A highway delineator intelligent early warning control method and system

Abstract

The application discloses a highway marker intelligent early warning control method and system, the method comprises the following steps: the collision detection module is preset on the marker to detect the collision state of the marker in real time, when the collision event is detected, the original stake number and the collision severity parameter of the collided marker are acquired, the collision severity parameter at least includes the number of the collided marker, the instantaneous speed of the accident vehicle and the collision acceleration peak value; the early warning message is sent to the rear marker in the direction of the vehicle based on the wireless communication network, the early warning message contains the original stake number and the collision severity parameter; in response to the collision severity parameter being less than the preset threshold value, the preset grading rule is used to determine the warning interval range; the rear marker calculates the difference value between the original stake number and the stake number, and determines the warning interval range based on the preset grading rule or the dynamic expansion model. The control method can dynamically calculate the range of the warning interval, realize real-time monitoring, accurate warning and efficient processing of the accident.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of highway safety technology, and in particular to a highway marker intelligent early warning control method and system. BACKGROUND

[0002] As an important part of road safety facilities, the profile marker is usually set on both sides of the road or the central reservation, and is used to outline the road alignment through the reverse reflection optical performance at night or in low light conditions, and to assist the driver in identifying the driving direction.

[0003] Because the existing profile marker has a single function, only has a static reflection function, cannot actively perceive the traffic state or road abnormalities such as traffic accidents, lacks the initiative of dynamic warning ability and data interaction with the highway management system, and cannot realize the intelligent, networked and autonomous collaborative decision function.

[0004] The Chinese invention patent with patent number CN114936668A discloses a road accident early warning system based on profile markers. When a vehicle has an accident, the system sends an early warning signal to the early warning processing platform, and then takes the accident point as the midpoint, intercepts the front and rear road sections on both sides, calculates the range of the secondary early warning section, and then controls the profile markers in the road section to flash the corresponding warning lights. The profile marker of this scheme does not have the initiative of dynamic warning ability, and cannot trigger the warning function of the warning interval in the first time when a collision accident occurs.

[0005] Therefore, the present application aims to provide a highway profile marker intelligent early warning control method and system which can actively trigger the dynamic warning function according to the severity of the collision. SUMMARY

[0006] In view of the above deficiencies in the prior art, the present application provides a highway profile marker intelligent early warning control method and system to solve the above technical problems.

[0007] According to the first aspect of the present application, a highway profile marker intelligent early warning control method is provided, comprising:

[0008] S1: detecting the collision state of the profile marker in real time by the collision detection module preset on the profile marker, obtaining the original stake number and the collision severity parameter of the collided profile marker when a collision event is detected, and the collision severity parameter at least includes the number of the collided profile marker, the instantaneous speed of the accident vehicle and the collision acceleration peak value;

[0009] S2: sending an early warning message to the rear profile marker in the vehicle direction based on the wireless communication network, and the early warning message contains the original stake number and the collision severity parameter;

[0010] S3: In response to the fact that all collision severity parameters are less than the preset threshold, the warning interval range is determined by the preset grading rules;

[0011] In response to any collision severity parameter being greater than or equal to a preset threshold, the dynamic expansion model is triggered to recalculate the warning interval range. The dynamic expansion model calculates the basic reaction distance and basic braking distance based on the instantaneous speed of the accident vehicle, the driver's reaction time, and the road surface friction coefficient of the accident section. It also adds the safety redundancy distance corresponding to the road alignment of the accident section to obtain the composite distance. The composite distance is weighted by the number of collided delineators. The composite distance is then corrected a second time based on the peak collision acceleration to obtain the final warning interval range.

[0012] S4: The rear delineator calculates the difference between its own station number and the original station number. And based on preset grading rules or a dynamically expanded model, the warning interval to which it belongs is determined, wherein:

[0013] when When the area falls within the first warning zone, the rear delineator will flash red and blue warning lights alternately.

[0014] when When the area falls within the second warning zone, the rear delineator will flash a red warning light.

[0015] when When the area falls within the third warning zone, the rear delineator will flash a yellow warning light.

[0016] By adopting the above technical solution, when a vehicle on a highway collides with a delineator on either side of the guardrail, the collided delineator sends a warning message containing its original station number and collision severity parameters in the direction of oncoming traffic. When the following delineator receives the warning message, it calculates the distance between the collided delineator and the following delineator by the difference between its own station number and the original station number (the station number of the delineator is the distance from the highway entrance; for example, the station number of the delineator 96m from the entrance along the direction of vehicle travel is M096, and the station number of the delineator 1200m is K1+200). It further determines the warning zone of the following delineator by using preset classification rules or dynamic expansion models. All delineators within the first warning zone flash red and blue warning lights. These lights alert drivers behind that this area is a highly dangerous section of road. The alternating flashing of red and blue quickly attracts drivers' attention, prompting them to remain vigilant and reduce speed as soon as possible to avoid secondary accidents. All delineators within the second warning zone flash red warning lights. These lights indicate to drivers behind that this area is a dangerous section of road, and that there is still some distance from the accident site. Drivers are reminded to slow down in advance and drive cautiously to ensure safety when passing through this special section. All delineators within the third warning zone flash yellow warning lights. The yellow light serves as a warning, alerting drivers behind that an accident has occurred ahead. While there is no need to be overly alarmed, drivers should gradually slow down and remain attentive to ensure driving safety. The severity of the accident is determined by combining the number of collided delineators and the collision severity parameters. Then, it is determined whether the warning range should use a preset value or be dynamically expanded. The message transmission is carried out by wireless communication network to improve the transmission speed. When the collision event information is transmitted to the highway server in the computer room, the early warning message can be transmitted to the direction of oncoming vehicles at the same time, so as to realize the function of rapid early warning of the accident section.

