 12, acceleration sensor 13, data processing module 14, data storage module 15, network communication module 16, bluetooth communication module 17.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the present application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
According to a first aspect of the present application, an intelligent pre-warning control method for a highway profile is provided, fig. 1 shows a schematic flow chart of a control method according to an embodiment of the present application, and as shown in fig. 1, the method includes:
S1, detecting the collision state of a profile mark in real time through a collision detection module preset on the profile mark, and when a collision event is detected, acquiring an original pile number and a collision severity parameter of the collided profile mark, wherein the collision severity parameter at least comprises the number of the collided profile marks, the instantaneous speed of an accident vehicle and a collision acceleration peak value;
S2, transmitting a pre-warning message to a rear Fang Lunkuo mark of a vehicle coming direction based on a wireless communication network, wherein the pre-warning message comprises an original pile number and collision severity parameters;
s3, determining a warning interval range by adopting a preset grading rule in response to the collision severity parameters being smaller than a preset threshold value;
Triggering a dynamic expansion model to recalculate the warning interval range in response to any collision severity parameter being greater than or equal to a preset threshold, wherein the dynamic expansion model calculates a basic reaction distance and a basic braking distance based on the instantaneous speed of an accident vehicle, the reaction time of a driver and the road friction coefficient of an accident road section, superimposes a safety redundant distance corresponding to the road line shape of the accident road section to obtain a synthesized distance, performs weighted calculation on the synthesized distance by combining the number of the collided profile marks, and performs secondary correction on the synthesized distance after weighted calculation based on a collision acceleration peak value to obtain a final warning interval range;
S4, calculating the difference value between the pile number of the pile and the original pile number by using a post Fang Lunkuo mark And determining an affiliated warning interval based on a preset grading rule or a dynamic expansion model, wherein:
When (when) When the alarm belongs to the first alarm interval, the rear Fang Lunkuo marks alternately flash red and blue alarm lamps;
When (when) When the alarm belongs to the second alarm interval, the rear Fang Lunkuo marks flash red alarm lamps;
When (when) When belonging to the third warning interval, the rear Fang Lunkuo marks flash yellow warning lamps.
Specifically, the contour marks are set with the highway entrance as the starting point, the installation space between the contour marks is 12m, the distance between the contour marks is set as the mark, for example, the contour mark pile number at 96m along the driving direction is M096, the contour mark pile number at 1200m is K1+200, further, the guardrail at two sides of the highway is provided with the contour marks, the contour mark pile numbers at the left and right sides of 1200m can be ZK1+200 and YK1+200 respectively, meanwhile, the position information of the left contour mark in the highway management system can be simplified to be a certain high speed ZK1+200, and so on, when the contour mark at the left/right side of the highway is collided, the contour mark at the left and right sides of the rear of the coming vehicle can trigger the early warning action, when a plurality of contour marks are collided, the contour mark at the first collided is selected as the collided contour mark, and the original pile number is taken as the collided contour markIs a reference to the calculation of (a).
Further, according to the warning section where the Fang Lunkuo standard is located after the judgment of the preset grading rule or the dynamic expansion model, all the contour marks located in the first warning section flash red and blue warning lamps, the red and blue warning lamps prompt a rear driver that the warning section is a high-risk road section, the red and blue alternate flashing can quickly attract the attention of the driver, prompt the driver to keep vigilance and reduce the driving speed as soon as possible, keep vigilance to avoid secondary accidents, all the contour marks located in the second warning section flash red warning lamps, the red warning lamps prompt the rear driver that the warning section is a dangerous road section, the driver needs to pay attention to a distance from the accident occurrence point, prompt the driver to slow down and cautiously drive in advance, the safety is ensured when the driver passes through the special road section, all the contour marks located in the third warning section flash yellow warning lamps, the light plays a role of warning, the rear driver is warned in advance, the road section is indicated that the accident occurs in front, the driver does not need to be overstressed, but needs to slow down and keep focusing gradually, and driving safety is ensured. The number of the collided profile marks and the collision severity parameters are combined to judge the severity of the accident, and then whether the range of the warning interval needs to be preset or dynamically expanded is judged, a wireless communication network is adopted for message transmission, the transmission speed is improved, and when collision event information is transmitted to a highway server of a machine room, an early warning message can be transmitted to the vehicle coming direction at the same time, so that the rapid early warning function of the accident road section is realized.
Preferably, in S3:
Responsive to AndAndDetermining a warning interval range by adopting a preset grading rule;
Responsive to Or (b)Or (b)Triggering the dynamic expansion model to recalculate the warning interval range, wherein,The number of the bumped profile marks,Is the instantaneous speed of the accident vehicle,A collision acceleration peak value for the accident vehicle,Is the highest speed limit value of the accident road section,Is the gravity acceleration value;
the dynamic expansion model satisfies:
;
When (when) When the acquisition of the data is not possible, the dynamic expansion model satisfies:
;
wherein, the In order to dynamically expand the range of the warning interval,In order for the reaction time of the driver,Is the road surface friction coefficient of the accident road section,For the safety redundancy distance of the device,Is an acceleration weight coefficient.
