CN102723001A - Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning - Google Patents

Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning Download PDF

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CN102723001A
CN102723001A CN2012101890073A CN201210189007A CN102723001A CN 102723001 A CN102723001 A CN 102723001A CN 2012101890073 A CN2012101890073 A CN 2012101890073A CN 201210189007 A CN201210189007 A CN 201210189007A CN 102723001 A CN102723001 A CN 102723001A
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vehicle
bend
speed
motor vehicle
information
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CN102723001B (en
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陈涛
魏朗
张淼
扬炜
袁望方
李春明
周维新
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Changan University
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Changan University
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Abstract

The invention discloses an implementation method for a speed feedback sign for bend steering vehicle speed safety state prewarning. The speed feedback sign system which consists of a monitoring camera, a rain sensor and a speed feedback sign device is arranged on the roadbed side of a road in front of a bend entrance in a retrograde vehicle direction, wherein a central control chip, a speed measuring radar, a light emitting diode (LED) display screen and prompting characters are arranged in the speed feedback sign device; a driver is warned to control the vehicle speed within a proper range before a vehicle enters a bend according to the conditions such as types of driven vehicles, weather conditions and road alignment conditions, so that traffic accidents after the vehicle enters the bend are prevented, and bend entrance critical safe vehicle speed corresponding to different vehicle types can be prompted in real time aiming at the change of road adhesion coefficients caused by different weather conditions and different bend road sections, and vehicle speed information and running states are fed back to the driver before the vehicle enters the bend; and therefore, enough time for the driver to adjust the vehicle speed is ensured and the road operation safety is improved.

Description

The implementation method of the velocity feedback designation system of turning around a curve speed of a motor vehicle safe condition early warning
Technical field
The present invention relates to Che-Lu coordination technique field, be specifically related to the implementation method of the velocity feedback designation system of a kind of turning around a curve speed of a motor vehicle safe condition early warning.
Background technology
Along with advancing by leaps and bounds of China's road traffic cause, the serious problems that the road traffic accident rapid growth has become traffic administration and faced.Though China's related management department has taked a lot of measures in recent years, compares to western developed country, accident indexs such as road traffic accident rate of China and ten thousand car mortality ratio are all higher relatively, and the traffic safety situation is still very severe.According to the road traffic accident statistical results show, the bend highway section is the black spot, and driver Chang Yin drives over the speed limit and causes traffic hazard into curved causing to lose control of one's vehicle, causes great economy and property loss.Therefore, the traffic safety in enhancing bend highway section has great practical significance.
At present, go into to bend this important function for of research of security performance around the lifting vehicle both at home and abroad and launched and produced many representative research results, like the equipment that is used for of Greece Si Piluosiweiqisi research and development to motorist warning excessive speed of turning around a curve.This equipment is judged whether excessive speed of turning and under overspeed situation, send corresponding chimes of doom of driver through monitoring built-in mercury tilt switch value.Yet this equipment has only to go into to bend when vehicle and just can send chimes of doom when back mercury tilt switch value surpasses a threshold value, concerning the driver, improve the reaction time short and under sleety weather the driver take measure such as brake hard to cause danger more easily and accidents caused at bend.
Another kind of typical case's representative be the invention of Japanese Toyota Motor Corporation rep. be used for vehicle along the bend turning driving time run stability control device; This device can be independent of driver's steering operation and the steering angle of controlling the steered vehicle wheel be applied to the driving force/damping force on each wheel, and the target turning of the calculating vehicle controlled quentity controlled variable of going.But this device is independent of driver's characteristic makes its active maneuvering performance poor, is difficult for controlling.
In addition, the navigation safety early warning of Taiwan Industrial Technology Research Institute invention and driving recording method, GM Global Technology Operation be used near and also all vehicle being gone into to bend security control based on the highway bend detection method of computer vision etc. and has carried out corresponding research of the method for control speed of the vehicle on bend that goes and Zhejiang University.
But above research all mainly promotes the security of vehicle in negotiation of bends from the angle of car, improves vehicle from road service function angle and goes into curved driving safety and rarely have to relate to.At present improving vehicle from road service function angle goes into to bend the facility of driving safety and mainly contains the velocity feedback sign; Its function mainly is to point out the real-time speed of a motor vehicle and highway section restricted speed to the approaching vehicle; But the driver can not intuitively be recognized take what kind of speed control strategy rapidly from this sign; And above-mentioned sign does not relate to for the variation of doing of causing in the different weather condition, wet road vehicles tire and the coefficient of road adhesion influence to the safety speed of a motor vehicle basically yet; Main consider it is the safe speed of a motor vehicle under the dry pavement condition, thereby the safety speed-limit of being pointed out by the velocity feedback sign under the low attachment coefficient condition that causes on the wet and slippery road surface of sleety weather goes and still has certain potential safety hazard.