[0017] Preferably, in S3:

[0018] In response to and and The warning range is determined by using preset grading rules;

[0019] In response to or or This triggers a dynamic expansion model to recalculate the warning interval range, where... The number of collided delineators, The instantaneous speed of the vehicle involved in the accident, The peak collision acceleration of the accident vehicle, The maximum speed limit for the section of road where the accident occurred. This is the value of gravitational acceleration;

[0020] The dynamically extended model satisfies:

[0021] ;

[0022] when When the data cannot be obtained, the dynamically extended model satisfies:

[0023] ;

[0024] in, This refers to the dynamically expanded warning interval range. For the driver's reaction time, The coefficient of friction of the road surface at the accident site. For safety redundancy distance, This is the acceleration weighting coefficient.

[0025] By adopting the above technical solution, when three conditions are simultaneously met—the number of collapsing markers is less than 3, the instantaneous speed of the accident vehicle is less than 80% of the maximum speed limit of the road section, and the peak collision acceleration is less than 3 times the acceleration due to gravity—a preset grading rule is used to divide the warning zone (the first warning zone is within 500m of the collapsing markers, the second warning zone is 500m-1000m, and the third warning zone is 1000m-1500m). These collision severity parameters are simultaneously sent to the highway server in the computer room. Staff can obtain real-time accident information through the highway management system. When any of the above collision severity parameters exceeds the prescribed threshold, the information sent back to the highway server will also include the severity level of the accident, enabling staff to quickly determine the accident level and carry out rescue work. Furthermore, the dynamic extension model calculates the basic reaction distance using the instantaneous speed of the accident vehicle and the driver's reaction time. The basic braking distance is calculated by combining the instantaneous speed with the road surface friction coefficient of the accident section. These two distances are then superimposed with the safety redundancy distance corresponding to the road alignment of the accident section to obtain the composite distance. Simultaneously, the composite distance is weighted using the number of collided delineators. Finally, a secondary correction is performed using the peak collision acceleration to obtain the final warning range. When the instantaneous speed of the accident vehicle is unavailable, the dynamic extension model automatically replaces it with the maximum speed limit value of the accident section. This dynamic extension model improves the adaptability of accident warnings, dynamically adjusting the warning range according to the severity of the collision, effectively guiding drivers of following vehicles to take precautions in advance, reducing the risk of secondary accidents, and ensuring highway driving safety.

[0026] A further preferred approach is to use the interval division ratio for the dynamically expanded model as follows:

[0027] when At that time, the rear delineator belongs to the first warning zone;

[0028] when At that time, the rear delineator belongs to the second warning zone;

[0029] when At that time, the rear delineator belongs to the third warning zone.

[0030] By adopting the above technical solution, the warning zone range calculated by the dynamic expansion model is divided proportionally, with the first and third warning zones each accounting for 30%, and the second warning zone accounting for 40%. The third warning zone mainly serves as a warning to drivers behind from a distance of more than 30% of the accident point. When the second warning zone gradually transitions to the first warning zone, it indicates that the distance to the accident point is closer, and if the driver does not react in time, a secondary accident is likely to occur. Therefore, the second warning zone is larger, and red warning lights are used to continuously remind drivers to pay attention and slow down to avoid secondary accidents. The proportional division of the warning zones not only meets the actual safety needs of vehicle braking and driver reaction time, but also facilitates drivers to quickly identify and respond, enhancing the intuitiveness of accident warnings. The standardized division rules ensure the consistency of the delineator system, enabling the delineators behind to quickly determine the warning level and trigger the corresponding lights, effectively guiding drivers to take appropriate measures.

[0031] Furthermore, in the preset grading rules, the preset value for the first warning interval is... The preset value for the second warning interval is The preset value for the third warning interval is , and when At that time, the warning interval is divided according to the interval ratio of the dynamically expanded model. At that time, the warning range remains at the preset value.

[0032] By adopting the above technical solution, when At the same time, the warning interval maintains the hierarchical structure of the preset classification rules. The scope of the preset classification rules conforms to the statistical results of the highway accident database and can cover 80% of common accident scenarios. The trailing delineators can quickly determine the warning level of their own area using the preset classification rules, avoiding complex calculations and improving system response efficiency. When the dynamic expansion model is activated, the proportional division can adapt to the remaining 20% ​​of major accident scenarios, such as chain rear-end collisions, making the warning interval division more in line with the actual risk level and enhancing the accuracy of accident warnings. It not only ensures the processing efficiency of simple accident scenarios through preset classification rules, but also uses the dynamic expansion model to deal with complex and severe scenarios, improving the system's adaptability to different accident levels and ensuring that reasonable warnings can be issued in all kinds of situations.

[0033] Further preferred, The following conditions must be met:

[0034] ;

[0035] in, It is a natural exponential function. The duration of the collision.

[0036] By adopting the above technical solution, the acceleration weight coefficient is correlated with the collision duration, which realizes the dynamic optimization of the warning range. When the collision duration is short, the acceleration weight coefficient is small and the warning range expansion is small. As the collision duration increases, the acceleration weight coefficient increases and the warning range expands accordingly. The warning range can be flexibly adjusted according to the actual severity of the collision. The warning range is moderate for minor collisions (short collision duration) to avoid over-warning. The warning range is expanded for severe collisions (long collision duration) to fully protect the safety of vehicles behind.

[0037] Further optimization, setting maximum value For 3000m, when At that time, the rear delineator of the emergency lane on the highway will flash red and blue warning lights alternately, and push a high-risk warning to the navigation platform.

[0038] By adopting the above technical solution, the maximum value of the warning range of the dynamic expansion model is limited to avoid invalid warning expansion. When the warning range exceeds 3000m, the vehicle braking response time exceeds the human physiological limit (32 seconds at a speed of 120km / h). At the same time, when the calculated value of the dynamic expansion model exceeds the limited maximum value, the outline markers on the emergency lane side in the direction of oncoming traffic (the outline markers are symmetrically set on the guardrails on both sides of the highway) will flash red and blue warning lights alternately, forcibly increasing the warning level of the rear warning range, quickly reminding drivers behind that a major accident has occurred ahead, and at the same time, linking with a third-party navigation platform to push high-risk warnings for this section of road, which can remind drivers who have not entered this section of road to detour and avoid chain accidents caused by excessive traffic.

