Intelligent self-moving opening guardrail traffic control method and system
The intelligent self-moving opening guardrail system uses detection devices and neural networks to predict vehicle speed and automatically control the opening of the guardrail and the warning device, which solves the problem of inconvenience in entering and exiting traditional opening guardrails and realizes the safe and efficient passage of engineering vehicles.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-24
- Publication Date
- 2026-03-13
AI Technical Summary
In the existing technology, traditional open guardrails require manual opening and closing, which makes it inconvenient for engineering vehicles to enter and exit, occupies the road for a long time, poses a risk of collision with other vehicles, and affects safe driving.
The system employs an intelligent self-moving opening guardrail system. It collects traffic parameter data through detection devices, uses neural networks to predict vehicle speed, controls the guardrail to open automatically, and activates warning devices to alert other vehicles. It also controls the entry and exit of engineering vehicles based on vehicle travel time, reducing interference and collision risks.
It improved the efficiency of engineering vehicles entering and exiting, reduced the risk of collisions with other vehicles, and enhanced road safety and operational management efficiency.
Smart Images
Figure CN121661840A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of intelligent transportation technology, and in particular to an intelligent self-moving opening guardrail traffic control method and system. Background Technology
[0002] Travel time prediction is the forecast of the travel time required to traverse a specific road segment or route within a certain future timeframe. Accurate predictions can reflect changing trends in road traffic and vehicle operation, and are of great significance for dynamic traffic management on highways.
[0003] Due to the limitations of highway construction conditions in mountainous areas, an increasing number of long and extra-long tunnels and tunnel clusters have been completed and opened to traffic. Tunnel management facilities, such as tunnel management offices, substations, and intelligent micro-stations, are mostly located near the tunnel entrances. Considering the need for highway management and maintenance personnel to drive engineering vehicles into these areas, it is necessary to install open guardrails with adequate safety protection capabilities at these locations. Currently, traditional open guardrails require manual opening and closing, which is inconvenient and time-consuming, hindering the rapid entry and exit of engineering vehicles. This results in engineering vehicles remaining on the road for extended periods, and also poses a risk of collisions with other vehicles when entering or exiting, creating significant safety hazards.
[0004] To systematically improve traffic safety at facilities along mountain highways, such as tunnel management offices, substations, and intelligent micro-stations, it is necessary to use information technology and automated remote control to control the automatic opening, closing, and anchoring of guardrail openings. This would eliminate the need for manual opening procedures, improve guardrail opening efficiency, and guide management personnel to safely drive engineering vehicles through guardrail openings through data collection, travel time prediction, signal transmission, and early warning devices, thereby reducing the risk of collisions. Summary of the Invention
[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an intelligent self-moving opening guardrail traffic control method and system to solve the problems mentioned in the background art.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, this application provides an intelligent self-moving opening guardrail traffic control method, comprising the following steps: A detection device is installed in front of the opening guardrail to collect traffic parameter data of social vehicles on the target road section and transmit it to the computing terminal; The road section in front of the guardrail is divided into several road section units, and the road section in front of the guardrail is divided into continuous time units according to the preset time length △t. The computing terminal calculates and stores the spatial average vehicle speed of each road segment unit based on historical and current traffic parameter data of the road segment unit, and uses the historical and current spatial average vehicle speed of each road segment unit to train a neural network to predict the spatial average vehicle speed of the road segment unit in the next n time units. When a construction vehicle travels to the hard shoulder or the site road in front of the guardrail, the detection device detects the construction vehicle, controls the motor to open the guardrail, and activates the warning device to warn other vehicles. The travel time of social vehicles to the opening guardrail is calculated based on the future average vehicle speed predicted by the neural network, and compared with the time taken for engineering vehicles to enter or exit the opening guardrail. When the travel time of a private vehicle is greater than the time it takes for a construction vehicle to enter or exit the guardrail opening, the control indicator device allows the construction vehicle to enter or exit; otherwise, the prohibition status is maintained and the system waits for the next opportunity.
[0007] Preferably, the traffic parameter data includes at least: spatial average vehicle speed, and corresponding road segment traffic volume, vehicle type, and lane number; The detection device is one or more combinations of radar / vision combined detection unit, radar unit, vision camera unit, coil detection unit, or any information collection unit capable of measuring the average speed of social vehicles in space, as well as the corresponding road segment traffic volume, vehicle type and lane number.
[0008] Preferably, the division of the road segment units is based on the location of the detection device; the length of the last road segment unit is the speed limit for social vehicles multiplied by the time it takes for engineering vehicles to enter or exit the opening guardrail.
[0009] Preferably, the warning device is a flashing light; the indicator device is a traffic light; and the opening guardrail is opened and closed by a motor.
[0010] Preferably, a braking distance is reserved between the end point of the last road segment unit and the opening position of the guardrail, and a strobe light is installed at the end point of the last road segment unit; when an emergency occurs, the strobe light is turned on and a warning signal is issued to remind vehicles behind to slow down, stop or change lanes.
[0011] Preferably, the neural network is a BP neural network model; for each road segment unit, the input of the BP neural network model includes the spatial average vehicle speed of multiple time units in the past and present, as well as the corresponding road segment traffic volume, vehicle type and lane number, and the output is the spatial average vehicle speed of future time units; when making predictions, if there is no actual observation value for a certain input time unit, the predicted value of its previous period is used as the substitute input.
[0012] Preferably, social vehicles in the first After a time unit enters road segment unit i, and after p time units, the distance traveled within that road segment unit is... satisfy: ; in, For the first Road segment unit in time unit Average speed in space; Indicates that social vehicles are in the first Entering the road segment unit in a time unit At that time, the travel time of social vehicles in that time unit, and ; For the first Road segment unit in time unit Average speed in space; The time unit length is p; p represents the time unit from which the time unit begins. The number of complete time units that have elapsed since then; according to The length of segment unit i is Comparison is used to determine the driving decisions and travel time of social vehicles in that road segment unit. Specifically, it includes: when < If a vehicle continues to travel within the i-th road segment unit, the travel time within that segment should be expressed as: ; when = If a social vehicle happens to reach the end of a road segment unit and enters the (i+1)th road segment unit, the travel time in the i-th segment unit should be expressed as: ; when > If a social vehicle leaves road segment unit i in advance and enters road segment unit i+1, the travel time in segment i should be expressed as follows: ,in Indicates the i-th road segment unit in time unit ( ; In the formula, For social vehicles entering the ( The distance traveled 1000 times in advance. = .
[0013] Preferably, the predicted travel time of the social vehicle in the last road segment unit q The calculation is as follows: ; in, The length of the last road segment unit. , Speed limits are set for private vehicles on certain road sections; When used for engineering vehicles to enter or exit the opening guardrail. ; Where R is the turning radius for the engineering vehicle to turn left into the guardrail opening. Turning speed; when When the indicator device signals that entry or exit from the opening guardrail is prohibited, engineering vehicles are not allowed to enter or exit. when > When the signal device indicates that it is permissible to enter or exit the opening guardrail, the engineering vehicle is allowed to enter or exit.
[0014] Preferably, the step of the engineering vehicle driving into and out of the guardrail includes: Driving in process: When the construction vehicle is parked on the hard shoulder, the detection device will activate the indicator and warning devices after detecting the construction vehicle. When the distance between the engineering vehicle and the opening guardrail When an engineering vehicle is detected, the control motor opens the guardrail. The ; in, The time it takes for the guardrail to go from closed to fully open. Speed limits are set for the section of road in question. When the indicator device indicates that it is permissible to enter the opening barrier, the engineering vehicle drives into the opening barrier. After the engineering vehicles have fully entered the site, the opening guardrail will be closed, and the indicator device will be turned off after the opening guardrail is fully closed. Driving out process: When an engineering vehicle drives onto the site road in front of the guardrail opening, the detection device detects the engineering vehicle and controls the motor to open the guardrail. When the indicator device signals that it is safe to drive through the opening guardrail, the engineering vehicle drives through the opening guardrail and moves to the rightmost hard shoulder. Once the engineering vehicle has completely entered the rightmost hard shoulder, the guardrail will close. After the guardrail is completely closed, the indicator will turn off. After observing that there were no other vehicles in the left lane, the driver of the engineering vehicle accelerated from the hard shoulder and merged into the lane.
[0015] Secondly, the present invention also provides an intelligent self-moving opening guardrail traffic control system, employing the above-mentioned intelligent self-moving opening guardrail traffic control method, comprising: The detection device is installed in front of the opening guardrail to collect traffic parameter data of social vehicles on the road section; The computing terminal, connected to the detection device, is used to perform road segment unit division, spatial average vehicle speed calculation, neural network prediction, and calculation of social vehicle travel time. The control device, connected to the computing terminal, is used to receive the entry and exit requests of engineering vehicles and control the guardrail to open, close and anchor automatically, and activate the warning device. An indicator device, connected to the control device, is used to allow or prohibit engineering vehicles from entering or exiting based on travel time comparisons.
[0016] The present invention discloses an intelligent self-moving opening guardrail traffic control method and system, which has the following beneficial effects.
[0017] A detection device is deployed in front of the guardrail opening, and the detection data is transmitted to an edge computing terminal. The road section in front of the guardrail is divided into several road segment units according to the location of the detection unit, and further divided into time units according to time intervals. Based on the historical and current spatial average vehicle speeds of each road segment unit, a travel time prediction model is used to predict the vehicle speed of future time units. The predicted travel time of social vehicles to the guardrail position is calculated in a segment-by-segment recursive manner and compared with the time required for the engineering vehicle to complete the passage. When the predicted arrival time is greater than the time required for the engineering vehicle, the engineering vehicle is allowed to pass; otherwise, it is prohibited. This method is simple and easy to implement. When engineering vehicles occupy the roadway and enter or leave the area through the guardrail opening, it can reduce interference with the normal passage of social vehicles on the main road, avoid potential collisions, and improve operational management efficiency and driving safety. Attached Figure Description
[0018] Figure 1 This is an overall flowchart of a traffic control method for an intelligent self-moving opening guardrail involved in this application; Figure 2 A schematic diagram of the equipment layout when the tunnel management facilities are located on the side of the central median; Figure 3 This is a schematic diagram of the equipment layout when tunnel management facilities are located on the roadside. Detailed Implementation
[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.
[0020] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.
[0021] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.
[0022] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.
[0023] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.
[0024] Example As described in the background section, due to the limitations of highway construction conditions in mountainous areas, an increasing number of long and extra-long tunnels and tunnel clusters have been completed and opened to traffic. Tunnel management facilities such as tunnel management offices, substations, and intelligent micro-stations are mostly located near the tunnel entrances. Considering the need for highway management and maintenance personnel to drive engineering vehicles into these areas, it is necessary to install open guardrails with adequate safety protection capabilities at these facilities. Currently, traditional open guardrails require manual opening and closing, which is inconvenient and time-consuming, hindering the rapid entry and exit of engineering vehicles. This results in engineering vehicles remaining on the road for extended periods, and also poses a risk of collision with other vehicles when entering or exiting, creating significant safety hazards.
[0025] To address the shortcomings of existing technologies, such as Figure 1As shown, an intelligent self-moving opening guardrail traffic control method is proposed, which includes the following steps: A detection device is installed in front of the opening guardrail to collect traffic parameter data of social vehicles on the target road section and transmit it to the computing terminal; The road section in front of the opening guardrail is divided into several road section units, and the road section in front of the opening guardrail is divided into continuous time units according to the preset time length △t. The computing terminal calculates and stores the spatial average vehicle speed of each road segment unit based on historical and current traffic parameter data of the road segment unit, and uses the historical and current spatial average vehicle speed of each road segment unit to train a neural network to predict the spatial average vehicle speed of the road segment unit in the next n time units. When a construction vehicle travels to the hard shoulder or the site road in front of the guardrail, the detection device detects the construction vehicle, controls the motor to open the guardrail, and activates the warning device to warn other vehicles. The travel time of social vehicles to the opening guardrail is calculated based on the future average vehicle speed predicted by the neural network, and compared with the time taken for engineering vehicles to enter or exit the opening guardrail. When the travel time of a private vehicle is greater than the time it takes for a construction vehicle to enter or exit the guardrail opening, the control indicator device allows the construction vehicle to enter or exit; otherwise, the prohibition status is maintained and the system waits for the next opportunity.
[0026] This invention fully considers the situation where tunnel management facilities such as tunnel management offices, substations, or intelligent tunnel micro-stations are located on the roadside or median strip side, and intelligent self-moving guardrail openings are installed. When management personnel drive engineering vehicles into or out of the area, this invention aims to minimize interference with the main traffic flow and avoid potential collisions, thereby ensuring driving safety in the guardrail opening sections and improving operational management efficiency.
[0027] In one exemplary embodiment, such as Figures 1 to 3 As shown, an intelligent self-moving opening guardrail traffic control method is provided, including the following steps: A detection device is installed in front of the opening guardrail to collect traffic parameter data of social vehicles on the target road section and transmit it to the computing terminal; Preferably, in this embodiment, the traffic parameter data includes at least: spatial average vehicle speed, and the corresponding road segment traffic volume, vehicle type and lane number; the detection device is a radar / vision combined detection unit, radar unit, vision camera unit, coil detection unit, or any information collection unit that can measure the spatial average vehicle speed of social vehicles, and the corresponding road segment traffic volume, vehicle type and lane number, or one or more combinations thereof.
[0028] For example, in this embodiment, such as Figure 2 and such Figure 3As shown, six sets of radar-visual integrated machines are installed in front of the guardrail opening to acquire the average vehicle speed in the space of vehicles passing through its cross-section, as well as the corresponding road segment traffic volume, vehicle type and lane number data, and transmit them to the edge computing terminal; the edge computing terminal calculates and stores the historical and current average vehicle speed of each road segment unit based on the historical and current traffic parameter data detected by the radar-visual integrated machines.
[0029] The road section in front of the guardrail is divided into several road section units, and then further divided into different time units according to time intervals; Preferably, in this embodiment, the division of road segment units is based on the location of the detection device; the length of the last road segment unit is the speed limit for social vehicles multiplied by the time it takes for the engineering vehicle to enter or exit the opening guardrail.
[0030] For example, in this embodiment, such as Figure 2 and such Figure 3 As shown, there are a total of 5 road segment units, numbered L1-L5, which are divided into different time units according to the time interval ∆t.
[0031] The time required for engineering vehicles to turn and drive into or out of the guardrail opening is Following vehicles should adhere to the speed limit for that section of road. The distance traveled is This is used as the length of the last road segment unit. ; Preferably, in this embodiment, a braking distance is reserved between the end point of the last road segment unit and the opening position of the guardrail, and a strobe light or other conspicuous identification device is installed at the end point of the last road segment unit; when an emergency occurs or the system determines that there is a risk of collision, the system controls the strobe light to turn on and issue a warning signal to remind vehicles behind to slow down, stop or change lanes.
[0032] For example, in this embodiment, such as Figure 2 and Figure 3 As shown, for safety reasons, a braking distance S is reserved between the last section unit's end point and the opening guardrail position to allow for a potential collision with other vehicles in an emergency. This ensures that when the engineering vehicle turns and enters the guardrail opening, in an emergency, if it has not yet completely exited the roadway, following vehicles can brake in time to avoid a collision. Therefore, the required braking distance is [insert value here]. In the formula: μ is the road surface friction coefficient, g is the gravitational acceleration; the position S from the guardrail opening is taken as the endpoint of the last road segment unit, and the distance S from the guardrail opening is... The position of g is taken as the starting point of the last road segment unit, that is, the length of the last road segment unit is... A set of flashing lights is installed at the end of the last road segment unit. In the event of an emergency, the system will activate the flashing lights to alert drivers of other vehicles to pay attention to the vehicles ahead and to slow down, stop, or change lanes to another lane.
[0033] The computing terminal calculates and stores the spatial average vehicle speed of each road segment unit based on historical and current traffic parameter data of the road segment unit, and uses the historical and current spatial average vehicle speed of each road segment unit to train a neural network to predict the spatial average vehicle speed of the road segment unit in the next n time units. Preferably, in this embodiment, the neural network is a BP neural network model; for each road segment unit, the input of the BP neural network model includes the average vehicle speed of multiple time units in the past and present, as well as the corresponding road segment traffic volume, vehicle type and lane number, and the output is the average vehicle speed of future time units; when there is no actual observation value for a certain input time unit during prediction, the predicted value of its previous period is used as the substitute input.
[0034] For example, in this embodiment, a three-layer BP neural network is used to predict the spatial average vehicle speed of road segment units. The network structure is as follows: the input layer has 6 neurons, corresponding to the historical spatial average vehicle speed of the most recent 3 time units and 3 basic spatiotemporal features, namely, road segment traffic volume, vehicle type, and lane number; the hidden layer has 8 neurons, using the sigmoid activation function; the output layer has n neurons, using the linear activation function, and outputs the predicted spatial average vehicle speed for the next n time units. The loss function is the mean squared error (MSE), and the model is trained using batch gradient descent. The training samples are derived from historical detector data of the past 30 days, aggregated at a granularity of 5 minutes. After initial model training, an incremental update strategy is adopted every 24 hours. The prediction step size n is balanced between actual business needs and prediction accuracy.
[0035] For example, in this embodiment, a backpropagation (BP) neural network is used to predict the spatial average vehicle speed of road segment units. For each road segment unit, the neural network is trained using historical and current spatial average vehicle speeds, and the future speed of the road segment unit is predicted. The spatial average vehicle speed is calculated for each time unit. The neural network has four inputs: one for each time unit. , ( +1), +2), +3) spatial average vehicle speed; output quantity is time unit ( +4) Spatial average vehicle speed. During prediction, if the time unit used as network input does not have an actual vehicle speed value, the previously obtained predicted value is used. That is, to predict the spatial average vehicle speed of a road segment unit in the third future time unit, the first two of the four input values are calculated based on known data, while the last two are previously calculated predicted values. Number of prediction time units. Must meet , This is a collection of travel times for vehicles on a given road segment.
[0036] When the detection device detects an engineering vehicle, it controls the opening of the guardrail to open and activates the warning device to alert other vehicles. Preferably, in this embodiment, the warning device is a flashing light; the indicator device is a traffic light; and the opening guardrail is opened and closed by a motor.
[0037] For example, in this embodiment, the system receives a request from a manager who wants to enter the tunnel management facility area through an opening in the guardrail, and the distance to the opening in the guardrail is... = After the radar-guided integrated camera detects the engineering vehicle, the system controls the motor to open the guardrail and turn on the flashing lights to warn other vehicles that they are not allowed to enter. The travel time of social vehicles to the opening guardrail is calculated based on the predicted average speed in space, and compared with the time taken for engineering vehicles to enter or exit the opening guardrail. Preferably, social vehicles in the first After a time unit enters road segment unit i, and after p time units, the distance traveled within that road segment unit is... satisfy: ; in, For the first Road segment unit in time unit Average speed in space; Indicates that social vehicles are in the first Entering the road segment unit in a time unit At that time, the travel time of social vehicles in that time unit, and ; For the first Road segment unit in time unit Average speed in space; The time unit length is p; p represents the time unit from which the time unit begins. The number of complete time units that have elapsed since then; according to The length of segment unit i is Comparison is used to determine the driving decisions and travel time of social vehicles in that road segment unit. Specifically, it includes: when < If a vehicle continues to travel within the i-th road segment unit, the travel time within that segment should be expressed as: ; when = If a social vehicle happens to reach the end of a road segment unit and enters the (i+1)th road segment unit, the travel time in the i-th segment unit should be expressed as: ; when > If a social vehicle leaves road segment unit i in advance and enters road segment unit i+1, the travel time in segment i should be expressed as follows: ,in Indicates the i-th road segment unit in time unit ; In the formula, For social vehicles entering the ( The distance traveled 1000 times in advance. = .
[0038] For example, in this embodiment, the social vehicle in the first A vehicle enters road segment unit i within a time unit and travels for p (p=0,1,2) time units. The distance traveled by other vehicles in this road segment unit is... In the formula: For social vehicles in road section units Time unit Average speed in space; ( ) indicates that social vehicles are in the first Entering the road segment unit in a time unit At that time, the travel time of social vehicles in that time unit.
[0039] The length of segment unit i is (i=1,2,…,q), the calculated travel distance of social vehicles in road segment units Obtain the driving decisions and road segment times of social vehicles on road segment unit i. for: 1) When the travel distance is less than the length of the road segment unit, i.e. < Social vehicles are still located in the i-th road segment unit, and will be driven according to the predicted spatial average speed of the (k+p+1)-th time unit. (i, k+p+1) continues driving.
[0040] 2) When the travel distance equals the length of the road segment unit, that is... = Social vehicles enter the (i+1)th road segment unit exactly at the end of the (k+p)th time unit, according to the predicted spatial average vehicle speed of the (k+p+1)th time unit. The vehicle travels within the range of (i+1, k+p+1). At this point, the travel time of the social vehicle in the i-th road segment unit is... .
[0041] 3) When the travel distance is greater than the length of the road segment unit, i.e. > Before the end of the (k+p)th time unit, the social vehicles have already left road segment unit i and entered the (i+1)th road segment unit, according to the predicted spatial average vehicle speed of the (k+p)th time unit. The vehicle travels within the range of (i+1, k+p). At this point, the travel time of the social vehicle in the i-th road segment unit is... In the formula, For social vehicles entering the ( The distance traveled 1000 times in advance. = .
[0042] Preferably, in this embodiment, the predicted travel time of social vehicles in the i-th road segment unit is... The calculation is as follows: ; When the predicted travel time of the last segment unit q > When the indicator device signals that it is permissible to enter or exit the opening guardrail, engineering vehicles are allowed to enter and exit. When used for engineering vehicles to enter or exit the opening guardrail. ; Where R is the turning radius for the engineering vehicle to turn left into the guardrail opening. Turning speed; when When the indicator device signals that entry or exit from the opening guardrail is prohibited, engineering vehicles are not allowed to enter or exit. It should be noted that the turning radius for engineering vehicles turning left into the guardrail opening is R, and the turning speed is [missing information]. The length of the driving trajectory is The travel time of the engineering vehicle from starting to entering the guardrail opening is .
[0043] For example, in this embodiment, after a following vehicle finishes traveling through the last road segment unit q and reaches the opening guardrail position after traveling a distance S, then... The system detected no other vehicles on the road segment from the start of the last segment unit to the opening in the guardrail, and predicted the travel time for other vehicles behind in the last segment unit as follows: .
[0044] When the travel time of a private vehicle is greater than the time it takes for a construction vehicle to enter or exit the guardrail opening, the control indicator device allows the construction vehicle to enter or exit; otherwise, the prohibition status is maintained and the system waits for the next opportunity.
[0045] As a preferred embodiment, in this case... The steps for engineering vehicles to enter and exit the guardrail opening include: Driving in process: When the construction vehicle is parked on the hard shoulder, the detection device will activate the indicator and warning devices after detecting the construction vehicle. When the distance between the engineering vehicle and the opening guardrail When an engineering vehicle is detected, the control motor opens the guardrail. ; in, The time it takes for the guardrail to go from closed to fully open. Speed limits are set for the section of road in question. When the indicator device indicates that it is permissible to enter the opening barrier, the engineering vehicle drives into the opening barrier. The time it takes for engineering vehicles to drive into the opening guardrail is ; Where R is the turning radius for the engineering vehicle to turn left into the guardrail opening. Turning speed; After the engineering vehicles have fully entered the site, the opening guardrail will be closed, and the indicator device will be turned off after the opening guardrail is fully closed. For example, in this embodiment, when > When the system determines that the engineering vehicle has sufficient time to turn left through the guardrail opening and enter the central median area before other vehicles arrive, it activates the green traffic light at the guardrail opening to signal management personnel to immediately enter the area. Once the engineering vehicle has fully entered the area, the traffic light at the guardrail opening turns red, the system starts the motor to close the guardrail, and once the guardrail is fully closed, the traffic light turns off and the flashing lights are deactivated. when At that time, the system determined that the engineering vehicle did not have enough time to turn left through the guardrail opening into the central median area, and the traffic light at the guardrail opening remained red. The management personnel needed to wait for the next opportunity to activate the green light.
[0046] Driving out process: When an engineering vehicle drives onto the site road in front of the guardrail opening, the detection device detects the engineering vehicle and controls the motor to open the guardrail. When the indicator device signals that it is safe to drive through the opening guardrail, the engineering vehicle drives through the opening guardrail and moves to the rightmost hard shoulder. The time it takes for the engineering vehicle to drive out of the opening guardrail is ; Where R is the turning radius of the engineering vehicle when it turns left out of the guardrail opening. Turning speed; Once the engineering vehicle has completely entered the rightmost hard shoulder, the guardrail will close. After the guardrail is completely closed, the indicator will turn off. After observing that there were no other vehicles in the left lane, the driver of the engineering vehicle accelerated from the hard shoulder and merged into the lane.
[0047] It should be noted that if the engineering vehicle drives directly into the main lane from the opening guardrail, the distance between the following vehicles and the opening guardrail will be increased by the distance the following vehicles travel when the engineering vehicle accelerates to the speed limit. This will greatly increase the difficulty for the system to identify the appropriate gap. Therefore, the engineering vehicle first drives into the rightmost hard shoulder, and after observing that there are no other vehicles in the left lane, the engineering vehicle accelerates from the hard shoulder and merges into the lane.
[0048] For example, in this embodiment, when an engineering vehicle wants to leave the site area inside the central divider: 1) When the engineering vehicle first drives to the site road in front of the guardrail opening, the camera detects the engineering vehicle, the system starts the motor to control the opening guardrail to open, the flashing lights turn on, and the traffic light changes from off to red.
[0049] 2) The travel time for engineering vehicles to turn left, exit the guardrail opening, and enter the rightmost hard shoulder is: The system detected no other vehicles on the road segment from the start of the last segment unit to the opening in the guardrail, and predicted the travel time for other vehicles behind in the last segment unit as follows: .
[0050] 3) Similar to when engineering vehicles drive into the opening in the guardrail, when > When the opening in the guardrail is reached, the traffic indicator light at the opening turns green, prompting management personnel to immediately drive the engineering vehicle out of the area. Once the engineering vehicle has fully entered the rightmost hard shoulder, the traffic indicator light at the opening turns red, the system starts the motor to control the closing of the guardrail, and after the guardrail is fully closed, the traffic indicator light turns off from red and the flashing lights turn off.
[0051] 4) When At that time, the system determined that the engineering vehicle did not have enough time to turn left through the guardrail opening into the rightmost hard shoulder, and the traffic light at the guardrail opening remained red, prompting the management personnel to wait for the next opportunity to activate the green light.
[0052] 5) After the management personnel in the rightmost hard shoulder observe that there are no social vehicles in the left lane, they drive the engineering vehicle from the hard shoulder to accelerate and merge into the lane.
[0053] When engineering vehicles exit the roadside tunnel management facility area, they may turn right and drive directly into the roadway through the guardrail opening, which will conflict with the main traffic flow. Therefore, the situation is similar to that when the guardrail opening is located on the side of the central divider, and will not be described again here.
[0054] Based on the same inventive concept, this application also provides an intelligent self-moving opening guardrail traffic control system. The solution provided by this system is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the intelligent self-moving opening guardrail traffic control system provided below can be found in the limitations of the intelligent self-moving opening guardrail traffic control method described above, and will not be repeated here.
[0055] In one exemplary embodiment, an intelligent self-moving opening guardrail traffic control system is provided, comprising: The detection device is installed in front of the opening guardrail to collect traffic parameter data of vehicles on the road section; The computing terminal, connected to the detection device, is used to perform road segment unit division, spatial average vehicle speed calculation, neural network prediction, and calculation of social vehicle travel time; The control device, connected to the computing terminal, is used to receive requests from engineering vehicles to enter and exit, and to control the automatic opening, closing and anchoring of the guardrail, as well as to activate the warning device. An indicator device, connected to a control device, is used to allow or prohibit engineering vehicles from entering or exiting based on travel time comparisons.
[0056] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.
[0057] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.
Claims
1. A method for traffic control using an intelligent self-moving opening guardrail, characterized in that, Includes the following steps: A detection device is installed in front of the opening guardrail to collect traffic parameter data of social vehicles on the target road section and transmit it to the computing terminal; The road section in front of the guardrail is divided into several road section units, and the road section in front of the guardrail is divided into continuous time units according to the preset time length △t. The computing terminal calculates and stores the spatial average vehicle speed of each road segment unit based on historical and current traffic parameter data of the road segment unit, and uses the historical and current spatial average vehicle speed of each road segment unit to train a neural network to predict the spatial average vehicle speed of the road segment unit in the next n time units. When a construction vehicle travels to the hard shoulder or the site road in front of the guardrail, the detection device detects the construction vehicle, controls the motor to open the guardrail, and activates the warning device to warn other vehicles. The travel time of social vehicles to the opening guardrail is calculated based on the future average vehicle speed predicted by the neural network, and compared with the time taken for engineering vehicles to enter or exit the opening guardrail. When the travel time of a private vehicle is greater than the time it takes for a construction vehicle to enter or exit the guardrail opening, the control indicator device allows the construction vehicle to enter or exit; otherwise, the prohibition status is maintained and the system waits for the next opportunity.
2. The intelligent self-moving opening guardrail traffic control method as described in claim 1, characterized in that, The traffic parameter data includes at least: spatial average vehicle speed, as well as the corresponding road segment traffic volume, vehicle type, and lane number; The detection device is one or more combinations of radar / vision combined detection unit, radar unit, vision camera unit, coil detection unit, or any information collection unit capable of measuring the average speed of social vehicles in space, as well as the corresponding road segment traffic volume, vehicle type and lane number.
3. The intelligent self-moving opening guardrail traffic control method as described in claim 1, characterized in that, The division of road segment units is based on the location of the detection device; the length of the last road segment unit is the speed limit for social vehicles multiplied by the time it takes for engineering vehicles to enter or exit the guardrail opening.
4. The intelligent self-moving opening guardrail traffic control method as described in claim 1, characterized in that, The warning device is a flashing light; the indicator device is a traffic light; the opening guardrail is opened and closed by a motor.
5. The intelligent self-moving opening guardrail traffic control method as described in claim 1, characterized in that, A braking distance is reserved between the end point of the last road segment unit and the opening position of the guardrail, and a strobe light is installed at the end point of the last road segment unit; when an emergency occurs, the strobe light is turned on and a warning signal is issued to remind vehicles behind to slow down, stop or change lanes.
6. The intelligent self-moving opening guardrail traffic control method as described in claim 1, characterized in that, The neural network is a BP neural network model. For each road segment unit, the input of the BP neural network model includes the spatial average vehicle speed of multiple time units in the past and present, as well as the corresponding traffic volume, vehicle type and lane number. The output is the spatial average vehicle speed of future time units. When making a prediction, if there is no actual observation value for a certain input time unit, the predicted value of its previous period is used as the substitute input.
7. The intelligent self-moving opening guardrail traffic control method as described in claim 6, characterized in that, Social vehicles in the After a time unit enters road segment unit i (i=1,2,3,...,q), and after p time units, the distance traveled within that road segment unit is... satisfy: ； in, For the first Road segment unit in time unit Average speed in space; Indicates that social vehicles are in the first Entering the road segment unit in a time unit At that time, the travel time of social vehicles in that time unit, and ; For the first Road segment unit in time unit Average speed in space; The time unit length is p; p represents the time unit from which the time unit begins. The number of complete time units that have elapsed since then; according to The length of segment unit i is Comparison is used to determine the driving decisions and travel time of social vehicles in that road segment unit. Specifically, it includes: when < If a vehicle continues to travel within the i-th road segment unit, the travel time within that segment should be expressed as: ; when = If a social vehicle happens to reach the end of a road segment unit and enters the (i+1)th road segment unit, the travel time in the ith road segment unit should be expressed as: ; when > If a social vehicle leaves road segment unit i in advance and enters road segment unit i+1, the travel time in segment i should be expressed as follows: ,in Indicates the i-th road segment unit in time unit ( ; In the formula, For social vehicles entering the ( The distance traveled 1000 times in advance. = .
8. The intelligent self-moving opening guardrail traffic control method as described in claim 7, characterized in that, The predicted travel time of the social vehicles in the last road segment unit q The calculation is as follows: ； in, The length of the last road segment unit. , Speed limits are set for private vehicles on certain road sections; When used for engineering vehicles to enter or exit the opening guardrail. ; Where R is the turning radius for the engineering vehicle to turn left into the guardrail opening. Turning speed; when When the indicator device signals that entry or exit from the opening guardrail is prohibited, engineering vehicles are not allowed to enter or exit. when > When the signal device indicates that it is permissible to enter or exit the opening guardrail, the engineering vehicle is allowed to enter or exit.
9. The intelligent self-moving opening guardrail traffic control method as described in claim 1, characterized in that, The steps for engineering vehicles to enter and exit the guardrail opening include: Driving in process: When the construction vehicle is parked on the hard shoulder, the detection device will activate the indicator and warning devices after detecting the construction vehicle. When the distance between the engineering vehicle and the opening guardrail When an engineering vehicle is detected, the control motor opens the guardrail. The ; in, The time it takes for the guardrail to go from closed to fully open. Speed limits are set for the section of road in question. When the indicator device indicates that it is permissible to enter the opening barrier, the engineering vehicle drives into the opening barrier. After the engineering vehicles have fully entered the site, the opening guardrail will be closed, and the indicator device will be turned off after the opening guardrail is fully closed. Driving out process: When an engineering vehicle drives onto the site road in front of the guardrail opening, the detection device detects the engineering vehicle and controls the motor to open the guardrail. When the indicator device signals that it is safe to drive through the opening guardrail, the engineering vehicle drives through the opening guardrail and moves to the rightmost hard shoulder. Once the engineering vehicle has completely entered the rightmost hard shoulder, the guardrail will close. After the guardrail is completely closed, the indicator will turn off. After observing that there were no other vehicles in the left lane, the driver of the engineering vehicle accelerated from the hard shoulder and merged into the lane.
10. An intelligent self-moving opening guardrail traffic control system, employing the intelligent self-moving opening guardrail traffic control method as described in any one of claims 1 to 9, characterized in that, include: The detection device is installed in front of the opening guardrail to collect traffic parameter data of social vehicles on the road section; The computing terminal, connected to the detection device, is used to perform road segment unit division, spatial average vehicle speed calculation, neural network prediction, and calculation of social vehicle travel time. A control device, connected to the computing terminal, is used to control the opening, closing, and anchoring of the guardrail after the detection device detects an engineering vehicle, and to activate the warning device. An indicator device, connected to the control device, is used to allow or prohibit engineering vehicles from entering or exiting based on travel time comparisons.