CN116087960A - Highway ultrasonic vehicle positioning and risk early warning system and method - Google Patents
Highway ultrasonic vehicle positioning and risk early warning system and method Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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Abstract
The highway ultrasonic vehicle positioning and risk early warning system comprises an ultrasonic positioning and early warning integrated machine and an edge base station; the ultrasonic positioning and early warning integrated machines are arranged on the road side guardrails or the upright posts at intervals, the edge base stations are arranged in the road side pole holding machine case or the machine cabinet, and the edge base stations are connected with the ultrasonic positioning and early warning integrated machines. The ultrasonic road vehicle positioning and risk early warning method automatically generates a corresponding risk early warning scheme according to vehicle information and traffic state information and issues acousto-optic early warning information to guide a driver to drive safely. The invention has simple deployment and installation and low construction cost, and is beneficial to improving road traffic safety and traffic efficiency; compared with other traffic state monitoring equipment, the detection precision is high, the detection range is wide, the microscopic running track and data of the vehicle can be obtained, and the event identification and risk prediction accuracy is high; compared with other early warning release devices, the device can automatically control and dynamically release acousto-optic signals, has a strong warning effect and good information continuity.
Description
Technical Field
The invention relates to the technical field of highway traffic safety facilities, in particular to a highway ultrasonic vehicle positioning and risk early warning system and method.
Background
Improving traffic safety and traffic efficiency are two permanent topics pursued by highway operation services. The problems of poor running order, insufficient comprehensive perception capability, event discovery, disposal lag and the like often exist on roads with high accident occurrence rate and easy congestion occurrence. Most accidents can be avoided through pre-early warning and driving induction, and according to researches, the occurrence probability of the traffic accidents can be effectively reduced by 80% through traffic safety prediction early warning and active prevention and control. Therefore, the road traffic state monitoring and risk early warning technologies need to be studied with great importance. The road traffic state monitoring comprises traffic events, traffic jams, road surface anomalies, dangerous driving behaviors and the like, and can be obtained through accurate positioning of vehicles and analysis of driving tracks.
Common highway traffic state monitoring equipment comprises a video camera, a millimeter wave radar, a laser radar, a radar-vision integrated machine, geomagnetic spikes, a loop coil and the like, and is influenced by the working principle of the equipment, and each equipment has advantages and limitations. The device comprises a video, millimeter wave radar, laser radar, a radar integrated machine and other devices, wherein the sensing range is limited, and the sensing precision is lower as the distance is farther; the deployment and installation are required on the road upright posts, the construction difficulty is high, and the construction cost is high; except millimeter wave radar, all can receive weather and illumination condition influence, and the perception effect is poor in rain, snow fog weather and night. The geomagnetic spike and the annular coil have lower detection precision; meanwhile, pavement installation equipment is required to be broken, the pavement is extremely easy to damage, and the pavement maintenance cost is increased. Therefore, it is very necessary to research a road traffic condition monitoring device which can detect the vehicle positioning with high precision, has a large coverage range, and is easy to deploy and install.
Common highway risk early warning approaches include identification signs, variable information boards, broadcasts, radio stations, navigation software, official public numbers, websites, and the like. The content transmitted by the sign is generally fixed information, such as accident high-rise road sections, careless falling stones and the like, which are easily ignored by a driver, and the reminding effect is poor. The coverage and continuity of the variable information board and broadcast are limited, the updating frequency is high, the content detail can be distracted by a driver, the updating frequency is low, the content is rough, the effectiveness is lacking, and the judgment of the driver is influenced. The audience group of radio stations and navigation software is limited, and early warning and guiding information cannot be provided for all drivers. Official public numbers and websites are only suitable for receiving information before traveling of drivers, and the coverage rate of users is low.
Therefore, there is a great need to develop a dynamically continuous highway risk warning device with high warning and inducement effects that is visible to all drivers. Some patents have been discussed in the prior art:
patent: a safety warning system for a sharp bend section (patent application number 202020616905.2). An ultrasonic sensing device and a light warning device are provided on two sides of an abrupt bend section. When the condition that the vehicle is driven into the sharp-bending road section is detected, the light warning device is controlled to be lightened, and the vigilance of a driver is improved; when the vehicle is detected to drive out of the sharp-curve road section, the light warning device is controlled to be turned off. The main disadvantage is that it does not explicitly show how the ultrasonic sensor sensing device is installed and deployed. Secondly, light warning device deploys on the road surface of road both sides, has to influence driving safety and by the risk that the vehicle rolled.
Patent: traffic accident detection method and apparatus, electronic device, and storage medium (patent application number 202211160293.0). A traffic accident detection method and device based on road images, an electronic device and a storage medium are provided. And acquiring and analyzing road images, calculating the running speed of the vehicle, judging whether a traffic accident occurs according to preset traffic accident detection conditions, and sending the traffic accident to a traffic accident confirmation system. The method has the defects that the image sensing technology is influenced by factors such as weather, illumination and the like, and can not be effectively identified in severe weather such as rain, snow, fog and the like and at night. Secondly, the video camera is required to be installed on the upright rod at a height of 6-8 m, and the construction is complex and the manufacturing cost is high. Furthermore, the range of single video recognition is limited (typically not more than 150 m), and continuous monitoring of long road segments cannot be achieved.