In the model, when the collision belongs to low acceleration #) In the case of (2), the acceleration correction factor is about 1, the calculation result of the original synthetic distance is not changed, and when the collision belongs to the high acceleration #) In the case of (2), the composite distance is scaled up.
Specifically, the range of the road friction coefficient isDynamically adjusted according to the road surface state and weather conditions (refer to table 1):
Table 1 table for reference of values of road surface friction coefficients
;
The road friction coefficient value process can be judged by real-time data of the meteorological bureau, and also can be judged by arranging corresponding sensors on the expressway.
The value of the reaction time of the driver is 1.0 s-2.5 s according to the design requirement in the highway route design rule, and can reach 3s under the condition of complex environment or fatigue driving of the driver, and specifically, the default value of the reaction time of the driver is set to be 2s.
Preferably, the method comprises the steps of,The following conditions are satisfied:
;
wherein, the As a function of the natural index of refraction,For the duration of the collision.
The base value of (2) is 0.1, even if the collision time is extremely shortApproaching 0), K a remains 0.1, ensuring that minor accidents still have a range of expansion.
Specifically, the collision duration is determined according to the collision intensity, and the collision duration distribution at different intensities is referred to the following table by performing an impact test at a speed of 20-80km/h using a test vehicle:
table 2 collision duration distribution reference table
;
In a specific embodiment, whenAt the time of low strength, setDefault value of 0.15s, whenIn the process, for medium strength, setDefault value of 0.3s, whenIn the case of high strength, theIs 1s, and further, when the acceleration cannot be obtained, taking(In the automotive safety field, an acceleration of 5g is often used as a reference threshold for medium-intensity collisions).
Specifically, the safe and redundant distance is set to a preset value according to the road alignment of the expressway, and the straight line sectionRoad section of curved slope。
In particular, to、、、、For example, the conventional accident scene of the straight line road section adopts a dynamic expansion model to dynamically expand the range of the warning intervalAnd (3) performing calculation:
;
preferably, in the preset classification rule, the preset value of the first warning interval is The preset value of the second warning interval isThe preset value of the third warning interval isAnd whenWhen the warning section is divided by the section proportion of the dynamic expansion model, whenAnd when the warning interval is kept at a preset value.
The calculated D value is far smaller than the warning interval range of the preset grading rule, and the warning interval where Fang Lunkuo marks are located is judged based on the preset grading rule.
Further, to、、、、For example, the straight wet road section medium collision scene of (2) is calculated by:
;
At this time The warning intervals are divided according to the interval proportion of the dynamic expansion model, and the specific steps are as follows:
When (when) When the back Fang Lunkuo is the first warning section;
When (when) When the rear Fang Lunkuo is in the second warning section;
When (when) And when the back Fang Lunkuo is in the third warning section.
In a specific embodiment, D values are rounded, the alert intervals are divided by a range of 1828m, the rear Fang Lunkuo of the range of the bumped outline marker 548m belongs to the first alert interval, the red-blue alert lamps are triggered to flash alternately, the rear Fang Lunkuo of the range of 268 m-1280 m belongs to the second alert interval, the red alert lamps are triggered to flash, the rear Fang Lunkuo of the range of 1280 m-1828 m belongs to the third alert interval, and the yellow alert lamps are triggered to flash.
Further, to、、、、For example, the ice and snow linear road surface:
;
Preferably, the setting is that Maximum value of (2)3000M, whenWhen the road traffic accident warning system is used, the rear Fang Lunkuo mark on one side of the expressway emergency lane is controlled to flash the red and blue warning lamp alternately, the effect of long-distance high-risk early warning is achieved, a rear driver is prompted to slow down and avoid danger or detour, the high-risk early warning is pushed to a third-party navigation platform, and the driver who does not enter the road section can know the accident condition of the road section in advance, so that the route is planned again.
Fig. 2 shows a schematic diagram of pre-alarm message transmission according to a specific embodiment of the present invention, fig. 3 shows a schematic diagram of a communication framework according to a specific embodiment of the present invention, and when the pre-alarm message is sent back Fang Lunkuo in S2 as shown in fig. 1-3, the method further includes the following steps:
s201, adopting an improved AODV protocol to select a main node from a post Fang Lunkuo standard;
S202, the master node repackages the pre-alarm message, wherein the pre-alarm message after encapsulation also comprises the current hop count And maximum number of hopsForwarding the packaged early warning message to a subsequent node hop by hop along the vehicle coming direction based on the 2.4G frequency band until the warning interval is covered;
Responsive to The main node adds and encapsulates the emergency mark to the early warning message, and preferentially occupies a special emergency channel of the communication gateway, and forces the subsequent nodes to forward the early warning message at minimum intervals;
Responsive to The master node synchronously activates a Bluetooth broadcasting function of a rear Fang Lunkuo target within a range of 500m of the bumped profile, and pushes an avoidance command to vehicles within the range.
Further preferably, S201 further includes:
S211, broadcasting a route request packet RREQ to the coming direction of the vehicle by the collision outline, wherein the RREQ comprises a target direction identifier and a minimum residual electric quantity percentage threshold value Synchronizing mark and original pile number;
and S212, scoring the post Fang Lunkuo mark by adopting a scoring formula, wherein the scoring formula meets the following conditions:
;
Wherein Score is the Score of the post Fang Lunkuo target, and the post outline target as a candidate node needs to meet the following requirements Distance to the bumped delineatorSignal strength;
S213, comparing the Score of each rear outline marker meeting the requirements, selecting the rear Fang Lunkuo marker with the highest Score as a main node, wherein the rear Fang Lunkuo between the bumped outline marker and the main node is marked as an intermediate node, and when the main node and the intermediate node receive the RREQ containing the synchronous mark, triggering the local warning and caching the collision event information immediately.
