CN109817000A - A driving assistance system based on vehicle-road information matching and its operation method - Google Patents
A driving assistance system based on vehicle-road information matching and its operation method Download PDFInfo
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Abstract
The invention discloses a kind of driving auxiliary system and operation method based on bus or train route information matches, middle rolling car auxiliary system includes trackside terminal and car-mounted terminal；Trackside terminal includes road information acquisition module and information transmission modular；Car-mounted terminal includes running information acquisition module, message processing module and nformation alert module；The present invention passes through matching lane signal timing dial information, the canalization data in intersection lane, intersection lane position data and vehicle position information, this system is supplied to driver after screening the signal status information of current lane, and proposes running speed proposed projects to driver.Advantageous effects of the invention: the present invention passes through the matching analysis of bus or train route information, the specific aim of traffic signal state prompt may be implemented, traveler is helped to make full use of the green time of intersection, improve the traffic efficiency of intersection, alleviate urban traffic blocking.
Description
Technical field
The present invention relates to a kind of driving auxiliary systems and its operation method based on bus or train route information matches, belong to communications and transportation
Field of engineering technology.
Background technique
With the rapid development of social economy, it in order to meet the passenger and freight demand of differentiation, is travelled on urban road
Vehicle size is different, many kinds of.It can be made when the traffic flow of different size vehicle composition is lined up current within the scope of intersection
It is difficult accurately to know the signal information of current lane at the compact car driver to speed in large car heel, traffic is be easy to cause to disobey
Chapter simultaneously leads to traffic accident.In addition to this, it is green light for current lane and vehicle does not reach stop line and is in and intersects
When mouth hesitation area, it can be waited in intersection when driving behavior is relatively conservative until can see signal lamp clearly just can select to be to pass through intersection
Mouth or the next green light of parking waiting, be easy to cause effective green time to waste, aggravate traffic congestion.Driving behavior relatively swashs
Into when, can take a risk accelerate be forced through intersection, be easy to appear and make a dash across the red light phenomenon and induce traffic accident.And both problems are all
It can be solved by the matching of bus or train route information.
Summary of the invention
To solve the deficiencies in the prior art, the purpose of the present invention is to provide a kind of driving based on bus or train route information matches is auxiliary
The combination of Intersections timing information and traveler trip requirements may be implemented in auxiliary system and its operation method, side
It helps traveler to make full use of the green time of intersection, improves the traffic efficiency of intersection, alleviate urban traffic blocking.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of driving auxiliary system based on bus or train route information matches, including trackside terminal and car-mounted terminal；
The trackside terminal includes road information acquisition module and information transmission modular；
The car-mounted terminal includes running information acquisition module, message processing module and nformation alert module；
The road information acquisition module is used to obtain the road information of intersection, comprising: the signal condition in every lane is believed
Breath, the canalization data in intersection different directions difference lane and lane line position information；The information transmission modular is used for will
The indiscriminate message processing module for being sent to all car-mounted terminals within the scope of intersection of the road information of acquisition；
The running information acquisition module is used to obtain the location information and running speed information of vehicle；The information
Processing module is used for the matching analysis of road information and vehicle position information, judges which lane current vehicle belongs to, filters out
The signal status information in lane where current vehicle, and driving speed is provided according to the lane signal status information in lane where vehicle
Degree scheme；The nformation alert module is used to mention the running speed scheme of lane signal status information and suggestion after screening
Supply driver.
The message processing module judges that current vehicle belongs to the method in which lane and is: by all lanes of intersection into
Row number is 1,2 ..., n；It calculates separately vehicle k and is belonging to 1,2 with lane i, i ..., n；The vertical range of left side stop line with
And the vertical range of the right side lane i stop line, it is calculated since lane 1, when spacing of the vehicle k on the i of lane meets dl(i, k)
+dr(i, k)≤lw(i) when, vehicle k is on the i of lane.
The message processing module provides the judgment method of running speed proposed projects are as follows:
Step I: position (x of the vehicle k on the i of lane is obtainedk(t1), yk(t1)), speed vk(t1) and vehicle k to vehicle
The distance d of road i stop lines(i, k)；The speed limit value V of lane iim；
Step II: according to current time t1And lane signal timing dial information Ci(t1), vehicle is controlled by following situations
System:
When the signal condition of lane i is red light, it is proposed that vehicle deceleration parking safety waiting；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), if
AndIt is recommended that vehicle accelerates and velocity interval control existsBetween；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), if
It is recommended that vehicle deceleration stops；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), if
And vk(t1) < Vim, it is proposed that vehicle keeps present speed to drive through lane stop line.