In addition, know that by accident statistical analysis different automobile types is also incomplete same in the common accident form in bend highway section, wherein car is more with sideslip whipping accident, and the truck that quality is big, the center is higher, operating passenger car etc. are then more with the rollover accident.Therefore, the vehicle factor also is the key factor that the control of the bend speed of a motor vehicle will be considered, and above invention, technology or device etc. are not all made clearly differentiation to vehicle.
Summary of the invention
Defective or deficiency to above-mentioned prior art existence; The objective of the invention is to; A kind of implementation method in order to the velocity feedback designation system of pointing out the early warning of turning around a curve speed of a motor vehicle safe condition to the driver is provided; This method is based on Che-Lu coordination technique, from the angle on road so that all-weather real-time to dissimilar go into to bend vehicle point out this vehicle under the different weather conditions corresponding go into to bend the criticality safety speed of a motor vehicle; Can to caused road-adhesion coefficient under the different weather condition change with different bends highway section real-time prompting different automobile types correspondence go into to bend the criticality safety speed of a motor vehicle; And speed information and transport condition in time fed back to the driver before vehicle goes into to bend, and there is time enough to carry out speed of a motor vehicle adjustment to guarantee the driver, improve road operation security property.
In order to realize above-mentioned task, the technical scheme that the present invention adopted is:
The implementation method of the velocity feedback designation system of a kind of turning around a curve speed of a motor vehicle safe condition early warning; It is characterized in that; Road foundation side before the bend porch of car direction of driving in the wrong direction is installed the velocity feedback designation system that monitoring camera, rain sensor and velocity feedback device for marking are formed, wherein, and control chip, velocity radar, LED display and prompting character in having in the velocity feedback device for marking; According to driven motorcycle type, weather condition and road alignment condition etc.; The driver is controlled at the speed of a motor vehicle in the suitable scope before getting into bend with warning, to prevent that implementation step is following into the generation of curved back traffic hazard:
1) parameter typing: the road structure indication informations such as radius of horizontal curve, top rake, ramp length and road surface construction depth that the bend highway section at this velocity feedback designation system place will be installed are entered in the middle control chip, as the constant input parameter of this velocity feedback designation system.
2) set up the model algorithm storehouse: go into to bend the criticality safety speed of a motor vehicle for what study different automobile types under the different weather condition of variant highway section; Need to set up the model algorithm storehouse that comprises pavement structure index and rainfall intensity and road surface water film thickness, water film thickness and coefficient of road adhesion, coefficient of road adhesion and go into to bend the criticality safety speed of a motor vehicle, and this algorithms library is entered into middle the control in the chip so that system calculates and goes into to bend the criticality safety speed of a motor vehicle under the respective conditions after obtaining vehicle and rainfall density information in real time.
3) monitoring camera that is installed in before the bend porch is gathered the dynamic image that is about to into curved vehicle in real time; And through associated picture recognition technology quick identification publish picture the picture in sail vehicle into vehicle information, as one of this real-time input parameter of system send in the control chip.
4) be installed in the other rain sensor with the shared installation electric pole of monitoring camera of roadbed side monitoring camera, control chip in real time the rainfall amount information in the unit interval that measures being sent to is also as one of real-time input parameter of this system.
5) the rainfall intensity information that collects according to rain sensor of control chip in according to the rainfall intensity of typing and the relation of road structural parameter and water film thickness in the algorithms library, calculates the real-time water film thickness information under this curved road surface condition; According to the relation of water film thickness in the algorithms library and coefficient of road adhesion, calculate the real-time coefficient of road adhesion in this highway section under this water film thickness condition again.
The real-time attachment coefficient in road surface of calculating before the vehicle information that the control chip collects according to monitoring camera 6) reaches; According to the coefficient of road adhesion of this kind vehicle in the algorithms library with critically go into to bend the relation between the safe speed of a motor vehicle, calculate this kind vehicle and be at this bend and go into to bend the criticality safety speed of a motor vehicle in real time under this kind weather condition.
7) the built-in velocity radar in the velocity feedback device for marking is gathered this instantaneous speed of a motor vehicle of going into to bend vehicle in real time, and should send to middle control chip by instantaneous speed information.
8) in the control chip according to before calculate this vehicle under this weather condition, go into to bend the criticality safety speed of a motor vehicle at place, this highway section; The real-time instantaneous speed of a motor vehicle before this vehicle that the contrast velocity radar records goes into to bend; That differentiates whether the instantaneous speed of a motor vehicle of this vehicle surpassed that system-computed gets goes into to bend the criticality safety speed of a motor vehicle, and this information is sent to the LED display in the velocity feedback device for marking.