[0039] Preferably, when sending a pre-warning message to the rear delineator in step S2, the following steps are also included:

[0040] S201: The improved AODV protocol is used to elect the master node from the rear outline markers;

[0041] S202: The master node repackages the warning message, which includes the current hop count in the repackaged message. and maximum number of jumps Based on the 2.4G frequency band, the encapsulated early warning message is forwarded hop-by-hop to subsequent nodes along the direction of vehicle arrival until the warning range is covered;

[0042] In response to The master node adds an emergency tag to the early warning message and prioritizes the use of the communication gateway's dedicated emergency channel, forcing subsequent nodes to forward the early warning message at the minimum interval.

[0043] In response to The master node synchronously activates the Bluetooth broadcast function of the rear contour markers within a 500m range of the hit contour marker and pushes avoidance instructions to vehicles within the range.

[0044] By adopting the above technical solution, during the forwarding of early warning messages, a contour marker at a certain distance from the collided contour marker needs to be elected as the master node first. Then, the master node re-encapsulates the early warning message and forwards it hop-by-hop, ensuring effective information coverage of the warning area and improving communication efficiency and reliability. In such cases, an emergency marker is added and the emergency channel is prioritized for forced rapid forwarding to ensure timely transmission of early warning information in the event of a severe collision. When the collision occurs, the system activates rear delineators within 500m of the collided delineator to broadcast avoidance instructions via Bluetooth, enabling vehicles to quickly obtain avoidance information at close range. This improves the response speed and accuracy of the warning system in multiple dimensions, and effectively transmits key information in collision scenarios of varying severity.

[0045] Further preferably, S201 also includes:

[0046] S211: The hit delineator broadcasts a route request packet RREQ in the direction of oncoming traffic. The RREQ includes: target direction identifier and minimum remaining battery percentage threshold. Synchronization markers and original station numbers;

[0047] S212: Use a scoring formula to score the nodes of the rear contour marker. The scoring formula satisfies the following:

[0048] ;

[0049] Here, Score is the rating of the rear outline marker, and the rear outline marker, as a candidate node, must simultaneously satisfy: remaining battery percentage. Distance from the hit delineator Signal strength ;

[0050] S213: Compare the scores of each rear contour marker that meets the requirements, and select the rear contour marker with the highest score as the master node. The rear contour markers between the collided contour marker and the master node are intermediate nodes. When the master node and intermediate nodes receive an RREQ containing a synchronization flag, they immediately trigger a local warning and cache the collision event information.

[0051] By adopting the above technical solution, the target direction marker strictly limits the transmission direction of the early warning message to the rear of the vehicle's oncoming direction, clarifies the selection range of the master node, adds the election condition of remaining battery power to ensure the node's endurance, strictly selects nodes with sufficient battery power, short distance, and strong signal to ensure communication quality, and uses a scoring formula to calculate the score to ensure the optimal overall performance of the master node and optimize the transmission path of the early warning message. At the same time, when the intermediate node between the collided contour marker and the master node receives the RREQ containing the synchronization mark, it immediately triggers a local warning and caches the information to achieve local fast response and information retention. The transmission of early warning messages after the master node takes only 625 microseconds per hop, so that the early warning message can quickly cover the entire warning range.

[0052] Furthermore, preferably, the master node dynamically adjusts the maximum number of hops in the encapsulated early warning message based on the range of the warning interval, satisfying:

[0053] ;

[0054] in, The distance covered by a single-hop transmission;

[0055] During the hop-by-hop forwarding process by the master node, subsequent nodes... and Dynamically adjust the transmit power proportionally:

[0056] when At that time, standard power is used for transmission;

[0057] when At this time, power enhancement mode is activated;

[0058] During each hop of transmission, located The rear delineators within the range synchronously receive early warning messages and calculate... And determine the corresponding warning range.

[0059] By adopting the above technical solution, the master node can dynamically adjust the maximum number of hops to ensure that the transmission covers the entire warning range, avoiding blind transmission or insufficient coverage. Subsequent nodes adjust their transmission power according to the ratio of the current number of hops to the maximum number of hops, and activate the power enhancement mode under specified conditions to ensure that critical hops can be transmitted successfully. This optimizes power consumption while improving transmission reliability. During the transmission of each hop, all delineators within the coverage range of a single hop synchronously receive the early warning message, calculate the difference between their own station number and the original station number, quickly determine their own warning range, and can promptly trigger the corresponding warning lights, improving the early warning response speed, ensuring the complete transmission of early warning information, optimizing resource utilization, and ensuring efficient system operation.

[0060] According to a second aspect of this application, a smart early warning control system for highway delineators is proposed, employing any of the control methods described above, including:

[0061] The delineator module includes several delineators evenly spaced along the guardrails on both sides of the highway, as well as a collision detection module and a main control module. The collision detection module includes a Doppler radar sensor and an acceleration sensor respectively installed on the surface and inside the delineator. The main control module includes a control circuit board and a data processing module, a data storage module, a network communication module, and a Bluetooth communication module placed on the control circuit board. The surface of the delineator is also equipped with a multi-color LED strobe light. The Doppler radar sensor, the acceleration sensor, and the multi-color LED strobe light are all electrically connected to the control circuit board.

[0062] The communication gateway module includes several communication gateways that are equally spaced along one side of the highway and a core gateway that is installed in the highway equipment room.

[0063] The highway server is located in the computer room and communicates with the delineator through a communication gateway.

