Road safety speed dynamic analysis method and system, terminal and medium

Abstract

The invention discloses a road safety speed-per-hour dynamic analysis method and system, a terminal and a medium, and relates to the technical field of road safety, and the technical scheme is characterized in that corresponding road linear data is matched from a database according to the positioning information of a driving vehicle; dividing the road where the driving vehicle is located into a plurality of speed limiting sections according to the road bending trend, and extracting the curve radius of each speed limiting section from the plane linear parameters; establishing a safe speed-per-hour optimization model by combining preset braking response time, the sliding friction coefficient of the road where the running vehicle is located, the curve radius and the road speed limit; and solving through the safe speed-per-hour optimization model to obtain the maximum allowable speed-per-hour for allowing the running vehicle to safely run in each speed limiting section. According to the method, the road safety speed per hour dynamic optimization is realized on the basis of the road speed limit, the accurate and reliable maximum allowable speed per hour can be provided for the driving vehicle at different speed limit sections, and the safe driving of the vehicle on the complex and changeable road can be ensured.

Description

Technical Field

[0001] The present invention relates to the field of road safety technology, and more specifically, to a road safety speed dynamic analysis method, system, terminal and medium. Background Art

[0002] Road safety speed is one of the key factors to ensure road traffic safety. The design of road safety speed generally takes into account factors such as traffic flow, roadside environment and road type. It is mainly designed from the perspective of the overall road conditions. For example, the maximum speed of small passenger cars on highways shall not exceed 120 kilometers per hour, and other motor vehicles shall not exceed 100 kilometers per hour. For example, for roads without a center line, the maximum speed for urban roads is 30 kilometers per hour and for highways is 40 kilometers per hour.

[0003] The road safety speed design in the prior art can be well applied to roads with relatively simple road linear parameters, such as expressways and urban roads. However, for roads with complex and changeable road linear parameters, such as mountain roads, the road bends and slopes change frequently and generally have large changes, so the road safety speed designed only for the overall road conditions is difficult to take into account both road safety and traffic flow at the same time; the reason is that some drivers use the road safety speed designed for the overall road conditions as a reference speed at curves and / or slopes, and thus take some deceleration measures, which is prone to traffic accidents due to untimely or inadequate deceleration measures; and although reducing the road safety speed can improve the safety of vehicles on the road, it is prone to traffic congestion.

[0004] Therefore, how to research and design a road safety speed dynamic analysis method, system, terminal and medium that can overcome the above-mentioned defects is a problem that we urgently need to solve. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the purpose of the present invention is to provide a method, system, terminal and medium for dynamic analysis of road safety speed. First, the road on which a vehicle is traveling is divided into multiple speed limit sections according to the road curvature trend in the plane linear parameters. Then, the influence of the curve radius of the speed limit section, the preset braking reaction time, and the sliding friction coefficient of the road on which the vehicle is traveling on the road safety speed are comprehensively considered. Dynamic optimization of road safety speed is achieved on the basis of road speed limit. Accurate and reliable maximum allowable speed can be provided for traveling vehicles in different speed limit sections, thereby ensuring safe driving of vehicles on complex and changeable roads.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: In a first aspect, a road safety speed dynamic analysis method is provided, comprising the following steps: Matching corresponding road linear data from a database according to the positioning information of the traveling vehicle, the road linear data including plane linear parameters; The road on which the vehicle is traveling is divided into a plurality of speed limit sections according to the road curvature trend in the plane linear parameters, and the curve radius of each speed limit section is extracted from the plane linear parameters; A safe speed optimization model is established by combining the preset braking reaction time, the sliding friction coefficient of the road on which the vehicle is traveling, the curve radius and the road speed limit; The maximum permissible speed for vehicles to travel safely in each speed limit section is obtained by solving the safe speed optimization model.

[0007] Furthermore, the speed limit segment division process is specifically as follows: Extract straight road segments and curved road segments from plane linear parameters; Taking the distribution of tangent directions of adjacent positions in the road on both sides of the linear road as the critical point, the curved road section is divided into multiple curved sections; The straight sections and each curved section are regarded as independent speed limit sections.

[0008] Furthermore, the preset braking reaction time includes the vehicle braking response time and the driver's braking reaction time.

[0009] Furthermore, the sliding friction coefficient is determined by the road type and environmental parameters.

[0010] Furthermore, the expression of the safe speed optimization model is specifically: ; in, Indicates speed limit section The maximum permissible speed for safe driving; Indicates speed limit section Safe driving speed; represents the maximum value function; Indicates the preset brake reaction time; Indicates speed limit section The curve radius; Indicates speed limit section Mileage; represents the acceleration due to gravity; represents the sliding friction coefficient; Indicates the speed limit of the road.

