A Cooperative Induction Early Warning Device and Method for a Small Clearance Composite Section of Tunnel Interchange Based on Multi-source Information Fusion

Abstract

The present invention provides a collaborative induction and early warning device and method for a small clear distance composite section of a tunnel interchange based on multi-source information fusion, including: an outer main line induction device, an inner main line induction device, a main line vehicle detection device, a ramp vehicle detection device, a ramp induction device, and a total controller; the outer main line induction device, the inner main line induction device, the main line vehicle detection device, the ramp vehicle detection device, and the ramp induction device are all connected to the total controller. The present invention fully considers the characteristics of the small clear distance section between the tunnel and the interchange entrance and exit and the vehicle operation safety characteristics, integrates the traffic safety induction function and traffic flow information, constructs an active induction system for the small clear distance section between the tunnel and the interchange entrance and exit that integrates the functions of detecting vehicle information and safety induction and early warning, solves the problem of traffic flow disorder caused by the small clear distance between the tunnel exit and the interchange entrance and exit, and reduces the probability and severity of accidents.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent transportation, and particularly relates to a collaborative induction and early warning device and method for a small clear distance composite section of a tunnel interchange based on multi-source information fusion. Background Art

[0002] With the continuous improvement of the mountainous traffic network, due to the influence of the terrain environment, there are small clear distances between the exits of some highway tunnels and the interchange entrances and exits, which seriously affect the safe operation of the highway. At the same time, due to reasons such as poor visibility, excessive vehicle speed, and low vigilance of vehicle drivers, rear-end accidents are extremely likely to occur in the diversion or merging areas, affecting the safety and smoothness of the section. Therefore, it is of great significance to develop a set of induction methods and devices for the small clear distance sections between tunnels and interchange entrances and exits to reduce the probability and severity of accidents and induce vehicles to drive safely.

[0003] Related research shows that the existing tunnel induction system mainly strengthens the line of sight induction of the tunnel section and improves the warning effect through methods such as photoelectric prompts. However, with the development of high-flow highways and the traffic characteristics of the small clear distance sections between interchanges and tunnels, it cannot meet the driving needs of vehicles in special sections. Under the multiple influencing factors such as traffic flow disorder caused by lane-changing behavior in the diversion area or merging area and the relaxation psychology of completing tunnel driving tasks, traffic accidents are extremely likely to occur. Summary of the Invention

[0004] Aiming at the defects existing in the prior art, the present invention provides a collaborative induction and early warning device and method for a small clear distance composite section of a tunnel interchange based on multi-source information fusion, which can effectively solve the above problems.

[0005] The technical solution adopted by the present invention is as follows:

[0006] The present invention provides a collaborative induction and early warning device for a small clear distance composite section of a tunnel interchange based on multi-source information fusion, including: an outer main line induction device, an inner main line induction device, a main line vehicle detection device, a ramp vehicle detection device, a ramp induction device, and a general controller; the outer main line induction device, the inner main line induction device, the main line vehicle detection device, the ramp vehicle detection device, and the ramp induction device are all connected to the general controller;

[0007] For the scenario of a small clear distance section after the tunnel exit section and the ramp merge, only consider the one-way main line lanes in the main line road in the direction from the tunnel to the ramp merge point. Assume that the main line road has N one-way main line lanes in the direction from the tunnel to the ramp merge point. Among the N one-way main line lanes, there are m outer main line lanes that are not affected by the ramp merge, which are called the outer main line lane combination, and there are n inner main line lanes that are affected by the ramp merge, which are called the inner main line lane combination; where N = m + n;

[0008] The outer main line induction device and the inner main line induction device are respectively arranged on both side walls of the tunnel along the longitudinal direction of the tunnel, the outer main line induction device is used to guide the driving of the outer main line lane; the inner main line induction device is used to guide the driving of the inner main line lane;

[0009] The mainline vehicle detection device is arranged at the top of the tunnel near the exit, and is used to detect the traffic flow of the outer mainline lane and the inner mainline lane;

[0010] The ramp vehicle detection device is provided on the ramp, and the ramp vehicle detection device is used to detect the traffic flow of the ramp; the ramp induction device is provided on the ramp, and the ramp induction device is used to guide the driving of the ramp vehicles.

[0011] The present invention also provides a collaborative induction and early warning method for the collaborative induction and early warning device for a tunnel interconnected small-clearance composite road section based on multi-source information fusion, comprising the following steps:

[0012] Step S1, determining the placement of a ramp vehicle detection device on the ramp based on the long-term statistical mean of vehicle speeds in the mainline one-way lane and the ramp, and the placement of the mainline vehicle detection device;

[0013] Step S2: Set the detection period and moving step length;

[0014] Step S3: In each detection cycle , according to the traffic volume of the outer main lane combination detected by the main line vehicle detection device As well as the proportion of vehicles of different types, predict the saturation of the outer main lane combination in the section parallel to the merging area ;

[0015] Based on the predicted saturation of the outer mainline lane combination on the section parallel to the merging area , linked to the outer main line induction device to guide the vehicles passing through the outer main line lane combination of the tunnel;

[0016] Step S4: In each detection cycle = 15min, based on the traffic volume of the inner main lane combination detected by the main line vehicle detection device The proportion of vehicles of different types and the ramp traffic volume detected by the ramp vehicle detection device As well as the proportion of vehicles of different types, predict the saturation of the inner main lane combination and ramp in the merging area ;

[0017] Based on the predicted saturation of the inner mainline lane combination and ramp in the merging area and the 85th running speed of the cars in the outer main line lane combination detected by the main line vehicle detection device Link the inner main line guiding device and the ramp guiding device to respectively conduct driving guidance on the vehicles passing through the inner main line lane combination of the tunnel and on the vehicles passing through the ramp.

