A Dynamic Analysis Method, System, Terminal and Medium for Road Safety Speed Limit

Abstract

The present invention discloses a method, system, terminal and medium for dynamically analyzing the safe speed of roads, relating to the technical field of road safety. The key points of its technical solution are as follows: matching corresponding road linear data from a database according to the positioning information of a traveling vehicle; dividing the road where the traveling vehicle is located into multiple speed limit sections according to the road bending trend, and extracting the curve radius of each speed limit section from the planar linear parameters; establishing a safe speed optimization model in combination with a preset braking reaction time, the sliding friction coefficient of the road where the traveling vehicle is located, the curve radius and the road speed limit; and solving through the safe speed optimization model to obtain the maximum allowable speed for the traveling vehicle to safely travel in each speed limit section. The present invention realizes the dynamic optimization of the safe speed of roads on the basis of road speed limits, can provide accurate and reliable maximum allowable speeds for traveling vehicles in different speed limit sections, and can ensure the safe travel of vehicles on complex and changeable roads.

Description

Technical Field

[0001] The present invention relates to the technical field of road safety, and more specifically, it relates to a method, system, terminal and medium for dynamically analyzing the safe speed of roads. Background Art

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

[0003] The design of the safe speed of roads 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 variable road linear parameters, such as mountain roads, the bending and slope changes of the roads are not only frequent, but also generally have a large change range. Therefore, the safe speed of roads 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 take the safe speed of roads designed for the overall road conditions as the reference speed at curves and / or slopes, and thus take some deceleration measures. This way is likely to cause traffic accidents due to untimely or inadequate deceleration measures; while reducing the safe speed of roads can improve the driving safety of vehicles on the road, it is easy to cause traffic jams.

[0004] Therefore, how to research and design a method, system, terminal and medium for dynamically analyzing the safe speed of roads that can overcome the above defects is an urgent problem for us to solve at present. Summary of the Invention

[0005] To solve the deficiencies in the prior art, the purpose of the present invention is to provide a method, system, terminal and medium for dynamically analyzing the safe speed of roads. First, the road where the driving vehicle is located is divided into multiple speed limit sections according to the road bending trend in the plane linear parameters, and 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 where the driving vehicle is located on the safe speed of the road is comprehensively considered, so as to realize the dynamic optimization of the safe speed of roads on the basis of road speed limits, and be able to provide accurate and reliable maximum allowable speeds for driving vehicles in different speed limit sections, and ensure the safe driving of vehicles on complex and variable roads.

[0006] The above technical purpose of the present invention is achieved through the following technical solutions:

[0007] In a first aspect, a road safety speed dynamic analysis method is provided, comprising the following steps:

[0008] 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;

[0009] 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;

[0010] 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;

[0011] The maximum permissible speed for vehicles to travel safely in each speed limit section is obtained by solving the safe speed optimization model.

[0012] Furthermore, the speed limit segment division process is specifically as follows:

[0013] Extract straight road segments and curved road segments from plane linear parameters;

[0014] 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;

[0015] The straight sections and each curved section are regarded as independent speed limit sections.

[0016] Furthermore, the preset braking reaction time includes the vehicle braking response time and the driver's braking reaction time.

[0017] Furthermore, the sliding friction coefficient is determined by the road type and environmental parameters.

[0018] Furthermore, the expression of the safe speed optimization model is specifically:

[0019] ;

[0020] 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; represents the road speed limit.

[0021] Furthermore, the method further includes:

[0022] The road linear data further includes longitudinal section linear parameters, and the slope angles in each speed limit section are extracted from the longitudinal section linear parameters;

[0023] Combining the slope angle and the maximum allowable speed for safe driving in the corresponding speed limit section, the optimized maximum allowable speed for the corresponding slope is calculated;

[0024] Among them, the larger the slope angle, the smaller the optimized maximum allowable speed for the corresponding slope.

[0025] Furthermore, the specific formula for calculating the optimized maximum allowable speed of the slope is:

[0026] ;

[0027] Among them, represents the maximum allowable speed after slope optimization in the speed limit section in the slope optimized maximum allowable speed; represents the maximum allowable speed for safe driving in the speed limit section safe driving maximum allowable speed; represents the speed limit section in the slope slope angle of.

[0028] In a second aspect, a road safety speed dynamic analysis system is provided, which is used to implement a road safety speed dynamic analysis method as described in any one of the first aspects, including:

[0029] A data matching module, which is used to match corresponding road linear data from a database according to the positioning information of the driving vehicle, and the road linear data includes planar linear parameters;

[0030] A road segmentation module, which is used to divide the road where the driving vehicle is located into multiple speed limit sections according to the road bending trend in the planar linear parameters, and extract the curve radius of each speed limit section from the planar linear parameters;

[0031] A model construction module, which is used to establish a safety speed optimization model by combining the preset braking reaction time, the sliding friction coefficient of the road where the driving vehicle is located, the curve radius, and the road speed limit;

[0032] A speed optimization module, which is used to solve the maximum allowable speed for the driving vehicle to drive safely in each speed limit section through the safety speed optimization model.