[0011] Furthermore, the method also includes: The road linear data also includes longitudinal section linear parameters, from which the slope angle in each speed limit section is extracted; The maximum permissible speed after the slope optimization is calculated by combining the slope angle and the maximum permissible speed for safe driving in the corresponding speed limit section; Among them, the larger the slope angle, the smaller the maximum allowable speed after the corresponding slope optimization.

[0012] Furthermore, the maximum allowable speed calculation formula after the slope optimization is specifically: ; in, Indicates speed limit section Medium slope The optimized maximum permissible speed; Indicates speed limit section The maximum permissible speed for safe driving; Indicates speed limit section Medium slope The slope angle.

[0013] In a second aspect, a road safety speed dynamic analysis system is provided, the system is used to implement a road safety speed dynamic analysis method as described in any one of the first aspects, including: A data matching module, used to match corresponding road linear data from a database according to the positioning information of the traveling vehicle, where the road linear data includes plane linear parameters; A road segmentation module is used to divide the road where the vehicle is located into multiple speed limit sections according to the road curvature trend in the plane linear parameters, and extract the curve radius of each speed limit section from the plane linear parameters; A model building module is used to establish a safe speed optimization model by combining the preset braking reaction time, the sliding friction coefficient of the road on which the vehicle is traveling, the curve radius and the road speed limit; The speed optimization module is used to solve the safe speed optimization model to obtain the maximum permissible speed for vehicles to travel safely in various speed limit sections.

[0014] In a third aspect, a computer terminal is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a road safety speed dynamic analysis method as described in any one of the first aspects is implemented.

[0015] In a fourth aspect, a computer-readable medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement a road safety speed dynamic analysis method as described in any one of the first aspects.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. A method for dynamic analysis of road safety speed provided by the present invention first divides the road on which a vehicle is traveling into multiple speed limit sections according to the road curvature trend in the plane linear parameters, and then comprehensively considers the influence of the curve radius of the speed limit section, the preset braking reaction time, and the sliding friction coefficient of the road on which the vehicle is traveling on the road safety speed, and realizes dynamic optimization of the road safety speed on the basis of the road speed limit, and can provide accurate and reliable maximum allowable speeds for vehicles in different speed limit sections, and can ensure safe driving of vehicles on complex and changeable roads; 2. When solving the maximum permissible speed, the present invention solves the problem with the optimization goal of enabling the vehicle to pass the entire speed limit section in a stable state with a small deceleration loss, which effectively improves the road transportation efficiency while ensuring the safe driving of the vehicle; 3. The present invention calculates the maximum allowable speed after the corresponding slope is optimized by combining the slope angle and the maximum allowable speed for safe driving in the corresponding speed limit section, taking into account the influence of road slope on loss of sight distance and vehicle deceleration and loss of control, and further improving the reliability of dynamic analysis of road safety speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings: Figure 1 is a flow chart of Embodiment 1 of the present invention; Figure 2 is a schematic diagram of the division of the curved segment in Example 1 of the present invention; Figure 3 is a schematic diagram of the distribution of the correction viewing angle range in Example 1 of the present invention; Figure 4 It is a system block diagram in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary implementation modes of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0019] Embodiment 1: A road safety speed dynamic analysis method, such as Figure 1 As shown, the following steps are included: S1: matching corresponding road linear data from a database according to the positioning information of the moving vehicle, where the road linear data includes plane linear parameters; S2: Divide the road where the vehicle is traveling into multiple speed limit sections according to the road curvature trend in the plane linear parameters, and extract the curve radius of each speed limit section from the plane linear parameters; S3: Establish a safe speed optimization model by combining the preset braking reaction time, the sliding friction coefficient of the road on which the vehicle is traveling, the curve radius and the road speed limit; S4: The maximum permissible speed for vehicles to travel safely in each speed limit section is obtained by solving the safe speed optimization model.

[0020] In step S1, in order to ensure the timeliness of the dynamic analysis of road safety speed, the present invention extracts road linear data from the map data pre-stored in the database based on the positioning information of the moving vehicle, and the extracted road linear data is data that the moving vehicle has not passed through. For example, if the position of the positioning information on the road is D, then the road range corresponding to the obtained road linear data is [D, D+C], where C is the preset road length, which can be flexibly set according to the actual situation of the road.

[0021] In step S2, the speed limit section division process is specifically as follows: extracting straight sections and curved sections from plane linear parameters; dividing the curved sections into multiple curved sections based on the critical distribution of tangent directions of adjacent positions in the road on both sides of the road linearity; and using the straight sections and each curved section as an independent speed limit section.

[0022] like Figure 2 As shown, in an S-type road, the tangent direction somewhere below the dotted line (arrow B) and the tangent direction somewhere above the dotted line (arrow A) are located on both sides of the road, and the curved segment can be divided from the dotted line.