The information transmission modular carries out the information between trackside terminal and car-mounted terminal using spread spectrum microwave communication and transmits.
The nformation alert module provides text and audio prompt by liquid crystal display.
Operation method based on any of the above-described driving auxiliary system, which comprises the steps of:
Step 1: obtaining road information and running information；
Road information includes the corresponding signal timing dial information of intersection lane i, intersection channelizing information and lane position
Information passes through the indiscriminate all motor vehicles for being sent to intersection range of information transmission modular；
Running information includes t1Road location (the x of moment vehicle kk(t1), yk(t1)) and current vehicle running speed
Information；
Step 2: bus or train route information matches；
The location information of the signal timing dial information in the lane of acquisition, lane information and vehicle is matched, judges vehicle
Affiliated lane；
Step 3: lane timing and running speed scheme provide, by lane signal timing dial information and running speed suggestion side
Case is supplied to driver.
In the step 2, the judgment method in the affiliated lane of vehicle are as follows: it is 1 that all lanes of intersection, which are numbered,
2 ..., n；It calculates separately vehicle k and is belonging to 1,2 with lane i, i ..., n；On the right side of the vertical range and lane i of left side stop line
The vertical range of stop line is calculated since lane 1, when spacing of the vehicle k on the i of lane meets dl(i, k)+dr(i, k)≤lw
(i) when, vehicle k is on the i of lane.
In the step 3, running speed scheme are as follows:
Obtain position (x of the vehicle k on the i of lanek(t1), yk(t1)), speed vk(t1) and vehicle k to lane i parking
The distance d of lines(i, k)；The speed limit value V of lane iim；According to current time t1And lane signal timing dial information Ci(t1)；
When the signal condition of lane i is red light, it is proposed that vehicle deceleration parking safety waiting；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), if
AndIt is recommended that vehicle accelerates and velocity interval control existsBetween；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), if
It is recommended that vehicle deceleration stops；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), if
And vk(t1) < Vim, it is proposed that vehicle keeps present speed to drive through lane stop line.
Due to the complexity of urban traffic flow composition, the setting of the facilities such as city signal at this stage be difficult to meet it is different out
Row demand causes intersection the ineffective time waste of traffic administration control occur, traffic administration inefficiency occurs.Master of the present invention
If designing a kind of intersection signal timing prompt system of bus or train route collaboration, realize between vehicle and control of traffic and road control
Collaboration allows the maximum green time for utilizing intersection of traveler, improves the traffic efficiency of intersection, alleviates urban transportation and gather around
It is stifled.Utmostly guarantee the service fairness that can also further promote public utility while traffic safety, alleviates traffic and gather around
While stifled, moreover it is possible to promote life of urban resident quality and socio-economic development environment.
Detailed description of the invention
Fig. 1 is the system structure diagram of this system.
Fig. 2 is the analysis flow chart diagram of this system.
Fig. 3 is the corresponding signal time distributing conception figure of lane i.
The lane Fig. 4 i signal time distributing conception.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, a kind of driving auxiliary system based on bus or train route information matches of the present invention, wherein including road information
Acquisition module, information transmission modular, running information acquisition module, message processing module and nformation alert module five.
(1) road information acquisition module and information transmission modular belong to trackside terminal, are integrally disposed in Intersections
On rod piece；
(2) running information acquisition module, message processing module and nformation alert module belong to car-mounted terminal, are integrally disposed in
Vehicle centre console；
(3) road information acquisition module is for obtaining lane signal timing dial information, lane canalization information and lane line position
Confidence breath.
(4) information transmission modular be used for by the road information of acquisition it is indiscriminate be sent to it is all vehicle-mounted within the scope of intersection
The message processing module of terminal.
(5) running information acquisition module is used to obtain the location information and running speed information of vehicle；
(6) message processing module is used for the matching analysis of road information, signal timing dial information and vehicle position information, sentences
Which lane disconnected current vehicle belongs to；
(7) nformation alert module is used to mention the running speed scheme of lane signal status information and suggestion after screening
Supply driver.