[0018] Preferably, step S1 is specifically as follows:

[0019] Use formula (1) to determine the layout position of the ramp vehicle detection device on the ramp:

[0020] (1)

[0021] Where: represents the distance from the layout position A of the main line vehicle detection device to the ramp merging point B where the ramp merges into the main line; represents the distance from the layout position C of the ramp vehicle detection device on the ramp to the ramp merging point B; represents the statistical mean of the long-term running speed of the vehicles on the ramp; represents the statistical mean of the long-term running speed of the vehicles in N one-way main line lanes; is the road correction coefficient, calculated by formula (2):

[0022] (2)

[0023] Where: represents the running speed of the cars on the ramp at the historical moment ; represents the mean value of the running speed of the cars in N one-way main line lanes at the historical moment ; and represent the averaging operation.

[0024] Preferably, the saturation degree of the outer main line lane combination on the section parallel to the merging area is predicted by formula (3):

[0025] (3)

[0026] (4)

[0027] Where: represents the maximum traffic volume;

[0028] represents the th type of vehicle , representing that there are 4 types of vehicles in total represents the car represents medium-sized vehicles, represents large-sized vehicles, represents articulated vehicles;

[0029] represents the proportion of vehicles of the th vehicle type in the combined outer main lanes; represents the correction factor for the overall characteristics of drivers; represents the conversion factor for vehicles of the th vehicle type in the combined outer main lanes, which is related to and is , , and are equal to 1, 1.5, 2.5, and 4 respectively;

[0030] is the corrected passing capacity of the main road parameters, calculated by formula (5):

[0031] (5)

[0032] where:

[0033] is the actual free-flow speed of the main road; ; is the reference free-flow speed of the main road in the tunnel section; is the correction value of the lane width and roadside width of the main road in the tunnel section to the reference free-flow speed; ;

[0034] where: , and respectively represent the average lane width, left edge strip width, and right shoulder width in the main road;

[0035] , and respectively represent the correction value of the average lane width, correction value of the left edge strip width, and correction value of the right shoulder width, and the value-taking method is:

[0036] ; ;

[0037] represents the total number of one-way lanes on the main road correction value to the reference free-flow speed; .

[0038] Preferably, based on the predicted saturation degree of the combined outer main lanes in the section parallel to the merging area ,link with the outer main line induction device to conduct driving guidance for vehicles passing through the combined outer main line lanes in the tunnel. Specifically:

[0039] The outer main line induction device has 5 operating modes:

[0040] Operating mode 1: For the section enabled, the LED light strip of the outer main line induction device turns into a constantly lit white light, only serving as a line of sight induction, enhancing the tunnel lighting, and improving the driving safety level;

[0041] Operating mode 2: For the section enabled, the LED light strip of the outer main line induction device turns into a constantly lit yellow light, enhancing the warning hint effect of the line of sight induction and enhancing the driver's attention;

[0042] Operating mode 3: For the section enabled, the LED light strip of the outer main line induction device turns into a constantly lit orange light, enhancing the hint effect of the line of sight induction, enhancing the warning effect on the driver, noting that the traffic flow in the front section is relatively large, improving the driving vigilance, and slowing down slowly in advance if necessary;

[0043] Operating mode 4: For the section enabled, the LED light strip of the outer main line induction device turns into a constantly lit red light, indicating that traffic jams may occur in the section, and it is recommended to slow down slowly in advance;

[0044] Operating mode 5: It is an emergency warning mode, manifested as the LED light strip of the outer main line induction device turning into a flashing yellow light. It is possible to observe whether the video observation device is operating normally through this. This mode is mainly enabled due to factors such as the power supply system or device damage, which can facilitate the monitoring and replacement of this device.

[0045] Preferably, when predicting the saturation degree of the combined inner main line lanes and the ramp in the merging area , different calculation models are adopted according to whether each inner main line lane in the combined inner main line lanes is allowed to change lanes when passing through the tunnel section.

[0046] Preferably, if each inner main line lane in the combined inner main line lanes is not allowed to change lanes when passing through the tunnel section, then the prediction is made using formula (6):

[0047]

[0048] (6)

[0049] Where: represents the function when lane change is not allowed;

[0050] Represents the saturation degree of vehicles entering the downstream main road through the merging area, ;

[0051] Represents the maximum traffic capacity of the downstream main road, calculated by formula (7):

[0052] (7)

[0053] Where: Is the reference free-flow speed of the tunnel section; Is the number of inner main lanes affected by ramp merging; Represents the correction coefficient for the overall characteristics of drivers;

[0054] Represents the th type of vehicle, , representing a total of 4 types of vehicles, Represents a car, Represents a medium-sized vehicle, Represents a large vehicle, Represents a road train;

[0055] Represents the proportion of the th type of vehicle on the ramp; Represents the conversion coefficient of the th type of vehicle on the ramp; , , And Are equal to 1, 1.5, 2.5, and 4 respectively; Represents the proportion of the th type of vehicle in the combination of inner main lanes; Represents the conversion coefficient of the th type of vehicle in the combination of inner main lanes, , , And Are equal to 1, 1.5, 2.5, and 4 respectively.

[0056] Preferably, if lane changing is allowed for each inner main lane in the combination of inner main lanes when passing through the tunnel section, formula (8) is used for prediction:

[0057]

[0058] (8)

[0059] Where:

[0060] Function representing when lane change is allowed;

[0061] Represents the saturation degree of the influence area of the on - ramp on the inner main - line lane, and is predicted by formula (9):

[0062] (9)

[0063] Where: Is the corrected passing capacity of the main - line road parameters; Is the traffic volume in the influence area of the on - ramp on the inner main - line lane, and is calculated by formula (10):

[0064] (10)

[0065] Where: Represents the length of the influence area of the on - ramp on the inner main - line lane, that is, the length between the end point D of the on - ramp and the end point E of the influence area of the on - ramp on the inner main - line lane.