Patent: traffic safety warning system (patent application number 202211091291.0). A traffic safety early warning system based on radar and camera fusion is provided. When the collision direction is detected to have an incoming vehicle, a pedestrian or a non-motor vehicle to enter the intersection through data fusion of the radar and the high-definition camera, the warning screen is used for issuing warning characters, sounds and warning lamps to remind the pedestrian and a driver so as to prevent traffic accidents. The method has the defects that the method is only suitable for single-point detection and is not suitable for traffic safety condition detection of long-distance road sections. And secondly, the early warning screen is section type information release, has no information continuity and is not suitable for traffic safety early warning of long-distance road sections.
Ultrasonic wave is a mechanical wave with extremely short wavelength, the wavelength in air is generally shorter than 2cm, the straightness is good, the power is high, the penetrating power is strong, and the anisotropy is good. In the traffic field, the system is mainly deployed on road sides or vehicles and is used for vehicle speed measurement and distance measurement. The invention fully utilizes the characteristics of ultrasonic waves, realizes vehicle positioning and traffic state discrimination on the basis of vehicle speed measurement and distance measurement, and combines an acousto-optic early warning technology to provide a highway ultrasonic vehicle positioning and risk early warning system and method.
Disclosure of Invention
According to the problems set forth in the background art, the present invention provides a highway ultrasonic vehicle positioning and risk early warning system and method, and the present invention is further described below.
The highway ultrasonic vehicle positioning and risk early warning system comprises an ultrasonic positioning and early warning integrated machine and an edge base station; the ultrasonic positioning and early warning integrated machine is arranged on a road side guardrail or upright post at intervals and comprises an ultrasonic array receiving and transmitting probe, a vibration sensor, an LED lamp set, a singlechip, a communication module, a voice module, a power module, a shell and a mounting base; the edge base station is arranged in a road side pole holding machine case or a machine cabinet, and is connected with a plurality of ultrasonic positioning and early warning integrated machines; the edge base station comprises a data acquisition module, a data storage module, a calculation unit, a decision unit, a control unit, a communication module, a power module and a shell.
Further, the installation and deployment modes of the ultrasonic positioning and early warning integrated machine are as follows: the perception range of the ultrasonic positioning and early warning integrated machine is L Integrated machine The width of the cross section of the highway contains an emergency lane W Cross section of Average width of vehicle W Vehicle with a vehicle body having a vehicle body support ，
If it is
L Integrated machine ≤W Cross section of -W Vehicle with a vehicle body having a vehicle body support ；
The ultrasonic positioning and early warning integrated machine 1 is deployed on one side of the highway, the deployment on the left side of the driving direction is selected, and meanwhile, the edge base stations 2 are deployed on the same side, and a plurality of ultrasonic positioning and early warning integrated machines 1 are connected and controlled;
if it is
L Integrated machine >W Cross section of -W Vehicle with a vehicle body having a vehicle body support And 2 XL Integrated machine ≤W Cross section of -W Vehicle with a vehicle body having a vehicle body support ；
Symmetrically arranging ultrasonic positioning and early warning integrated machines on two sides of the highway; meanwhile, edge base stations are deployed on two sides, and a plurality of ultrasonic positioning and early warning all-in-one machines are connected and controlled.
The ultrasonic road vehicle positioning and risk early warning method automatically generates a corresponding risk early warning scheme and issues acousto-optic early warning information to guide a driver to safely drive according to vehicle information and traffic state information, and comprises the following steps:
step 1: acquiring a vehicle running track and data;
step 2: judging whether the traffic state is abnormal according to the vehicle running track and the data, wherein the abnormal traffic state comprises, but is not limited to, stopping of the vehicle, reverse running of the vehicle, emergency lane occupation, traffic accidents, traffic jams, road surface abnormality, line pressing and lane changing, forward collision risk, dangerous driving behaviors and the like, and jumping to the step 3 if the traffic state is abnormal; if the traffic state is normal, jumping to the step 8;
step 3: a risk early warning scheme library is called;
step 4: in the risk early-warning scheme library, a corresponding risk early-warning scheme is automatically selected and generated according to the traffic state;
step 5: if the risk early warning scheme automatically generated by manual auditing passes, jumping to the step 7; if not, the step 6 is adjusted;
step 6: manually setting a risk early warning scheme according to the traffic state;
step 7: according to an automatic or manual risk early warning scheme, controlling the ultrasonic positioning early warning integrated machine to release acousto-optic early warning information, jumping to the step 2, and continuing to judge whether the traffic state is abnormal or normal;
step 8: if the traffic state is normal or returns to normal, the ultrasonic positioning and early warning integrated machine is controlled to reset, and early warning is finished;
the beneficial effects are that: compared with the prior art, the invention has the following advantages and positive effects: compared with the prior art, the highway ultrasonic vehicle positioning and risk early warning system and method are simple in deployment and installation, low in construction cost and beneficial to improvement of road traffic safety and traffic efficiency. Compared with other traffic state monitoring equipment, the detection precision is high, the detection range is wide, the microscopic running track and data of the vehicle can be obtained, and the event identification and risk prediction accuracy is high; compared with other early warning release devices, the device can automatically control and dynamically release acousto-optic signals, has a strong warning effect and good information continuity.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic functional diagram of a highway ultrasonic vehicle positioning and risk early warning system according to the present invention;
FIG. 2 is a schematic functional structure of an ultrasonic array transceiver probe according to the present invention;
FIG. 3 is a schematic diagram of the installation and deployment of the highway ultrasonic vehicle positioning and risk early warning system of the present invention;
FIG. 4 is a schematic diagram of the calculation principle of the ultrasonic vehicle information of the highway according to the present invention;
FIG. 5 is a schematic workflow diagram of the risk early warning method according to the present invention;
fig. 6 is a schematic diagram of an embodiment of a risk early warning method according to the present invention.