[0033] In a third aspect, a computer terminal is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a method for dynamically analyzing the safe speed of a road as described in any one of the first aspects is implemented.

[0034] In a fourth aspect, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, a method for dynamically analyzing the safe speed of a road as described in any one of the first aspects can be implemented.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. For a method for dynamically analyzing the safe speed of a road provided by the present invention, first, the road where the driving vehicle is located is divided into multiple speed limit sections according to the road bending trend in the planar linear parameters, and 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 where the driving vehicle is located on the road safe speed is comprehensively considered. Based on the road speed limit, the dynamic optimization of the road safe speed is realized, and an accurate and reliable maximum allowable speed can be provided for the driving vehicle in different speed limit sections, which can ensure the safe driving of the vehicle on complex and changeable roads;

[0037] 2. When solving the maximum allowable speed in the present invention, the optimization target is to ensure that the driving vehicle can pass through the entire speed limit section in a stable state and with less deceleration loss. On the premise of ensuring the safe driving of the driving vehicle, the road carrying efficiency is effectively improved;

[0038] 3. The present invention calculates the optimized maximum allowable speed of the corresponding slope by combining the slope angle and the maximum allowable speed for safe driving in the corresponding speed limit section, considering the influence of the road gradient on the loss of line of sight and the vehicle deceleration out of control, and further improving the reliability of the dynamic analysis of the road safe speed. Description of the Drawings

[0039] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of this application, and do not limit the embodiments of the present invention. In the drawings:

[0040] Figure 1 is the flowchart in Embodiment 1 of the present invention;

[0041] Figure 2 is the schematic diagram of the division of the bending section in Embodiment 1 of the present invention;

[0042] Figure 3 is the schematic diagram of the distribution of the corrected viewing angle range in Embodiment 1 of the present invention;

[0043] Figure 4 is the system block diagram in Embodiment 2 of the present invention. Detailed implementation mode

[0044] To make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below in conjunction with embodiments and the accompanying drawings. The illustrative implementation modes of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0045] Embodiment 1: A method for dynamically analyzing the safe speed of a road, as Figure 1 shown, includes the following steps:

[0046] S1: Match the corresponding road linear data from the database according to the positioning information of the driving vehicle. The road linear data includes plane linear parameters;

[0047] S2: Divide the road where the driving 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;

[0048] S3: Establish a safe speed optimization model by combining the preset braking reaction time, the sliding friction coefficient of the road where the driving vehicle is located, the curve radius, and the road speed limit;

[0049] S4: Solve through the safe speed optimization model to obtain the maximum allowable speed for the driving vehicle to safely travel in each speed limit section.

[0050] In step S1, in order to ensure the timeliness of the dynamic analysis of the safe speed of the road, the present invention extracts the road linear data from the map data pre-stored in the database according to the positioning information of the driving vehicle, and the extracted road linear data is the data that the driving vehicle has not yet passed. 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 a preset road length and can be flexibly set according to the actual situation of the road.

[0051] In step S2, the process of dividing the speed limit sections is specifically as follows: Extract the straight sections and the curved sections from the plane linear parameters; Take the distribution of the tangent directions at adjacent positions on the road on both sides of the road linear as the critical point, and divide the curved sections into multiple curved segments; Take the straight sections and each curved segment as independent speed limit sections.

[0052] As Figure 2 shown, in a type-S road, the tangent direction (arrow B) at a certain place below the dotted line and the tangent direction (arrow A) at a certain place above the dotted line are located on both sides of the road, then the curved segment can be divided from the dotted line.

[0053] In addition, to achieve precise division of speed limit sections, for speed limit sections with significant differences in bending degree but distributed on one side of the road alignment in the tangent direction, the present invention can further subdivide the speed limit sections according to the differences in the magnitudes of the curve radii to ensure the accuracy of dynamic analysis of the safe speed of the road.

[0054] In addition, to avoid frequent small - amplitude switching of the maximum allowable speed on roads with a small bending degree, the present invention can also set a correction viewing angle range. As Figure 3 shown, the correction viewing angle range is composed of the included angle between two angular boundaries (C and D) of fixed lengths and a fixed angle (a). Align the tangent direction (A) of the road at the positioning information with the mid - line of the correction viewing angle range. When the road alignment passes through any one of the angular boundaries, start the dynamic analysis of the safe speed of the road; if the road alignment does not pass through any one of the angular boundaries, the analysis of the maximum allowable speed may not be performed. Figure 3 In Figure 3 , the tangent direction A does not pass through the angular boundaries C and D, so the analysis of the maximum allowable speed does not need to be re - performed here.

[0055] In step S3, the preset braking reaction time includes the vehicle braking response time and the driver's braking reaction time. Assuming the vehicle braking response time is 0.3 s and the driver's braking reaction time is 0.4 s, the preset braking reaction time is 0.7 s. The preset braking reaction time can be flexibly set according to different driving vehicles and drivers and is not limited here.