[0066] Preferably, in step S4, based on the predicted saturation degree of the inner main - line lane combination and the ramp in the merging area , and the 85th - percentile running speed of the passenger cars in the outer main - line lane combination detected by the main - line vehicle detection device , the inner main - line induction device and the ramp induction device are linked to respectively conduct driving induction on the vehicles passing through the inner main - line lane combination of the tunnel and on the vehicles passing through the ramp. Specifically, it includes five induction modes, which are represented by the induction model shown in formula (11):

[0067] (11)

[0068] Its meaning is:

[0069] If , or , then execute induction mode 1;

[0070] If , or , then execute induction mode 2;

[0071] If , or , then execute induction mode 3;

[0072] If , or , then execute induction mode 4;

[0073] If it is an emergency warning mode, then execute induction mode 5;

[0074] Where:

[0075] The induction mode 1 is that the LED light strips of the inner main line induction device and the ramp induction device turn into white lights that are always on, which only serve as line-of-sight induction, enhance tunnel lighting, and improve the driving safety level;

[0076] The induction mode 2 is that the LED light strips of the inner main line induction device and the ramp induction device turn into yellow lights that are always on, enhancing the warning effect of line-of-sight induction and the attention of drivers;

[0077] The induction mode 3 is that the LED light strips of the inner main line induction device and the ramp induction device turn into orange lights that are always on, enhancing the prompt effect of line-of-sight induction, enhancing the warning effect on drivers, noting that the traffic flow in the front section is large, improving driving vigilance, and slowing down slowly in advance if necessary;

[0078] The induction mode 4 is that the LED light strips of the inner main line induction device and the ramp induction device turn into red lights that are always on, indicating that traffic jams may occur in the section, and it is recommended to slow down slowly in advance;

[0079] The induction mode 5 is that the LED light strips of the inner main line induction device and the ramp induction device turn into yellow lights that flash, and it can be observed whether the video observation device is operating normally through this. This mode is mainly enabled due to factors such as power supply systems or device damage, which can facilitate the monitoring and replacement of this device.

[0080] A collaborative induction warning device and method for a tunnel interchange small clear distance composite section based on multi-source information fusion provided by the present invention has the following advantages:

[0081] The collaborative induction warning method and device for a tunnel interchange small clear distance composite section based on multi-source information fusion of the present invention fully consider the characteristics of the tunnel and the small clear distance section at the interchange entrance and exit and the vehicle operation safety characteristics, integrate the traffic safety induction function and traffic flow information, and construct an active induction system for the tunnel and the small clear distance section at the interchange entrance and exit that integrates functions such as detecting vehicle information and safety induction warning, solving the problem of traffic flow disorder caused by the small clear distance between the tunnel exit and the interchange entrance and exit, and reducing the probability and severity of accidents. Description of the Drawings

[0082] Figure 1 It is a layout diagram of the collaborative induction warning device for a tunnel interchange small clear distance composite section based on multi-source information fusion provided by the present invention in the tunnel;

[0083] Figure 2 It is a layout diagram of the collaborative induction warning device for a tunnel interchange small clear distance composite section based on multi-source information fusion provided by the present invention.

[0084] Among them:

[0085] 1 represents the main-line vehicle detection device; 2 represents the ramp vehicle detection device; 3 represents the outer main-line induction device; 4 represents the inner main-line induction device; 5 represents the ramp induction device; 6 represents the outer main-line lane combination; 7 represents the inner main-line lane combination; 8 represents the sound alarm device; 9 represents the ramp. Detailed implementation mode

[0086] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0087] The present invention provides a collaborative induction and early warning device and method for a small clear distance composite section of a tunnel interchange based on multi-source information fusion, which solves problems such as traffic flow disorder caused by the small clear distance section between the tunnel and the interchange entrance and exit, reduces the occurrence of traffic accidents, and reduces the severity of accidents.

[0088] The present invention provides a collaborative induction and early warning device and method for a small clear distance composite section of a tunnel interchange based on multi-source information fusion. It fully considers the characteristics of the small clear distance section between the tunnel and the interchange entrance and exit and the vehicle safety operation characteristics, integrates the traffic safety induction function and traffic flow information analysis, and constructs an active induction system for the small clear distance section between the tunnel and the interchange entrance and exit that integrates functions such as detecting vehicle information and safety induction and early warning. This system mainly consists of a sound alarm device, a vehicle detection device, a total controller, an induction device, and supporting components.

[0089] The sound alarm device is mainly composed of a directional loudspeaker. According to the traffic flow information and operation status, it guides vehicles to pass safely, avoids traffic conflicts, and uses the directional and high-frequency functions to improve the prompt and warning effect.

[0090] The vehicle detection device is mainly a vehicle operation status detection device such as a radar or microwave vehicle detector. Through this detection device, vehicle information and operation information data can be obtained, providing basic information support for guiding vehicle driving.

[0091] The total controller is mainly composed of sub-modules such as data transmission, data analysis, and early warning information. Through the vehicle and position information detected by the vehicle detection device, it uses the set parameters to control the device for safety early warning and prediction analysis.

[0092] The induction device mainly consists of a multi - color LED light strip and supporting components. The LED light strip is mainly divided into four color strips: white, yellow, orange, and red, which represent different warning modes respectively, reflecting the road traffic flow situation and driving environment situation, so as to facilitate drivers to make quick and accurate judgments and operate the vehicle to pass safely. According to the vehicle operation situation in the section with a small clear distance between the tunnel and the interchange entrance and exit, induction information is released in multiple aspects of sound, light, and electricity to guide the vehicle to run safely and avoid traffic conflicts.

[0093] The traffic flow saturation is an important indicator to measure the degree of road congestion, and its value is the ratio of the actual traffic flow to the road capacity. It is also a direct reflection of the road state. The following are the key factors affecting the traffic flow saturation and related explanations:

[0094] 1. Direct factors

[0095] Traffic flow volume: The more vehicles pass through the road per unit time, the higher the saturation (such as during the morning and evening rush hours).

[0096] Vehicle type: A high proportion of large vehicles (such as trucks and buses) will reduce the road traffic efficiency and increase the saturation.