In the present embodiment, the setting isThe post Fang Lunkuo mark only meetsThe method has the opportunity to participate in the election step of the master node, ensures that the elected master node has sufficient electric quantity, and ensures that the post Fang Lunkuo mark with the optimal comprehensive performance of the election position is used as the master node to forward the pre-alarm message hop by combining with the signal strength condition of the election.
Specifically, the left side and the right side of the expressway are both provided with the outline markers, so that the election process of the main node is carried out simultaneously aiming at the outline markers (namely the rear Fang Lunkuo markers) on the left side and the right side within a range of 100m from the rear side (the coming direction) of the bumped outline marker, and in the election process, the main node and the middle node (all the rear outline markers positioned between the bumped outline markers and the main node) trigger a local warning (red and blue alternate flashing of a first warning interval) when receiving the RREQ, and then the main node packages the early warning message again and carries out multi-hop transmission until the whole warning interval range is covered.
The hop-by-hop transmission speed of the master node refers to the bluetooth transmission protocol, so that a high-speed transmission of 625 microseconds with one hop can be achieved, meanwhile, a plurality of communication gateways are arranged at equal intervals along the expressway, each communication gateway corresponds to 512 profile marks to perform communication with an expressway server, and further, the communication gateways can be arranged on one side (one communication gateway corresponds to the profile marks on two sides of the expressway and is 512 in total) or arranged on two sides (one communication gateway corresponds to 512 profile marks on one side of the expressway).
In the process of forwarding the pre-alarm message, a profile mark with a certain distance from the bumped profile mark needs to be selected as a main node, and then the main node is used for repackaging the pre-alarm message for hop-by-hop forwarding, so that the information can be ensured to effectively cover the range of the warning interval, and the communication efficiency and reliability can be improved, when the traffic information is receivedWhen the emergency mark is additionally added and the emergency channel is occupied preferentially, the emergency mark is forced to be forwarded quickly, the early warning information is ensured to be transmitted in time when the collision is serious, and when the collision is seriousWhen the collision warning system is used, the rear Fang Lunkuo mark in the collision outline mark 500m is activated to carry out a Bluetooth broadcast pushing avoidance instruction, so that the vehicle can acquire avoidance information rapidly in a short distance, the response speed and accuracy of the warning system are improved in a multi-dimensional manner, and key information can be effectively transmitted under collision scenes with different severity degrees.
Further, a target direction identifier is added into the early warning message to strictly limit the transmission direction to the rear of the vehicle coming direction, the screening range of the main node is defined, the selection condition of the residual electric quantity is added, the endurance of the nodes is ensured, the nodes with sufficient electric quantity, short distance and strong signal are strictly screened out, the communication quality is ensured, the Score is calculated by using a scoring formula, the comprehensive performance of the main node can be ensured to be optimal, the transmission path of the pre-warning message is optimized, meanwhile, when the intermediate node between the bumped profile mark and the main node receives the RREQ containing the synchronous mark, the local warning is immediately triggered, the information is cached, the local quick response and the information retention are realized, and the early warning message can rapidly cover the whole warning interval.
Still further preferably, the master node dynamically adjusts the maximum hop count of the packaged early warning message according to the range of the warning interval, so as to satisfy the following conditions:
;
wherein, the The covered distance for single hop transmission;
In the process of hop-by-hop forwarding of the master node, the subsequent nodes are according to And (3) withThe ratio of (2) dynamically adjusts the transmit power:
When (when) When the standard power emission is adopted;
When (when) When the power enhancement mode is started;
During each hop transmission, it is located in Post Fang Lunkuo mark synchronous receiving pre-alarm message in range, calculatingAnd judging the warning interval to which the warning signal belongs.
Specifically, taking the following node of the main node and the first hop as an example, a plurality of outline markers are further included between the main node and the following node, in the transmission process of the first hop, the outline markers synchronously receive the pre-alarm message, execute calculation operation of an alarm interval and trigger corresponding alarm lights, and note that, because the outline markers are symmetrically distributed on guardrails on two sides of the expressway, in the transmission process of the early-warning message, the outline markers located opposite to the bumped outline markers, the middle node, the main node and the following node also receive the pre-alarm message and trigger the alarm lights, further, the set interval of the single-side outline markers is 12m, and considering that the transmission distance of the 2.4G data packet is about 100m, in a specific application scenario, the coverage distance range of single-hop transmission of the early-warning message can cover 8 outline markers (including the starting point and the end point of single-hop transmission).
Specifically, the master node can dynamically adjust the maximum hop count, ensure that the transmission covers a complete warning interval, avoid blind transmission or insufficient coverage, the follow-up node adjusts the transmitting power according to the ratio of the current hop count to the maximum hop count, start a power enhancement mode to ensure that the key hop count can be successfully transmitted under the specified condition, optimize the power consumption and simultaneously improve the transmission reliability, in the transmission process of each hop, all profile targets positioned in the range covered by single hop transmission synchronously receive the pre-warning message, calculate the difference value between own pile numbers and original pile numbers, quickly judge the warning interval where the self is positioned, realize that the warning function of all profile targets in the range covered by single hop transmission can be activated once the pre-warning message is forwarded, trigger corresponding warning lights in time, improve the pre-warning response speed, ensure the complete transmission of pre-warning information and simultaneously optimize the resource utilization.
