Highway lane-level guidance method and device under foggy conditions

Abstract

The application provides a kind of fog group condition under highway lane level guiding method and device, comprising: for the vehicle that will enter fog group burst section and is passing through fog group burst section, real-time acquisition visibility value and vehicle driving information;Adopt vehicle operation safety speed estimation model under low visibility condition, to estimate the vehicle recommended operating speed and safe vehicle distance that guarantee vehicle operation safety;Adopt vehicle operation safety determination model under different visibility conditions, to determine the operation safety level of vehicle;Vehicle is executed corresponding vehicle control strategy, and lane level driving safety active induction is carried out to vehicle, so that vehicle i safely and efficiently passes through the fog group burst section.The application realizes accurate intervention and active guidance to road traffic flow operating state by photoelectric technology, realizes prewarning in front of road section, lane level active guidance under fog group condition, and the application effectively improves the safety and road traffic efficiency of road vehicle operation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of highway traffic safety and intelligent control technology, and particularly relates to a highway lane-level guiding method and device under fog gathering conditions. BACKGROUND

[0002] With the increasing mileage of highway construction and more and more highways passing through mountainous areas, and the intensification of climate warming, adverse weather, especially fog gathering, has a serious impact on highway operation safety. Therefore, effectively solving the problem of vehicle operation safety under fog gathering weather conditions has become an urgent problem to be solved.

[0003] At present, in order to solve the problem of vehicle operation safety under fog gathering weather conditions, vehicles are guided through road auxiliary facilities and information interaction, which to some extent solves the problem of vehicle driving safety. However, the traditional road auxiliary guiding mode is single, and the accuracy of the road auxiliary guiding mode is limited, so it is difficult to effectively solve the problem of vehicle operation safety under fog gathering weather conditions. SUMMARY

[0004] In view of the defects of the prior art, the present application provides a highway lane-level guiding method and device under fog gathering conditions, which can effectively solve the above problems.

[0005] The technical scheme adopted by the present application is as follows:

[0006] The present application provides a highway lane-level guiding method under fog gathering conditions, which comprises the following steps:

[0007] Step S1, for a vehicle i that is about to enter a fog burst section and is passing through the fog burst section, real-time acquisition of the visibility value S n,t of the current time t and the driving information of the vehicle i; the driving information of the vehicle i includes the vehicle running speed v i,t of the vehicle i, the vehicle running speed v f,t of the nearest vehicle f in front of the vehicle i in the same lane, and the distance ΔS i,t between the vehicle i and the nearest vehicle f in front of the vehicle i in the same lane;

[0008] Step S2, using a vehicle running safety speed estimation model under low visibility conditions, according to the visibility value S n,t of the current time t and the driving information of the vehicle i, the vehicle recommended running speed v c,i,t of the vehicle i and the safe vehicle distance SS i,t of the vehicle i that ensure the safety of the vehicle running at the current time t are estimated;

[0009] Step S3, using a vehicle running safety determination model under different visibility conditions, comprehensively considering the safe vehicle distance SS i,tand the distance ΔS between vehicle i and the nearest vehicle f in front of vehicle i in the same lane i,t the relationship between the vehicle running speed v of vehicle i and the vehicle running speed v of the nearest vehicle f in front of vehicle i in the same lane i,t the relationship between the vehicle running speed v of vehicle i and the vehicle running speed v of the nearest vehicle f in front of vehicle i in the same lane c,i,t the relationship between the vehicle running speed v of vehicle i and the vehicle running speed v of the nearest vehicle f in front of vehicle i in the same lane f,t determine the running safety level of vehicle i at the current time t;

[0010] Step S4, according to the running safety level of vehicle i at the current time t, execute the corresponding vehicle management strategy for vehicle i at the current time t;

[0011] Step S5, according to the vehicle management strategy of vehicle i at the current time t, perform multi-mode coordinated lane-level driving safety active induction on vehicle i, so that vehicle i can safely and efficiently pass through the fog burst section.

[0012] Preferably, in step S2, the vehicle running safety speed estimation model under low visibility conditions comprises a vehicle recommended running speed estimation sub-model under low visibility conditions and a safe vehicle distance estimation sub-model under low visibility conditions.

[0013] Preferably, the vehicle recommended running speed estimation sub-model under low visibility conditions is:

[0014]

[0015] wherein: v o is the recommended speed value of the vehicle running under ultra-low visibility; m1, m2 and m3 are respectively the vehicle running speed control coefficients in different visibility intervals; m1

[0016] Preferably, the safe vehicle distance estimation sub-model under low visibility conditions is:

[0017]

[0018] wherein:

[0019] S 1,i,t represents the driver reaction distance when vehicle i travels at vehicle running speed v i,t at time t; t0 is the driver reaction time under normal driving environment; and a and b are respectively the first relationship coefficient and the second relationship coefficient;

[0020] S 2,i,t represents the distance required for vehicle braking when vehicle i travels at vehicle running speed v i,t at time t;

[0021] b i,m is the maximum deceleration allowed for vehicle i, which is a configuration parameter of vehicle i.

[0022] Preferably, the vehicle operation safety assessment model under different visibility conditions is as follows:

[0023]

[0024] Among them: B c,i,t This represents the operational safety level of vehicle i at the current time t.