[0097] Physical conditions: Design parameters such as the number of lanes, width, slope, and curvature directly affect the traffic capacity.

[0098] Traffic management: Signal timing, lane function division (such as bus lanes), speed limit rules, etc. determine the actual utilization rate of the road.

[0099] ‌Travel speed and running time‌: The traffic flow speed and running time are the biggest factors affecting the saturation. The slower the travel speed and the longer the travel time, the higher the saturation value.

[0100] ‌Degree of traffic obstruction or interference‌: Traffic obstruction or interference (such as random or frequent lane changes, unregulated intersections, pedestrians crossing, vehicle flows entering and leaving at intersections, etc.) will extend the running time and increase the intersection saturation.

[0101] 2. Indirect factors

[0102] Driving habits (such as frequent lane changes, sudden acceleration and braking) will reduce the stability of the traffic flow and cause local congestion.

[0103] Degree of compliance with traffic rules (such as yielding to pedestrians, passing in order) affects the overall traffic efficiency.

[0104] Time distribution: The traffic flow is concentrated during peak hours in the morning and evening, holidays, etc., and the saturation increases significantly.

[0105] Weather conditions: Rain, snow, and other weather conditions lead to low visibility and reduced vehicle speed, indirectly increasing the saturation.

[0106] Job-housing separation: Excessive concentration of commercial areas and residential areas will lead to tidal traffic flow (such as the CBD area in Beijing).

[0107] Public transportation coverage: A well-developed subway and bus network can divert private cars and reduce road saturation.

[0108] Traffic accidents, road construction, large-scale events, etc. temporarily occupy lanes, resulting in a sudden drop in local traffic capacity.

[0109] According to the influencing factors of road saturation, a collaborative induction early warning method for a tunnel interchange small clear distance composite section is established by using indicators such as traffic flow volume, running speed, traffic composition, physical conditions, time, and driving habits.

[0110] The collaborative induction early warning method and device for a tunnel interchange small clear distance composite section based on multi-source information fusion mainly utilize the characteristics of the tunnel internal environment, and apply information technology and intelligent induction technology to solve the problems of insufficient recognition information and warning effect in the small clear distance section between the tunnel and the interchange entrance and exit, being closer to the actual driving state and meeting the comfortable and safe road experience of drivers.

[0111] The present invention patent for the collaborative induction early warning method and device for a tunnel interchange small clear distance composite section based on multi-source information fusion fully considers the characteristics of the small clear distance section between the tunnel and the interchange entrance and exit and the vehicle operation safety characteristics, integrates the traffic safety induction function and traffic flow information, constructs an active induction system for the small clear distance section between the tunnel and the interchange entrance and exit that integrates functions such as detecting vehicle information and safety induction early warning, solves the traffic flow disorder problem caused by the small clear distance between the tunnel exit and the interchange entrance and exit, and reduces the probability and severity of accidents.

[0112] Refer to Figure 1 and Figure 2 According to the present invention, a collaborative induction early warning device for a tunnel interchange small clear distance composite section based on multi-source information fusion is provided, including: an outer main line induction device, an inner main line induction device, a main line vehicle detection device, a ramp vehicle detection device, a ramp induction device, and a total controller; the outer main line induction device, the inner main line induction device, the main line vehicle detection device, the ramp vehicle detection device, and the ramp induction device are all connected to the total controller;

[0113] For the scenario where there is a small clear distance section after the tunnel exit section and the ramp merges, only consider the main line one-way lanes in the main line road in the direction from the tunnel to the ramp merge point. Assume that the main line road has N main line one-way lanes in the direction from the tunnel to the ramp merge point. Among the N main line one-way lanes, there are m outer main line lanes that are not affected by the ramp merge, which are called the outer main line lane combination, and there are n inner main line lanes that are affected by the ramp merge, which are called the inner main line lane combination; where, N = m + n;

[0114] The outer main-line guiding device and the inner main-line guiding device are respectively arranged on the two side walls of the tunnel along the longitudinal direction of the tunnel. The outer main-line guiding device is used for guiding the driving of vehicles on the outer main-line lane; the inner main-line guiding device is used for guiding the driving of vehicles on the inner main-line lane.

[0115] The main-line vehicle detection device is arranged at the top of the tunnel near the exit. The main-line vehicle detection device is used for detecting the traffic flow of the outer main-line lane and the inner main-line lane.

[0116] The ramp vehicle detection device is arranged on the ramp. The ramp vehicle detection device is used for detecting the traffic flow of the ramp; the ramp guiding device is arranged on the ramp. The ramp guiding device is used for guiding the driving of ramp vehicles.

[0117] The present invention can be arranged as needed in combination with the actual situation on site. Taking the small clear distance section between the tunnel and the interchange entrance and exit as an example, generally, guiding devices (LED light strips) are installed on the inner walls of the two side walls of the tunnel along the longitudinal direction of the tunnel. In the ramp section, they can generally be arranged on the guardrail posts along the ramp guardrail. The installation method is threaded connection, which is convenient for installation, simple to replace, and less affected by materials or the environment; the detection device is arranged on the tunnel roof about 100 - 400 meters away from the tunnel exit and can be installed on the same pole as the sound alarm device. The specific installation effect diagram is as Figure 1 .

[0118] For the convenience of understanding the present invention, refer to Figure 2 , and the key terms related to the present invention are explained as follows:

[0119] The main-line road has N main-line one-way lanes in the direction from the tunnel to the ramp merging point. Among the N main-line one-way lanes, there are m outer main-line lanes that are not affected by the ramp merging, which are called the outer main-line lane combination, Figure 2 which is represented by 6 in Figure 2 ; there are n inner main-line lanes that are affected by the ramp merging, which are called the inner main-line lane combination,

[0120] which is represented by 7 in . For example, for a main-line road with 4 main-line one-way lanes in the direction from the tunnel to the ramp merging point, among the 4 main-line one-way lanes, the two outer main-line one-way lanes are not affected by the ramp merging, and the two inner main-line one-way lanes are affected by the ramp merging. . The vehicles on the ramp 9 merge into the inner main-line lane combination 7 at the ramp merging point B and drive downstream. The main-line vehicle detection device 1 is installed at point A in the tunnel. The distance from point A to the ramp merging point B is 。

[0121] The present invention also provides a collaborative induction and early warning method for a collaborative induction and early warning device of a tunnel interchange small clear distance composite section based on multi-source information fusion, including the following steps:

[0122] Step S1, determine the layout position of the ramp vehicle detection device on the ramp according to the long-term running speed statistical mean of the vehicles on the main line one-way lane and the ramp, and the layout position of the main line vehicle detection device.