[0064] By adopting the above technical solutions, Doppler radar sensors and accelerometers on and inside the delineator surface accurately detect collision events in real time. The data processing module quickly analyzes the data, and the network communication module and Bluetooth communication module enable efficient transmission of warning information. Multi-color LED strobe lights display different colors intuitively according to the warning range, providing drivers with clear hazard level indications. The communication gateway module (communication gateways along the route and the core gateway) ensures stable data transmission, and the highway server provides unified management and coordination, enabling real-time monitoring, rapid response, and effective warnings of collision events. This improves accident handling efficiency, enhances driving safety, reduces the risk of secondary accidents, and ensures safe and smooth highway traffic.

[0065] Compared with the prior art, the beneficial effects of this application are as follows:

[0066] This application proposes an intelligent early warning control method and system for highway delineators. A collision detection module monitors the collision status of delineators in real time. Once a collision is detected, relevant parameters are quickly acquired, and a master node is elected using an improved AODV protocol. Early warning messages are then accurately transmitted wirelessly to following vehicles, ensuring efficient information transmission. Based on collision severity parameters (number of collided delineators, instantaneous speed of the vehicles involved, peak collision acceleration, etc.), a preset grading rule or a dynamically extended model (combining driver reaction time, road friction coefficient, safety redundancy distance, weighted by the number of collided delineators and acceleration correction) is intelligently selected to determine the warning interval. This interval is then subdivided proportionally and visually displayed using multi-color LED strobe lights (red-blue, red, and yellow flashing). The master node dynamically adjusts the maximum number of hops for the early warning message, and subsequent nodes optimize transmission power based on the transmission ratio to ensure transmission reliability and energy consumption balance. When the collision acceleration reaches a certain threshold, the emergency channel is prioritized or Bluetooth broadcast is activated to push avoidance commands, enhancing response to high-risk scenarios. The system's contour marker module (including sensors, main control module, and multi-color LED strobe light), communication gateway module (communication gateway and core gateway), and highway server work together to achieve real-time monitoring, rapid response, accurate warning, and efficient processing of collision events, significantly improving highway driving safety, effectively reducing the risk of secondary accidents, and optimizing traffic emergency management capabilities. Attached Figure Description

[0067] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and, together with the description, serve to explain the principles of the invention. Other embodiments and many anticipated advantages of the embodiments will be readily recognized as they become better understood through reference to the following detailed description. Other features, objects, and advantages of this application will become more apparent from reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0068] Figure 1 This is a schematic flowchart of a control method according to an embodiment of the present invention;

[0069] Figure 2 This is a schematic diagram of the early warning message transmission according to a specific embodiment of the present invention;

[0070] Figure 3 This is a schematic diagram of a communication framework according to a specific embodiment of the present invention;

[0071] Figure 4 This is a schematic diagram of the control system structure according to an embodiment of the present invention;

[0072] Figure 5 This is an exploded view of the outline marker structure according to a specific embodiment of the present invention;

[0073] Figure 6 This is a connection framework diagram of the collision detection module and the main control module according to a specific embodiment of the present invention.

[0074] The meaning of each number in the diagram:

[0075] 01 Guardrail, 02 Outline marker, 03 Communication gateway, 04 Core gateway, 05 Highway server, 06 Housing, 07 Base, 08 Connector, 09 Control circuit board, 10 Multi-color LED strobe light, 11 Rechargeable battery, 12 Doppler radar sensor, 13 Accelerometer, 14 Data processing module, 15 Data storage module, 16 Network communication module, 17 Bluetooth communication module. Detailed Implementation

[0076] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0077] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0078] According to the first aspect of this application, a method for intelligent early warning and control of highway delineators is proposed. Figure 1 A schematic flowchart of a control method according to an embodiment of the present invention is shown, such as... Figure 1 As shown, the method includes:

[0079] S1: The collision detection module preset on the contour markers detects the collision status of the contour markers in real time. When a collision event is detected, the original station number of the collided contour marker and the collision severity parameters are obtained. The collision severity parameters include at least the number of collided contour markers, the instantaneous speed of the accident vehicle and the peak value of the collision acceleration.

[0080] S2: Send a warning message to the rear delineator in the direction of oncoming traffic based on the wireless communication network. The warning message includes the original station number and collision severity parameters.

[0081] S3: In response to the fact that all collision severity parameters are less than the preset threshold, the warning interval range is determined by the preset grading rules;

[0082] In response to any collision severity parameter being greater than or equal to a preset threshold, the dynamic expansion model is triggered to recalculate the warning interval range. The dynamic expansion model calculates the basic reaction distance and basic braking distance based on the instantaneous speed of the accident vehicle, the driver's reaction time, and the road surface friction coefficient of the accident section. It also adds the safety redundancy distance corresponding to the road alignment of the accident section to obtain the composite distance. The composite distance is weighted by the number of collided delineators. The composite distance is then corrected a second time based on the peak collision acceleration to obtain the final warning interval range.

[0083] S4: The rear delineator calculates the difference between its own station number and the original station number. And based on preset grading rules or a dynamically expanded model, the warning interval to which it belongs is determined, wherein:

[0084] when When the area falls within the first warning zone, the rear delineator will flash red and blue warning lights alternately.

[0085] when When the area falls within the second warning zone, the rear delineator will flash a red warning light.

[0086] when When the area falls within the third warning zone, the rear delineator will flash a yellow warning light.

[0087] Specifically, the delineators are installed starting from the highway entrance, with a spacing of 12 meters between them. Each delineator's station number is based on its distance from the entrance. For example, the delineator station number at 96 meters along the driving direction from the entrance is M096, and the delineator station number at 1200 meters is K1+200. Furthermore, delineators are installed on the guardrails on both sides of the highway. The delineators on the left and right sides at 1200 meters can be stationed at ZK1+200 and YK1+200 respectively. The location information of the left delineator in the highway management system can be simplified to "[Highway Name] ZK1+200," and so on. When a delineator on the left or right side of the highway is collided with, the delineators on both sides behind it in the direction of oncoming traffic will trigger a warning. When multiple delineators are collided, the delineator that was first collided is selected as the collided delineator, and its original station number is used as the... The calculation benchmark.