[0023] In addition, in order to achieve accurate division of speed limit sections, the present invention can further subdivide the speed limit sections according to the differences in the size of the curve radius for speed limit sections whose tangent directions are distributed on the linear side of the road but have large differences in curvature, so as to ensure the accuracy of the dynamic analysis of road safety speed.

[0024] In addition, in order to avoid the maximum permissible speed from being frequently switched in small increments on a road with a relatively small curvature, the present invention may also set a correction viewing angle range, such as Figure 3 As shown in the figure, the correction viewing angle range is composed of the angle between two fixed-length angular boundaries (C and D) and a fixed angle (a). The tangent direction (A) of the road at the positioning information is aligned with the midline of the correction viewing angle range. When the road linearly passes through any angular boundary, the dynamic analysis of road safety speed is started; if the road linearly does not pass through any angular boundary, the maximum allowable speed analysis can be omitted. Figure 3 The mid-tangent direction A does not pass through the angular boundaries C and D, so the maximum allowable speed analysis does not need to be repeated here.

[0025] In step S3, the preset braking reaction time includes the vehicle braking response time and the driver's braking reaction time. Assuming that the vehicle braking response time is 0.3s and the driver's braking reaction time is 0.4s, the preset braking reaction time is 0.7s. The preset braking reaction time can be flexibly set according to the different driving vehicles and drivers, and is not limited here.

[0026] The sliding friction coefficient in the present invention is determined by the road type and environmental parameters, and the environmental parameters include meteorological conditions such as dust, hail, rain, snow, fog, ice, etc., and the influence of the road slope on the sliding friction can also be considered. It should be noted that the sliding friction coefficient can be determined by existing simulation experimental methods or measurement methods, and is not limited here.

[0027] In this embodiment, the expression of the safe speed optimization model is specifically: ; in, Indicates speed limit section The maximum permissible speed for safe driving; Indicates speed limit section Safe driving speed; represents the maximum value function; Indicates the preset brake reaction time; Indicates speed limit section The curve radius; Indicates speed limit section Mileage; represents the acceleration due to gravity; represents the sliding friction coefficient; Indicates the speed limit of the road.

[0028] In this embodiment, the optimization goal is to solve the problem that the vehicle can pass the entire speed limit section in a stable state with a small deceleration loss. Doing uniform circular motion, then It indicates the distance traveled by the vehicle within the preset braking reaction time. This distance is also the arc length of the circular motion, so this distance is divided by the speed limit section. The curve radius can be used to obtain the turning angle within the preset braking reaction time. It represents the speed loss during driving, and the acceleration in the sliding state is , and then multiply it by time to get the speed loss corresponding to the extreme sliding state.

[0029] It should be noted that the above-mentioned road speed limit is the road safety speed set based on the overall road conditions.

[0030] In step S4, the present invention can solve the maximum permissible speed at the beginning of each speed limit section. The driver can use the maximum permissible speed as a reference speed during driving and can take stable deceleration measures in a timely manner.

[0031] In addition, the present invention takes into account the impact of road slope on loss of sight distance and vehicle deceleration and loss of control, in order to improve the reliability of dynamic analysis of road safety speed. A method for dynamic analysis of road safety speed recorded in the present invention also includes the following steps: the road linear data also includes longitudinal section linear parameters, and the slope angle in each speed limit section is extracted from the longitudinal section linear parameters; the maximum allowable speed after the corresponding slope optimization is calculated by combining the slope angle and the maximum allowable speed for safe driving in the corresponding speed limit section; wherein, the larger the slope angle, the smaller the maximum allowable speed after the corresponding slope optimization.

[0032] For example, the maximum permissible speed calculation formula after slope optimization is as follows: ; in, Indicates speed limit section Medium slope The optimized maximum permissible speed; Indicates speed limit section The maximum permissible speed for safe driving; Indicates speed limit section Medium slope The slope angle.

[0033] Embodiment 2: A road safety speed dynamic analysis system, the system is used to implement a road safety speed dynamic analysis method as described in Embodiment 1, such as Figure 4 As shown, it includes a data matching module, a road segmentation module, a model building module and a speed optimization module.

[0034] Among them, the data matching module is used to match the corresponding road linear data from the database according to the positioning information of the moving vehicle, and the road linear data includes plane linear parameters; the road segmentation module is used to divide the road where the moving vehicle is located into multiple speed limit sections according to the road bending trend in the plane linear parameters, and extract the curve radius of each speed limit section from the plane linear parameters; the model construction module is used to establish a safe speed optimization model in combination with the preset braking reaction time, the sliding friction coefficient of the road where the moving vehicle is located, the curve radius and the road speed limit; the speed optimization module is used to solve the safe speed optimization model to obtain the maximum allowable speed that allows the moving vehicle to travel safely in each speed limit section.