Detailed Description
A specific embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the highway ultrasonic vehicle positioning and risk early warning system consists of an ultrasonic positioning and early warning integrated machine (1) and an edge base station (2).
The ultrasonic positioning and early warning integrated machine (1) is generally arranged on a road side guardrail or an upright post at intervals; the ultrasonic positioning and early warning integrated machine (1) comprises an ultrasonic array receiving and transmitting probe (101), a vibration sensor (102), an LED lamp set (104), a singlechip (107), a communication module (103), a voice module (105), a power module (106), a shell (108) and a mounting base (109).
Referring to fig. 2, a functional structure diagram of the ultrasonic array transceiver probe according to the present invention is shown. The integrated machine ultrasonic array transceiver probe (101) comprises an ultrasonic transmitting module (1011), an ultrasonic receiving module (1012), a temperature compensating module (1013), a data acquisition module (1014) and a data transmission module (1015); wherein:
the integrated machine ultrasonic wave transmitting module (1011) is used for transmitting ultrasonic waves at a certain frequency, and the ultrasonic wave transmitting direction is perpendicular to the running direction of the vehicle;
the integrated machine ultrasonic receiving module (1012) is used for receiving the reflected ultrasonic wave, and when the emitted ultrasonic wave meets a vehicle or other objects, the reflected ultrasonic wave is received by the ultrasonic receiving module;
the integrated machine ultrasonic temperature compensation module (1013) is used for measuring the ambient temperature and compensating according to the temperature, so as to eliminate or reduce ultrasonic detection errors caused by the ambient temperature change;
the integrated machine ultrasonic data acquisition module (1014) is used for receiving and storing ultrasonic emission and receiving data after temperature compensation;
the integrated machine ultrasonic data transmission module (1015) is used for sending ultrasonic acquisition data to the singlechip and receiving instructions of the singlechip;
the vibration sensor (102) of the integrated machine is used for collecting vibration data of equipment and judging vibration level, and when a vehicle collides with the ultrasonic positioning and early warning integrated machine (1) or a guardrail or a stand column where the ultrasonic positioning and early warning integrated machine is located, the vibration sensor can generate a strong vibration signal.
The vibration sensor (102) of the integrated machine divides vibration into a plurality of levels according to the frequency range of vibration, represents different vibration degrees, and transmits vibration data (vibration level and occurrence time) to the singlechip (107) after triggering a specific vibration level and receives an instruction of the singlechip (107).
The trigger reporting vibration level of the integrated machine vibration sensor (102) can be set manually, and the trigger reporting vibration level is sent to the vibration sensor (102) through the singlechip (107).
The all-in-one machine communication module (103) is used for communication transmission between the ultrasonic positioning and early warning all-in-one machine (1) and the edge base station (2).
The LED lamp group (104) of the all-in-one machine faces the coming direction of a driver and is used for issuing safety early warning and driving induction information; the color, the brightness and the flicker frequency of the LED lamp group (104) of the all-in-one machine can be automatically or manually controlled, and different application scenes can adopt different LED lamp group (104) light-emitting modes.
The integrated machine voice module (105) supports broadcasting and storing voice files and real-time voice and is used for broadcasting warning sounds such as sirens or voice sounds, improving the attention of a driver and guiding the driver to drive safely.
The integrated machine power module (106) is used for being connected with a power supply system and supplying power for the ultrasonic positioning and early warning integrated machine (1).
The integrated singlechip (107) is connected with the ultrasonic array transceiver probe (101), the vibration sensor (102), the LED lamp group (104), the communication module (103) and the voice module (105) and is used for carrying out data interaction, data processing and decision control on each module.
The integrated machine shell (108) is used for protecting an electronic device of the ultrasonic positioning and early warning integrated machine (1), and comprises an ultrasonic array receiving and transmitting probe (101), a vibration sensor (102), an LED lamp set (104), a singlechip (107), a communication module (103), a voice module (105) and a power module (106).
The integrated machine mounting base (109) is used for mounting and fixing the ultrasonic positioning and early warning integrated machine (1) on the guardrail or the upright post;
the edge base station (2) is generally arranged and installed in a road side pole holding machine box or a machine cabinet; the edge base station (2) is generally connected with a plurality of ultrasonic positioning and early warning all-in-one machines (1), and the edge base station (2) comprises a data acquisition module (202), a data storage module 203), a calculation unit (207), a decision unit (204), a control unit (205), a communication module (201), a power module (206) and a shell (208). Wherein,,
the base station data acquisition module (202) is used for acquiring data of a plurality of ultrasonic positioning and early warning all-in-one machines (1), and comprises ultrasonic data, vibration data, LED lamp group data, voice data and the like.
The base station storage module (203) is used for storing data of a plurality of ultrasonic positioning and early warning all-in-one machines (1), and comprises ultrasonic data, vibration data, LED lamp group data, voice data and the like.
The base station computing unit (207) is used for fusing and processing the received data of the ultrasonic positioning and early warning integrated machine (1), analyzing the vehicle positioning and the vehicle running track and judging the road traffic state.
The highway traffic state comprises traffic incidents, traffic jams, road surface anomalies, dangerous driving behaviors and the like.
The base station decision unit (204) generates a risk early warning strategy to be adopted according to the current road traffic state, wherein the risk early warning strategy comprises an LED lamp group luminous mode and voice broadcasting content.
The base station control unit (205) sends a control instruction to the ultrasonic positioning and early warning all-in-one machine (1) according to the currently generated risk early warning strategy, and controls the luminous mode of the LED lamp group and the voice broadcasting content.
