CN205845328U - Collaborative and the active safety prior-warning device of 4G network based on bus or train route - Google Patents
Collaborative and the active safety prior-warning device of 4G network based on bus or train route Download PDFInfo
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- CN205845328U CN205845328U CN201620739614.6U CN201620739614U CN205845328U CN 205845328 U CN205845328 U CN 205845328U CN 201620739614 U CN201620739614 U CN 201620739614U CN 205845328 U CN205845328 U CN 205845328U
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Abstract
The utility model discloses a kind of working in coordination with and the active safety prior-warning device of 4G network based on bus or train route, including: trackside signal integration processing module, receive traffic light module information and also integrate the information that trackside 4G module receives, and process；Trackside 4G module, receives the information of trackside signal integration processing module, outwards broadcasts with the GPS latitude and longitude coordinates information of the center, crossing of storage inside；Vehicle-mounted 4G module, communicates with trackside 4G module；Vehicle GPS module, for measuring the positional information of vehicle, and will be sent to Vehicle Controller module；Vehicle Controller module, for controlling the display information of vehicle-mounted 4G module and HMI module, calculate Current vehicle arrive the time at crossing and arrive separately at the time difference at crossing with detected target vehicle, judge whether to reach alarm threshold value, if reaching corresponding alarm threshold value, then make a dash across the red light warning and/or collision warning.With low cost, simple in construction, carries out quick early warning to vehicle collision.
Description
Technical field
This utility model relates to intelligent transportation and traffic safety technical field, assists based on bus or train route more particularly to one
With and the active safety prior-warning device of 4G network and method, be particularly suited for lamp intersection and carry out making a dash across the red light and report to the police and crossroad
Mouth blind area early warning.
Background technology
Along with improving constantly of China's urbanization rate, there is sight line to block at present and have the intersection road conditions of traffic light
More and more.Although in the case of there is signal lights at crossing, travel safety significantly improves, but owing to some driver exists
Rush the dangerous driving behaviors such as amber light, or front truck blocks the situations such as sight line and happens occasionally, and still causes to traffic safety
The biggest hidden danger.Further, the conventional traffic way to manage that road and vehicle are considered as discrete part, it is difficult to meet people
Requirement to traffic safety level.
Traditional active safety technologies is based primarily upon autonomous land vehicle sensor and realizes, be not merely limited to driving conditions,
Road conditions, weather and environmental factors, cannot meet sensor blind area and the safe early warning requirement of abnormal road environment simultaneously.Base
In DSRC(Dedicated Short Range Communications, DSRC) car car, bus or train route communication technology
The demand can be met, but the transformation of trackside and mobile unit disposes and needs a large amount of basis to put into, with high costs, difficult in a short time
With universal.
Chinese patent literature CN 102431556 discloses a kind of integrated driver prior-warning device collaborative based on bus or train route,
Including be arranged on vehicle from car state aware module, car external environment sensing module, main control module, in-vehicle wireless communication module
And human-computer interaction module, the described output signal input main control module from car state aware module, car external environment sensing module, main
Control module is by wireless communication module and the equipment communication in surrounding vehicles and road, and main control module passes through human-computer interaction module
Send early warning.Obtain surrounding vehicles driving intention by truck traffic mode, thus potential danger is identified, early warning.Should
Device is extremely complex, by various sensor acquisition information, is then analyzed the driving intention of vehicle.This installation cost is high
High, application prospect is the best.
Based on 4G(The 4th Generation Mobile Communication Technology, forth generation moves
Communication technology) bus or train route coordination technique have become as at present international intelligence with advantages such as its low cost, high coverage rate, good real-time performance
The relatively hot technology of energy field of traffic, Main Developed Countries and area including the U.S., Japan, Europe are all actively being studied
The related application of this technology, advance to perfect order relevant legislation works.Collaborative the referring to of bus or train route applies sensor measuring, radio communication, signal
The technology such as process, enable vehicle end and road terminal to share the information such as vehicle-state, roadside device state, road traffic condition,
To reach effectively to promote traffic safety, the purpose of road efficiency.
At present, along with the research and development of communication technology, 4G technology is with its low cost, high coverage rate, good real-time performance
Feature has become the most popular bus or train route communication for coordination technology.This utility model comes therefrom.
Utility model content
The defect existed for technique scheme, the purpose of this utility model be propose a kind of collaborative based on bus or train route and
The active safety prior-warning device of 4G network and method, with low cost, simple in construction, vehicle can be made a dash across the red light warning and friendship
The blind area early warning of cross road mouth, makes driver's timely anticipation traffic light situation and blind area road conditions, is prevented effectively from vehicle peccancy and touches
Hit the generation of accident.