According to a second aspect of the present application, an intelligent pre-warning control system for highway delineators is provided, and a control method as described in any one of the above is adopted, and fig. 4 shows a schematic structural diagram of a control system according to an embodiment of the present application, as shown in fig. 1-4, where the control system includes:
The profile mark 02 module comprises a plurality of profile marks 02 which are arranged at equal intervals along guardrails 01 on two sides of a highway, and also comprises a collision detection module and a main control module, wherein the collision detection module comprises a Doppler radar sensor 12 and an acceleration sensor 13 which are respectively arranged on the surface and inside of the profile mark 02, the main control module comprises a control circuit board 09, a data processing module 14, a data storage module 15, a network communication module 16 and a Bluetooth communication module 17 which are arranged on the control circuit board 09, the surface of the profile mark 02 is also provided with a multicolor LED stroboscopic lamp 10, and the Doppler radar sensor 12, the acceleration sensor 13 and the multicolor LED warning lamp are electrically connected with the control circuit board 09;
The communication gateway module comprises a plurality of communication gateways 03 which are arranged at equal intervals along one side of the expressway and a core gateway 04 which is arranged in an expressway machine room;
The expressway server 05 is arranged in the machine room, and the expressway server 05 is in communication connection with the outline marker 02 through the communication gateway 03.
The contour marks 02 are symmetrically distributed on guardrails 01 on two sides of an expressway along the running direction of the vehicle at equal intervals, the distance between the contour marks 02 adjacent to one side is 12m, each communication gateway 03 corresponds to 512 contour marks 02 and communicates with the expressway server 05, the communication gateway 03 can be arranged on one side or arranged on two sides, in the figure, the single communication gateway 03 is simultaneously communicated with the contour marks 02 on two sides (256 on one side) by taking the arrangement on one side as an example, the communication gateway 03 is further communicated with a core gateway 04 (the core gateway 04 is connected with the expressway server 05) in an expressway machine room, collision information is synchronized to the expressway server 05, further, specific places and accident grades of collision are visually displayed on an expressway management system, workers can timely carry out rescue, further, when certain road sections need construction maintenance, the expressway management system can send instructions to the contour marks 02 on the rear of the road sections to be constructed, the road sections to flash warning lights, the passengers can remind the passengers of the front road sections to navigate to the construction platform, and the construction maintenance of the road sections can be synchronized to the road sections in front of the third party road sections, and the road sections can be synchronized to the road sections ahead of the road sections.
Fig. 5 shows a schematic structural exploded view of a delineator according to a specific embodiment of the present invention, fig. 6 shows a frame diagram of a connection of a collision detection module with a main control module according to a specific embodiment of the present invention, as shown in fig. 1 to 6, the delineator 02 includes a housing 06 and a base 07, the base 07 is previously installed at a designated position on a highway guardrail 01, the housing 06 is detachably connected with a connection 08 by a buckle or the like, the connection 08 is detachably installed on the base 07 by a magnetic attraction or the like, the surface of the housing 06 is provided with a doppler radar sensor 12, and the housing 06 is internally provided with an acceleration sensor 13, both of which play a role in acquisition of an instantaneous speed and a collision acceleration peak of an accident vehicle in a collision severity parameter, the housing 06 is internally provided with the main control module and a rechargeable battery 11, the rechargeable battery 11 supplies power to the main control module, the collision detection module and the multicolor LED stroboscopic lamp 10, the rechargeable battery 11 is charged in a wired or solar mode, the main control module comprises a control circuit board 09, a data processing module 14 (such as an MCU, an MPU and other microprocessors) and a data storage module 15 (used for accessing accident related data) are arranged on the control circuit board 09, a network communication module 16 (such as a 2.4G communication chip and used for wireless communication between the profile marks 02 and the communication gateway 03), a Bluetooth communication module 17 (used for communication connection between the devices such as a mobile phone and an operation terminal and the like and the profile marks 02), meanwhile, two rows of multicolor LED stroboscopic lamps 10 are arranged on one side of the control circuit board 09 and used for flashing corresponding warning lights, the data processing module 14 calculates and judges a warning interval through acquired collision severity parameters, the control network communication module 16 carries out communication transmission with other profile marks 02 and communication gateway 03 and pre-alarms, further, the control multicolor LED stroboscopic lamp 10 flashes the warning light corresponding to the warning interval, the early warning action of the profile mark 02 of the accident road section is flexibly controlled, meanwhile, when the profile mark 02 is collided, the shell 06 can fall off from the base 07, only the new shell 06 needs to be replaced when later maintenance is carried out, the new shell 06 is paired with the base 07 through the mobile phone/operation terminal, the replacement of the profile mark 02 can be realized, the whole profile mark 02 does not need to be replaced like the traditional profile mark 02, and the cost is saved while the maintenance efficiency is improved.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept described above. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.