The base station communication module (201) is used for communication transmission between the edge base stations (2) and the ultrasonic positioning and early warning integrated machine (1) and communication transmission before two or more edge base stations (2).
The base station power supply module (206) is used for connecting a power supply system and supplying power to the edge base station (2).
The base station housing (208) is used for protecting an electronic device of the edge base station (2), and comprises a data acquisition module (202), a data storage module 203), a calculation unit (207), a decision unit (204), a control unit (205), a communication module (201) and a power supply module (206).
Referring to fig. 3, a schematic diagram of the installation and deployment of the highway ultrasonic vehicle positioning and risk early warning system according to the present invention is shown; the sensing range of the ultrasonic positioning and early warning integrated machine (1) determines the installation and deployment mode of the ultrasonic positioning and early warning integrated machine as shown in fig. 3 (a), and the sensing range of the ultrasonic positioning and early warning integrated machine is recorded as L Integrated machine The width of the cross section of the highway (including the emergency lane) is W Cross section of Average width of vehicle W Vehicle with a vehicle body having a vehicle body support 。
If it is
L Integrated machine ≤(W Cross section of -W Vehicle with a vehicle body having a vehicle body support )；
The ultrasonic positioning and early warning integrated machine (1) is arranged on one side of the highway, and the left side of the driving direction is selected; meanwhile, edge base stations (2) are deployed on the same side, a plurality of ultrasonic positioning and early warning all-in-one machines (1) are connected and controlled, and the number of the ultrasonic positioning and early warning all-in-one machines (1) connected with the single edge base station (1) is determined by the processing performance of the edge base stations (2);
if it is
L Integrated machine >(W Cross section of -W Vehicle with a vehicle body having a vehicle body support ) And 2 XL Integrated machine ≤(W Cross section of -W Vehicle with a vehicle body having a vehicle body support )；
Symmetrically arranging ultrasonic positioning and early warning all-in-one machines (1) on two sides of a highway; meanwhile, edge base stations (2) are deployed at two sides, a plurality of ultrasonic positioning and early warning all-in-one machines (1) are connected and controlled, and the number of the ultrasonic positioning and early warning all-in-one machines (1) connected with the single edge base station (1) is determined by the processing performance of the edge base stations (2).
Furthermore, factors such as road line type and running speed determine the installation and deployment interval of the ultrasonic positioning and early warning integrated machine (1). The smaller the curvature of the road is, the smaller the deployment interval of the ultrasonic positioning and early warning integrated machine (1) is; the higher the running speed is, the smaller the deployment interval of the ultrasonic positioning and early warning integrated machine (1) is.
Preferably L Integrated machine The ultrasonic positioning and early warning integrated machine (1) is arranged on the left side of the driving direction, wherein the ultrasonic positioning and early warning integrated machine is generally used for taking roads with a diameter of about 8-10 m and one-way three lanes and below; the ultrasonic positioning and early warning integrated machine (1) is deployed on two sides of a driving direction on a unidirectional four-lane road or above.
Preferably, the installation height of the ultrasonic positioning and early warning integrated machine (1) is preferably 0.5-1.2 m.
According to the highway ultrasonic vehicle positioning and risk early warning method, vehicle information such as the length of a vehicle body, the speed of the vehicle, the position of a lane, the running track and the like of the vehicle, and traffic state information such as vehicle parking, vehicle reverse driving, emergency lane occupation, traffic accidents, traffic jams, road surface abnormality, line pressing and lane changing, forward collision risk, dangerous driving behaviors and the like can be obtained through data acquisition and analysis.
Fig. 4 is a schematic diagram of the calculation principle of the ultrasonic vehicle information of the highway according to the present invention.
First, the position of the vehicle is calculated.
According to the transmitting time and the receiving time of the ultrasonic wave, calculating the position of the available vehicle, wherein the transverse position of the vehicle is the vertical distance from the vehicle to the ultrasonic positioning and early warning integrated machine, and the longitudinal position of the vehicle is the longitudinal position of the ultrasonic positioning and early warning integrated machine;
according to common knowledge, the larger the transmitting frequency of the ultrasonic positioning and early warning integrated machine (1), the more information is collected, and the better the traffic state detection effect is;
1,2. recording the direction of travel from left to right, the lengths of n lanes are L, respectively 1 ，L 2 ，...，L n The deployment interval of the ultrasonic positioning and early warning integrated machine is L d 。
The ultrasonic positioning and early warning integrated machine is numbered 1,2, i, and the positions of the ultrasonic positioning and early warning integrated machine on the expressway are l respectively 1 ，l 2 ，...，l n ；