[0056] The sliding friction coefficient in the present invention is jointly determined by the road type and environmental parameters. The environmental parameters include meteorological conditions such as sand and dust, hail, rain, snow, fog, icing, 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 experiment methods or measurement methods and is not limited here.

[0057] In this embodiment, the expression of the safe speed optimization model is specifically:

[0058] ;

[0059] where represents the maximum allowable speed for safe driving in the speed limit section ; represents the speed for safe driving in the speed limit section ; represents the maximum - value function; represents the preset braking reaction time; represents the curve radius of the speed limit section ; represents the mileage of the speed limit section ; represents the acceleration due to gravity; represents the coefficient of sliding friction; represents the road speed limit.

[0060] In this embodiment, the traveling vehicle can pass through the entire speed limit section in a stable state and with less deceleration loss as the optimization goal. It is assumed that the vehicle is moving in uniform circular motion, then represents the distance traveled by the vehicle during the preset braking reaction time, and this distance is also the arc length of the circular motion. Therefore, dividing this distance by the curve radius of the speed limit section can obtain the turning angle within the preset braking reaction time, and represents the speed loss during the driving process, and the acceleration in the sliding state is , and multiplying by the time can obtain the speed loss corresponding to the limit sliding state.

[0061] It should be noted that the above road speed limit is the road safety speed set according to the overall road conditions.

[0062] In step S4, the present invention can solve the maximum allowable speed at the starting stage of each speed limit section. During the driving process, the driver can take stable deceleration measures in time with the maximum allowable speed as the reference speed.

[0063] In addition, considering the influence of the road slope on the loss of sight distance and the out-of-control deceleration of the vehicle, in order to improve the reliability of the dynamic analysis of the road safety speed. A method for dynamically analyzing the road safety speed recorded in the present invention further includes the following steps: The road linear data also includes the longitudinal section linear parameters, and the slope angles in each speed limit section are extracted from the longitudinal section linear parameters; combining the slope angle and the maximum allowable speed for safe driving in the corresponding speed limit section to calculate the optimized maximum allowable speed for the corresponding slope; among them, the larger the slope angle, the smaller the optimized maximum allowable speed for the corresponding slope.

[0064] For example, the specific formula for calculating the optimized maximum allowable speed of the slope is:

[0065] ;

[0066] Among them, represents the optimized maximum allowable speed of the slope in the speed limit section ; represents the maximum allowable speed for safe driving in the speed limit section ; represents the slope angle of the slope in the speed limit section .

[0067] Embodiment 2: A dynamic analysis system for road safety speed limits, which is used to implement a dynamic analysis method for road safety speed limits as described in Embodiment 1, as Figure 4 shown, including a data matching module, a road segmenting module, a model building module, and a speed limit optimization module.

[0068] Among them, the data matching module is used to match corresponding road linear data from the database according to the positioning information of the driving vehicle, and the road linear data includes planar linear parameters; the road segmenting module is used to divide the road where the driving vehicle is located into multiple speed limit segments according to the road bending trend in the planar linear parameters, and extract the curve radius of each speed limit segment from the planar linear parameters; the model building module is used to establish a safety speed limit optimization model by combining the preset braking reaction time, the sliding friction coefficient of the road where the driving vehicle is located, the curve radius, and the road speed limit; the speed limit optimization module is used to solve through the safety speed limit optimization model to obtain the maximum allowable speed for the driving vehicle to safely drive in each speed limit segment.

[0069] The present invention also describes a computer terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements a dynamic analysis method for road safety speed limits as described in Embodiment 1.

[0070] The present invention also describes a computer-readable medium, on which a computer program is stored. When the computer program is executed by the processor, it can implement a dynamic analysis method for road safety speed limits as described in Embodiment 1.

[0071] Working principle: The present invention first divides the road where the driving vehicle is located into multiple speed limit segments according to the road bending trend in the planar linear parameters, and then comprehensively considers the influence of the curve radius of the speed limit segment, the preset braking reaction time, and the sliding friction coefficient of the road where the driving vehicle is located on the road safety speed, and realizes the dynamic optimization of the road safety speed limit on the basis of the road speed limit, which can provide accurate and reliable maximum allowable speeds for driving vehicles in different speed limit segments, and can ensure the safe driving of vehicles on complex and changeable roads; in addition, when solving the maximum allowable speed, the present invention solves with the optimization goal that the driving vehicle can pass through the entire speed limit segment in a stable state and with less deceleration loss. While ensuring the safe driving of the driving vehicle, the road carrying efficiency is effectively improved.

[0072] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take 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.) that contain computer-usable program code.

[0073] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0074] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing devices to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that realizes the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing devices, such that a series of operation steps are executed on the computer or other programmable devices to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable devices provide steps for realizing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0076] The specific embodiments described above further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope 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; 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; It 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.

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 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.

6. A road safety speed dynamic analysis method according to claim 5, 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.

7. 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 6, 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.

8. 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 1-6 is implemented.

9. 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 1-6.

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