[0123] Specifically, the ramp vehicle detection device should be set according to the basic conditions of the small clear distance section between the tunnel and the interchange entrance and exit, and it should ensure that the vehicles in the merging area are in the same frequency as the vehicles in the outer main line lane. The starting installation position of the ramp detection device is related to the position of the main line vehicle detection device in the main line tunnel.

[0124] Use formula (1) to determine the layout position of the ramp vehicle detection device on the ramp:

[0125] (1)

[0126] Where: represents the distance from the layout position A of the main line vehicle detection device to the ramp merging point B where the ramp merges into the main line; represents the distance from the layout position C of the ramp vehicle detection device on the ramp to the ramp merging point B; represents the long-term running speed statistical mean of the vehicles on the ramp; represents the long-term running speed statistical mean of the vehicles on N main line one-way lanes; is the road correction coefficient, calculated by formula (2):

[0127] (2)

[0128] Where: represents the running speed of the car on the ramp at the historical moment ; represents the average running speed of the cars on N main line one-way lanes at the historical moment ; and represent the averaging operation.

[0129] Through collaborative linkage, the present invention combines the running states of tunnel vehicles and ramp vehicles, anticipates the traffic flow conditions ahead for tunnel vehicles and ramp vehicles in advance, facilitates the drivers to intuitively feel the running conditions of the small clear distance section between the tunnel and the interchange entrance and exit, and correctly operates the vehicle to pass through the special section.

[0130] In the present invention, according to the main line vehicle detection device detecting each detection cycle Traffic flow of the combined inner and outer main lanes Based on the traffic flow of the combined inner and outer main lanes and the number of different vehicle types, through the calculation and analysis of the section saturation, the outer main line induction device is linked to turn on the corresponding warning mode, aiming to make the traffic flow of the outer main line lane visible. According to the main line vehicle detection device and the ramp vehicle detection device, each detection cycle Traffic flow of the combined inner main lanes , ramp traffic flow And the number of different vehicle types, predict and analyze the section saturation through the merging area, link the inner main line induction device and the ramp induction device to turn on the corresponding warning mode, aiming to predict the traffic flow size of the merging area, and enable the drivers within the influence range of the inner main line and the ramp to enhance their awareness of driving behavior changes in advance, strengthen path guidance, and reduce the influence of factors such as small clear distances between tunnels and interchange entrances and exits.

[0131] The specific method is as follows:

[0132] Step S2, set the detection cycle and the moving step size;

[0133] Step S3, in each detection cycle , for example, 15 minutes, according to the traffic flow of the combined outer main line lanes detected by the main line vehicle detection device and the proportion of different vehicle types, predict the saturation of the combined outer main line lanes on the section parallel to the merging area ; in Figure 2 , that is, in the lanes of the combined outer main line lanes, the saturation of the section parallel to the section DE of the merging area.

[0134] Specifically, the saturation of the combined outer main line lanes on the section parallel to the merging area is predicted by formula (3):

[0135] (3)

[0136] (4)

[0137] Where: represents the maximum traffic volume;

[0138] represents the th type of vehicle , representing a total of 4 types of vehicles represents a car represents a medium-sized vehicle represents a large vehicle represents a road train;

[0139] represents the proportion of vehicles of the th vehicle type in the outer main line lane combination; represents the correction coefficient of the overall driver characteristics; represents the conversion coefficient of vehicles of the th vehicle type in the outer main line lane combination, which is related to and , , and are equal to 1, 1.5, 2.5, and 4 respectively;

[0140] is the corrected passing capacity of the main line road parameters, in meters, calculated by formula (5):

[0141] (5)

[0142] where: is the actual free flow speed of the main line road; ;

[0143] is the reference free flow speed of the main line road in the tunnel section;

[0144] is the correction value of the lane width and roadside width of the main line road in the tunnel section to the reference free flow speed; ;

[0145] where: , and respectively represent the average lane width, left edge strip width, and right shoulder width in the main line road;

[0146] , and respectively represent the correction value of the average lane width, correction value of the left edge strip width, and correction value of the right shoulder width, and the value-taking method is:

[0147] ; ;

[0148] represents the total number of one-way lanes on the main line correction value to the reference free flow speed; . For example, if the number of one-way lanes on the main line road is 4, then is 0; if is 3, then is -4; if is 2, then is - 8.

[0149] In the present invention, based on the saturation degree of the predicted outer main - line lane combination on the section parallel to the merging area , the outer main - line induction device is linked to conduct driving induction on the vehicles in the outer main - line lane combination passing through the tunnel. Specifically:

[0150] The outer main - line induction device has 5 operating modes:

[0151] Operating mode 1: For the section enabled, the LED light strip of the outer main - line induction device turns into a constantly - on white light, which only serves as a line - of - sight induction, enhances the tunnel lighting, and improves the driving safety level;

[0152] Operating mode 2: For the section enabled, the LED light strip of the outer main - line induction device turns into a constantly - on yellow light, enhancing the line - of - sight induction warning prompt effect and enhancing the driver's attention;

[0153] Operating mode 3: For the section enabled, the LED light strip of the outer main - line induction device turns into a constantly - on orange light, enhancing the line - of - sight induction prompt effect, enhancing the warning effect on the driver, noting that the traffic flow in the front section is relatively large, improving the driving vigilance, and driving slowly and decelerating in advance if necessary;

[0154] Operating mode 4: For the section enabled, the LED light strip of the outer main - line induction device turns into a constantly - on red light, indicating that traffic congestion may occur in the section, and it is recommended to drive slowly and decelerate in advance;

[0155] Operating mode 5: It is an emergency warning mode, manifested as the LED light strip of the outer main - line induction device turning into a flashing yellow light. It is possible to observe whether the video observation device is operating normally through this. This mode is mainly enabled due to factors such as the power supply system or device damage, which can facilitate the monitoring and replacement of this device.