The ultrasonic wave propagation speed of the ultrasonic wave positioning and early warning integrated machine i is recorded as v (unit: m/s), and the ultrasonic wave emission time is respectively t i，1 ，t i，2 ，...，t i，j (unit: s) corresponding ultrasonic wave reflection receiving time is t 'respectively' i，1 ，t′ i，2 ，...，t′ i，j (unit: s), ultrasonic distances are d respectively i，1 ，d i，2 ，...，d i，j (unit: m), then:
when d i，j ≥(L 1 +L 2 +...+L n ) When the vehicle passes, the situation that no vehicle passes on the cross section of the ultrasonic positioning and early warning integrated machine i at the moment j is described;
when d i，j ＜(L 1 +L 2 +...+L n ) When the vehicle passes, the vehicle passes the cross section of the ultrasonic positioning and early warning integrated machine i at the moment j, and the vertical length from the vehicle to the ultrasonic positioning and early warning integrated machine i is d i，j According to d i，j And (3) with
The size relation of the lane on which the vehicle runs can be judged;
to sum up, the position (d) of the vehicle at the time j i，j ，l n )。
Secondly, calculating the running speed of the vehicle;
record that vehicle begins to be examined by ultrasonic wave location early warning all-in-one iWhen measured, the ultrasonic wave emission time is t i (unit: s) corresponding ultrasonic wave reflection receiving time is t' i The distance from the vehicle to the sound wave positioning and early warning integrated machine i is d i Then:
when the vehicle starts to be detected by the ultrasonic positioning and early warning integrated machine i+1, the ultrasonic emission time is t i+1 (unit: s) corresponding ultrasonic wave reflection receiving time is t' i+1 The distance from the vehicle to the sound wave positioning and early warning integrated machine i+1 is d i+1 Then:
from this it is possible to calculate the vehicle slave t i Travel to t i+1 Length L of (2) i，i+1 The method comprises the following steps:
running speed v of vehicle i，i+1 The method comprises the following steps:
as shown in the figure, when the mutual shielding phenomenon of vehicles occurs, the ultrasonic positioning and early-warning integrated machine i+1 may not detect the vehicles, but is detected by the ultrasonic positioning and early-warning integrated machine m, and the ultrasonic emission time is taken as t in the same way m (unit: s) corresponding ultrasonic wave reflection receiving time is t' m The distance from the vehicle to the acoustic wave positioning and early warning integrated machine m is d m Then:
from this it is possible to calculate the vehicle slave t i Travel to t m Length L of (2) i，m The method comprises the following steps:
running speed v of vehicle i，m The method comprises the following steps:
thirdly, calculating the length of the vehicle body of the vehicle;
when the vehicle head starts to pass through the ultrasonic positioning and early warning integrated machine i, the ultrasonic emission time is recorded as t s (unit: s) corresponding ultrasonic wave reflection receiving time is t' s The method comprises the steps of carrying out a first treatment on the surface of the When the tail of the vehicle passes through the ultrasonic positioning and early warning integrated machine i, the ultrasonic emission time is recorded as t e (unit: s) corresponding ultrasonic wave reflection receiving time is t' e Then the length w of the vehicle body obtained by the ultrasonic positioning and early warning integrated machine i i (unit: m) is approximately:
w i ≈v i，i+1 ×(t e -t s ) Or w i ≈v i，i+1 ×(t′ e -t′ s )；
As shown in the figure, when the mutual shielding phenomenon of the vehicles occurs, the calculated length w of the vehicle body i Cannot represent the actual body length w of the vehicle, at which point w i ≤w；
Recording that the vehicle passes through the ultrasonic positioning and early warning all-in-one machine 1,2, and carrying out i, wherein the length of the obtained vehicle body is integrated into { w } 1 ，w 2 ，...，w n The actual body length w of the vehicle is:
FIG. 5 is a schematic workflow diagram of the risk early warning method according to the present invention;
according to the risk early warning method, a corresponding risk early warning scheme is automatically generated and sound and light early warning information is issued according to vehicle information and traffic state information, so that the effects of linear profile indication, trail display, risk warning and the like are achieved, a driver is guided to drive safely, accident risks are reduced, and road traffic efficiency is improved;
the risk early warning method comprises the following steps:
step 1: acquiring a vehicle running track and data;
step 2: judging whether the traffic state is abnormal according to the vehicle running track and the data, wherein the abnormal traffic state comprises, but is not limited to, stopping of the vehicle, reverse running of the vehicle, emergency lane occupation, traffic accidents, traffic jams, road surface abnormality, line pressing and lane changing, forward collision risk, dangerous driving behaviors and the like, and jumping to the step 3 if the traffic state is abnormal; if the traffic state is normal, jumping to the step 8;
step 3: a risk early warning scheme library is called;
step 4: in the risk early-warning scheme library, a corresponding risk early-warning scheme is automatically selected and generated according to the traffic state;
step 5: if the risk early warning scheme automatically generated by manual auditing passes, jumping to the step 7; if not, the step 6 is adjusted;
step 6: manually setting a risk early warning scheme according to the traffic state;
step 7: according to an automatic or manual risk early warning scheme, controlling the ultrasonic positioning early warning integrated machine to release acousto-optic early warning information, jumping to the step 2, and continuing to judge whether the traffic state is abnormal or normal;
step 8: if the traffic state is normal or returns to normal, the ultrasonic positioning and early warning integrated machine is controlled to reset, and early warning is finished.