Claims (10)

1.一种高速公路轮廓标智能预警控制方法，其特征在于，包括：1. A method for intelligent early warning and control of highway delineators, characterized in that it includes: S1：通过预设在轮廓标上的碰撞检测模组实时检测所述轮廓标的碰撞状态，当检测到碰撞事件时，获取被撞轮廓标的原始桩号和碰撞严重性参数，所述碰撞严重性参数至少包括所述被撞轮廓标的数量、事故车辆的瞬时速度和碰撞加速度峰值；S1: The collision status of the contour markers is detected in real time by a collision detection module preset on the contour markers. When a collision event is detected, the original station number of the collided contour marker and the collision severity parameters are obtained. The collision severity parameters include at least the number of collided contour markers, the instantaneous speed of the accident vehicle and the peak value of the collision acceleration. S2：基于无线通信网络向车辆来车方向的后方轮廓标发送预警报文，所述预警报文包含所述原始桩号和所述碰撞严重性参数；S2: Send a warning message to the rear delineator in the direction of oncoming traffic based on the wireless communication network. The warning message includes the original station number and the collision severity parameter. S3：响应于所述碰撞严重性参数均小于预设阈值，采用预设分级规则确定警示区间范围；S3: In response to the fact that all the collision severity parameters are less than the preset threshold, the warning interval range is determined by the preset grading rules; 响应于任一所述碰撞严重性参数大于等于所述预设阈值，触发动态扩展模型重新计算所述警示区间范围，其中，所述动态扩展模型基于事故车辆的瞬时速度、驾驶人的反应时间、事故路段的路面摩擦系数计算基础反应距离和基础制动距离，并叠加事故路段道路线形对应的安全冗余距离得到合成距离，结合所述被撞轮廓标的数量对所述合成距离进行加权计算，基于碰撞加速度峰值对加权计算后的所述合成距离进行二次修正得到最终的所述警示区间范围；In response to any of the collision severity parameters being greater than or equal to the preset threshold, a dynamic expansion model is triggered to recalculate the warning interval range. The dynamic expansion model calculates the basic reaction distance and basic braking distance based on the instantaneous speed of the accident vehicle, the driver's reaction time, and the road surface friction coefficient of the accident section. It then adds the safety redundancy distance corresponding to the road alignment of the accident section to obtain a composite distance. The composite distance is weighted by the number of the collided delineators. The weighted composite distance is then corrected a second time based on the peak collision acceleration to obtain the final warning interval range. S4：所述后方轮廓标计算自身桩号与所述原始桩号的差值，并基于所述预设分级规则或所述动态扩展模型确定所属的警示区间，其中：S4: The rear delineator calculates the difference between its own station number and the original station number. And based on the preset grading rules or the dynamic expansion model, the corresponding warning interval is determined, wherein: 当属于第一警示区间时，所述后方轮廓标交替闪烁红蓝警示灯；when When the area falls within the first warning zone, the rear delineator flashes red and blue warning lights alternately. 当属于第二警示区间时，所述后方轮廓标闪烁红色警示灯；when When the area falls within the second warning zone, the rear delineator flashes a red warning light; 当属于第三警示区间时，所述后方轮廓标闪烁黄色警示灯。when When the area falls within the third warning zone, the rear delineator will flash a yellow warning light. 2.根据权利要求1所述的控制方法，其特征在于，所述S3中：2. The control method according to claim 1, characterized in that, in step S3: 响应于和和，采用预设分级规则确定所述警示区间范围；In response to and and The warning interval range is determined using preset grading rules; 响应于或或，触发动态扩展模型重新计算所述警示区间范围，其中，为所述被撞轮廓标的数量、为事故车辆的瞬时速度、为事故车辆的碰撞加速度峰值、为事故路段的最高限速值、为重力加速度值；In response to or or This triggers a dynamic expansion model to recalculate the warning interval range, wherein... The number of the collided delineators, The instantaneous speed of the vehicle involved in the accident, The peak collision acceleration of the accident vehicle, The maximum speed limit for the section of road where the accident occurred. This is the value of gravitational acceleration; 所述动态扩展模型满足：The dynamic expansion model satisfies: ； ; 当无法获取时，所述动态扩展模型满足：when When the data cannot be obtained, the dynamically extended model satisfies: ； ; 其中，为动态扩展后的警示区间范围，为驾驶人的反应时间，为事故路段的路面摩擦系数，为安全冗余距离，为加速度权重系数。