[0156] Step S4, in each detection cycle , according to the traffic flow of the inner main - line lane combination detected by the main - line vehicle detection device and the proportion of vehicles of different types, as well as the ramp traffic flow detected by the ramp vehicle detection device and the proportion of vehicles of different types, predict the saturation degree of the inner main - line lane combination and the ramp in the merging area ;

[0157] In the present invention, when predicting the saturation degree of the inner main - line lane combination and the ramp in the merging area , different calculation models are adopted according to whether lane - changing is allowed for each inner main - line lane in the inner main - line lane combination when passing through the tunnel section.

[0158] (1) No lane change allowed:

[0159] If lane changes are not allowed for each inner main lane in the inner main lane combination when passing through the tunnel section, the prediction is made using formula (6):

[0160] ;

[0161] (6);

[0162] Where:

[0163] represents the function when lane change is not allowed;

[0164] represents the saturation degree of the downstream main road entering through the merging area, that is, Figure 2 the saturation degree of the downstream main road starting from E in ;

[0165] represents the maximum traffic capacity of the downstream main road, calculated by formula (7):

[0166] (7)

[0167] Where: is the reference free flow speed of the tunnel section; is the number of inner main lanes affected by ramp merging; represents the correction coefficient for the overall characteristics of drivers;

[0168] represents the type of vehicle, , representing a total of 4 types of vehicles, represents a car, represents a medium-sized vehicle, represents a large vehicle, represents a car train;

[0169] represents the proportion of the type of vehicle on the ramp; represents the conversion coefficient of the type of vehicle on the ramp; , , and are equal to 1, 1.5, 2.5, and 4 respectively; represents the proportion of the type of vehicle in the inner main lane combination; The vehicle conversion factor for the th type of vehicle representing the inner main lane combination , , and are equal to 1, 1.5, 2.5, and 4 respectively.

[0170] (2) Lane changing allowed:

[0171] If lane changing is allowed for each inner main lane in the inner main lane combination when passing through the tunnel section, then prediction is made using formula (8):

[0172]

[0173] (8)

[0174] Where:

[0175] represents the function when lane changing is allowed;

[0176] represents the saturation degree of the on-ramp in the influence area of the inner main lane, that is, Figure 2 the saturation degree directly affected by the on-ramp between the end point D of the ramp and the end point E of the influence area of the on-ramp in the inner main lane, and prediction is made using formula (9):

[0177] (9)

[0178] Where: is the corrected passing capacity of the main road parameters; is the traffic volume in the influence area of the on-ramp in the inner main lane, and is calculated using formula (10):

[0179] (10)

[0180] Where: represents the length of the influence area of the on-ramp in the inner main lane, that is, the length between the end point D of the on-ramp and the end point E of the influence area of the on-ramp in the inner main lane.

[0181] Based on the predicted saturation degrees of the inner main lane combination and the ramp in the merging area , as well as the 85th percentile operating speed of passenger cars in the outer main lane combination detected by the main road vehicle detection device , it links the inner main line induction device and the ramp induction device to respectively conduct driving induction for the vehicles passing through the inner main line lane combination of the tunnel and for the vehicles passing through the ramp. Among them, the 85th percentile operating speed of a car refers to the 85th percentile speed, also known as the 85th percentile spot speed. At this speed, 85% of the vehicles have a driving speed lower than this value, while 15% of the vehicles have a driving speed higher than this value.

[0182] Specifically, it includes five induction modes, represented by the induction model shown in formula (11):

[0183] (11)

[0184] Its meaning is:

[0185] If , or, , then execute induction mode 1;

[0186] If , or, , then execute induction mode 2;

[0187] If , or, , then execute induction mode 3;

[0188] If , or, , then execute induction mode 4;

[0189] If it is an emergency warning mode, then execute induction mode 5;

[0190] Among them:

[0191] Induction mode 1 is that the LED light strips of the inner main line induction device and the ramp induction device turn into white lights that are always on, only serving as line-of-sight induction, enhancing tunnel lighting, and improving driving safety;

[0192] Induction mode 2 is that the LED light strips of the inner main line induction device and the ramp induction device turn into yellow lights that are always on, enhancing the warning hint effect of line-of-sight induction and enhancing the driver's attention;

[0193] Induction mode 3 is that the LED light strips of the inner main line induction device and the ramp induction device turn into orange lights that are always on, enhancing the hint effect of line-of-sight induction, enhancing the warning effect on the driver, noting that the traffic flow in the front section is relatively large, improving driving vigilance, and slowing down slowly in advance if necessary;

[0194] Induction mode 4 is that the LED light strips of the inner main line induction device and the ramp induction device turn into red lights that are always on, indicating that traffic jams may occur in the section, and it is recommended to slow down slowly in advance;

[0195] The induction mode 5 is as follows: the LED light strips of the inner main line induction device and the ramp induction device turn into yellow flashing lights, and it is possible to observe whether the video observation device is operating normally through this. This mode is mainly enabled due to factors such as power supply system or device damage, which facilitates the monitoring and replacement of this device.

[0196] The collaborative induction early warning method and device for a small clear distance composite section of a tunnel interchange based on multi-source information fusion according to the present invention are applicable to the small clear distance section between a tunnel and the interchange entrance and exit, especially for sections of highways with heavy traffic. It solves the problem of traffic disorders caused by the small clear distance between the tunnel and the interchange entrance and exit. Through the coordinated operation of the device and the early warning method and strategy, warning induction is carried out in an integrated manner, greatly enhancing the warning effect of tunnel visualization information, improving the driver's ability to distinguish the small clear distance section between the tunnel and the interchange entrance and exit, reducing the probability of sudden braking, and ensuring the smooth operation of vehicles.