9) LED display in the velocity feedback device for marking is according to the middle control chip information received, with the real-time instantaneous speed of a motor vehicle, the system of this vehicle calculate the criticality safety speed of a motor vehicle and the speed of a motor vehicle status information (whether exceed the speed limit and maybe should take which kind of speed control countermeasure) of this vehicle be presented on the LED display.
10) above-mentioned steps 1) all accomplish in second to the step 9) process at 1-2, guarantee before vehicle is through the velocity feedback device for marking, information to be presented on the LED display.
11) the vehicle drive people is according to the information that shows on the velocity feedback device for marking LED display; Understand the real-time driving speed of a motor vehicle state of oneself; And adjustment in time reduces the speed of a motor vehicle to be stabilized in the criticality safety vehicle speed range before going into to bend under the hypervelocity condition; Thereby prevent that vehicle from going into to bend the back and too fast or road surface crossing sliding having an accident because of the speed of a motor vehicle, reduce vehicle in the potential safety hazard of sailing the bend place into.
The rudimentary algorithm model in said model algorithm storehouse is:
(1) under condition of raining:
The numerical relationship model of water film thickness and road structural parameter and rainfall intensity is:
h=f(l,i,q,TD)
In the formula, h: domatic water film thickness (mm);
L: length of grade (m);
I: the gradient;
Q: rainfall intensity (mm/min);
TD: road surface construction depth (mm).
Numerical relationship model between attachment coefficient and the instantaneous speed of a motor vehicle and the water film thickness is:
Figure BDA00001744002700051
In the formula, the attachment coefficient between tire and road surface;
The instantaneous speed of a motor vehicle of v-;
The h-water film thickness.
The numerical relationship model of road surface friction factor and attachment coefficient is:
Figure BDA00001744002700053
In the formula, μ: road surface friction factor.
Go into to bend the relation of the criticality safety speed of a motor vehicle and attachment coefficient, vehicle mass, turning radius and vehicle:
v l=f(μ,m,R,S)
In the formula, m: vehicle mass (kg);
V l: go into to bend the criticality safety speed of a motor vehicle (km/h);
R: turning radius (m);
S: vehicle information (car, passenger vehicle, lorry etc.).
(2) under no condition of raining:
Can when equipment is installed, directly record at (dry pavement) surface friction coefficient μ under the no condition of raining, and utilize above-mentioned relation of going into to bend the criticality safety speed of a motor vehicle and attachment coefficient to calculate and go into to bend the criticality safety speed of a motor vehicle under no rainfall (being that the road surface the is not wet and slippery) condition through corresponding test.
Monitoring camera is installed in the road foundation side before the car direction bend porch of driving in the wrong direction in the said step 3); Distance is about about 100-200 rice along the track direction apart from the bend porch, and the retrograde car direction of monitoring is the sail vehicle vehicle information of distance in 30-100 rice scope apart from the camera installation site.The present invention utilizes pinnacled single camera supervision road surface is installed, and can carry out detection of dynamic and statistics to the type of vehicle that multilane passes through.
As one of core technology of the present invention, the ultimate principle of its vehicle identification is: in the monitoring occasion, camera is fixed mostly, and background is very slowly to change, and can from image sequence, take out natural background gradually.Camera calibration has adopted pin-hole model to calculate projection perspective matrix.The similarity of the target that is partitioned into through two frames before and after the tracking utilization of vehicle in the track is mated, and can count flow exactly through coupling, and the present invention has adopted Hausdorff Distance Matching image.Utilize length and width information and Model Matching, the vehicle vehicle is classified.Tentatively vehicle is divided into passenger vehicle, car and lorry three major types.
Rain sensor is installed in the other and shared installation electric pole of monitoring camera of roadbed side monitoring camera in said, control chip in real time the rainfall amount information in the unit interval that measures being sent to.Its principle of work is: when a small room water receiving, it is in running order, and another small room is in the water receiving waiting status.When the ponding capacity of work small room when reaching preset value, because the just own overturning of effect of gravity, the every counter-rotating of tipping bucket is once just sent a pulse signal, according to statistical unit in the time pulse number can realize purpose that rainfall amount intensity is monitored.
The implementation method of the velocity feedback designation system of turning around a curve speed of a motor vehicle safe condition of the present invention early warning is gone into bend linear combination highway section applicable to the straight line of the higher road of road speeds such as highway, Class I highway, Class II highway, has following advantage:
1, from Che-Lu coordination technique angle; To improve the road safety service ability is purpose;, vehicle just provides alert to the hypervelocity hazardous act of human pilot early before sailing bend into; Guaranteed that the driver has enough reaction time and reaction distance to go into the curved speed of a motor vehicle to reduce, thereby guaranteed driving safety.