The technical solution of the utility model is:
A kind of collaborative based on bus or train route and the active safety prior-warning device of 4G network, it is characterised in that include mobile unit and
Roadside device；Described roadside device includes:
One trackside signal integration processing module, is used for receiving traffic light module information and integrating trackside 4G module receiving
Information, through resolving and removing after redundancy, transmit information to trackside 4G module；
One trackside 4G module, is connected with trackside signal integration processing module, is used for receiving trackside signal integration processing module
Information, and the GPS latitude and longitude coordinates information together with the center, crossing of its storage inside outwards broadcasted by 4G mode；
Described mobile unit includes:
One vehicle-mounted 4G module, is controlled to communicate with trackside 4G module by Vehicle Controller module；
One vehicle GPS module, for measuring the positional information of Current vehicle, and is sent to vehicle-mounted control by described positional information
Device module processed；
One Vehicle Controller module, for controlling the display information of vehicle-mounted 4G module and HMI module, calculates Current vehicle and arrives
Reach the time at crossing and arrive separately at the time difference at crossing with detected target vehicle, and judging whether to reach alarm threshold value,
If reaching corresponding alarm threshold value, then make a dash across the red light warning and/or collision warning；
One HMI module, is used for showing running status and the safe early warning information that vehicle is current.
Preferably, described mobile unit also includes that cab signal integrates processing module, is used for receiving vehicle GPS module information
And integrate the broadcast message that vehicle-mounted 4G module receives, after resolving and removing redundancy, vehicle running state information is passed through car
Carry 4G module overseas broadcast.
Compared with prior art, the utility model has the advantages that:
There iing the intersection of traffic light after this utility model active safety prior-warning device is installed, can be efficiently
Carry out bus or train route communication with the vehicle on the way installing 4G receiving control device, traffic light phase information can be passed extensively in real time again
Broadcast to vehicle on the way, in time the vehicle condition outside pilot's line of vision, road conditions, signal lights situation are sent to required vehicle.Through car
The set controller dissection process to broadcast message based on 4G, indicates vehicle-mounted HMI device to send danger warning, and driver can be allowed to have
Unsafe condition outside effect precognition sight line in advance, takes reasonably avoiding measure in time, effectively promotes traffic safety.Meanwhile, existing
Some 4G communication networks can meet early warning demand, is not required to additionally put into build roadside device in a large number, on the basis meeting function
On be effectively reduced project cost.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings and this utility model is further described by embodiment:
Fig. 1 is this utility model structured flowchart based on the collaborative active safety prior-warning device with 4G network of bus or train route；
Fig. 2 is the trackside DSRC module mounting location schematic diagram of this utility model active safety prior-warning device；
Fig. 3 is the flow chart of this utility model active safety method for early warning.
In figure, 1. demonstration vehicle, 11.HMI module, 12. vehicle-mounted 4G modules, 13. Vehicle Controller modules, 14. is vehicle-mounted
GPS module, 2. roadside device, 21. trackside 4G modules, 22. trackside signal integration processing modules, 23. traffic signal lamp modules, 3.
Driving vehicle in the range of crossing, 31. vehicle-mounted 4G modules, 32. cab signals integrate processing module 33. vehicle GPS module.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage of greater clarity, below in conjunction with detailed description of the invention
And referring to the drawings, this utility model is further described.It should be understood that these describe the most exemplary, and do not really want
Limit scope of the present utility model.Additionally, in the following description, the description to known features and technology is eliminated, to avoid not
Obscure concept of the present utility model necessarily.
Embodiment:
This utility model is that a kind of band makes a dash across the red light the intersection active safety prior-warning device of warning function and algorithm, this dress
Putting needs to demonstrate driving vehicle 3 three part in the range of vehicle 1, roadside device 2 and crossing and coordinates to realize its function.Wherein,
Demonstration vehicle 1 car-mounted device is by Vehicle Controller module 13, vehicle-mounted 4G module 12, vehicle GPS module 14 and HMI(Human
Machine Interface, man machine interface) module 11 forms, and roadside device 2 is by trackside 4G module 21, trackside signal integration
Reason module 22 and traffic signal lamp module 23 form, and in the range of crossing, driving vehicle 3 car-mounted device is processed by cab signal integration
Module 32, vehicle-mounted 4G module 31 and vehicle GPS module 33 form.The data flow connection mode of each module is as shown in Figure 1.Wherein,
Roadside device crossing installation site is as in figure 2 it is shown, relevant parameter L1, L2, L3 determine according to following requirement:
1, L1 is crossing width；
2, L2 is the half of crossing East and West direction width；
3, L3 is the half of north-south, crossing width.