FIG. 6 is a schematic diagram of a specific embodiment of the risk early warning method of the present invention, in which the highway ultrasonic vehicle positioning and risk early warning system automatically or manually turns on the LED lamp set of the ultrasonic positioning and early warning integrated machine under the conditions of night, rainy days, snowy days, foggy days, etc., the LED lamp set can select the light emitting modes of normal lighting, alternate flashing, integral flashing, breathing lamps, etc., and displays the line profile of the road to remind the driver of safe driving according to specific requirements;
under the conditions of night, rainy days, snowy days, foggy days and the like, the highway ultrasonic vehicle positioning and risk early warning system automatically or manually starts an LED lamp group of the ultrasonic positioning and early warning integrated machine, and the LED lamp group can trigger a vehicle trail to display a lighting mode according to specific requirements. When a vehicle passes through the ultrasonic positioning and early warning integrated machine, the light is turned into red by the extinguishing state or other luminous colors for a few seconds (3 s is taken as a proper option), then the original luminous mode is restored, so that a red trail is formed behind the vehicle to remind the distance of the rear vehicle relative to the front vehicle, namely, when a driver of the rear vehicle sees that the lights on two sides of a road where the driver is positioned are red, the driver indicates that the vehicle is too close to the front vehicle, and the vehicle speed is controlled to keep a safe distance;
under the conditions of night, rainy days, snowy days, foggy days and the like, the highway ultrasonic vehicle positioning and risk early warning system automatically or manually starts an ultrasonic positioning and early warning integrated machine forehead voice module, and the voice module can selectively broadcast warning sounds such as warning whistles or voice according to specific requirements, so that a driver keeps vigilance at all times and guides the driver to drive safely;
when an abnormal traffic state occurs on a road, including but not limited to vehicle parking, vehicle retrograde driving, emergency lane occupation, traffic accident, traffic jam, road surface abnormality, line pressing lane changing, forward collision risk, dangerous driving behavior and the like, the road ultrasonic vehicle positioning and risk early warning system automatically or manually starts an LED lamp group of the ultrasonic positioning and early warning integrated machine, and the LED lamp group carries out regional safety early warning and guiding according to the abnormal traffic state type and the position, and takes fig. 6 as an example, in an abnormal road region, the LED lamps (202, 203, 302 and 303) are controlled to take a red flashing mode to remind a driver in the region of paying attention to safe or dangerous driving behavior; in an area upstream of the road abnormality, controlling the LED lamp groups (204, 205, 206, 207, 208, 304, 305, 306, 307, 308) to take a yellow normally-bright or flashing mode, reminding drivers in the area to keep vigilance, and taking braking or bypassing emergency measures in advance;
when an abnormal traffic state occurs on a road, including but not limited to vehicle parking, vehicle retrograde, emergency lane occupation, traffic accident, traffic jam, road surface abnormality, line pressing lane changing, forward collision risk, dangerous driving behavior and the like, the highway ultrasonic vehicle positioning and risk early warning system automatically or manually starts a voice module of the ultrasonic positioning early warning integrated machine, the voice module carries out regional safety early warning and guiding according to the abnormal traffic state type and the position, and takes fig. 6 as an example, in an abnormal road region, the voice module (202, 203, 302, 303) is controlled to play a warning whistle or stop at the place, please leave immediately, accident occurs, vehicle side, people withdraw, namely warning words such as warning, and the like, so as to remind drivers in the region to correct dangerous driving behavior or correctly process the accident; in an area on the upstream of the road abnormality, a voice module (204, 205, 206, 207, 208, 304, 305, 306, 307, 308) is controlled to play warning whistles or warning words such as front congestion, slowing down, front accidents, right-to-right running and the like, so that drivers in the area are reminded to keep vigilance, and braking or bypassing emergency measures are adopted in advance;
in the highway ultrasonic vehicle positioning and risk early warning system, trigger conditions and working modes of the LED lamp group and the voice module of the ultrasonic positioning and early warning integrated machine can be flexibly adjusted and set according to actual requirements.
The invention has the following advantages and positive effects: compared with the prior art, the highway ultrasonic vehicle positioning and risk early warning system and method are simple in deployment and installation, low in construction cost and beneficial to improvement of road traffic safety and traffic efficiency. Compared with other traffic state monitoring equipment, the detection precision is high, the detection range is wide, the microscopic running track and data of the vehicle can be obtained, and the event identification and risk prediction accuracy is high; compared with other early warning release devices, the device can automatically control and dynamically release acousto-optic signals, has a strong warning effect and good information continuity.
The foregoing is illustrative of the present invention and is not to be construed as limiting the invention, and is not intended to be exhaustive or to limit the invention to all embodiments disclosed. The components not explicitly described in this embodiment can be implemented by using the prior art. As will be apparent to one of ordinary skill in the art in light of the present disclosure, there are variations in the detailed description and the scope of the embodiments of the present disclosure, which should not be construed as limiting the invention.
Claims (6)
1. The highway ultrasonic vehicle positioning and risk early warning system is characterized by comprising an ultrasonic positioning and early warning integrated machine (1) and an edge base station (2);
the ultrasonic positioning and early warning integrated machine (1) is arranged on a road side guardrail or upright post at intervals and comprises an ultrasonic array receiving and transmitting probe (101), a vibration sensor (102), an LED lamp group (104), a singlechip (107), a communication module (103), a voice module (105), a power module (106), a shell (108) and a mounting base (109); wherein,,
the integrated machine ultrasonic array transceiver probe (101) comprises an ultrasonic transmitting module (1011), an ultrasonic receiving module (1012), a temperature compensating module (1013), a data acquisition module (1014) and a data transmission module (1015); wherein: the integrated machine ultrasonic wave transmitting module (1011) is used for transmitting ultrasonic waves at a certain frequency, and the ultrasonic wave transmitting direction is perpendicular to the running direction of the vehicle; the integrated machine ultrasonic receiving module (1012) is used for receiving the reflected ultrasonic wave, and when the emitted ultrasonic wave meets a vehicle or other objects, the reflected ultrasonic wave is received by the ultrasonic receiving module; the integrated machine ultrasonic temperature compensation module (1013) is used for measuring the ambient temperature and compensating according to the temperature, so as to eliminate or reduce ultrasonic detection errors caused by the ambient temperature change; the integrated machine ultrasonic data acquisition module (1014) is used for receiving and storing ultrasonic emission and receiving data after temperature compensation; the integrated machine ultrasonic data transmission module (1015) is used for sending ultrasonic acquisition data to the singlechip and receiving instructions of the singlechip;