[0025] B c,i,t The operational safety level is divided into four levels: Level 0, Level 1, Level 2 and Level 3.

[0026] Preferably, each operational safety level B c,i,t The vehicle control strategy is as follows:

[0027] When running at security level B c,i,t When the level is 0, it means that vehicle i is operating absolutely safely, and its vehicle control strategy is: vehicle i operates at the current time t's vehicle speed v. i,t The vehicle can proceed at a constant speed through the sudden fog burst, or accelerate from the current time t to pass through the sudden fog burst; the recommended vehicle speed is max{v f,t ,v c,i,t};

[0028] When running at security level B c,i,t At level 1, it means that vehicle i is operating relatively safely, and its vehicle control strategy is as follows: vehicle i starts to decelerate from the current time t and decelerates to the suggested vehicle speed v. c,i,t ;

[0029] When running at security level B c,i,t At level 2, it indicates that vehicle i is operating unsafely. The vehicle control strategy is as follows: vehicle i begins emergency deceleration from the current time t, slowing down to the speed v of the nearest vehicle f in the same lane. f,t ;

[0030] When running at security level B c,i,t When the level is 3, it means that vehicle i is operating in a seriously unsafe manner. The vehicle control strategy is to make a comprehensive judgment and implement a lane change guidance decision or an emergency stop.

[0031] Preferably, the comprehensive determination to execute lane change guidance decision or emergency stop specifically involves:

[0032] Obtain the status of the adjacent lane of vehicle i at time t, that is: determine whether there are any vehicles running through the adjacent lane of vehicle i within a set area before and after the position of vehicle i; if not, it means that the adjacent lane of vehicle i is abnormal and an emergency stop operation is performed; if so, it means that the adjacent lane of vehicle i is normal and a lane change guidance decision is performed.

[0033] Preferably, the lane-changing inducing decision is:

[0034] obtaining the vehicle position x of the nearest vehicle yi+1 in front of the adjacent lane of the vehicle i yi+1 , the vehicle running speed v yi+1 , and the vehicle running acceleration a yi+1 of the vehicle i

[0035] obtaining the vehicle position x of the nearest vehicle yi-1 behind the adjacent lane of the vehicle i yi-1 , the vehicle running speed v yi-1 , and the vehicle running acceleration a yi-1 of the vehicle i

[0036] obtaining the vehicle position x of the vehicle i in its lane i ;

[0037] determining whether to perform the lane-changing operation by the lane-changing inducing decision model of formula (4):

[0038]

[0039] wherein:

[0040] H i is the lane-changing inducing decision variable; 1 means that the lane-changing is possible, and 0 means that the lane-changing is impossible;

[0041] x1(v i ,v yi+1 ) is a constraint condition function of the vehicle i deciding to change lanes and the front vehicle of the adjacent lane at the current time t; x2(v i ,v yi-1 ) is a constraint condition function of the vehicle i deciding to change lanes and the rear vehicle of the adjacent lane at the current time t; the expressions are as follows:

[0042]

[0043] wherein: L i represents the distance along the lane line direction in which the vehicle i travels during the lane-changing process; D represents the lane-changing lateral movement distance; a H represents the maximum acceleration allowed for the lane-changing, which is related to the vehicle running speed; t H represents the minimum time required for the lane-changing; and d safe is the minimum safe stopping distance.

[0044] Preferably, the step S5 is specifically:

[0045] when the running safety level is B c,i,tWhen the running safety level is 0, the projection imaging module emits blue prompt imaging information to the air and enlarges and displays it in the air, and the display information is "recommended vehicle speed and dynamic vehicle distance in front and back"; meanwhile, the light induction module executes green flashing mode to prompt the driver of the current running safety state;

[0046] When the running safety level is B c,i,t When the running safety level is 1, the projection imaging module emits yellow prompt imaging information to the air and enlarges and displays it in the air, and the display information is "recommended vehicle speed and dynamic vehicle distance in front and back"; meanwhile, the light induction module executes yellow flashing mode to prompt the driver of the current running safety state;

[0047] When the running safety level is B c,i,t When the running safety level is 2, the projection imaging module emits red early warning imaging information to the air and enlarges and displays it in the air, and the display information is "limited vehicle speed and dynamic vehicle distance in front and back"; meanwhile, the light induction module executes red light flashing mode to warn the driver that the vehicle distance in front and back is too close;

[0048] When the running safety level is B c,i,t When the running safety level is 3, if the emergency stop operation is executed, the projection imaging module emits red warning imaging information to the air and enlarges and displays it in the air, and the display information is "accident in front, please slow down"; meanwhile, the light induction module executes red light constant mode to prompt the driver of the current running safety state;

[0049] If the lane change induction decision is executed; when H i = 1, the projection imaging module emits green warning imaging information to the air and enlarges and displays it in the air, and the display information is "accident in front, please change lane to the right side"; meanwhile, the light beam module emits a right turning arrow laser beam to induce the accident lane vehicle to change lane; the light induction module executes left red light constant mode and right lane change position executes green flashing mode to prompt the driver to change lane; i = 0, the projection imaging module emits green warning imaging information to the air and enlarges and displays it in the air, and the display information is "accident in front, slow down and wait for opportunity to change lane"; meanwhile, the light induction module executes left red light constant mode and right lane change position executes yellow flashing mode to prompt the driver to change lane.