The practical timing data in intersection that road information acquisition module obtains include the signal timing dial in intersection difference lane
Information, the canalization information in intersection different directions difference lane, different directions lane location information.Intersection difference lane
Information and intersection signal timing data are canalized to be provided by the Traffic management control centre of each city traffic police couple.Intersection is not
Location information with traffic lane line is provided by national geographic information public service platform.
Information transmission modular carries out the information between trackside terminal and car-mounted terminal using spread spectrum microwave communication and transmits.
Running information acquisition module is obtained the location information of vehicle by vehicle GPS, is obtained by the speedometer of vehicle
Take the running speed information at current time.
Nformation alert module provides two kinds of information alerts of text and audio by liquid crystal display.
As shown in Fig. 2, the operation method of driving system of the present invention, comprising the following steps:
Step 1: road information acquisition, the corresponding signal timing dial information of road information acquisition module acquisition intersection lane i,
Intersection channelizing information and lane position information are sent to all of intersection range by the way that information transmission modular is indiscriminate
Motor vehicle；
Step 2: running information acquisition, running information acquisition module obtain t1Road location (the x of moment vehicle kk(t1), yk
(t1)) and current vehicle running speed information；
Step 3: bus or train route information matches, message processing module to the signal timing dial information in the lane of acquisition, lane information and
The location information of vehicle k is matched, and judges the affiliated lane of vehicle；
Step 4: lane timing and running speed scheme provide, and nformation alert module is by lane signal timing dial information and row
Vehicle speed proposed projects are supplied to driver.
Wherein bus or train route information matching method are as follows: it is 1,2 that all lanes of intersection, which are numbered, ..., n；It calculates separately
Vehicle k is in the vertical range d with the left side lane i (i belongs to 1,2 ..., n) stop linelStop line on the right side of (i, k) and lane i
Vertical range dr(i, k) is calculated since lane 1, when spacing of the vehicle k on the i of lane meets dl(i, k)+dr(i, k)≤lw
(i) when, vehicle k is on the i of lane.
The wherein judgment method of running speed proposed projects are as follows:
Step I: position (x of the vehicle k on the i of lane is obtainedk(t1), yk(t1)), speed vk(t1) and vehicle k to vehicle
The distance d of road i stop lines(i, k)；The speed limit value V of lane iim；
Step II: according to current time t1And lane signal timing dial information Ci(t1), vehicle is controlled by following situations
System:
When the signal condition of lane i is red light, it is proposed that vehicle deceleration parking safety waiting；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), if
AndIt is recommended that vehicle accelerates and velocity interval control existsBetween；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), if
It is recommended that vehicle deceleration stops；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), if
And vk(t1) < Vim, it is proposed that vehicle keeps present speed to drive through lane stop line.
As shown in figure 3, wherein vehicle k and lane i left-hand lane line starting point coordinate (xli(O), yli(O)) and distance rises
Terminal point coordinate (the x of 20 meters of pointli(D), yli(D)) the vertical range d betweenl(i, k) are as follows:
Wherein vehicle k and lane i right-hand lane line starting point coordinate (xri(O), yri(O)) and apart from 20 meters of starting point of end
Point coordinate (xri(D), yri(D)) the vertical range d betweenr(i, k) are as follows:
Wherein vehicle k to lane i stop line starting point coordinate (xsi(O), ysiAnd terminal point coordinate (x (O))si(D), ysi(D))
Between vertical range ds(i, k) are as follows:
As shown in figure 4, the wherein green light remaining time C of lane iiIt (g-r) is current time and adjacent signals status display
The time gap at moment.
Ci(g-r)=t2-t1 (4)
Wherein t1For current time, t2The time of adjacent signals state is transformed into for current signal state, the signal in lane is matched
When information be to occur in the period, signal timing dial information can obtain from the traffic signalization center in each city.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of driving auxiliary system based on bus or train route information matches, including trackside terminal and car-mounted terminal；
The trackside terminal includes road information acquisition module and information transmission modular；
The car-mounted terminal includes running information acquisition module, message processing module and nformation alert module；
The road information acquisition module is used to obtain the road information of intersection, comprising: the signal status information in every lane is handed over
The canalization data and lane line position information in prong different directions difference lane；What the information transmission modular was used to acquire
The indiscriminate message processing module for being sent to all car-mounted terminals within the scope of intersection of road information；
The running information acquisition module is used to obtain the location information and running speed information of vehicle；The information processing
Module is used for the matching analysis of road information and vehicle position information, judges which lane current vehicle belongs to, and filters out current
The signal status information in lane where vehicle, and running speed side is provided according to the lane signal status information in lane where vehicle
Case；The nformation alert module is used to for the running speed scheme of lane signal status information and suggestion after screening being supplied to
Driver.