the integrated machine vibration sensor (102) is used for collecting vibration data of equipment and judging vibration grades, dividing the vibration into a plurality of grades according to the frequency range of vibration, representing different vibration degrees, transmitting the vibration data to the singlechip (107) after triggering a specific vibration grade, and receiving an instruction of the singlechip (107);
the integrated machine communication module (103) is used for communication transmission between the ultrasonic positioning and early warning integrated machine (1) and the edge base station (2);
the LED lamp group (104) of the all-in-one machine faces the coming direction of a driver and is used for issuing safety early warning and driving induction information;
the integrated machine voice module (105) supports broadcasting and storing voice files and real-time voice, is used for broadcasting warning sounds such as sirens or voice sounds, improves the attention of a driver, and guides the driver to drive safely;
the integrated machine power module (106) is used for connecting a power supply system and supplying power for the ultrasonic positioning and early warning integrated machine (1);
the integrated singlechip (107) is connected with the ultrasonic array transceiver probe (101), the vibration sensor (102), the LED lamp group (104), the communication module (103) and the voice module (105) and is used for carrying out data interaction, data processing and decision control on each module;
the integrated machine shell (108) is used for protecting an electronic device of the ultrasonic positioning and early warning integrated machine (1);
the integrated machine mounting base (109) is used for mounting and fixing the ultrasonic positioning and early warning integrated machine (1) on the guardrail or the upright post;
the edge base station is arranged in a road side pole holding machine case or a machine cabinet, and is connected with a plurality of ultrasonic positioning and early warning integrated machines (1); the edge base station (2) comprises a data acquisition module (202), a data storage module 203), a calculation unit (207), a decision unit (204), a control unit (205), a communication module (201), a power supply module (206) and a shell (208); wherein,,
the base station data acquisition module (202) is used for acquiring data of a plurality of ultrasonic positioning and early warning all-in-one machines (1);
the base station storage module (203) is used for storing data of a plurality of ultrasonic positioning and early warning all-in-one machines (1);
the base station computing unit (207) is used for fusing and processing the received data of the ultrasonic positioning and early warning integrated machine (1), analyzing the vehicle positioning and the vehicle running track and judging the road traffic state;
the base station decision unit (204) generates a risk early warning strategy to be adopted according to the current road traffic state;
the base station control unit (205) sends a control instruction to the ultrasonic positioning and early warning integrated machine (1) according to the currently generated risk early warning strategy to control the luminous mode of the LED lamp group and the voice broadcasting content;
the base station communication module (201) is used for communication transmission between the edge base stations (2) and the ultrasonic positioning and early warning integrated machine (1) and communication transmission before two or more edge base stations (2);
the base station power supply module (206) is used for connecting a power supply system and supplying power to the edge base station (2);
the base station housing (208) is used for protecting the electronics of the edge base station (2).
2. The highway ultrasonic vehicle positioning and risk early warning system according to claim 1, wherein the ultrasonic positioning and early warning integrated machine (1) is installed and deployed in the following manner: the perception range of the ultrasonic positioning and early warning integrated machine is L Integrated machine The width of the cross section of the highway (including the emergency lane) is W Cross section of Average width of vehicle W Vehicle with a vehicle body having a vehicle body support ，
If it is
L Integrated machine ≤(W Cross section of -W Vehicle with a vehicle body having a vehicle body support )；
The ultrasonic positioning and early warning integrated machine (1) is deployed on one side of the highway, the deployment on the left side of the driving direction is selected, and meanwhile, the edge base stations (2) are deployed on the same side, and a plurality of ultrasonic positioning and early warning integrated machines (1) are connected and controlled;
if it is
L Integrated machine >(W Cross section of -W Vehicle with a vehicle body having a vehicle body support ) And 2 XL Integrated machine ≤(W Cross section of -W Vehicle with a vehicle body having a vehicle body support )；
Symmetrically arranging ultrasonic positioning and early warning all-in-one machines (1) on two sides of a highway; meanwhile, edge base stations (2) are deployed at two sides and are connected with and control a plurality of ultrasonic positioning and early warning all-in-one machines (1).
3. The ultrasonic vehicle positioning and risk warning system of claim 2, wherein L Integrated bodyMachine for making food Taking 8-10 m of one-way three-lane and lower roads, and arranging an ultrasonic positioning and early warning integrated machine (1) on the left side of the running direction; the ultrasonic positioning and early warning integrated machine (1) is deployed on two sides of a driving direction on a unidirectional four-lane road or above.
4. The ultrasonic vehicle positioning and risk early warning system according to claim 2, characterized in that the installation height of the ultrasonic positioning and early warning integrated machine (1) is 0.5-1.2 m.
5. The ultrasonic road vehicle positioning and risk early warning method automatically generates a corresponding risk early warning scheme and issues acousto-optic early warning information to guide a driver to safely drive according to vehicle information and traffic state information, and is characterized by comprising the following steps:
step 1: acquiring a vehicle running track and data;
step 2: judging whether the traffic state is abnormal according to the vehicle running track and the data, wherein the abnormal traffic state comprises, but is not limited to, stopping of the vehicle, reverse running of the vehicle, emergency lane occupation, traffic accidents, traffic jams, road surface abnormality, line pressing and lane changing, forward collision risk, dangerous driving behaviors and the like, and jumping to the step 3 if the traffic state is abnormal; if the traffic state is normal, jumping to the step 8;
step 3: a risk early warning scheme library is called;
step 4: in the risk early-warning scheme library, a corresponding risk early-warning scheme is automatically selected and generated according to the traffic state;
step 5: if the risk early warning scheme automatically generated by manual auditing passes, jumping to the step 7; if not, the step 6 is adjusted;
step 6: manually setting a risk early warning scheme according to the traffic state;
step 7: according to an automatic or manual risk early warning scheme, controlling the ultrasonic positioning early warning integrated machine to release acousto-optic early warning information, jumping to the step 2, and continuing to judge whether the traffic state is abnormal or normal;
step 8: if the traffic state is normal or returns to normal, the ultrasonic positioning and early warning integrated machine is controlled to reset, and early warning is finished.