in, This refers to the dynamically expanded warning interval range. For the driver's reaction time, The coefficient of friction of the road surface at the accident site. For safety redundancy distance, This is the acceleration weighting coefficient. 3.根据权利要求2所述的控制方法，其特征在于，所述动态扩展模型的区间划分比例为：3. The control method according to claim 2, wherein the interval division ratio of the dynamic expansion model is: 当时，所述后方轮廓标属于第一警示区间；when At that time, the rear delineator belongs to the first warning zone; 当时，所述后方轮廓标属于第二警示区间；when At that time, the rear delineator belongs to the second warning zone; 当时，所述后方轮廓标属于第三警示区间。when At that time, the rear delineator belongs to the third warning zone. 4.根据权利要求3所述的控制方法，其特征在于，所述预设分级规则中：所述第一警示区间的预设值为，所述第二警示区间的预设值为，所述第三警示区间的预设值为，且当时，所述警示区间以所述动态扩展模型的区间比例进行划分，当时，所述警示区间保持预设值。4. The control method according to claim 3, wherein the preset grading rule has the following preset value: the preset value of the first warning interval is... The preset value of the second warning interval is The preset value of the third warning interval is , and when When, the warning interval is divided according to the interval ratio of the dynamic expansion model, when At that time, the warning interval remains at a preset value. 5.根据权利要求2所述的控制方法，其特征在于，满足以下条件：5. The control method according to claim 2, characterized in that, The following conditions must be met: ； ; 其中，为自然指数函数，为碰撞持续时间。in, It is a natural exponential function. The duration of the collision. 6.根据权利要求2所述的控制方法，其特征在于，设定的最大值为3000m，当时，控制高速公路应急车道的所述后方轮廓标交替闪烁红蓝警示灯，并向导航平台推送高风险预警信息。6. The control method according to claim 2, characterized in that, setting maximum value For 3000m, when At that time, the rear delineator controlling the emergency lane of the highway will flash red and blue warning lights alternately, and push high-risk warning information to the navigation platform. 7.根据权利要求1所述的控制方法，其特征在于，所述S2中向所述后方轮廓标发送所述预警报文时，还包括以下步骤：7. The control method according to claim 1, characterized in that, when sending the early warning message to the rear delineator in step S2, the method further includes the following step: S201：采用改进型AODV协议从所述后方轮廓标中选举出主节点；S201: Elect a master node from the rear delineators using the improved AODV protocol; S202：所述主节点重新封装所述预警报文，其中，封装后的所述预警报文还包括当前跳数和最大跳数，并基于2.4G频段沿车辆来车方向逐跳转发封装后的所述预警报文给后续节点，直至覆盖所述警示区间；S202: The master node re-encapsulates the warning message, wherein the encapsulated warning message also includes the current hop count. and maximum number of jumps The encapsulated warning message is forwarded hop-by-hop to subsequent nodes along the direction of vehicle arrival in the 2.4G frequency band until the warning range is covered. 响应于，所述主节点增加封装紧急标记至所述预警报文，并优先占用通信网关的专用应急信道，强制所述后续节点以最小间隔转发所述预警报文；In response to The master node adds an emergency tag to the early warning message and prioritizes the use of the dedicated emergency channel of the communication gateway, forcing the subsequent nodes to forward the early warning message at the minimum interval; 响应于，所述主节点同步激活距离所述被撞轮廓标500m范围内的所述后方轮廓标的蓝牙广播功能，并向范围内的车辆推送避让指令。In response to The master node synchronously activates the Bluetooth broadcast function of the rear contour marker within a 500m range of the collided contour marker, and pushes avoidance instructions to vehicles within the range. 8.根据权利要求7所述的控制方法，其特征在于，所述S201还包括：8. The control method according to claim 7, wherein step S201 further includes: S211：所述被撞轮廓标向车辆来车方向广播路由请求包RREQ，RREQ包含：目标方向标识、最小剩余电量百分比阈值、同步标记和所述原始桩号；S211: The collided delineator broadcasts a route request packet RREQ in the direction of oncoming vehicle traffic. The RREQ includes: target direction identifier and minimum remaining battery percentage threshold. Synchronization marker and the original station number; S212：采用评分公式对所述后方轮廓标进行节点评分，所述评分公式满足：S212: The rear contour marker is scored using a scoring formula, wherein the scoring formula satisfies: ； ; 其中，Score为所述后方轮廓标的评分，且所述后方轮廓标作为候选节点需要同时满足：剩余电量百分比、与所述被撞轮廓标的距离、信号强度；Wherein, Score is the rating of the rear contour marker, and the rear contour marker, as a candidate node, must simultaneously satisfy: remaining battery percentage. Distance from the collided delineator Signal strength ; S213：比较满足要求的各所述后方轮廓标的Score高低，选择Score最高的所述后方轮廓标为所述主节点，其中，所述被撞轮廓标与所述主节点之间的所述后方轮廓标为中间节点，所述主节点和中间节点接收到包含所述同步标记的RREQ时，立即触发本地警示并缓存碰撞事件信息。