2. driving auxiliary system according to claim 1, characterized in that the message processing module judges current vehicle category
Method in which lane is: it is 1,2 that all lanes of intersection, which are numbered, ..., n；Calculate separately vehicle k with lane
I, i belong to 1,2 ..., n；The vertical range of stop line on the right side of the vertical range and lane i of left side stop line, since lane 1
It calculates, when spacing of the vehicle k on the i of lane meets dl(i, k)+dr(i, k)≤lw(i) when, vehicle k is on the i of lane, in formula, dl
(i, k) be vehicle k with lane i on the left of stop line vertical range, dr(i, k) be vehicle k with lane i on the right side of stop line
Vertical range, lw(i) width for being lane i.
3. driving auxiliary system according to claim 1, characterized in that the message processing module provides running speed and builds
The judgment method of view scheme are as follows:
Step I: position (x of the vehicle k on the i of lane is obtainedk(t1), yk(t1)), speed vk(t1) and vehicle k to lane i stop
The distance d of fares(i, k)；The speed limit value V of lane iim；
Step II: according to current time t1And lane signal status information Ci(t1), vehicle is controlled by following situations:
When the signal condition of lane i is red light, it is proposed that after waiting signal state switchs to green light at vehicle deceleration to secure parking
It is current；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), ifAndIt is recommended that vehicle accelerates and velocity interval control existsBetween；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), ifIt is recommended that
Vehicle deceleration parking；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), ifAnd vk
(t1) < Vim, it is proposed that vehicle keeps present speed to drive through lane stop line.
4. driving auxiliary system according to claim 1 to 3, characterized in that the information transmission modular is using spread spectrum
Microwave communication carries out the information between trackside terminal and car-mounted terminal and transmits.
5. driving auxiliary system according to claim 1 to 3, characterized in that the nformation alert module passes through liquid crystal
Screen provides text and audio prompt.
6. the operation method based on any driving auxiliary system of claim 1-5, which comprises the steps of:
Step 1: obtaining road information and running information；
Road information includes the corresponding signal timing dial information of intersection lane i, intersection channelizing information and lane position information,
Pass through the indiscriminate all motor vehicles for being sent to intersection range of information transmission modular；
Running information includes t1Road location (the x of moment vehicle kk(t1), yk(t1)) and current vehicle running speed information；
Step 2: bus or train route information matches；
The location information of the signal timing dial information in the lane of acquisition, lane information and vehicle is matched, is judged belonging to vehicle
Lane；
Step 3: lane timing and running speed scheme provide, and lane signal timing dial information and running speed proposed projects are mentioned
Supply driver.
7. operation method according to claim 6, characterized in that in the step 2, the judgment method in the affiliated lane of vehicle
Are as follows: it is 1,2 that all lanes of intersection, which are numbered, ..., n；It calculates separately vehicle k and is belonging to 1,2 with lane i, i ..., n；
The vertical range of stop line, calculates since lane 1, when vehicle k is in vehicle on the right side of the vertical range and lane i of left side stop line
Spacing on road i meets dl(i, k)+dr(i, k)≤lw(i) when, vehicle k is on the i of lane.
8. operation method according to claim 7, characterized in that in the step 3, running speed scheme are as follows:
Obtain position (x of the vehicle k on the i of lanek(t1), yk(t1)), speed vk(t1) and vehicle k to lane i stop line
Distance ds(i, k)；The speed limit value V of lane iim；According to current time t1And lane signal timing dial information Ci(t1)；
When the signal condition of lane i is red light, it is proposed that vehicle deceleration parking safety waiting；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), ifAndIt is recommended that vehicle accelerates and velocity interval control existsBetween；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), ifIt is recommended that
Vehicle deceleration parking；
It is C when the remaining time that the signal condition of lane i is green light and green lighti(g-r), ifAnd vk
(t1) < Vim, it is proposed that vehicle keeps present speed to drive through lane stop line.
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