[0197] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A collaborative induction and early warning method for a collaborative induction and early warning device of a small clear distance composite section of a tunnel interchange based on multi-source information fusion, characterized in that, Including the following steps: Step S1: Determine the layout position of the ramp vehicle detection device on the ramp according to the statistical mean of the long-term operating speeds of the vehicles on the main-line one-way lane and the ramp, as well as the layout positions of the main-line vehicle detection devices. Step S2, set the detection period and the moving step size; Step S3, in each detection cycle , according to the traffic flow of the outer main lane combination detected by the main line vehicle detection device and the proportion of vehicles of different models, predict the saturation degree of the outer main lane combination in the section parallel to the merging area ; Based on the predicted saturation of the outer main-line lane combination on the section parallel to the merging area , the outer main-line induction device is linked to conduct driving induction for the vehicles in the outer main-line lane combination passing through the tunnel; Saturation of the outer main lane combination on the section parallel to the merging area , predicted by formula (3): （3） （4） Wherein: represents the maximum traffic volume; Represent the type of vehicle, , representing a total of 4 types of vehicles, represents a car, represents a medium-sized vehicle, represents a large vehicle, represents an articulated vehicle; represents the proportion of vehicles of the th vehicle type in the outer main line lane combination; represents the correction coefficient for the overall characteristics of drivers; represents the conversion coefficient of vehicles of the th vehicle type in the outer main line lane combination, which is related to and , , and are equal to 1, 1.5, 2.5, and 4 respectively; The passing capacity is corrected for the main line road parameters; Step S4, in each detection cycle = 15 min, according to the traffic flow of the inner main line lane combination detected by the main line vehicle detection device and the proportion of vehicles of different models, as well as the ramp traffic flow detected by the ramp vehicle detection device and the proportion of vehicles of different models, predict the saturation degree of the inner main line lane combination and the ramp in the merging area ; Based on the predicted saturation of the inner main line lane combination and the ramp in the merging area , and the 85th percentile operating speed of passenger cars in the outer main line lane combination detected by the main line vehicle detection device ‌, the inner main line induction device and the ramp induction device are linked to respectively conduct driving induction for the vehicles passing through the inner main line lane combination of the tunnel and for the vehicles passing through the ramp.

2. The collaborative induction and early warning method of the collaborative induction and early warning device for the small clear distance composite section of tunnel interchange based on multi-source information fusion according to claim 1, characterized in that, Specifically, Step S1 is as follows: Use formula (1) to determine the layout position of the ramp vehicle detection device on the ramp: （1） Wherein: represents the distance from the layout position A of the main-line vehicle detection device to the ramp merging point B where the ramp merges into the main line; represents the distance from the layout position C of the ramp vehicle detection device on the ramp to the ramp merging point B; represents the statistical average of the long-term operating speed of the vehicles on the ramp; represents the statistical average of the long-term operating speed of the vehicles on N one-way lanes of the main line; is the road correction coefficient, calculated by formula (2): （2） Wherein: represents the operating speed of passenger cars on the ramp at the historical moment ; represents the average operating speed of passenger cars on N one-way main lanes at the historical moment ; and represents the averaging operation.

3. The collaborative induction and early warning method of the collaborative induction and early warning device for the small clear distance composite section of tunnel interchange based on multi-source information fusion according to claim 1, characterized in that, The modified passing capacity for the main line road is calculated by formula (5): （5） Where: is the actual free flow speed of the main line road; ; is the reference free flow speed of the main line road in the tunnel section; is the correction value of the lane width and roadside width of the main line road in the tunnel section to the reference free flow speed; ; Wherein: , and respectively represent the average lane width, the width of the left edge strip and the width of the right shoulder in the main road; , and represent the lane average width correction value, the left shoulder width correction value, and the right shoulder width correction value respectively. The value-taking method is as follows: ; ; ; represents the total number of one-way lanes on the main line The correction value for the reference free-flow speed; .

4. The collaborative induction and early warning method of the collaborative induction and early warning device for the small clear distance composite section of tunnel interchange based on multi-source information fusion according to claim 1, characterized in that, The predicted saturation of the outer main lane combination in the parallel section of the merging area , linked to the outer main line guidance device, to guide the vehicles passing through the outer main line lane combination of the tunnel, specifically: The outer main-line induction device has 5 operating modes: Operation mode 1: For the enabled road section, the LED light strip of the outer main line induction device turns into a constantly lit white light, which only serves as a line of sight induction, enhances tunnel lighting, and improves the driving safety level; Operation mode 2: For When enabled for a road section, the LED light strip of the outer main line induction device turns into a constantly lit yellow light, enhancing the line of sight induction warning effect and enhancing the driver's attention; Operation mode 3: For When enabled for a road section, the LED light strip of the outer main line guiding device turns into a constantly lit orange light, enhancing the line-of-sight guiding prompt effect, enhancing the warning effect on drivers, noting that the traffic flow on the upcoming road section is large, increasing driving vigilance, and driving slowly and gradually in advance if necessary; Operation mode 4: For When enabled for a road section, the LED strip of the outer main line induction device turns to a constantly lit red light, indicating that traffic congestion may occur on the road section. It is recommended to slow down gradually in advance and drive carefully. Operating mode 5: It is an emergency warning mode, manifested as the LED light strip of the outer main-line induction device turning into a yellow flashing light. Whether the video observation device is operating normally can be observed. This mode is mainly enabled due to factors such as power supply system or device damage, which facilitates monitoring and replacing this device.