[0050] The application also provides a device for the lane-level highway guidance method under the fog gathering condition.

[0051] The information acquisition unit is used for acquiring the visibility value S n,t of the current time t, the driving information of the vehicle i which is about to enter the fog burst section and is passing through the fog burst section in real time; the driving information of the vehicle i includes the vehicle running speed v i,t of the vehicle i, the vehicle running speed v f,tThe distance ΔS between vehicle i and the nearest vehicle f in the same lane ahead. i,t ;

[0052] The cloud platform service unit is used to store vehicle operating safety speed estimation models under low visibility conditions, as well as vehicle operating safety judgment models under different visibility conditions.

[0053] The information processing unit is used to process the visibility value S at the current time t collected by the information acquisition unit. n,t The system uses the driving information of vehicle i that is about to enter or is currently passing through the fog-prone area to estimate the recommended operating speed v of vehicle i at the current time t, based on the low visibility condition vehicle operation safety speed estimation model of the cloud platform service unit. c,i,t and the safe following distance SS of vehicle i i,t ; and, by calling the vehicle operation safety judgment model of the cloud platform service unit under different visibility conditions, the operation safety level of vehicle i at the current time t is determined, and then the vehicle control strategy corresponding to vehicle i at the current time t is determined.

[0054] The lane-level active guidance device is used to actively guide vehicle i to drive safely in lane according to the vehicle control strategy of vehicle i at the current time t, so that vehicle i can safely pass through the section of sudden fog.

[0055] The present invention provides a lane-level guidance method and device for highways under fog conditions, which has the following advantages:

[0056] This invention provides a method and device for lane-level guidance on highways under fog conditions. It utilizes photoelectric technology to achieve precise intervention and active guidance of road traffic flow. Based on highway electromechanical facilities, this invention integrates photoelectric active guidance technology to achieve forward warning and lane-level active guidance under fog conditions. This invention effectively improves the safety of road vehicle operation and road traffic efficiency. Attached Figure Description

[0057] Figure 1 A flowchart of a highway lane-level guidance method under fog conditions provided by the present invention;

[0058] Figure 2 A schematic diagram of a highway lane-level guidance device under fog conditions provided by the present invention;

[0059] Figure 3 This is a diagram illustrating the arrangement of a highway lane-level guidance device under fog conditions provided by the present invention.

[0060] Among them: 1-Lane-level active guidance device; 2-Visibility detector; 3-Information processor; 4-Edge controller; 5-Information display board. DETAILED DESCRIPTION

[0061] In order to make the technical problems solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not used to limit the present application.

[0062] The present application provides a highway lane-level guidance method and device under fog conditions, which is based on the actual characteristics of vehicle operation on highway fog-prone sections, focuses on precise control and safe travel, constructs a vehicle operation safety speed estimation model under low-visibility conditions, and proposes a multi-mode coordinated lane-level driving safety active induction method with the aid of existing technical means, thereby realizing lane-level guidance of highway vehicles under fog conditions.

[0063] With reference to Figure 1 , the present application provides a highway lane-level guidance method under fog conditions, which comprises the following steps:

[0064] Step S1, for a vehicle i that is about to enter a fog burst section and is passing through the fog burst section, real-time acquisition of the visibility value S n,t of the current time t and the driving information of the vehicle i; the driving information of the vehicle i includes the vehicle running speed v i,t of the vehicle i, the vehicle running speed v f,t of the nearest vehicle f in front of the vehicle i in the same lane, and the distance AS i,t between the vehicle i and the nearest vehicle f in front of the vehicle i in the same lane.

[0065] Step S2, using a vehicle operation safety speed estimation model under low-visibility conditions, according to the visibility value S n,t of the current time t and the driving information of the vehicle i, estimating the vehicle recommended running speed v c,i,t of the vehicle i and the safe following distance SS i,t of the vehicle i at the current time t to ensure the safety of vehicle operation.

[0066] Step S3, using a vehicle operation safety determination model under different visibility conditions, comprehensively considering the relationship between the safe following distance SS i,t of the vehicle i and the distance AS i,t between the vehicle i and the nearest vehicle f in front of the vehicle i in the same lane, the relationship between the vehicle running speed v i,t of the vehicle i and the vehicle recommended running speed v c,i,t of the vehicle i, and the vehicle running speed v f,t of the nearest vehicle f in front of the vehicle i in the same lane, to determine the running safety level of the vehicle i at the current time t.

[0067] Step S4: Based on the operational safety level of vehicle i at the current time t, execute the corresponding vehicle control strategy for vehicle i at the current time t.

[0068] Step S5: Based on the vehicle control strategy of vehicle i at the current time t, perform multi-mode collaborative lane-level active guidance for vehicle i to enable vehicle i to pass through the sudden fog section safely and efficiently.