2, can be presented under the different weather condition in real time, the criticality safety speed of a motor vehicle of different highway sections structure and different automobile types, especially drive safety helps greatly under the misty rain weather condition to improving.
Description of drawings
Fig. 1 is the schematic flow sheet of the embodiment of the invention.
Fig. 2 is the fundamental diagram of control chip in the embodiment of the invention.
Fig. 3 is the installation site synoptic diagram of the embodiment of the invention.
Fig. 4 is the camera synoptic diagram of the embodiment of the invention.
Fig. 5 is the tipping bucket rain gauge fundamental diagram of the embodiment of the invention.
Fig. 6 A is the velocity feedback device for marking structural representation of the embodiment of the invention.
Fig. 6 B is the velocity feedback device for marking effect synoptic diagram of the embodiment of the invention.
Mark among the figure is represented respectively: 1, monitoring camera (installation site), 2, rain sensor (installation site), 3, velocity feedback device for marking (installation site), 4, the bend inlet; 5, direction of traffic, 6, the roadbed side, 7, bend, 8, monitoring camera; 9, tipping bucket rain gauge, 10, LED display, 11, velocity radar (installation site); 12, middle control chip (installation site), 13, prompting character, 14, the velocity feedback device for marking.
Below in conjunction with accompanying drawing and embodiment the present invention is done further detailed description, need to prove, the embodiment that below provides realizes preferred embodiment of the present invention, but does not receive the restriction of embodiment.
Embodiment
Referring to Fig. 1~Fig. 6; Present embodiment provides the implementation method of the velocity feedback designation system of a kind of turning around a curve speed of a motor vehicle safe condition early warning; Road foundation side before the bend porch of car direction of driving in the wrong direction is installed the velocity feedback designation system that monitoring camera 8, rain sensor 9 and velocity feedback device for marking 14 are formed; Wherein, velocity feedback device for marking 14 is by middle control chip 12, and velocity radar 11, LED display 10 and prompting character 13 are formed.Monitoring camera 8, rain sensor 9 and velocity feedback device for marking 14 common circuits, the circuit transmission pulse signal that communicates.
1) parameter typing: the road structure indication informations such as radius of horizontal curve, top rake, ramp length and road surface construction depth that the bend highway section at this velocity feedback designation system place will be installed are entered in the middle control chip, as the constant input parameter of this velocity feedback designation system.
2) set up the model algorithm storehouse: go into to bend the criticality safety speed of a motor vehicle for what study different automobile types under the different weather condition of variant highway section; Need to set up the model algorithm storehouse that comprises pavement structure index and rainfall intensity and road surface water film thickness, water film thickness and coefficient of road adhesion, coefficient of road adhesion and go into to bend the criticality safety speed of a motor vehicle, and this algorithms library is entered into middle the control in the chip so that system calculates and goes into to bend the criticality safety speed of a motor vehicle under the respective conditions after obtaining vehicle and rainfall density information in real time.
3) monitoring camera that is installed in before the bend porch is gathered the dynamic image that is about to into curved vehicle in real time; And through associated picture recognition technology quick identification publish picture the picture in sail vehicle into vehicle information, as one of this real-time input parameter of system send in the control chip.
4) be installed in the other rain sensor with the shared installation electric pole of monitoring camera of roadbed side monitoring camera, control chip in real time the rainfall amount information in the unit interval that measures being sent to is also as one of real-time input parameter of this system.
5) the rainfall intensity information that collects according to rain sensor of control chip in according to the rainfall intensity of typing and the relation of road structural parameter and water film thickness in the algorithms library, calculates the real-time water film thickness information under this curved road surface condition; According to the relation of water film thickness in the algorithms library and coefficient of road adhesion, calculate the real-time coefficient of road adhesion in this highway section under this water film thickness condition again.
The real-time attachment coefficient in road surface of calculating before the vehicle information that the control chip collects according to monitoring camera 6) reaches; According to the coefficient of road adhesion of this kind vehicle in the algorithms library with critically go into to bend the relation between the safe speed of a motor vehicle, calculate this kind vehicle and be at this bend and go into to bend the criticality safety speed of a motor vehicle in real time under this kind weather condition.
7) the built-in velocity radar in the velocity feedback device for marking is gathered this instantaneous speed of a motor vehicle of going into to bend vehicle in real time, and should send to middle control chip by instantaneous speed information.