This utility model is based on the collaborative no signal lamp intersection active safety prior-warning device of bus or train route and algorithm concrete
Configuration and embodiment include herein below:
In this device, the main control chip of Vehicle Controller module 13 uses Freescale ARM Cortex-A9 series core
Sheet, it uses Wifi mode to communicate with HMI module 11；HMI module 11 uses based on android system, supports Wifi, point
Resolution is at least the panel computer of 720P；Vehicle GPS module 14 uses high-precision difference GPS device, itself and Vehicle Controller mould
Block 13 uses RS232 Serial Port Transmission data；Vehicle-mounted 4G module 12 and trackside 4G module 21 all use and support setting of 4G network service
Standby, it uses serial line interface to carry out data transmission with other modules；Trackside information integration processing module 22 is by based on Freescale
Control chip also supports that the development board of serial communication mode forms；Traffic signal lamp module 23 is by three kinds of colors and can command four
The Mobile traffic light composition in direction, it transmits data with trackside 4G module 21 by serial line interface.
Current presentation vehicle travels from south to north, and the most only East and West direction driving vehicle can trigger anti-collision warning, concrete direction
As shown in Figure 2.
Method for early warning is as shown in Figure 3:
1, Vehicle Controller module reads the letters such as car speed that vehicle GPS module detects, longitude and latitude, course angle in real time
Breath, Vehicle Controller module the most also reads the latitude and longitude information of himself of roadside device broadcast, according to the longitude and latitude of vehicle
The latitude and longitude coordinates of coordinate and roadside device calculates the distance of vehicle and roadside device, and this is the vehicle distance to crossing.
2, obtain with vehicle to crossing distance afterwards, it is judged that this distance is more than early warning critical distance D, such as larger than D the most then
Return step 1 and continue detecting speed and range information；Such as less than D then starts early warning program and performs step 3.
3, Vehicle Controller module reads, from vehicle-mounted 4G module, the trackside information come by the broadcast of trackside 4G module and carries out
Real time parsing, it is judged that advance to crossing with or without other vehicles in the range of crossing.As detected, other vehicles are advanced to crossing,
Then perform step 5.
4, Vehicle Controller module reads from vehicle-mounted 4G module and is broadcasted, by trackside 4G module, the traffic signal modulating signal come
And carry out real time parsing, calculate this vehicle simultaneously and at the uniform velocity travel the time t arriving crossing with current speed1, by t1With signal lights
Phase information compares to judge that vehicle is with or without risk of making a dash across the red light.If any risk of making a dash across the red light, then HMI module shows that warning of making a dash across the red light carries
Show information；As without making a dash across the red light risk, then HMI module display Current traffic signal lights phase information and phase place remaining time.At HMI
While module display relevant information, return step 3, continue to pass through with or without other vehicles on detection institute monitoring direction.
5, Vehicle Controller module resolves trackside information, obtains the speed of the some vehicles advanced to crossing respectively and to road
The distance of mouth.Calculate these vehicles the most respectively and at the uniform velocity travel the time arriving crossing with current speed, select collision to take wherein
Minima tp。
6, Vehicle Controller module according to formula | T |=| tp-t1|, calculate current driving vehicle-to-target vehicle and arrive respectively
Reach the absolute value of the time difference at crossing.Judging whether | T | is more than early warning crash time T, such as larger than T then returns step 1 to be continued to detect
Measuring car speed and range information；Such as less than T then performs step 7, carries out collision warning.
7, warning message is transferred to HMI module by radio network technique by Vehicle Controller module, and HMI module passes through it
Internal pre-set programs shows that the alert interface corresponding with warning message is to remind driver's careful driving.
8, vehicle control device module detects the Current vehicle GPS latitude and longitude information of acquisition in real time, if specific relatively at certain
In long-time, GPS latitude and longitude information varies less, then it is assumed that vehicle has stopped, and program halt runs；If vehicle does not stops
Run, then return step 1 and rerun above-mentioned steps.
Collision warning of the present utility model can have different advanced warning grades, can send not according to the difference of advanced warning grade
Same early warning.
As 0≤| T | < T2And 0≤t < t1Or 0≤| T | < T1And t1≤t<t2, advanced warning grade is collision red early warning, prompting
Driver's " attention drives with caution, slow down of being sure to "；
Work as T2≤|T|<T3And 0≤t < t1Or 0≤| T | < T1And t2≤ t or T1≤|T|<T2And t1≤t<t2, early warning etc.
Level, for colliding orange early warning, points out driver's " attention drives with caution, slow down of being sure to "；
Work as T3≤ | T | or T2≤|T|<T3And t1≤ t or T1≤|T|<T2And t2≤ t, advanced warning grade is collision yellow
Early warning, prompting driver " attention drives with caution "；
Wherein, T1、T2、T3The setting threshold value of crossing time difference, and T is arrived for Current vehicle and monitored vehicle1<T2<T3；
t1、t2The setting threshold value of crossing time, and t is arrived for Current vehicle1<t2。
It should be appreciated that above-mentioned detailed description of the invention of the present utility model is used only for exemplary illustration or explains this reality
By novel principle, and do not constitute restriction of the present utility model.Therefore, without departing from spirit and scope of the present utility model
In the case of any modification, equivalent substitution and improvement etc. done, within should be included in protection domain of the present utility model.Additionally,
This utility model claims are intended to fall into scope and border or this scope and border
Whole in equivalents change and modifications example.
Claims (2)
1. work in coordination with and the active safety prior-warning device of 4G network based on bus or train route for one kind, it is characterised in that include mobile unit and road
Side apparatus；Described roadside device includes:
One trackside signal integration processing module, for receiving traffic light module information and integrating the letter that trackside 4G module receives
Breath, after resolving and removing redundancy, transmits information to trackside 4G module；
One trackside 4G module, is connected with trackside signal integration processing module, for receiving the letter of trackside signal integration processing module
Cease, and the GPS latitude and longitude coordinates information together with the center, crossing of its storage inside is outwards broadcasted by 4G mode；
Described mobile unit includes:
One vehicle-mounted 4G module, is controlled to communicate with trackside 4G module by Vehicle Controller module；
One vehicle GPS module, for measuring the positional information of Current vehicle, and is sent to Vehicle Controller by described positional information
Module；
One Vehicle Controller module, for controlling the display information of vehicle-mounted 4G module and HMI module, calculates Current vehicle and arrives road
Mouthful time and arrive separately at the time difference at crossing with detected target vehicle, and judge whether to reach alarm threshold value, if reaching
To corresponding alarm threshold value, then make a dash across the red light warning and/or collision warning；
One HMI module, is used for showing running status and the safe early warning information that vehicle is current.
The most according to claim 1 based on the collaborative active safety prior-warning device with 4G network of bus or train route, it is characterised in that institute
State mobile unit and also include that cab signal integrates processing module, be used for receiving vehicle GPS module information and integrating vehicle-mounted 4G module
The broadcast message received, after resolving and removing redundancy, by vehicle running state information by vehicle-mounted 4G module overseas broadcast.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106023627A (en) * | 2016-07-14 | 2016-10-12 | 清华大学苏州汽车研究院（吴江） | Active safety early warning device and method based on cooperative vehicle infrastructure and 4G network |
| CN106740431A (en) * | 2017-01-09 | 2017-05-31 | 长沙理工大学 | A kind of headlight for vehicles automatic control system based on bus or train route collaboration |
| CN108171980A (en) * | 2018-02-06 | 2018-06-15 | 长沙智能驾驶研究院有限公司 | Break in traffic rules and regulations detection method, system and computer readable storage medium |
| CN109410615A (en) * | 2017-08-17 | 2019-03-01 | 罗伯特·博世有限公司 | Method, equipment, computer program and machine readable storage medium for persistence for vehicle and the trigger data of participant |
| CN113689705A (en) * | 2020-05-19 | 2021-11-23 | 深圳市丰驰顺行信息技术有限公司 | Method and device for detecting red light running of vehicle, computer equipment and storage medium |
-
2016
- 2016-07-14 CN CN201620739614.6U patent/CN205845328U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106023627A (en) * | 2016-07-14 | 2016-10-12 | 清华大学苏州汽车研究院（吴江） | Active safety early warning device and method based on cooperative vehicle infrastructure and 4G network |
| CN106740431A (en) * | 2017-01-09 | 2017-05-31 | 长沙理工大学 | A kind of headlight for vehicles automatic control system based on bus or train route collaboration |
| CN109410615A (en) * | 2017-08-17 | 2019-03-01 | 罗伯特·博世有限公司 | Method, equipment, computer program and machine readable storage medium for persistence for vehicle and the trigger data of participant |
| CN109410615B (en) * | 2017-08-17 | 2022-12-20 | 罗伯特·博世有限公司 | Method, device, computer program and machine-readable storage medium for persisting trigger data for vehicles and participants |
| CN108171980A (en) * | 2018-02-06 | 2018-06-15 | 长沙智能驾驶研究院有限公司 | Break in traffic rules and regulations detection method, system and computer readable storage medium |
| CN113689705A (en) * | 2020-05-19 | 2021-11-23 | 深圳市丰驰顺行信息技术有限公司 | Method and device for detecting red light running of vehicle, computer equipment and storage medium |
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