[0069] The following is a detailed description of each step:

[0070] Step S1: For vehicles i that are about to enter or are passing through the sudden fog zone, obtain the visibility value S at the current time t in real time. n,t and the driving information of vehicle i; the driving information of vehicle i includes the vehicle speed v of vehicle i. i,t The speed v of the nearest vehicle f ahead of vehicle i in the same lane. f,t The distance ΔS between vehicle i and the nearest vehicle f in the same lane ahead. i,t ;

[0071] Step S2: Employ the vehicle operating safety speed estimation model under low visibility conditions, based on the visibility value S at the current time t. n,t Based on the driving information of vehicle i, the recommended operating speed v of vehicle i to ensure safe operation at the current time t is estimated. c,i,t and the safe following distance SS of vehicle i i,t ;

[0072] Specifically, patchy fog is characterized by its sudden, localized occurrence and relatively small affected area. It causes a sudden and significant change in the driver's visibility, leading to road accidents, especially on highways. Statistical analysis of highway accidents under low visibility conditions shows that many accidents are rear-end collisions caused by vehicles traveling at inappropriate speeds due to limited visibility (both excessively high and excessively rapid deceleration). Therefore, maintaining a reasonable vehicle speed under low visibility conditions is crucial for ensuring vehicle safety in patchy fog. Based on this, and considering the actual impact of highway patchy fog on drivers, as well as factors such as driver reaction time and psychological stress, this paper estimates a safe vehicle speed under low visibility conditions.

[0073] The vehicle operating safety speed estimation model under low visibility conditions includes a vehicle recommended operating speed estimation sub-model under low visibility conditions and a safe distance estimation sub-model under low visibility conditions.

[0074] Specifically, because the visibility will affect the driver's physiology and psychology, and with the decrease of visibility, the degree of influence will also increase, but there is no strict linear relationship between the two. Based on this, based on improving the safety of vehicle operation, and more accurately fitting the influence relationship between the two, the present application adopts a segmented fitting method, proposes a vehicle recommended running speed estimation sub-model under low visibility conditions as shown in formula (1), and gives different visibility S n,t The vehicle recommended running speed v c,i,t .

[0075] The vehicle recommended running speed estimation sub-model under low visibility conditions is:

[0076]

[0077] Wherein: v o is the recommended speed value of vehicle operation under ultra-low visibility, which is related to the linear environment of the road, the speed limit of the road section, the traffic volume and the accident rate, and is generally 40km / h; m1, m2 and m3 are vehicle operation speed control coefficients in different visibility intervals; m1 n,t is the visibility value at the current time t, which is directly and real-time acquired by the information acquisition unit, and the visibility value of the current period is generally acquired through a sliding window+threshold limiting method to avoid the problem of large calculation caused by frequent data changes.

[0078] The safe vehicle distance estimation sub-model under low visibility conditions is:

[0079]

[0080] Wherein:

[0081] S 1,i,t represents the driver reaction distance when vehicle i travels at vehicle running speed v i,t at time t; t0 is the driver reaction time under normal driving environment; and a and b are the first and second relationship coefficients, respectively;

[0082] S 2,i,t represents the distance required for vehicle braking when vehicle i travels at vehicle running speed v i,t at time t;

[0083] b i,m is the maximum deceleration allowed by vehicle i, which is a configuration parameter of vehicle i.

[0084] Step S3, a vehicle operation safety judgment model under different visibility conditions is adopted, and the safe vehicle distance SS i,t of vehicle i and the distance ΔS i,trelationship between the vehicle i and the vehicle f, the vehicle running speed v i,t relationship between the vehicle i and the vehicle f, the vehicle running speed v c,i,t relationship between the vehicle i and the vehicle f, the vehicle running speed v f,t determines the running safety level of the vehicle i at the current time t;

[0085] Specifically, the vehicle running safety determination model under different visibility conditions is:

[0086]

[0087] wherein B c,i,t represents the running safety level of the vehicle i at the current time t;

[0088] B c,i,t The running safety level is divided into four levels, namely 0 level, 1 level, 2 level and 3 level.

[0089] Step S4, according to the running safety level of the vehicle i at the current time t, the corresponding vehicle control strategy is executed for the vehicle i at the current time t;

[0090] Specifically, the vehicle control strategy of each running safety level B c,i,t is:

[0091] When the running safety level B c,i,t is 0 level, it represents that the vehicle i runs absolutely safely, and its vehicle control strategy is: the vehicle i uniformly travels through the fog burst section at the vehicle running speed v i,t at the current time t, or accelerates to run through the fog burst section from the current time t; Its vehicle running speed suggestion value is max{v f,t ,v c,i,t};

[0092] When the running safety level B c,i,t is 1 level, it represents that the vehicle i runs relatively safely, and its vehicle control strategy is: the vehicle i starts to decelerate from the current time t, and decelerates to the vehicle running speed suggestion value v c,i,t ;

[0093] When the running safety level B c,i,t is 2 level, it represents that the vehicle i runs unsafely, and its vehicle control strategy is: the vehicle i starts to decelerate from the current time t, and decelerates to the vehicle running speed v f,t of the nearest vehicle f in front of the same lane;

[0094] When the running safety level B c,i,tWhen the level is 3, it represents that the vehicle i runs seriously unsafely, and the vehicle management strategy is: to execute lane-changing induction decision or emergency stop through comprehensive decision.