8) in the control chip according to before calculate this vehicle under this weather condition, go into to bend the criticality safety speed of a motor vehicle at place, this highway section; The real-time instantaneous speed of a motor vehicle before this vehicle that the contrast velocity radar records goes into to bend; That differentiates whether the instantaneous speed of a motor vehicle of this vehicle surpassed that system-computed gets goes into to bend the criticality safety speed of a motor vehicle, and this information is sent to the LED display in the velocity feedback device for marking.
9) LED display in the velocity feedback device for marking is according to the middle control chip information received, with the real-time instantaneous speed of a motor vehicle, the system of this vehicle calculate the criticality safety speed of a motor vehicle and the speed of a motor vehicle status information (whether exceed the speed limit and maybe should take which kind of speed control countermeasure) of this vehicle be presented on the LED display.
10) above-mentioned steps 1) all accomplish in second to the step 9) process at 1-2, guarantee before vehicle is through the velocity feedback device for marking, information to be presented on the LED display.
11) the vehicle drive people is according to the information that shows on the velocity feedback device for marking LED display; Understand the real-time driving speed of a motor vehicle state of oneself; And adjustment in time reduces the speed of a motor vehicle to be stabilized in the criticality safety vehicle speed range before going into to bend under the hypervelocity condition; Thereby prevent that vehicle from going into to bend the back and too fast or road surface crossing sliding having an accident because of the speed of a motor vehicle, reduce vehicle in the potential safety hazard of sailing the bend place into.
The ultimate principle of vehicle identification is: in the monitoring occasion, camera is fixed mostly, and background is very slowly to change, and can from image sequence, take out natural background gradually.Camera calibration has adopted pin-hole model to calculate projection perspective matrix.The similarity of the target that is partitioned into through two frames before and after the tracking utilization of vehicle in the track is mated, and can count flow exactly through coupling, and the present invention has adopted Hausdorff Distance Matching image.Utilize length and width information and Model Matching, the vehicle vehicle is classified.Tentatively vehicle is divided into passenger vehicle, car and lorry three major types.
In the present embodiment; Monitoring camera 8 is chosen the colored monitoring camera of 1/2 inch CCD; Rain sensor 9 is chosen tipping bucket rain gauge, and the velocity radar 11 in the velocity feedback device for marking 14 is chosen for the Microwave Velocity radar, and LED display 10 is chosen for full-color LED display screen.
Model algorithm storehouse substance comprises: the numerical relationship model of numerical relationship model, water film thickness and the coefficient of road adhesion of rainfall intensity and road structure index and water film thickness, coefficient of road adhesion and go into to bend the numerical relationship model of the criticality safety speed of a motor vehicle.
One) under condition of raining:
When bend 7 highway section overland flows are stablized, following mathematical relation (supposing that its relation is exponential type) is arranged between domatic water film thickness and rainfall intensity, length of grade, the gradient and the road surface construction depth:
h=f(l,i,q,TD)
In the formula, h: domatic water film thickness (mm);
L: length of grade (m);
I: the gradient;
Q: rainfall intensity (mm/min);
TD: road surface construction depth (mm).
Set up contact and steady rolling tire finite element model, and carry out regretional analysis, can obtain the relational expression of attachment coefficient and water film thickness, the instantaneous speed of a motor vehicle of going under this experiment condition through the experiment image data:
In the formula,
Figure BDA00001744002700102
is the attachment coefficient of road surface and tire;
V is the instantaneous speed of a motor vehicle of vehicle (km/h) that records;
H is a water film thickness.
The numerical relationship model of road surface friction factor and attachment coefficient is:
Figure BDA00001744002700103
In the formula, μ: road surface friction factor.
The road surface friction factor with the numerical relationship model of going into to bend the criticality safety speed of a motor vehicle is:
F=μN=ma
According to statistical study, the different vehicle vehicle is also incomplete same in the accident form at bend place, and wherein car is main with sideslip mainly, and passenger vehicle, lorry are then big because of quality, center of gravity is high, and accident is many to be main with rollover.Therefore, vehicle also as going into to bend one of safe speed of a motor vehicle influence factor, is obtained the numerical relationship model into the curved criticality safety speed of a motor vehicle and attachment coefficient, vehicle mass, turning radius and vehicle thus:
v l=f(μ,m,R,S)
In the formula, m: vehicle mass (kg);
V l: go into to bend the criticality safety speed of a motor vehicle (km/h);
R: turning radius (m);
S: vehicle information (car, passenger vehicle, lorry etc.).
In conjunction with before each numerical relationship model, the programming with controlling chip in the above-mentioned mathematical model typing, can draw different automobile types real-time criticality safety in a certain highway section under the different weather condition and go into the curved speed of a motor vehicle.