S213: Compare the scores of the rear contour markers that meet the requirements, and select the rear contour marker with the highest score as the master node. The rear contour markers between the collided contour marker and the master node are intermediate nodes. When the master node and the intermediate node receive an RREQ containing the synchronization flag, they immediately trigger a local warning and cache the collision event information. 9.根据权利要求7或8所述的控制方法，其特征在于，所述主节点根据所述警示区间的范围动态调整封装后的预警报文的最大跳数，满足：9. The control method according to claim 7 or 8, characterized in that the master node dynamically adjusts the maximum number of hops of the encapsulated early warning message according to the range of the warning interval, satisfying: ； ; 其中，为单跳传输所覆盖距离；in, The distance covered by a single-hop transmission; 所述主节点进行逐跳转发的过程中，所述后续节点根据与的比例动态调整发射功率：During the hop-by-hop forwarding process of the master node, the subsequent nodes, according to... and Dynamically adjust the transmit power proportionally: 当时，采用标准功率发射；when At that time, standard power is used for transmission; 当时，启动功率增强模式；when At this time, power enhancement mode is activated; 每跳传输过程中，位于范围内的所述后方轮廓标同步接收所述预警报文，计算并判断所属的警示区间。During each hop of transmission, located The rear delineators within the range synchronously receive the early warning message and calculate... And determine the corresponding warning range. 10.一种高速公路轮廓标智能预警控制系统，采用如权利要求1-9中任一所述的控制方法，其特征在于，包括：10. A smart early warning control system for highway delineators, employing the control method described in any one of claims 1-9, characterized in that it comprises: 轮廓标模组，包括沿高速公路两侧护栏等间距设置的若干轮廓标，还包括碰撞检测模组和主控模组，所述碰撞检测模组包括分别设置在所述轮廓标表面和内部的多普勒雷达传感器和加速度传感器，所述主控模组包括控制电路板以及置于所述控制电路板上的数据处理模块、数据存储模块、网络通讯模块和蓝牙通讯模块，所述轮廓标表面还设有多色LED频闪灯，所述多普勒雷达传感器、加速度传感器、多色LED频闪灯均与所述控制电路板电连接；The contour marker module includes a number of contour markers evenly spaced along the guardrails on both sides of a highway, and also includes a collision detection module and a main control module. The collision detection module includes a Doppler radar sensor and an acceleration sensor respectively disposed on the surface and inside the contour markers. The main control module includes a control circuit board and a data processing module, a data storage module, a network communication module, and a Bluetooth communication module disposed on the control circuit board. The surface of the contour markers is also provided with multi-color LED strobe lights. The Doppler radar sensor, the acceleration sensor, and the multi-color LED strobe lights are all electrically connected to the control circuit board. 通信网关模组，包括沿所述高速公路一侧等间距设置的若干通信网关和设置在所述高速公路机房内的核心网关；The communication gateway module includes a plurality of communication gateways arranged at equal intervals along one side of the highway and a core gateway located in the highway equipment room. 高速公路服务器，设置在所述机房内，所述高速公路服务器通过所述通信网关与所述轮廓标通信连接。A highway server is located in the computer room, and the highway server communicates with the delineator through the communication gateway.
CN202610092528.9A 2026-01-23 2026-01-23 Intelligent early warning control method and system for highway profile marks Pending CN121565017A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202610092528.9A CN121565017A (en) 2026-01-23 2026-01-23 Intelligent early warning control method and system for highway profile marks