[0088] Furthermore, by using preset grading rules or a dynamic expansion model to determine the warning zone of the trailing delineators, all delineators within the first warning zone flash red and blue warning lights. These lights indicate to drivers behind that the warning zone is a highly dangerous section of road. The alternating flashing of red and blue lights quickly attracts the driver's attention, prompting them to remain vigilant and reduce their speed as soon as possible to avoid secondary accidents. All delineators within the second warning zone flash red warning lights, indicating to drivers behind that the warning zone is a dangerous section of road and that there is still some distance from the accident site. This reminds drivers to slow down in advance and drive cautiously to ensure safety when passing through special road sections. All delineators within the third warning zone flash yellow warning lights. The yellow light serves as a warning, alerting drivers behind in advance that an accident has occurred ahead. While there is no need to be overly alarmed, drivers should gradually slow down and remain attentive to ensure driving safety. The severity of the accident is determined by combining the number of collided delineators and the collision severity parameters. Then, it is determined whether the warning range should use a preset value or be dynamically expanded. The message transmission is carried out by wireless communication network to improve the transmission speed. When the collision event information is transmitted to the highway server in the computer room, the early warning message can be transmitted to the direction of oncoming vehicles at the same time, so as to realize the function of rapid early warning of the accident section.

[0089] Preferably, in S3:

[0090] In response to and and The warning range is determined by using preset grading rules;

[0091] In response to or or This triggers a dynamic expansion model to recalculate the warning interval range, where... The number of collided delineators, The instantaneous speed of the vehicle involved in the accident, The peak collision acceleration of the accident vehicle, The maximum speed limit for the section of road where the accident occurred. This is the value of gravitational acceleration;

[0092] The dynamically extended model satisfies:

[0093] ;

[0094] when When the data cannot be obtained, the dynamically extended model satisfies:

[0095] ;

[0096] in, This refers to the dynamically expanded warning interval range. For the driver's reaction time, The coefficient of friction of the road surface at the accident site. For safety redundancy distance, This is the acceleration weighting coefficient.

[0097] In this model, when the collision involves low acceleration ( In cases of high acceleration, the acceleration correction factor is approximately 1, which does not change the original calculated result of the composite distance. In cases where the distance is large enough, the composite distance is enlarged proportionally.

[0098] Specifically, the range of values ​​for the road surface friction coefficient is as follows: The specific adjustments will be made dynamically based on road conditions and weather conditions (see Table 1):

[0099] Table 1 Reference Table for Road Friction Coefficient Values

[0100] ;

[0101] The determination of the road surface friction coefficient can be made through real-time data from the meteorological bureau or by setting up corresponding sensors on the highway.

[0102] The driver's reaction time is set according to the design requirements in the "Highway Route Design Specifications", with a range of 1.0s to 2.5s. In the event of complex environment or driver fatigue, the driver's reaction time can be set to 3s. Specifically, the default value for the driver's reaction time is set to 2s.

[0103] Preferred, The following conditions must be met:

[0104] ;

[0105] in, It is a natural exponential function. The duration of the collision.

[0106] The base value is 0.1, even if the collision time is extremely short ( (approaching 0), K a The value remains at 0.1 to ensure that minor accidents can still spread to a certain extent.

[0107] Specifically, the collision duration is determined based on the collision intensity. Impact tests are conducted using test vehicles at speeds ranging from 20 to 80 km / h. The distribution of collision durations at different intensities is shown in the table below:

[0108] Table 2. Reference Table for Collision Duration Distribution

[0109] ;

[0110] In a specific embodiment, when At that time, it was set to low intensity. The default value is 0.15s. At that time, it was set to medium intensity. The default value is 0.3s. At that time, it was set to high intensity. The default value is 1s. Furthermore, when acceleration cannot be obtained, it is set to... (In the field of automotive safety, 5g acceleration is often used as a reference threshold for moderate-intensity collisions.)

[0111] Specifically, the safety redundancy distance is preset based on the highway's road alignment, including straight sections. Curved and sloping road sections .

[0112] Specifically, with , , , , Taking a typical accident scenario on a straight road section as an example, a dynamic expansion model is used to define the range of the warning interval after dynamic expansion. Perform the calculation:

[0113] ;

[0114] Preferably, in the preset grading rules: the preset value of the first warning interval is... The preset value for the second warning interval is The preset value for the third warning interval is , and when At that time, the warning interval is divided according to the interval ratio of the dynamically expanded model. At that time, the warning range remains at the preset value.

[0115] The calculated D value is much smaller than the warning range of the preset classification rule. Based on the preset classification rule, the warning range where the trailing delineator is located is determined.

[0116] Furthermore, with , , , , Taking a moderate collision scenario on a straight, slippery road section as an example, the calculation is performed:

[0117] ;

[0118] at this time The warning interval is divided according to the interval ratio of the dynamically expanded model, specifically:

[0119] when At that time, the rear delineator belongs to the first warning zone;

[0120] when At that time, the rear delineator belongs to the second warning zone;

[0121] when At that time, the rear delineator belongs to the third warning zone.

[0122] In a specific embodiment, the D value is rounded down, and the warning interval is divided into 1828m ranges. The rear contour markers within 548m of the hit contour marker belong to the first warning interval, triggering alternating flashing of red and blue warning lights. The rear contour markers within 548m to 1280m belong to the second warning interval, triggering flashing of red warning lights. The rear contour markers within 1280m to 1828m belong to the third warning interval, triggering flashing of yellow warning lights.

[0123] Furthermore, with , , , , Let's take a straight icy or snowy road surface as an example for calculation:

[0124] ;

[0125] Preferred setting maximum value For 3000m, when At the same time, the rear delineator on the emergency lane side of the highway flashes red and blue warning lights alternately, which serves as a long-distance high-risk warning, prompting drivers behind to slow down and avoid danger or detour. It also pushes high-risk warnings to third-party navigation platforms, so that drivers who have not entered the section can know the accident situation in advance and replan their routes.

[0126] Figure 2 A schematic diagram of the pre-warning message transmission according to a specific embodiment of the present invention is shown. Figure 3 A schematic diagram of a communication framework according to a specific embodiment of the present invention is shown, such as... Figures 1-3 As shown, when sending a pre-warning message to the rear contour marker in S2, the following steps are also included:

[0127] S201: The improved AODV protocol is used to elect the master node from the rear outline markers;

[0128] S202: The master node repackages the warning message, which includes the current hop count in the repackaged message. and maximum number of jumps Based on the 2.4G frequency band, the encapsulated early warning message is forwarded hop-by-hop to subsequent nodes along the direction of vehicle arrival until the warning range is covered;

[0129] In response to The master node adds an emergency tag to the early warning message and prioritizes the use of the communication gateway's dedicated emergency channel, forcing subsequent nodes to forward the early warning message at the minimum interval.

[0130] In response to The master node synchronously activates the Bluetooth broadcast function of the rear contour markers within a 500m range of the hit contour marker and pushes avoidance instructions to vehicles within the range.

[0131] Further preferably, S201 also includes:

[0132] S211: The hit delineator broadcasts a route request packet RREQ in the direction of oncoming traffic. The RREQ includes: target direction identifier and minimum remaining battery percentage threshold. Synchronization markers and original station numbers;

[0133] S212: Use a scoring formula to score the nodes of the rear contour marker. The scoring formula satisfies the following:

[0134] ;

[0135] Here, Score is the rating of the rear outline marker, and the rear outline marker, as a candidate node, must simultaneously satisfy: remaining battery percentage. Distance from the hit delineator Signal strength ;

[0136] S213: Compare the scores of each rear contour marker that meets the requirements, and select the rear contour marker with the highest score as the master node. The rear contour markers between the collided contour marker and the master node are intermediate nodes. When the master node and intermediate nodes receive an RREQ containing a synchronization flag, they immediately trigger a local warning and cache the collision event information.

[0137] In this embodiment, the following is set The rear delineator only meets the following conditions. Only under certain conditions can a node have the opportunity to participate in the election process. This ensures that the elected node has sufficient power and, combined with the signal strength conditions of the election, ensures that the back outline with the best overall performance at the election site is selected as the node to forward early warning messages hop by hop.

[0138] Specifically, contour markers are set on both sides of the highway. Therefore, the election process of the master node is to simultaneously elect the contour markers on both sides (i.e., the rear contour markers) within 100m behind the hit contour marker (in the direction of oncoming traffic). During the election process, when the master node and the intermediate node (all the rear contour markers located between the hit contour marker and the master node) receive RREQ, they will trigger a local warning (the red and blue flashing alternately in the first warning interval). After that, the master node will re-encapsulate the warning message and perform multi-hop transmission until it covers the entire warning interval.

[0139] The master node's hop-by-hop transmission speed is based on the Bluetooth transmission protocol, achieving a high-speed transmission of 625 microseconds per hop. Meanwhile, multiple communication gateways are set at equal intervals along the highway, with each communication gateway corresponding to 512 contour markers for communication with the highway server. Furthermore, the communication gateways can be set on one side (one communication gateway corresponds to contour markers on both sides of the highway, totaling 512) or on both sides (one communication gateway corresponds to 512 contour markers on one side of the highway).

[0140] During the forwarding of early warning messages, a contour marker that is a certain distance away from the collided contour marker needs to be elected as the master node. Then, the master node re-encapsulates the early warning message and forwards it hop-by-hop to ensure that the information effectively covers the warning range, improving communication efficiency and reliability. In such cases, an additional emergency marker is added, and the emergency channel is prioritized for forced rapid forwarding to ensure timely transmission of early warning information in the event of a severe collision. When the collision occurs, the system activates rear delineators within 500m of the collided delineator to broadcast avoidance instructions via Bluetooth, enabling vehicles to quickly obtain avoidance information at close range. This improves the response speed and accuracy of the warning system in multiple dimensions, and effectively transmits key information in collision scenarios of varying severity.

[0141] Furthermore, the target direction identifier is added to the early warning message to strictly limit the transmission direction to the rear of the vehicle's oncoming direction, clarifying the selection range of the master node. The remaining battery power is added as an election condition to ensure the node's endurance. Nodes with sufficient battery power, close distance, and strong signal are strictly selected to ensure communication quality. The score is calculated using a scoring formula to ensure the optimal overall performance of the master node and optimize the transmission path of the early warning message. At the same time, when the intermediate node between the collided contour marker and the master node receives an RREQ containing a synchronization mark, it immediately triggers a local warning and caches the information to achieve rapid local response and information retention, enabling the early warning message to quickly cover the entire warning range.

[0142] Furthermore, preferably, the master node dynamically adjusts the maximum number of hops in the encapsulated early warning message based on the range of the warning interval, satisfying:

[0143] ;

[0144] in, The distance covered by a single-hop transmission;

[0145] During the hop-by-hop forwarding process by the master node, subsequent nodes... and Dynamically adjust the transmit power proportionally:

[0146] when At that time, standard power is used for transmission;

[0147] when At this time, power enhancement mode is activated;

[0148] During each hop of transmission, located The rear delineators within the range synchronously receive early warning messages and calculate... And determine the corresponding warning range.

[0149] Specifically, taking the master node and the subsequent node of the first hop as an example, there are also several delineators between the master node and the subsequent node. During the transmission of the first hop, these delineators will receive the early warning message synchronously, perform the calculation operation of the warning range, and trigger the corresponding warning lights. It should be noted that since the delineators are symmetrically distributed on the guardrails on both sides of the highway, during the transmission of the early warning message, the delineators located opposite the collided delineator, intermediate node, master node, and subsequent node will also receive the early warning message and trigger the warning lights. Furthermore, the setting spacing of the delineators on one side is 12m. Considering that the transmission distance of 2.4G data packets is about 100m, in specific application scenarios, the distance covered by the single-hop transmission of the early warning message can cover 8 delineators on one side (including the start and end points of the single-hop transmission).

[0150] Specifically, the master node can dynamically adjust the maximum number of hops to ensure complete coverage of the warning range, avoiding blind transmission or insufficient coverage. Subsequent nodes adjust their transmission power based on the ratio of the current number of hops to the maximum number of hops, and activate a power enhancement mode under specified conditions to ensure successful transmission of critical hops. This optimizes power consumption while improving transmission reliability. During each hop of transmission, all delineators within the coverage range of a single hop receive the early warning message simultaneously, calculate the difference between their own station number and the original station number, and quickly determine their own warning range. This enables the warning function of all delineators within the coverage range of a single hop to be activated with each forwarding of the early warning message, promptly triggering the corresponding warning lights, improving the early warning response speed, ensuring the complete transmission of warning information, and optimizing resource utilization.

[0151] According to a second aspect of this application, an intelligent early warning control system for highway delineators is proposed, employing any of the control methods described above. Figure 4A schematic diagram of the control system structure according to an embodiment of the present invention is shown, such as... Figures 1-4 As shown, the control system includes:

[0152] The delineator 02 module includes several delineators 02 evenly spaced along the guardrails 01 on both sides of the highway, as well as a collision detection module and a main control module. The collision detection module includes a Doppler radar sensor 12 and an acceleration sensor 13 respectively disposed on the surface and inside of the delineator 02. The main control module includes a control circuit board 09 and a data processing module 14, a data storage module 15, a network communication module 16, and a Bluetooth communication module 17 disposed on the control circuit board 09. The surface of the delineator 02 is also provided with a multi-color LED strobe light 10. The Doppler radar sensor 12, the acceleration sensor 13, and the multi-color LED warning light are all electrically connected to the control circuit board 09.

[0153] The communication gateway module includes several communication gateways 03 arranged at equal intervals along one side of the highway and a core gateway 04 installed in the highway equipment room.

[0154] The highway server 05 is located in the computer room. The highway server 05 communicates with the delineator 02 through the communication gateway 03.

[0155] Outline markers 02 are symmetrically distributed at equal intervals along the direction of vehicle travel on the guardrails 01 on both sides of the highway, with a distance of 12m between adjacent outline markers 02 on each side. Each communication gateway 03 communicates with the highway server 05 for 512 outline markers 02. The communication gateway 03 can be set up on one side or both sides. The figure shows a single-side setting as an example. A single communication gateway 03 communicates with outline markers 02 on both sides simultaneously (256 on one side). The communication gateway 03 further communicates with the core gateway 04 in the highway computer room (the core gateway 04 is connected to the highway server 05) to synchronize collision information to the highway server 05. This allows the specific location and accident level of the collision to be visualized on the highway management system, enabling staff to carry out rescue operations in a timely manner. Furthermore, when certain road sections require construction and maintenance, the highway management system can send instructions to the outline markers 02 behind the section to be constructed, causing them to flash warning lights to remind vehicles behind that the road section ahead is under construction. The construction and maintenance of the road section can also be synchronized to a third-party navigation platform to inform drivers behind of the road conditions ahead in advance.

[0156] Figure 5 An exploded view of the delineator structure according to a specific embodiment of the present invention is shown. Figure 6 A connection framework diagram of the collision detection module and the main control module according to a specific embodiment of the present invention is shown, such as... Figures 1-6As shown, the delineator 02 includes a housing 06 and a base 07. The base 07 is pre-installed at a designated position on the highway guardrail 01. The housing 06 is detachably connected to the connector 08 via a snap-fit ​​or other means. The connector 08 is detachably installed on the base 07 via a magnetic attraction or other means. The surface of the housing 06 is equipped with a Doppler radar sensor 12, and the housing 06 is equipped with an acceleration sensor 13. Both are used in collision detection to obtain the instantaneous speed of the accident vehicle and the peak value of the collision acceleration, which are parameters of collision severity. The housing 06 contains a main control module and a rechargeable battery 11. The rechargeable battery 11 powers the main control module, the collision detection module, and the multi-color LED strobe light 10. The rechargeable battery 11 is charged via wired or solar power. The main control module includes a control circuit board 09. The control circuit board 09 is equipped with a data processing module 14 (such as a microprocessor such as an MCU or MPU), a data storage module 15 (used to store and retrieve accident-related data), and a network communication module 16 (such as a 2.4G communication chip, used for communication between the delineators 02). The system includes wireless communication between the delineator 02 and the communication gateway 03, and a Bluetooth communication module 17 (used for communication between mobile phones, operating terminals, and other devices and the delineator 02). Simultaneously, one side of the control circuit board 09 has two rows of multi-color LED strobe lights 10 for flashing corresponding warning lights. The data processing module 14 calculates and judges the warning zone based on the acquired collision severity parameters, controls the network communication module 16 to communicate with other delineators 02 and the communication gateway 03 to transmit early warning messages, and further controls the multi-color LED strobe lights 10 to flash the warning lights corresponding to the warning zone, flexibly controlling the warning actions of the delineator 02 in the accident section. When the delineator 02 is collided with, the housing 06 will detach from the base 07. During later maintenance, only a new housing 06 needs to be replaced. The new housing 06 is paired with the base 07 via a mobile phone / operating terminal to replace the delineator 02, eliminating the need to replace the entire delineator 02 as with traditional delineators, thus improving maintenance efficiency and saving costs.