Two) under non-condition of raining
Under this weather condition surface friction coefficient μ can be when equipment be installed directly record through correlation test and programme be entered among the control chip, and utilize above-mentioned relation of going into to bend the criticality safety speed of a motor vehicle and attachment coefficient to calculate and go into to bend the criticality safety speed of a motor vehicle under no rainfall (being that the road surface the is not wet and slippery) condition.
3) being installed in enter the mouth monitoring camera 8 before 4 places of bend gathers in real time and is about to the dynamic image into the vehicle of bend 7; And through associated picture recognition technology quick identification publish picture the picture in sail vehicle into vehicle information, as one of this real-time input parameter of system send in the control chip 12.
In the present embodiment, monitoring camera 8 is installed in the roadbed side 6 at 4 preceding 150 meters, car direction 5 bend porch of driving in the wrong direction, and the retrograde vehicle of car direction 5 in the 30-100 rice scope of the place ahead, monitoring camera 8 position of monitoring sails information into.And, extract profile information to sailing vehicle in the monitored picture into according to the image recognition processing technology that programming is set up, screen and sail the vehicle vehicle into.Its vehicle is screened ultimate principle: in the monitoring occasion, camera is fixed mostly, and background is very slowly to change, and can from image sequence, take out natural background gradually.Camera calibration has adopted pin-hole model to calculate projection perspective matrix.The similarity of the target that is partitioned into through two frames before and after the tracking utilization of vehicle in the track is mated, and can count flow exactly through coupling, and present embodiment has adopted Hausdorff Distance Matching image.Utilize length and width information and Model Matching, can vehicle information be classified.In Model Matching and vehicle identification, need recover the target three-dimensional information from two dimensional image, simultaneously three-dimensional model is projected to the plane of delineation and get on, therefore necessary Calculation of Three Dimensional space is to the projection relation matrix of the plane of delineation, promptly so-called camera calibration.The present invention adopts the camera marking method based on pin-hole model, and its ultimate principle is the reference mark and the coordinate of these reference mark in image that utilizes in one group of given three-dimensional world coordinate, finds the solution system of linear equations, calculates each element in the perspective projection matrix.
Present embodiment roughly is divided into these three types in car, passenger vehicle and lorry with type of vehicle.When using, at first recover the three-dimensional information of vehicle, a computational length and width.Because a bit corresponding series of points of different depth in the camera coordinates on the two dimensional image plane; So from image, a bit recovering this world coordinates in the information; Want given this one-component in world's coordinate figure to give the outgoing direction height value usually to reduce uncertainty.On having calculated the target vehicle diagonal line, after 2 the world coordinates, can obtain the projection on the ground of the vehicle chassis centre of form, this projection value be exactly vehicle in world coordinate system vehicle with respect to the translation of world coordinate system initial point.Suppose two direction of motion that vehicle is only made a return journey along the track simultaneously, can judge vehicle angle on the ground according to velocity information.Utilize the three-dimensional modeling data and the vehicle angle value and the shift value on the ground of vehicle itself,, just can confirm the projection of vehicle on the plane of delineation uniquely through perspective projection transformation.Get into fully after the monitoring range on vehicle,, can be divided into two types of sizes according to its length and width.For cart, suppose that it all is passenger vehicle or lorry; Project on the plane for the three-dimensional model of dolly with general car, obtain the mean distance (this also can adopt range conversion realize) of vehicle edge to wire-frame model, the corresponding model of small distance value is exactly the kind of vehicle to be identified.Common because the vehicle chassis centroid calculation is inaccurate, to a kind of model projection, need to adopt three step search procedures obtain corresponding distance value in different positions, the minimum value of getting is wherein measured as the degree of agreement of this model and vehicle edge.Thus, just can vehicle be screened and be three types in car, passenger vehicle and lorry, and control chip 12 in should examination information passing to.
4) be installed in the other rain sensor 9 with monitoring camera 8 shared installation electric poles of roadbed side monitoring camera 8, control chip 12 in real time the rainfall amount information in the unit interval that measures being sent to is also as one of real-time input parameter of this system.
In the present embodiment, rain sensor 9 is chosen for tipping bucket rain gauge, and resolving power reaches 0.5mm, and precision is high, and volume is little, and the linearity is good, and transmission range is long, and antijamming capability is strong.Tipping bucket rain gauge 9 is installed in 1 place, monitoring camera installation site on the car direction 5 bend porch 4 preceding roadbed sides 6 of driving in the wrong direction, and with monitoring camera 8 shared electric poles, is installed in above the ground 3-4 rice of monitoring camera 8 electric poles distance.Its basic functional principle is: when a small room water receiving, it is in running order, and another small room is in the water receiving waiting status.When the ponding capacity of work small room when reaching preset value, because the just own overturning of effect of gravity, the every counter-rotating of tipping bucket is once just sent a pulse signal, according to statistical unit in the time pulse number can realize purpose that rainfall amount intensity is monitored.How many rainfall amounts is rainfall intensity in its unit interval that monitors, and this information real-time is passed to middle control chip 12.
In the present embodiment, velocity feedback device for marking 14 is installed in the car direction 5 bend porch 4 preceding 100 meters roadbed sides 6 of driving in the wrong direction, and middle control chip 12 is mounted thereon.The vehicle vehicle information and the rainfall intensity information that collect before middle control chip 12 bases; And, calculate this kind vehicle and under weather condition at that time, go into to bend the criticality safety speed of a motor vehicle in this highway section according to each the parameter numerical relationship model algorithm in the model algorithm storehouse of typing in advance.In addition; Middle control chip 12 is according to being installed in the instantaneous speed of a motor vehicle of vehicle that the Microwave Velocity radar 11 on the velocity feedback device for marking 14 measures; That judges whether this instantaneous speed of a motor vehicle surpass that system-computed obtains goes into to bend the criticality safety speed of a motor vehicle; And result of determination information passed to the full-color LED display screen 10 on the velocity feedback device for marking 14, the speed of a motor vehicle control strategy that speed information and driver should be taked in time feeds back and informs the driver.
5) the rainfall intensity information that collects according to rain sensor of control chip 12 in according to the rainfall intensity of typing and the relation of road structural parameter and water film thickness in the algorithms library, calculates the real-time water film thickness information under this curved road surface condition; According to the relation of water film thickness in the algorithms library and coefficient of road adhesion, calculate the real-time coefficient of road adhesion in this highway section under this water film thickness condition again.
In the present embodiment, the speed comparative result according to middle control chip 12 is judged can show different information on the full-color LED display screen 10.Content displayed comprises on the full-color LED display screen 10: " your speed of a motor vehicle: XX, the safe speed of a motor vehicle: XX woulds you please: XX " (XX represents vehicle speed value and Word message).Go into bend the criticality safety speed of a motor vehicle if the instantaneous speed of a motor vehicle of sailing vehicle into is lower than that system-computed gets, then content displayed is on the full-color LED display screen 10: " your speed of a motor vehicle: XX (green), the safe speed of a motor vehicle: XX (yellow) woulds you please: the maintenance speed of a motor vehicle (green) "; Scope is no more than into bending 50% of the criticality safety speed of a motor vehicle if the instantaneous speed of a motor vehicle of sailing vehicle into is equal to or higher than that system-computed must go into bend the criticality safety speed of a motor vehicle; Then content displayed is on the full-color LED display screen 10: " your speed of a motor vehicle: XX (yellow); the safe speed of a motor vehicle: XX (redness) woulds you please: Reduced Speed Now (yellow) "; System-computed must go into bend the criticality safety speed of a motor vehicle and scope surpasses into bending 50% of the criticality safety speed of a motor vehicle if the instantaneous speed of a motor vehicle of sailing vehicle into is equal to or higher than; Then content displayed is on the full-color LED display screen 10: " your speed of a motor vehicle: XX (redness); the safe speed of a motor vehicle: XX (redness) woulds you please: urgent slow down (redness) ".
Above-mentioned steps from begin to carry out related data collect final on full-color LED display screen 10 process of display result information all accomplished 1 second left and right sides time; Information is fed back to the driver quickly; To guarantee that the driver has sufficient time to make handled and judges; The potential safety hazard that furious driving caused is eliminated before vehicle goes into to bend as early as possible, improved bend 7 travel safeties, be reduced in the accident rate at bend 7 places.