[0095] The state of the adjacent lane of the vehicle i at time t is obtained, i.e., whether there is a vehicle running through the set region in front and behind the position of the vehicle i; if not, it represents that the adjacent lane of the vehicle i is abnormal in traffic, and emergency stop operation is executed; if yes, it represents that the adjacent lane of the vehicle i is normal in traffic, and lane-changing induction decision is executed. The lane-changing induction decision is:

[0096] The vehicle position x yi-1 , vehicle running speed v yi-1 and vehicle running acceleration a yi-1 of the nearest vehicle yi+1 in front of the adjacent lane of the vehicle i are obtained. yi+1 yi+1 yi+1 ;

[0097] The vehicle position x i , vehicle running speed v i and vehicle running acceleration a i of the nearest vehicle yi-1 behind the adjacent lane of the vehicle i are obtained. yi-1 yi-1 yi-1 ;

[0098] The vehicle position x i of the vehicle i in its lane is obtained.

[0099] Whether to execute lane-changing operation is judged through the lane-changing induction decision model of formula (4):

[0100]

[0101] Wherein:

[0102] H i is a lane-changing induction decision variable; 1 is that lane-changing is possible, and 0 is that lane-changing is impossible.

[0103] x1(v i ,v yi+1 ) is a constraint condition function of the vehicle i deciding lane-changing and the front vehicle of the adjacent lane at the current time t; x2(v i ,v yi-1 ) is a constraint condition function of the vehicle i deciding lane-changing and the rear vehicle of the adjacent lane at the current time t; the expressions are as follows:

[0104]

[0105] Wherein: L i represents the distance along the lane line direction that the vehicle i travels in the lane-changing process; D represents the lane-changing transverse moving distance, which is generally 3.5 m; a Hrepresents the maximum acceleration allowed for lane changing, which is related to the vehicle running speed; t H represents the minimum time required for lane changing; d safe is the minimum safe parking distance.

[0106] Step S5, according to the vehicle management strategy of the vehicle i at the current time t, the vehicle i is subjected to multi-mode coordinated lane-level driving safety active induction, so that the vehicle i can safely and efficiently pass through the fog burst section.

[0107] The system is based on the judgment conclusion of the vehicle running safety judgment model under different visibility conditions, combined with the coordination function of single device and device, and fully integrates the characteristics of the vehicle running environment under foggy conditions, to realize multi-mode coordinated lane-level driving safety active induction: first, the projection imaging module, based on the theory of air fog refraction magnification imaging under foggy conditions, uses the lane-level active induction device to emit projection images, which are magnified and displayed in front of the driver, realizing the transmission of induction information to the driver, mainly including vehicle running speed, vehicle distance, vehicle running acceleration, etc.; second, the light induction module, based on the active induction of vehicle front and rear safe distance through the cooperation of multiple devices, mainly through the light flashing mode between the devices on both sides of the lane; third, the light beam module, based on the sensing situation of the lane-level active induction device, obtains the road state information between the lanes, and executes the vehicle lane changing induction or emergency parking brake induction function.

[0108] Step S5 specifically includes:

[0109] When the running safety level B c,i,t is 0, the projection imaging module emits blue prompt imaging information into the air and magnifies and displays it in the air, and the display information is "suggested vehicle speed and front and rear dynamic vehicle distance"; at the same time, the light induction module executes the green flashing mode to prompt the driver of the current running safety state;

[0110] When the running safety level B c,i,t is 1, the projection imaging module emits yellow prompt imaging information into the air and magnifies and displays it in the air, and the display information is "suggested vehicle speed and front and rear dynamic vehicle distance"; at the same time, the light induction module executes the yellow flashing mode to prompt the driver of the current running safety state;

[0111] When the running safety level B c,i,t is 2, the projection imaging module emits red warning imaging information into the air and magnifies and displays it in the air, and the display information is "limit vehicle speed and front and rear dynamic vehicle distance"; at the same time, the light induction module warns the driver of the too close front and rear vehicle distance through the red light flashing mode;

[0112] When the running safety level B c,i,tWhen the level is 3, if the emergency stop operation is performed, the projection imaging module emits red warning imaging information into the air and enlarges and displays it in the air, and the display information is "accident ahead, please slow down"; at the same time, the light induction module performs red light constant-on mode, prompting the driver of the current running safety state;

[0113] If the lane change induction decision is executed; when H i =1, the projection imaging module emits green warning imaging information into the air and enlarges and displays it in the air, and the display information is "accident ahead, please change lane to the right"; at the same time, the light beam module emits a right-turn arrow laser beam to induce the accident lane vehicle to change lane; the light induction module performs left red light constant-on mode and right lane change position executes green flashing mode, prompting the driver to change lane; when H i =0, the projection imaging module emits green warning imaging information into the air and enlarges and displays it in the air, and the display information is "accident ahead, slow down and wait for opportunity to change lane"; at the same time, the light induction module performs left red light constant-on mode and right lane change position executes yellow flashing mode, prompting the driver to change lane.

[0114] The application also provides a highway lane level guiding device under fog gathering conditions, which mainly realizes the collection of fog gathering multiple section information and the active induction of vehicle running lane level, and based on big data analysis and self-optimization feedback, realizes the active induction of vehicle running under fog gathering conditions, and gives light and shadow prompts, effectively avoids the occurrence of road traffic accidents, and improves the road traffic operation efficiency.

[0115] As shown in Figure 2 , based on the functional requirements of the highway lane level guiding device under the fog gathering conditions, the device mainly includes an information collection unit, an information processing unit, a cloud platform service unit, a lane level active induction device, and other accessory parts such as power supply and communication, and the specific design is as follows:

[0116] The information collection unit is used for acquiring the visibility value S n,t of the current time t and the driving information of the vehicle i that will enter the fog burst section and is passing through the fog burst section; the driving information of the vehicle i includes the vehicle running speed v i,t of the vehicle i, the vehicle running speed v f,t of the nearest vehicle f in front of the vehicle i in the same lane, and the distance ΔS i,t between the vehicle i and the nearest vehicle f in front of the vehicle i in the same lane.

[0117] Therefore, the information collection unit mainly consists of an environment information acquisition subunit and a vehicle information acquisition subunit. The environment information acquisition subunit can be a visibility meter to acquire the visibility of the fog. The vehicle information acquisition subunit realizes the collection of the running vehicle information.

[0118] The cloud platform service unit is used to store vehicle operating safety speed estimation models under low visibility conditions, as well as vehicle operating safety judgment models under different visibility conditions.

[0119] The cloud platform service unit consists of a cloud data processing and storage module and a remote information transmission module. It realizes the storage and optimization of information collected by the information collection unit. At the same time, based on the platform's historical storage and optimized data, it uses the system information processing unit to self-optimize proactive guidance information and control strategies.

[0120] The information processing unit is used to process the visibility value S at the current time t collected by the information acquisition unit. n,t The system uses the driving information of vehicle i that is about to enter or is currently passing through the fog-prone area to estimate the recommended operating speed v of vehicle i at the current time t, based on the low visibility condition vehicle operation safety speed estimation model of the cloud platform service unit. c,i,t and the safe following distance SS of vehicle i i,t ; and, by calling the vehicle operation safety judgment model of the cloud platform service unit under different visibility conditions, the operation safety level of vehicle i at the current time t is determined, and then the vehicle control strategy corresponding to vehicle i at the current time t is determined.

[0121] The information processing unit can be composed of a high-performance data processing computer to process and analyze vehicle information and current environmental information, thereby judging the vehicle's operating status and the current trend of fog conditions, and determining vehicle control strategies based on this.

[0122] The lane-level active guidance device is used to actively guide vehicle i to drive safely in lane according to the vehicle control strategy of vehicle i at the current time t, so that vehicle i can safely pass through the section of sudden fog.

[0123] The lane-level active guidance device mainly consists of lane-level active guidance equipment and an upstream warning display screen in the direction of oncoming traffic. It adopts multiple modes to actively guide and prompt passing vehicles and control their speed.

[0124] This device is primarily deployed to address vehicle safety issues on roads shrouded in dense fog. It provides precise lane-level active guidance for safe driving under low visibility conditions. Specific application examples are described below:

[0125] like Figure 3 The diagram shown illustrates the arrangement of a lane-level guidance device for highways under fog conditions provided by the present invention, comprising:

[0126] (1) Front-end information sensing device

[0127] The front-end information sensing device is mainly composed of an information collecting unit and an information publishing device, realizes acquisition of the running environment of the highway vehicle and vehicle information, and simultaneously prompts the information of the vehicle entering the lane-level active induction section. Figure 3 The visibility detector represented by middle 2; and the information publishing device is mainly arranged at the upstream position of the traffic flow of the fog-prone section, generally at a position about 2-5km away from the fog-prone core center area of the fog-prone section, i.e., before the vehicle enters the fog, and includes Figure 3 The information publishing board represented by middle 5 and the edge controller represented by 4.

[0128] (2) Information processing device

[0129] As the core unit of the device, the device is mainly composed of a brain-like core processing unit, a cloud platform service unit and the like, is mainly arranged at the center position of the fog-prone section, realizes processing of the information acquired by the information collecting unit of the highway fog-prone section and information publishing work of the front-end information publishing device, thereby using the embedded core processing algorithm to publish the induction information and control strategy instructions of the current section state, simultaneously intelligently optimizes the control strategy and early warning information based on historical data and control effect, and includes Figure 3 The information processor represented by middle 3.

[0130] (3) Lane-level active induction device

[0131] The lane-level active induction device 1 is mainly composed of a warning unit, an information publishing unit and the like, realizes execution of the instructions of the brain-like core information processing unit, is generally arranged at the lane separation line position according to the lane quantity and the like, the arrangement quantity is determined according to the range of the fog-affected section, the devices can mutually transmit information, and the lane-level active induction work of the road vehicle running is realized through device light and shadow technology, information detection sensing technology and the like.

[0132] (4) Cloud platform service device

[0133] The cloud platform service device is mainly composed of a cloud platform service unit, realizes functions such as storage of system cloud data, early warning control and optimization of decision-making strategy, simultaneously simulates and reproduces the road vehicle running based on virtual reality technology, thereby realizes real-time virtual simulation of the vehicle running under the condition of low visibility, and after logging in the system, the dynamic virtual control of the road vehicle running state can be realized.

[0134] In the present application, the lane-level active induction of the highway refers to: under the highway vehicle passing condition, through road auxiliary facilities, equipment and the like, using sound, light or electricity and the like, realizing lane-by-lane active guidance of the vehicle under the poor visibility condition such as thick fog and the like.

[0135] The application provides a highway lane-level guiding method and device under fog gathering conditions, which realizes precise intervention and active guidance on road traffic flow running states by using photoelectric technology, and is based on highway electromechanical facilities, and combines photoelectric active guidance technology to realize road section front warning and lane-level active guidance under fog gathering conditions, and effectively improves the safety and road passing efficiency of road vehicle running.

[0136] The above describes only the preferred embodiments of the present application, and it should be noted that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A lane-level guidance method for highways under fog conditions, characterized in that, Includes the following steps: Step S1, for the vehicle i about to enter the group-fog burst section and the vehicle i passing through the group-fog burst section, the visibility value S at the current time t is acquired in real time n,t and the driving information of the vehicle i; the driving information of the vehicle i includes the vehicle running speed v of the vehicle i i,t , the vehicle running speed v of the nearest vehicle f in front of the vehicle i in the same lane f,t , the distance ΔS between the vehicle i and the nearest vehicle f in front of the vehicle i in the same lane i,t ; Step S2, using a low visibility condition vehicle running safety speed estimation model, according to the current time t visibility value S n,t And the driving information of vehicle i, the vehicle recommended running speed v c,i,t Of vehicle i ensuring the safety of vehicle running at the current time t is estimated i,t ; Step S3, using the vehicle operation safety determination model under different visibility conditions, comprehensively considering the relationship between the safe distance SS of the vehicle i i,t and the distance ΔS between the vehicle i and the nearest vehicle f in front in the same lane i,t , the relationship between the vehicle operation speed v i,t of the vehicle i and the recommended vehicle operation speed v c,i,t of the vehicle i, and the vehicle operation speed v f,t of the nearest vehicle f in front in the same lane of the vehicle i, to determine the operation safety level of the vehicle i at the current time t; Step S4: Based on the operational safety level of vehicle i at the current time t, execute the corresponding vehicle control strategy for vehicle i at the current time t. Step S5: Based on the vehicle control strategy of vehicle i at the current time t, perform multi-mode collaborative lane-level active guidance for vehicle i to enable vehicle i to pass through the sudden fog section safely and efficiently.

2. The method for lane-level guidance on highways under fog conditions according to claim 1, characterized in that, In step S2, the vehicle operating safety speed estimation model under low visibility conditions includes a vehicle recommended operating speed estimation sub-model under low visibility conditions and a safe distance estimation sub-model under low visibility conditions.

3. The method for lane-level guidance on highways under fog conditions according to claim 2, characterized in that, The proposed vehicle operating speed estimation sub-model under low visibility conditions is as follows: Where: v o m1 represents the recommended speed for vehicles operating in extremely low visibility conditions; m1, m2, and m3 are the vehicle speed control coefficients for different visibility ranges; m1 < m2 < m3.

4. The method for lane-level guidance on highways under fog conditions according to claim 2, characterized in that, The sub-model for estimating safe vehicle distance under low visibility conditions is as follows: in: S 1,i,t Representing time t, vehicle i is categorized according to its speed v. i,t During driving, the driver's reaction distance; t0 is the driver's reaction time under normal driving conditions; α and b are the first and second relationship coefficients, respectively; S 2,i,t Representing time t, vehicle i is categorized according to its speed v. i,t The distance required for a vehicle to brake while driving; b i,m Let be the maximum allowable deceleration for vehicle i, and be the configuration parameters for vehicle i.

5. A method for lane-level guidance on highways under fog conditions according to claim 1, characterized in that, The vehicle operation safety assessment model under different visibility conditions is as follows: Among them: B c,i,t This represents the operational safety level of vehicle i at the current time t. B c,i,t The operational safety level is divided into four levels: Level 0, Level 1, Level 2 and Level 3.

6. A method for lane-level guidance on highways under fog conditions according to claim 5, characterized in that, Various operational safety levels B c,i,t The vehicle control strategy is as follows: When running at security level B c,i,t When the level is 0, it means that vehicle i is operating absolutely safely, and its vehicle control strategy is: vehicle i operates at the current time t's vehicle speed v. i,t The vehicle can proceed at a constant speed through the sudden fog burst, or accelerate from the current time t to pass through the sudden fog burst; the recommended vehicle speed is max{v f,t ,v c,i,t }; When running at security level B c,i,t At level 1, it means that vehicle i is operating relatively safely, and its vehicle control strategy is as follows: vehicle i starts to decelerate from the current time t and decelerates to the suggested vehicle speed v. c,i,t ; When running at security level B c,i,t At level 2, it indicates that vehicle i is operating unsafely. The vehicle control strategy is as follows: vehicle i begins emergency deceleration from the current time t, slowing down to the speed v of the nearest vehicle f in the same lane. f,t ; When running at security level B c,i,t When the level is 3, it means that vehicle i is operating in a seriously unsafe manner. The vehicle control strategy is to make a comprehensive judgment and implement a lane change guidance decision or an emergency stop.

7. A method for lane-level guidance on highways under fog conditions according to claim 6, characterized in that, The comprehensive determination to execute lane change guidance decisions or emergency braking specifically involves: Obtain the status of the adjacent lane of vehicle i at time t, that is: determine whether there are any vehicles running through the adjacent lane of vehicle i within a set area before and after the position of vehicle i; if not, it means that the adjacent lane of vehicle i is abnormal and an emergency stop operation is performed; if so, it means that the adjacent lane of vehicle i is normal and a lane change guidance decision is performed.

8. A method for lane-level guidance on highways under fog conditions according to claim 7, characterized in that, The lane-change guidance decision is as follows: Get the position x of the nearest vehicle yi+1 in the adjacent lane ahead of vehicle i. yi+1 Vehicle speed v yi+1 and vehicle acceleration a yi+1 ; Get the position x of the nearest vehicle yi-1 behind vehicle i in the adjacent lane. yi-1 Vehicle speed v yi-1 and vehicle acceleration a yi-1 ; Get the vehicle position x of vehicle i in its lane. i ; Using the lane-change induced decision-making model based on formula (4), determine whether to perform a lane-change operation: in: H i For lane-changing induction decision variables; 1 indicates lane changing is allowed, 0 indicates lane changing is not allowed; x1(v i ,v yi+1 x2(v) represents the constraint function for vehicle i's lane-changing decision at time t and the vehicle in front in the adjacent lane; i ,v yi-1 Let be the constraint function for vehicle i's lane-changing decision at time t and the constraints imposed by vehicles in the adjacent lane; its expression is as follows: Where: L i This represents the distance traveled by vehicle i during the lane change process along the lane line direction; D represents the lateral movement distance for lane changing; a H This represents the maximum allowable acceleration for lane changing, and its value is related to the vehicle's speed; t H d represents the shortest time required to change lanes; safe The minimum safe parking distance.

9. A method for lane-level guidance on highways under fog conditions according to claim 8, characterized in that, Step S5 is as follows: When running at security level B c,i,t When the level is 0, the projection imaging module emits a blue warning image into the air and displays it in a magnified manner, showing the "recommended vehicle speed and dynamic distance to vehicles in front and behind"; at the same time, the light guidance module executes a green flashing mode to remind the driver of the current safe operating status; When running at security level B c,i,t When it is Level 1, the projection imaging module emits a yellow warning image into the air and displays it in a magnified manner, showing the "recommended vehicle speed and dynamic distance to vehicles in front and behind"; at the same time, the light guidance module executes a yellow flashing mode to remind the driver of the current safe operating status; When running at security level B c,i,t At Level 2, the projection imaging module transmits a red warning image into the air and displays it in a magnified manner, showing the message "Speed ​​limit and dynamic distance between vehicles". At the same time, the light guidance module warns the driver that the distance between vehicles is too close by flashing red lights. When running at security level B c,i,t At level 3, if an emergency stop is performed, the projection imaging module will emit a red warning image into the air and display it in a magnified manner, showing the message "Accident ahead, please slow down"; at the same time, the lighting guidance module will keep the red light on to indicate the driver's current safe operating status. If lane change guidance decision is executed; when H i =1, the projection imaging module emits a green warning image into the air and displays it in a magnified manner, showing the message "Accident ahead, please change lanes to the right"; at the same time, the beam module emits a right-turn arrow laser beam to guide vehicles in the accident lane to change lanes; The lighting guidance module operates with a constant red light on the left and a flashing green light at the right lane change position to alert the driver to change lanes; when H i =0, the projection imaging module emits a green warning image into the air and displays it in a magnified manner, showing the message "Accident ahead, slow down and wait for the opportunity to change lanes"; at the same time, the light guidance module keeps the left red light on and flashes the yellow light at the right lane change position to prompt the driver to change lanes.

10. An apparatus for a highway lane-level guidance method under fog conditions as described in any one of claims 1-9, characterized in that, include: The information acquisition unit is used to acquire the visibility value S at the current time t in real time. n,t And the driving information of vehicle i that is about to enter the fog outbreak zone and is currently passing through the fog outbreak zone; the driving information of vehicle i includes the vehicle speed v of vehicle i. i,t The speed v of the nearest vehicle f ahead of vehicle i in the same lane. f,t The distance ΔS between vehicle i and the nearest vehicle f in the same lane ahead. i,t ; The cloud platform service unit is used to store vehicle operating safety speed estimation models under low visibility conditions, as well as vehicle operating safety judgment models under different visibility conditions. The information processing unit is used to process the visibility value S at the current time t collected by the information acquisition unit. n,t The system uses the driving information of vehicle i that is about to enter or is currently passing through the fog-prone area to estimate the recommended operating speed v of vehicle i at the current time t, based on the low visibility condition vehicle operation safety speed estimation model of the cloud platform service unit. c,i,t and the safe following distance SS of vehicle i i,t ; as well as The system calls the vehicle operation safety judgment model of the cloud platform service unit under different visibility conditions to determine the operation safety level of vehicle i at the current time t, and then determines the vehicle control strategy corresponding to vehicle i at the current time t. The lane-level active guidance device is used to actively guide vehicle i to drive safely in lane according to the vehicle control strategy of vehicle i at the current time t, so that vehicle i can safely pass through the section of sudden fog.

Images