[0157] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A method for intelligent early warning and control of highway delineators, characterized in that, include: S1: The collision status of the contour markers is detected in real time by a collision detection module preset on the contour markers. When a collision event is detected, the original station number of the collided contour marker and the collision severity parameters are obtained. The collision severity parameters include at least the number of collided contour markers, the instantaneous speed of the accident vehicle and the peak value of the collision acceleration. S2: Send a warning message to the rear delineator in the direction of oncoming traffic based on the wireless communication network. The warning message includes the original station number and the collision severity parameter. S3: In response to the fact that all the collision severity parameters are less than the preset threshold, the warning interval range is determined by the preset grading rules; In response to any of the collision severity parameters being greater than or equal to the preset threshold, a dynamic expansion model is triggered to recalculate the warning interval range. The dynamic expansion model calculates a basic reaction distance and a basic braking distance based on the instantaneous speed of the accident vehicle, the driver's reaction time, and the road surface friction coefficient of the accident section. It then superimposes the safety redundancy distance corresponding to the road alignment of the accident section to obtain a composite distance. The composite distance is weighted based on the number of collided delineators. Finally, the weighted composite distance is corrected a second time based on the peak collision acceleration to obtain the final warning interval range. The dynamic expansion model satisfies the following: ； when When the data cannot be obtained, the dynamically extended model satisfies: ； in, This refers to the dynamically expanded warning interval range. For the driver's reaction time, The coefficient of friction of the road surface at the accident site. For safety redundancy distance, For acceleration weighting coefficients, The number of the collided delineators, The instantaneous speed of the vehicle involved in the accident, The peak collision acceleration of the accident vehicle, The maximum speed limit for the section of road where the accident occurred. This is the value of gravitational acceleration; S4: The rear delineator calculates the difference between its own station number and the original station number. And based on the preset grading rules or the dynamic expansion model, the corresponding warning interval is determined, wherein: when When the area falls within the first warning zone, the rear delineator flashes red and blue warning lights alternately. when When the area falls within the second warning zone, the rear delineator flashes a red warning light; when When the area falls within the third warning zone, the rear delineator will flash a yellow warning light.

2. The control method according to claim 1, characterized in that, In S3: In response to and and The warning interval range is determined using preset grading rules; In response to or or This triggers the dynamic expansion model to recalculate the warning interval range.

3. The control method according to claim 1, characterized in that, The interval division ratio of the dynamically expanded model is: when At that time, the rear delineator belongs to the first warning zone; when At that time, the rear delineator belongs to the second warning zone; when At that time, the rear delineator belongs to the third warning zone.

4. The control method according to claim 3, characterized in that, In the preset grading rules: the preset value of the first warning interval is The preset value of the second warning interval is The preset value of the third warning interval is , and when When, the warning interval is divided according to the interval ratio of the dynamic expansion model, when At that time, the warning interval remains at a preset value.

5. The control method according to claim 1, characterized in that, The following conditions must be met: in, It is a natural exponential function. The duration of the collision.

6. The control method according to claim 2, characterized in that, set up maximum value For 3000m, when At that time, the rear delineator controlling the emergency lane of the highway will flash red and blue warning lights alternately, and push high-risk warning information to the navigation platform.

7. The control method according to claim 1, characterized in that, When sending the early warning message to the rear contour marker in step S2, the following steps are also included: S201: Elect a master node from the rear delineators using the improved AODV protocol; S202: The master node re-encapsulates the warning message, wherein the encapsulated warning message also includes the current hop count. and maximum number of jumps The encapsulated warning message is forwarded hop-by-hop to subsequent nodes along the direction of vehicle arrival in the 2.4G frequency band until the warning range is covered. In response to The master node adds an emergency tag to the early warning message and prioritizes the use of the dedicated emergency channel of the communication gateway, forcing the subsequent nodes to forward the early warning message at the minimum interval; In response to The master node synchronously activates the Bluetooth broadcast function of the rear contour marker within a 500m range of the collided contour marker, and pushes avoidance instructions to vehicles within the range.

8. The control method according to claim 7, characterized in that, S201 further includes: S211: The collided delineator broadcasts a route request packet RREQ in the direction of oncoming vehicle traffic. The RREQ includes: target direction identifier and minimum remaining battery percentage threshold. Synchronization marker and the original station number; S212: The rear contour marker is scored using a scoring formula, wherein the scoring formula satisfies: Wherein, Score is the rating of the rear contour marker, and the rear contour marker, as a candidate node, must simultaneously satisfy: remaining battery percentage. Distance from the collided delineator Signal strength ; S213: Compare the scores of the rear contour markers that meet the requirements, and select the rear contour marker with the highest score as the master node. The rear contour markers between the collided contour marker and the master node are intermediate nodes. When the master node and the intermediate node receive an RREQ containing the synchronization flag, they immediately trigger a local warning and cache the collision event information.

9. The control method according to claim 7 or 8, characterized in that, The master node dynamically adjusts the maximum number of hops of the encapsulated early warning message according to the range of the warning interval, satisfying the following: in, The distance covered by a single-hop transmission; During the hop-by-hop forwarding process of the master node, the subsequent nodes, according to... and Dynamically adjust the transmit power proportionally: when At that time, standard power is used for transmission; when At this time, power enhancement mode is activated; During each hop of transmission, located The rear delineators within the range synchronously receive the early warning message and calculate... And determine the corresponding warning range.

10. A smart early warning control system for highway delineators, employing the control method described in any one of claims 1-9, characterized in that, include: The contour marker module includes several contour markers evenly spaced along the guardrails on both sides of a highway, as well as a collision detection module and a main control module. The collision detection module includes a Doppler radar sensor and an acceleration sensor respectively disposed on the surface and inside the contour markers. The main control module includes a control circuit board and a data processing module, a data storage module, a network communication module, and a Bluetooth communication module disposed on the control circuit board. The surface of the contour markers is also provided with multi-color LED strobe lights. The Doppler radar sensor, the acceleration sensor, and the multi-color LED strobe lights are all electrically connected to the control circuit board. The communication gateway module includes a plurality of communication gateways arranged at equal intervals along one side of the highway and a core gateway located in the highway equipment room. A highway server is located in the computer room, and the highway server communicates with the delineator through the communication gateway.

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