Claims (5)

1. the implementation method of the velocity feedback designation system of turning around a curve speed of a motor vehicle safe condition early warning; It is characterized in that; Road foundation side before the bend porch of car direction of driving in the wrong direction is installed the velocity feedback designation system that monitoring camera, rain sensor and velocity feedback device for marking are formed; Wherein, middle control chip, velocity radar, LED display and prompting character are arranged in the velocity feedback device for marking; According to driven motorcycle type, weather condition and road alignment condition etc., the driver is controlled at the speed of a motor vehicle in the suitable scope before getting into bend with warning, to prevent that implementation step is following into the generation of curved back traffic hazard:
1) parameter typing: the road structure indication informations such as radius of horizontal curve, top rake, ramp length and road surface construction depth that the bend highway section at this velocity feedback designation system place will be installed are entered in the middle control chip, as the constant input parameter of this velocity feedback designation system;
2) set up the model algorithm storehouse: go into to bend the criticality safety speed of a motor vehicle for what study different automobile types under the different weather condition of variant highway section; Need to set up the model algorithm storehouse that comprises pavement structure index and rainfall intensity and road surface water film thickness, water film thickness and coefficient of road adhesion, coefficient of road adhesion and go into to bend the criticality safety speed of a motor vehicle, and this algorithms library is entered into middle the control in the chip so that the velocity feedback designation system calculates and goes into to bend the criticality safety speed of a motor vehicle under the respective conditions after obtaining vehicle and rainfall density information in real time;
3) monitoring camera that is installed in before the bend porch is gathered the dynamic image that is about to into curved vehicle in real time; And through associated picture recognition technology quick identification publish picture the picture in sail vehicle into vehicle information, as one of this real-time input parameter of system send in the control chip;
4) be installed in the other rain sensor with the shared installation electric pole of monitoring camera of roadbed side monitoring camera, control chip in real time the rainfall amount information in the unit interval that measures being sent to is also as one of real-time input parameter of this system;
5) the rainfall intensity information that collects according to rain sensor of control chip in according to the rainfall intensity of typing and the relation of road structural parameter and water film thickness in the algorithms library, calculates the real-time water film thickness information under this curved road surface condition; According to the relation of water film thickness in the algorithms library and coefficient of road adhesion, calculate the real-time coefficient of road adhesion in this highway section under this water film thickness condition again;
The real-time attachment coefficient in road surface of calculating before the vehicle information that the control chip collects according to monitoring camera 6) reaches; According to the coefficient of road adhesion of this kind vehicle in the algorithms library with critically go into to bend the relation between the safe speed of a motor vehicle, calculate this kind vehicle and be at this bend and go into to bend the criticality safety speed of a motor vehicle in real time under this kind weather condition;
7) built-in velocity radar is gathered the instantaneous speed of a motor vehicle that this goes into to bend vehicle in real time in the velocity feedback device for marking, and should send to middle control chip by instantaneous speed information;
8) in the control chip according to before calculate this vehicle under this weather condition, go into to bend the criticality safety speed of a motor vehicle at place, this highway section; The real-time instantaneous speed of a motor vehicle before this vehicle that the contrast velocity radar records goes into to bend; That differentiates whether the instantaneous speed of a motor vehicle of this vehicle surpassed that system-computed gets goes into to bend the criticality safety speed of a motor vehicle, and this information is sent to the LED display in the velocity feedback device for marking;
9) LED display in the velocity feedback device for marking is according to the middle control chip information of receiving; With the real-time instantaneous speed of a motor vehicle, the system of this vehicle calculate the criticality safety speed of a motor vehicle and the speed of a motor vehicle status information of this vehicle, promptly whether exceed the speed limit and maybe should take which kind of speed control countermeasure to be presented on the LED display;
10) the vehicle drive people is according to the information that shows on the velocity feedback device for marking LED display; Understand the real-time driving speed of a motor vehicle state of oneself; And adjustment in time reduces the speed of a motor vehicle to be stabilized in the criticality safety vehicle speed range before going into to bend under the hypervelocity condition; Thereby prevent that vehicle from going into to bend the back and too fast or road surface crossing sliding having an accident because of the speed of a motor vehicle, reduce vehicle in the potential safety hazard of sailing the bend place into.
2. the method for claim 1; It is characterized in that; Described monitoring camera is installed in 100-200 rice roadbed one side before the car direction bend porch of driving in the wrong direction; Monitor the car direction of driving in the wrong direction goes into to bend vehicle in the 30-100 rice regional extent before the monitoring camera installation site vehicle information, and screen out the vehicle information of vehicle according to the respective image acquisition technique, and control chip in passing to.
3. the method for claim 1 is characterized in that, described rain sensor is installed in roadbed one side, with the shared electric pole of monitoring camera, is installed on the electric pole 3-4 rice apart from ground, monitor rainfall intensity in real time and information passed in the control chip.
4. the method for claim 1; It is characterized in that; Said velocity feedback device for marking be installed in car direction roadbed one side of driving in the wrong direction apart from the bend porch apart from 70-150 rice; The instantaneous speed of a motor vehicle of going into to bend vehicle in the 10-200 rice scope of measuring speed feedback marks device the place ahead, and with information pass in the control chip.
5. the method for claim 1; It is characterized in that; Middle control chip is according to the real-time information of collecting; Go out to sail into bend vehicle vehicle according to system self algorithm computation and under this elbow structure condition and weather condition, go into to bend the criticality safety speed of a motor vehicle, and information in time is sent to LED display shows and feed back to the driver, guarantee to go into bend the possibility of the safe speed of a motor vehicle with the generation of minimizing accident so that it carries out speed of a motor vehicle correction early.
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