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202610092528.9A CN121565017A (en) 2026-01-23 2026-01-23 Intelligent early warning control method and system for highway profile marks

Publications (1)

Publication Number Publication Date
CN121565017A true CN121565017A (en) 2026-02-24

Family

ID=98794926

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202610092528.9A Pending CN121565017A (en) 2026-01-23 2026-01-23 Intelligent early warning control method and system for highway profile marks

Country Status (1)

Country Link
CN (1) CN121565017A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010047508A2 (en) * 2008-10-21 2010-04-29 Lee Jung Ho Alarm device and method for dedicated road for automobiles
CN110745119A (en) * 2019-10-21 2020-02-04 中国联合网络通信集团有限公司 Anti-collision method and device
CN111243291A (en) * 2020-01-22 2020-06-05 长安大学 A method for early warning of vehicles behind traffic abnormal points on expressway sharp bends
CN113611145A (en) * 2021-07-02 2021-11-05 江苏万物通物联网科技有限公司 Alarm prevention and control system and method based on intelligent delineator
CN114936668A (en) * 2022-03-30 2022-08-23 安徽交控信息产业有限公司 Road accident early warning system based on delineators
CN115731699A (en) * 2022-09-07 2023-03-03 哈尔滨工业大学 Method and system for detecting and actively inducing accident of collision guardrail of highway
CN116229762A (en) * 2023-03-13 2023-06-06 山东汉鑫科技股份有限公司 A collision warning method for right-turn vehicles at intersections based on intelligent luminous markings
CN120726836A (en) * 2025-07-21 2025-09-30 北京恒达交安科技发展有限公司 A method and system for rapid processing of traffic incident alarm, early warning and rescue

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010047508A2 (en) * 2008-10-21 2010-04-29 Lee Jung Ho Alarm device and method for dedicated road for automobiles
CN110745119A (en) * 2019-10-21 2020-02-04 中国联合网络通信集团有限公司 Anti-collision method and device
CN111243291A (en) * 2020-01-22 2020-06-05 长安大学 A method for early warning of vehicles behind traffic abnormal points on expressway sharp bends
CN113611145A (en) * 2021-07-02 2021-11-05 江苏万物通物联网科技有限公司 Alarm prevention and control system and method based on intelligent delineator
CN114936668A (en) * 2022-03-30 2022-08-23 安徽交控信息产业有限公司 Road accident early warning system based on delineators
CN115731699A (en) * 2022-09-07 2023-03-03 哈尔滨工业大学 Method and system for detecting and actively inducing accident of collision guardrail of highway
CN116229762A (en) * 2023-03-13 2023-06-06 山东汉鑫科技股份有限公司 A collision warning method for right-turn vehicles at intersections based on intelligent luminous markings
CN120726836A (en) * 2025-07-21 2025-09-30 北京恒达交安科技发展有限公司 A method and system for rapid processing of traffic incident alarm, early warning and rescue

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
周海宇: "山区高速公路小半径平曲线隧道交通安全保障技术研究", 《中国优秀硕士学位论文全文数据库 (工程科技Ⅱ辑)》, no. 01, 15 January 2019 (2019-01-15), pages 1 - 100 *

Similar Documents

Publication Publication Date Title
CN110853357B (en) Early warning control system and method for dangerous highway sections and construction areas
TWI691927B (en) External coordinate real-time three-dimensional road condition auxiliary device for mobile vehicle and the system
CN104008663B (en) The warning of driving trace Intelligent Recognition and early warning system under low-visibility conditions
CN109983516B (en) Emergency notification warning system
JP2020501224A (en) Network and connected devices for emergency response and roadside work
CN106781547A (en) A kind of traffic lights intelligent control method, roadside device and system
CN114973713A (en) An intelligent early warning system and method for preventing accidental entry for highway reconstruction and expansion projects
CN106846912A (en) Highway traffic warning and method based on ZigBee
CN115273543A (en) Road anti-collision multistage early warning system and use method thereof
CN115775457B (en) Method and system for testing cooperative paths of civil aviation airport roads
CN105632218A (en) Motorway vehicle-mounted group navigation system based on GPS and GSM platform
CN116087960A (en) Highway ultrasonic vehicle positioning and risk early warning system and method
CN113706900A (en) Ramp inward-remittance and outward-remittance early warning system
KR102006823B1 (en) System and Apparatus for Notification Road Traffic Situation Forward
CN112530185A (en) Intelligent guidance system based on road internet of things monitoring
CN209543583U (en) A kind of pedestrian's street crossing safety assisting system
CN208638729U (en) A kind of emergency vehicles road persuasion system based on Internet of Things
CN116229748B (en) Expressway induction lamp control method and system based on quasi-all-weather traffic
CN113284351A (en) Same-high-speed highway traffic control system based on vehicle-road cooperation technology
CN121565017A (en) Intelligent early warning control method and system for highway profile marks
CN214423221U (en) Highway tunnel blocks warning device based on profection lamp
CN114898592A (en) Highway fog region lane level guidance control system and method
CN113611145A (en) Alarm prevention and control system and method based on intelligent delineator
CN219872546U (en) Induction system integrating collision detection and voice light area alarm functions
CN217606448U (en) Dynamic traffic control system based on vehicle-road cooperation

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination