Ground intersection sight distance information indicating equipment for urban elevated composite channel

Abstract

The invention relates to the field of traffic indication equipment, and is used for solving the problem that sight distance information indication equipment cannot perform intelligent prediction according to vehicle driving speed changes and vehicle driving routes and cannot actively generate vehicle passing suggestions and passing risk grade division. The ground intersection sight distance information indicating equipment comprises an echo detection module, an image processing module, a fusion comparison module, a route prediction module, a dynamic analysis module and a result output module, according to the invention, vehicle information at the intersection is acquired through multiple different acquisition modes of millimeter waves and visible light, vehicle passing route prediction is carried out on the vehicle information through an intelligent algorithm, and vehicle route conflict early warning and automatic generation of vehicle priority passing suggestions are realized according to the time of the vehicle passing route passing through the intersection. And finally, an indication board with a variable display function is arranged near the ground intersection, and driving risks of vehicles in different directions are reminded.

Description

Technical Field

[0001] The invention relates to the field of traffic indication equipment, in particular to a ground intersection sight distance information indication device used in a city elevated composite channel. Background Art

[0002] Ground intersection sight distance information indication equipment mainly refers to dynamic traffic information display devices. Its core function is to provide drivers with road conditions, signal light status and safety warning information within the sight distance range of the intersection through real-time data collection and analysis. Specifically, it uses road sensors such as LGS equipment to collect traffic flow, weather conditions and other data in real time, dynamically adjust the timing of intersection signal lights, and push variable speed limits, lane guidance and other information on the display screen. It uses LED screens to display the lane opening status, congestion warnings, construction prompts, etc. of the intersection ahead in real time to assist drivers in adjusting their driving routes in advance. It also integrates electronic monitoring equipment and signal lights to automatically optimize signal light cycles according to real-time traffic flow, and indicates specific lane access rights through lane signal lights, thereby reducing the impact of blind spots and improving sight distance information perception.

[0003] The intersection sight distance information indicator device solves the problem of limited sight distance caused by obstruction of elevated bridge piers through multi-dimensional information coordination, ensuring traffic safety at ground intersections;

[0004] Currently, existing sight distance information indicator devices, when in operation, mainly serve to provide basic reminders of traffic congestion levels and the presence of vehicles in blind spots at intersections. Their functions are relatively simple and they are unable to predict actual conditions such as vehicle routes and speed changes, and proactively provide intelligent traffic control instructions such as vehicle passage suggestions and traffic risk warnings.

[0005] In response to the above technical problems, this application proposes a solution. Summary of the Invention

[0006] In the present invention, vehicle information at intersections is collected through various collection methods such as millimeter waves and visible light. The vehicle information is used to predict vehicle routes through intelligent algorithms, and vehicle route conflict warnings and automatic generation of vehicle priority suggestions are realized based on the time when the vehicle route passes through the intersection. Then, by setting up signs with variable display functions near ground intersections, reminders are given of the driving risks and traffic suggestions of vehicles in different directions. This solves the problem that the sight distance information indication device cannot make intelligent predictions based on changes in vehicle speed and vehicle route, and actively generate vehicle traffic suggestions and traffic risk level classification. Instead, a ground intersection sight distance information indication device for urban elevated composite channels is proposed.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] A ground intersection sight distance information indicator device for use in urban elevated composite channels, comprising an echo detection module, an image processing module, a fusion comparison module, a route prediction module, a dynamic analysis module, and a result output module. The echo detection module and the image processing module count the number of intersections and assign a number to each intersection;

[0009] The echo detection module detects each direction of the intersection through multiple millimeter wave radars to obtain information about the vehicles in motion and records it as millimeter wave information;

[0010] The image processing module uses multiple cameras to shoot in each direction of the intersection, marks the vehicles in motion from the shooting results, extracts the vehicle information of the vehicles in motion, and obtains visible light information;

[0011] The image processing module and the echo detection module send the millimeter wave information and the visible light information to the fusion comparison module, which integrates the millimeter wave information and the visible light information corresponding to the intersection with the same number, verifies the credibility of the information, and generates vehicle prediction information based on the verification results;

[0012] The route prediction module predicts the vehicle route based on the vehicle prediction information, obtains the time when vehicles at different intersections pass through the intersection, and judges the time when different vehicles pass through the intersection to generate a driving risk level, and sends the driving risk level to the result output module, which displays it on the display device;

[0013] The fusion comparison module continuously generates the latest vehicle prediction information at a fixed frequency and sends the vehicle prediction information to the route prediction module to update the vehicle route prediction. The comparison and analysis module controls the traffic priority of the vehicle route prediction and sends the control result to the result output module.

[0014] As a preferred embodiment of the present invention, the millimeter wave information recorded by the echo detection module includes vehicle speed, vehicle acceleration and the number of vehicles;

[0015] The echo detection module transmits millimeter-wave radar at a set frequency and performs positioning through the reflected millimeter-wave radar. The vehicle's speed is calculated based on the distance difference between two adjacent positionings and the transmission frequency. The echo detection module performs difference calculation based on the continuously acquired vehicle speeds, and calculates the vehicle's acceleration based on the speed difference and the time difference when the speed is acquired. When the vehicle accelerates, the acceleration is positive, and when the vehicle decelerates, the acceleration is negative. The echo detection module identifies the number of vehicles based on the echo profile difference.

[0016] As a preferred embodiment of the present invention, the visible light information recorded by the image processing module also includes vehicle speed, vehicle acceleration and the number of vehicles;

[0017] When calculating the vehicle speed, the image processing module calculates the vehicle position in two consecutive photos to obtain the vehicle movement distance, and calculates the vehicle speed based on the vehicle movement distance and the shooting interval. The image processing module calculates the difference between the two consecutively acquired vehicle speeds and calculates the vehicle acceleration based on the speed difference and the time interval for obtaining the vehicle speed. The image processing module identifies the number of vehicles in the image through an image processing algorithm.

[0018] As a preferred embodiment of the present invention, after the fusion comparison module selects millimeter wave information and visible light information with the same number, it performs weighted average calculation on the vehicle speed, vehicle acceleration and number of vehicles in the millimeter wave information and the visible light information one by one to obtain the final vehicle speed, final vehicle acceleration and final number of vehicles, and records them as vehicle prediction information.

[0019] As a preferred embodiment of the present invention, when the fusion comparison module performs weighted averaging on the vehicle speed and vehicle acceleration, the weight ratio of the millimeter wave information is greater than the weight ratio of the visible light information; when the weighted averaging is performed on the number of vehicles, the weight ratio of the millimeter wave information is less than the weight ratio of the visible light information.

[0020] As a preferred embodiment of the present invention, the route prediction module predicts the vehicle's route based on the vehicle's acceleration and speed using a preset vehicle driving model, obtains the vehicle's estimated position at different times, and selects an estimated time range for the vehicle to arrive at the intersection;

[0021] The route prediction module compares the estimated time range of each vehicle passing through the intersection at each intersection and determines whether the estimated time ranges overlap;

[0022] If there is overlap, a driving risk warning is generated; if there is no overlap, a driving risk-free signal is generated.

[0023] As a preferred embodiment of the present invention, after generating the driving risk warning, the route prediction module selects two sets of overlapping estimated time ranges and calculates the degree of overlap of the estimated time ranges. The specific calculation method is:

[0024] The route prediction module records the time spans of the two groups of estimated time ranges as t1 and t2 respectively, and records the time span of the overlapping part of the two groups of estimated time ranges as t3, and calculates the overlap degree T by the formula: The route prediction module compares the overlap degree T with the set threshold, generates low-risk and high-risk risk levels based on the comparison results, and records them as the driving risk level. The route prediction module also sends the estimated time range to the dynamic analysis module.

[0025] As a preferred embodiment of the present invention, the dynamic analysis module calculates the position of the overlapping portion in the two sets of expected time ranges, and generates a priority pass signal if the overlapping portion is in the second half of the expected time range; and generates a delayed pass signal if the overlapping portion is in the first half of the expected time range.

[0026] The calculation method for the second half or the first half is as follows: the dynamic analysis module selects the midpoint of the expected time range and calculates the distribution of the overlapping part on both sides of the midpoint. If the distribution on the left side of the midpoint is greater than the distribution on the right side of the midpoint, it is determined to be in the first half; if the distribution on the left side of the midpoint is less than the distribution on the right side of the midpoint, it is determined to be in the second half.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. In the present invention, when indicating ground intersections, a variety of collection results are obtained through various collection methods such as millimeter waves and visible light. According to the characteristics of different collection methods, the collection results are corrected for credibility through different weight ratios, so as to more accurately collect vehicle information at the intersection and provide reliable data support for subsequent information indication and active predictive control.

[0029] 2. In the present invention, traffic information of vehicles passing through the intersection is collected and analyzed, and the vehicle route is predicted by running analysis and model nesting based on the traffic information through intelligent algorithms, achieving millisecond-level data processing and calculation, and realizing vehicle route conflict warning based on the time when the vehicle route passes through the intersection. Then, by setting up signs with variable display functions near the ground intersection, reminders are given of the driving risks of vehicles in different directions, ensuring that vehicles can understand the driving conditions of vehicles outside the field of view through the prompts on the display signs when passing, avoiding traffic accidents caused by blind spots and insufficient reaction time.

[0030] 3. In the present invention, by further analyzing the conflict of vehicle routes in detail, it is possible to automatically generate suggestions for vehicle priority, thereby improving the active control capability of the sight distance information indicator device in providing early warning prompts to vehicles and avoiding traffic congestion. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0032] Figure 1 is a system flow chart of the present invention;

[0033] Figure 2 This is a system block diagram of the present invention. DETAILED DESCRIPTION

[0034] The following is a clear and complete description of the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] Example 1:

[0036] See also Figure 1 - Figure 2 As shown, a ground intersection sight distance information indication device for urban elevated composite channels includes an echo detection module, an image processing module, a fusion comparison module, a route prediction module, a dynamic analysis module, and a result output module. The echo detection module and the image processing module count the number of intersections and assign a number to each intersection.

[0037] The echo detection module uses multiple millimeter-wave radars to detect each direction of the intersection, obtain information about the vehicles in motion, and record it as millimeter-wave information. The millimeter-wave information recorded by the echo detection module includes vehicle speed, vehicle acceleration, and the number of vehicles.

[0038] The echo detection module transmits millimeter-wave radar at a set frequency and uses the reflected millimeter-wave radar for positioning. The vehicle's speed is calculated based on the distance difference between two adjacent positionings and the transmission frequency. The echo detection module calculates the difference between continuously acquired vehicle speeds and calculates the vehicle's acceleration based on the speed difference and the time difference between the speed acquisitions. When the vehicle accelerates, the acceleration is positive, and when the vehicle decelerates, the acceleration is negative. The echo detection module identifies the number of vehicles based on the echo profile difference.

[0039] The image processing module uses multiple cameras to capture images from each direction of the intersection, marks the vehicles in motion from the captured images, and extracts the vehicle information of the vehicles in motion to obtain visible light information. The visible light information recorded by the image processing module also includes vehicle speed, vehicle acceleration, and the number of vehicles.

[0040] When calculating the speed of a car, the image processing module calculates the car's position in two consecutive photos to obtain the distance the car has moved. The car's speed is calculated based on the distance the car has moved and the interval between the photos. The image processing module calculates the difference between the two consecutive car speeds and calculates the car's acceleration based on the speed difference and the time interval between the car speeds. The image processing module uses an image processing algorithm to identify the number of cars in the image.

[0041] The image processing module and echo detection module send the millimeter wave information and visible light information to the fusion and comparison module. The fusion and comparison module integrates the millimeter wave information and visible light information corresponding to the intersection with the same number. After selecting the millimeter wave information and visible light information with the same number, the fusion and comparison module calculates the weighted average of the vehicle speed, vehicle acceleration, and number of vehicles in the millimeter wave information and visible light information one by one to obtain the final vehicle speed, final vehicle acceleration, and final vehicle number, and records them as vehicle prediction information.

[0042] Among them, when the fusion comparison module performs weighted averaging of vehicle speed and acceleration, the weight of millimeter wave information is greater than the weight of visible light information, so that the millimeter wave radar equipment with more accurate speed detection is given a higher weight, making the calculation result more scientific. When performing weighted averaging of the number of vehicles, the weight of millimeter wave information is less than the weight of visible light information, so that the number of vehicles identified by the image algorithm with more accurate vehicle number recognition is given a higher weight, improving the accuracy of the detection results. At the same time, the final number of vehicles should be rounded;

[0043] The route prediction module predicts the vehicle's route based on the vehicle prediction information and obtains the time it takes for vehicles at different intersections to pass through the intersection. The specific prediction method is to predict the vehicle's time-based route based on the vehicle acceleration and speed through a preset big data model and a vehicle-road collaborative real-time data-driven algorithm, obtain the vehicle's estimated position at different times, and select the estimated time range for the vehicle to arrive at the intersection. The route prediction module compares the estimated time range of the intersection passed by the vehicle at each intersection and the estimated time range of each vehicle to determine whether the estimated time ranges overlap;

[0044] If there is overlap, a driving risk warning is generated; if there is no overlap, a driving risk-free signal is generated;

[0045] After generating a driving risk warning, the route prediction module selects two sets of overlapping estimated time ranges and calculates the degree of overlap between the estimated time ranges. The specific calculation method is as follows:

[0046] The route prediction module records the time spans of the two estimated time ranges as t1 and t2 respectively, and records the time span of the overlapping part of the two estimated time ranges as t3, and calculates the overlap degree T through the formula, The route prediction module compares the overlap degree T with the set threshold. If the overlap degree T is greater than the set threshold, a high risk level is generated. If the overlap degree T is less than or equal to the set threshold, a low risk level is generated. The high and low risk levels are recorded as the driving risk level and sent to the result output module, which displays it on the display device.

[0047] The display device is installed on the ground intersection sight distance information indicator. In actual use, according to the actual intersection conditions, a variable LED display device is set in each intersection direction, which can at least display the yellow light flashing and the green light constantly on. At the same time, the ground intersection sight distance information indicator device should also be equipped with at least one set of millimeter wave detection equipment and camera equipment in the direction of each intersection to meet the needs of collecting millimeter wave information and visible light information.

[0048] When a risk-free signal is generated in the direction of the intersection, the green light is always on. When a high-risk or low-risk driving risk level is generated, the yellow light flashes, and different risk levels are indicated by different flashing frequencies or by supplementing other LED display patterns or texts.

[0049] Example 2:

[0050] See also Figure 1 - Figure 2 As shown in the figure, the fusion comparison module continuously generates the latest vehicle prediction information at a fixed frequency and sends the vehicle prediction information to the route prediction module to update the vehicle route prediction. The route prediction module also sends the estimated time range to the dynamic analysis module. The comparison analysis module controls the traffic priority based on the vehicle route prediction. The specific control process is as follows:

[0051] The dynamic analysis module calculates the position of the overlapping portion in the two sets of estimated time ranges. If the overlapping portion is located in the second half of the estimated time range, a priority passage signal is generated. If the overlapping portion is located in the first half of the estimated time range, a delayed passage signal is generated. The dynamic analysis module sends the control result to the result output module. The result output module displays a flashing yellow light on the display device facing the direction of the intersection generating the priority communication signal and prompts priority passage, and displays a flashing yellow light on the display device facing the direction of the intersection generating the delayed communication signal and prompts delayed passage.

[0052] The calculation method for the second half or the first half is as follows: the dynamic analysis module selects the midpoint of the expected time range and calculates the distribution of the overlapping part on both sides of the midpoint. If the distribution on the left side of the midpoint is greater than the distribution on the right side of the midpoint, it is determined to be in the first half; if the distribution on the left side of the midpoint is less than the distribution on the right side of the midpoint, it is determined to be in the second half.

[0053] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A sight distance information indicating device for ground intersections in urban elevated composite passages, characterized in that: It includes an echo detection module, an image processing module, a fusion comparison module, a route prediction module, a dynamic analysis module and a result output module. The echo detection module and the image processing module count the number of intersections and assign a number to each intersection; The echo detection module detects each direction of the intersection through multiple millimeter wave radars to obtain information about the vehicles in motion and records it as millimeter wave information; The image processing module uses multiple cameras to shoot in each direction of the intersection, marks the vehicles in motion from the shooting results, extracts the vehicle information of the vehicles in motion, and obtains visible light information; The image processing module and the echo detection module send the millimeter wave information and the visible light information to the fusion comparison module, which integrates the millimeter wave information and the visible light information corresponding to the intersection with the same number, verifies the credibility of the information, and generates vehicle prediction information based on the verification results; The route prediction module predicts the vehicle route based on the vehicle prediction information, obtains the time when vehicles at different intersections pass through the intersection, and judges the time when different vehicles pass through the intersection to generate a driving risk level, and sends the driving risk level to the result output module, which displays it on the display device; The fusion comparison module continuously generates the latest vehicle prediction information at a fixed frequency and sends the vehicle prediction information to the route prediction module to update the vehicle route prediction. The comparison and analysis module controls the traffic priority of the vehicle route prediction and sends the control result to the result output module.

2. The ground intersection sight distance information indicating device for urban elevated composite passage according to claim 1 is characterized in that: The millimeter wave information recorded by the echo detection module includes vehicle speed, vehicle acceleration, and the number of vehicles; The echo detection module transmits millimeter-wave radar at a set frequency and performs positioning through the reflected millimeter-wave radar. The vehicle's speed is calculated based on the distance difference between two adjacent positionings and the transmission frequency. The echo detection module performs difference calculation based on the continuously acquired vehicle speeds, and calculates the vehicle's acceleration based on the speed difference and the time difference when the speed is acquired. When the vehicle accelerates, the acceleration is positive, and when the vehicle decelerates, the acceleration is negative. The echo detection module identifies the number of vehicles based on the echo profile difference.

3. The ground intersection sight distance information indicating device for urban elevated composite passage according to claim 1, characterized in that: The visible light information recorded by the image processing module also includes vehicle speed, vehicle acceleration, and the number of vehicles; When calculating the vehicle speed, the image processing module calculates the vehicle position in two consecutive photos to obtain the vehicle movement distance, and calculates the vehicle speed based on the vehicle movement distance and the shooting interval. The image processing module calculates the difference between the two consecutively acquired vehicle speeds and calculates the vehicle acceleration based on the speed difference and the time interval for obtaining the vehicle speed. The image processing module identifies the number of vehicles in the image through an image processing algorithm.

4. The ground intersection sight distance information indicating device for urban elevated composite passage according to claim 3 is characterized in that: After selecting the millimeter wave information and visible light information with the same number, the fusion comparison module performs weighted average calculation on the vehicle speed, vehicle acceleration and number of vehicles in the millimeter wave information and the visible light information one by one to obtain the final vehicle speed, final vehicle acceleration and final number of vehicles, and records them as vehicle prediction information.

5. The ground intersection sight distance information indicating device for urban elevated composite passage according to claim 1, characterized in that: When the fusion comparison module performs weighted averaging on vehicle speed and vehicle acceleration, the weight ratio of millimeter wave information is greater than the weight ratio of visible light information; when the fusion comparison module performs weighted averaging on the number of vehicles, the weight ratio of millimeter wave information is less than the weight ratio of visible light information.

6. The ground intersection sight distance information indicating device for urban elevated composite passage according to claim 1, characterized in that: The route prediction module predicts the vehicle's route based on the vehicle's acceleration and speed using a preset vehicle driving model, obtains the vehicle's estimated position at different times, and selects the estimated time range for the vehicle to arrive at the intersection; The route prediction module compares the estimated time range of each vehicle passing through the intersection at each intersection and determines whether the estimated time ranges overlap; If there is overlap, a driving risk warning is generated; if there is no overlap, a driving risk-free signal is generated.

7. The ground intersection sight distance information indicating device for use in urban elevated composite passages according to claim 6, characterized in that: After generating the driving risk warning, the route prediction module selects two sets of overlapping estimated time ranges and calculates the degree of overlap of the estimated time ranges. The specific calculation method is: The route prediction module records the time spans of the two groups of estimated time ranges as t1 and t2 respectively, and records the time span of the overlapping part of the two groups of estimated time ranges as t3, and calculates the overlap degree T by the formula: The route prediction module compares the overlap degree T with the set threshold, generates low-risk and high-risk risk levels based on the comparison results, and records them as the driving risk level. The route prediction module also sends the estimated time range to the dynamic analysis module.

8. The ground intersection sight distance information indicating device for use in urban elevated composite passages according to claim 7, characterized in that: The dynamic analysis module calculates the position of the overlapping portion in the two sets of expected time ranges, and generates a priority pass signal if the overlapping portion is in the second half of the expected time range; and generates a delayed pass signal if the overlapping portion is in the first half of the expected time range; The calculation method for the second half or the first half is as follows: the dynamic analysis module selects the midpoint of the expected time range and calculates the distribution of the overlapping part on both sides of the midpoint. If the distribution on the left side of the midpoint is greater than the distribution on the right side of the midpoint, it is determined to be in the first half; if the distribution on the left side of the midpoint is less than the distribution on the right side of the midpoint, it is determined to be in the second half.

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