5. The collaborative induction and early warning method of the collaborative induction and early warning device for a small clear distance composite section of a tunnel interchange based on multi-source information fusion according to claim 1, characterized in that, Predict the saturation degree of the inner main lane combination and the ramp in the merging area When predicting, different calculation models are adopted according to whether lane changing is allowed for each inner main lane in the inner main lane combination when passing through the tunnel section.

6. The collaborative induction and early warning method of the collaborative induction and early warning device for the small clear distance composite section of tunnel interchange based on multi-source information fusion according to claim 5, characterized in that, If lane-changing is not allowed for each inner main-line lane in the inner main-line lane combination when passing through the tunnel section, then formula (6) is used for prediction: （6） Wherein: represents a function when lane change is not allowed; represents the saturation degree of vehicles entering the downstream main road through the merging area, ; represents the maximum traffic capacity of the downstream main road and is calculated by formula (7): （7） Wherein: is the reference free flow speed of the tunnel section; is the number of inner main lanes affected by ramp merging; represents the correction coefficient of the overall characteristics of drivers; represent the type of vehicle, , representing a total of 4 types of vehicles, representing passenger cars, representing medium-sized vehicles, representing large-sized vehicles, representing articulated vehicles; The proportion of vehicles of the th vehicle type representing the ramp; The conversion coefficient of vehicles of the th vehicle type representing the ramp; , , and are equal to 1, 1.5, 2.5, and 4 respectively; The proportion of vehicles of the th vehicle type representing the inner main line lane combination; The conversion coefficient of vehicles of the th vehicle type representing the inner main line lane combination, , , and are equal to 1, 1.5, 2.5, and 4 respectively.

7. The collaborative induction and early warning method of the collaborative induction and early warning device for a small clear distance composite section of a tunnel interchange based on multi-source information fusion according to claim 6, characterized in that, If lane-changing is allowed for each inner main-line lane in the inner main-line lane combination when passing through the tunnel section, then formula (8) is used for prediction: （8） Where: Function representing when lane change is permitted; Represents the saturation degree of the influence area of the import ramp on the inner main line lane, and is predicted by formula (9): （9） Wherein: is the modified passing capacity of the main line road parameters; is the traffic volume in the influence area of the inner main line lane of the entrance ramp, which is calculated by formula (10): （10） Wherein: represents the length of the influence area of the on-ramp on the inner main lane, that is, the length between the end point D of the on-ramp and the end point E of the influence area of the on-ramp on the inner main lane.

8. The collaborative induction and early warning method of the collaborative induction and early warning device for the small clear distance composite section of tunnel interchange based on multi-source information fusion according to claim 1, characterized in that, In step S4, based on the predicted saturation degree of the inner main line lane combination and the ramp in the merging area , and the 85th percentile operating speed of cars in the outer main line lane combination detected by the main line vehicle detection device , the inner main line induction device and the ramp induction device are linked to respectively conduct driving induction on the vehicles passing through the inner main line lane combination of the tunnel and on the vehicles passing through the ramp, which specifically includes five induction modes, represented by the induction model shown in formula (11): （11） Its meaning is: If or , then execute induction mode 1; If or then execute induction mode 2; If or then execute induction mode 3; If or then execute induction mode 4; If it is the emergency warning mode, then execute induction mode 5; Where: Induction mode 1: The LED light strips of the inner main-line induction device and the ramp induction device turn into white constant lights, only serving as line-of-sight induction, enhancing tunnel lighting, and improving driving safety levels; Induction mode 2: The LED light strips of the inner main-line induction device and the ramp induction device turn into yellow constant lights, enhancing the line-of-sight induction warning prompt effect and enhancing the attention of drivers; Induction mode 3: The LED light strips of the inner main-line induction device and the ramp induction device turn into orange constant lights, enhancing the line-of-sight induction prompt effect and enhancing the warning effect on drivers. Note that the traffic flow in the front section is relatively large, improve driving vigilance, and slow down slowly in advance if necessary; Induction mode 4: The LED light strips of the inner main-line induction device and the ramp induction device turn into red constant lights, indicating that traffic jams may occur in the section, and it is recommended to slow down slowly in advance; Induction mode 5: The LED light strips of the inner main-line induction device and the ramp induction device turn into yellow flashing lights. Whether the video observation device is operating normally can be observed. This mode is mainly enabled due to factors such as power supply system or device damage, which facilitates monitoring and replacing this device.

9. A collaborative induction early warning device for a small clear distance composite section of a tunnel interchange based on multi-source information fusion, characterized in that, Using the collaborative induction and warning method of the tunnel interchange small clear distance composite section collaborative induction and warning device based on multi-source information fusion according to any one of claims 1-8, including: an outer main-line induction device, an inner main-line induction device, a main-line vehicle detection device, a ramp vehicle detection device, a ramp induction device, and a total controller; the outer main-line induction device, the inner main-line induction device, the main-line vehicle detection device, the ramp vehicle detection device, and the ramp induction device are all connected to the total controller; For the scenario where there is a section with a small clear distance after the tunnel exit section and the ramp merge, only consider the one-way main line lanes in the main road in the direction from the tunnel to the ramp merge point. Assume that the main road has N one-way main line lanes in the direction from the tunnel to the ramp merge point. Among the N one-way main line lanes, there are m outer main line lanes that are not affected by the ramp merge, which are called the outer main line lane combination, and there are n inner main line lanes that are affected by the ramp merge, which are called the inner main line lane combination; where N = m + n. Arrange the outer main line guiding device and the inner main line guiding device on the two side walls of the tunnel along the longitudinal direction of the tunnel respectively. The outer main line guiding device is used for guiding the driving of the outer main line lanes; the inner main line guiding device is used for guiding the driving of the inner main line lanes. Set the main line vehicle detection device at the top of the tunnel near the exit. The main line vehicle detection device is used for detecting the traffic flow of the outer main line lanes and the inner main line lanes. Set the ramp vehicle detection device on the ramp. The ramp vehicle detection device is used for detecting the traffic flow of the ramp; set the ramp guiding device on the ramp. The ramp guiding device is used for guiding the driving of the ramp vehicles.

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