6. The ultrasonic vehicle positioning and risk pre-warning method according to claim 1, wherein the ultrasonic vehicle positioning and risk pre-warning method obtains vehicle driving track and data including vehicle position, driving speed and vehicle body length, and specifically comprises the following steps:
step 1, calculating the position of a vehicle;
according to the transmitting time and the receiving time of the ultrasonic wave, calculating the position of the available vehicle, wherein the transverse position of the vehicle is the vertical distance from the vehicle to the ultrasonic positioning and early warning integrated machine, and the longitudinal position of the vehicle is the longitudinal position of the ultrasonic positioning and early warning integrated machine; 1,2. recording the direction of travel from left to right, the lengths of n lanes are L, respectively 1 ，L 2 ，...，L n The deployment interval of the ultrasonic positioning and early warning integrated machine is L d The ultrasonic positioning and early warning integrated machine is numbered 1,2, i, and the positions of the ultrasonic positioning and early warning integrated machine on the expressway are l respectively 1 ，l 2 ，...，l n The method comprises the steps of carrying out a first treatment on the surface of the The ultrasonic wave propagation speed of the ultrasonic wave positioning and early warning integrated machine i is recorded as v, and the ultrasonic wave emission time is respectively t i,1 ，t i,2 ，...，t i,j The corresponding ultrasonic wave reflection receiving time is t 'respectively' i,1 ，t' i,2 ，...，t' i,j The ultrasonic distance is d respectively i,1 ，d i,2 ，...，d i,j (unit: m), then:
when d i,j ≥(L 1 +L 2 +...+L n ) When the vehicle passes, the situation that no vehicle passes on the cross section of the ultrasonic positioning and early warning integrated machine i at the moment j is described;
when d i,j <(L 1 +L 2 +...+L n ) When the ultrasonic positioning and early warning integrated machine i cross section at the moment j is described,the vehicle passes through, and the vertical length from the vehicle to the ultrasonic positioning and early warning integrated machine i is d i,j According to d i,j And (3) with
The size relation of the lane on which the vehicle runs can be judged;
the position (d) of the vehicle at the moment j can be obtained i,j ，l n )；
Step 2, calculating the running speed of the vehicle;
when the vehicle starts to be detected by the ultrasonic positioning and early warning integrated machine i, the ultrasonic emission time is t i The corresponding ultrasonic wave reflection receiving time is t' i The distance from the vehicle to the sound wave positioning and early warning integrated machine i is d i Then:
when the vehicle starts to be detected by the ultrasonic positioning and early warning integrated machine i+1, the ultrasonic emission time is t i+1 The corresponding ultrasonic wave reflection receiving time is t' i+1 The distance from the vehicle to the sound wave positioning and early warning integrated machine i+1 is d i+1 Then:
from this it is possible to calculate the vehicle slave t i Travel to t i+1 Length L of (2) i,i+1 The method comprises the following steps:
running speed v of vehicle i,i+1 The method comprises the following steps:
when the phenomenon that vehicles are blocked mutually occurs, the ultrasonic positioning and early warning integrated machine i+1 can not detect the vehicles, but is detected by the ultrasonic positioning and early warning integrated machine m, and the ultrasonic emission time is t m The corresponding ultrasonic wave reflection receiving time is t' m The distance from the vehicle to the acoustic wave positioning and early warning integrated machine m is d m Then:
from this it is possible to calculate the vehicle slave t i Travel to t m Length L of (2) i,m The method comprises the following steps:
running speed v of vehicle i,m The method comprises the following steps:
step 3, calculating the length of the vehicle body of the vehicle;
when the vehicle head starts to pass through the ultrasonic positioning and early warning integrated machine i, the ultrasonic emission time is recorded as t s The corresponding ultrasonic wave reflection receiving time is t' s The method comprises the steps of carrying out a first treatment on the surface of the When the tail of the vehicle passes through the ultrasonic positioning and early warning integrated machine i, the ultrasonic emission time is recorded as t e ) The corresponding ultrasonic wave reflection receiving time is t' e Then the length w of the vehicle body obtained by the ultrasonic positioning and early warning integrated machine i i The approximation is:
w i ≈v i,i+1 ×(t e -t s ) Or w i ≈v i,i+1 ×(t' e -t' s )；
When the mutual shielding phenomenon of the vehicles occurs, the calculated length w of the vehicle body i Cannot represent the actual body length w of the vehicle, at which point w i W is less than or equal to w; record that vehicle passes through ultrasonic positioning early warning all-in-one 1,2, & gt, iThe obtained length of the vehicle body is combined into { w } 1 ，w 2 ，...，w n The actual body length w of the vehicle is:
the invention has the following advantages and positive effects: compared with the prior art, the highway ultrasonic vehicle positioning and risk early warning system and method are simple in deployment and installation, low in construction cost and beneficial to improvement of road traffic safety and traffic efficiency. Compared with other traffic state monitoring equipment, the detection precision is high, the detection range is wide, the microscopic running track and data of the vehicle can be obtained, and the event identification and risk prediction accuracy is high; compared with other early warning release devices, the device can automatically control and dynamically release acousto-optic signals, has a strong warning effect and good information continuity.
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