[0035] The present invention also describes a computer terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a road safety speed dynamic analysis method as described in Example 1 is implemented.

[0036] The present invention also records a computer-readable medium on which a computer program is stored. The computer program is executed by a processor to implement a road safety speed dynamic analysis method as described in Example 1.

[0037] Working principle: The present invention first divides the road where the vehicle is located into multiple speed limit sections according to the road bending trend in the plane linear parameters, and then comprehensively considers the influence of the curve radius of the speed limit section, the preset braking reaction time, and the sliding friction coefficient of the road where the vehicle is located on the road safety speed, thereby realizing dynamic optimization of the road safety speed on the basis of the road speed limit, and being able to provide accurate and reliable maximum allowable speeds for vehicles in different speed limit sections, thereby ensuring the safe driving of vehicles on complex and changeable roads; in addition, when solving the maximum allowable speed, the present invention solves it with the optimization goal that the vehicle can pass through the entire speed limit section in a stable state with a small deceleration loss, thereby effectively improving the road transportation efficiency while ensuring the safe driving of the vehicle.

[0038] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0039] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0040] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0041] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0042] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A road safety speed dynamic analysis method, characterized in that: The following steps are involved: Matching corresponding road linear data from a database according to the positioning information of the traveling vehicle, the road linear data including plane linear parameters; The road on which the vehicle is traveling is divided into a plurality of speed limit sections according to the road curvature trend in the plane linear parameters, and the curve radius of each speed limit section is extracted from the plane linear parameters; A safe speed optimization model is established by combining the preset braking reaction time, the sliding friction coefficient of the road on which the vehicle is traveling, the curve radius and the road speed limit; The maximum permissible speed for vehicles to travel safely in each speed limit section is obtained by solving the safe speed optimization model.

2. A road safety speed dynamic analysis method according to claim 1, characterized in that: The speed limit segment division process is specifically as follows: Extract straight road segments and curved road segments from plane linear parameters; Taking the distribution of tangent directions of adjacent positions in the road on both sides of the linear road as the critical point, the curved road section is divided into multiple curved sections; The straight sections and each curved section are regarded as independent speed limit sections.

3. A road safety speed dynamic analysis method according to claim 1, characterized in that: The preset braking reaction time includes the vehicle braking response time and the driver's braking reaction time.

4. A road safety speed dynamic analysis method according to claim 1, characterized in that: The sliding friction coefficient is determined by the road type and environmental parameters.

5. A road safety speed dynamic analysis method according to claim 1, characterized in that: The expression of the safety speed optimization model is specifically: ； in, Indicates speed limit section The maximum permissible speed for safe driving; Indicates speed limit section Safe driving speed; represents the maximum value function; Indicates the preset brake reaction time; Indicates speed limit section The curve radius; Indicates speed limit section Mileage; represents the acceleration due to gravity; represents the sliding friction coefficient; Indicates the speed limit of the road.

6. A road safety speed dynamic analysis method according to claim 1, characterized in that: The method further includes: The road linear data also includes longitudinal section linear parameters, from which the slope angle in each speed limit section is extracted; The maximum permissible speed after the slope optimization is calculated by combining the slope angle and the maximum permissible speed for safe driving in the corresponding speed limit section; Among them, the larger the slope angle, the smaller the maximum allowable speed after the corresponding slope optimization.

7. A road safety speed dynamic analysis method according to claim 6, characterized in that: The maximum permissible speed calculation formula after slope optimization is specifically: ； in, Indicates speed limit section Medium slope The optimized maximum permissible speed; Indicates speed limit section The maximum permissible speed for safe driving; Indicates speed limit section Medium slope The slope angle.

8. A road safety speed dynamic analysis system, characterized in that: The system is used to implement a road safety speed dynamic analysis method as described in any one of claims 1 to 7, comprising: A data matching module, used to match corresponding road linear data from a database according to the positioning information of the traveling vehicle, where the road linear data includes plane linear parameters; A road segmentation module is used to divide the road where the vehicle is traveling into multiple speed limit sections according to the road curvature trend in the plane linear parameters, and extract the curve radius of each speed limit section from the plane linear parameters; A model building module is used to establish a safe speed optimization model by combining the preset braking reaction time, the sliding friction coefficient of the road on which the vehicle is traveling, the curve radius and the road speed limit; The speed optimization module is used to solve the safe speed optimization model to obtain the maximum permissible speed for vehicles to travel safely in various speed limit sections.

9. A computer terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, a road safety speed dynamic analysis method as described in any one of claims 1-7 is implemented.

10. A computer readable medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to implement a road safety speed dynamic analysis method as described in any one of claims 1-7.

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