Low-illumination highway tunnel zebra stripe effect regulation and control system based on hierarchical space reference system

Abstract

The invention relates to a low-illumination highway tunnel zebra stripe effect regulation and control system based on a layered space reference system. The system comprises a traffic situation thunder-vision sensing device, an adjoint type light field intelligent control device, a three-dimensional space vision guiding device and a static optical background balancing device. The traffic situation thunder perception device is used for reflecting the dynamic environment change in the tunnel in real time; the adjoint type light field intelligent control device is used for providing basic illumination and dynamic light supplement in the tunnel; the three-dimensional space vision guiding device is used for enhancing the direction sense and path guiding in the tunnel; the static optical background equalization device is used for providing a basic visual environment for the interior of the tunnel. The uniformity and visual comfort of the overall light environment in the tunnel are remarkably improved, and the comprehensive functions of energy conservation, consumption reduction and intelligent early warning are achieved while the driving safety is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of road traffic safety technology, and more specifically, to a low-illuminance highway tunnel zebra stripe effect control system based on a layered spatial reference system. Background Technology

[0002] Highway tunnels, as a crucial component of modern transportation networks, have significantly improved traffic efficiency and regional connectivity through their widespread application. However, the low-light optical environment inside tunnels places high demands on drivers' visual adaptation, with the "zebra stripe effect" being a common and pressing problem to address during tunnel driving. The zebra stripe effect refers to the alternating light and dark conditions inside tunnels that cause zebra-striped changes in the driver's field of vision, thus interfering with normal visual judgment and driving operations.

[0003] The zebra stripe effect is closely related to unreasonable tunnel lighting layout and uneven light distribution. Because highway tunnels, especially long ones, are often under-lit, improper lighting design or unbalanced brightness control can create alternating bright and dark areas within the tunnel. This continuous change in light and shadow repeatedly stimulates the driver's visual system, easily leading to visual fatigue and optical illusions. This, in turn, affects the driver's judgment of vehicle speed, position, and distance, reducing key driving abilities such as lane keeping and speed control, and increasing the risk of rear-end collisions and other traffic accidents.

[0004] Existing tunnel lighting systems mostly employ fixed brightness or single adjustment modes, failing to effectively cope with dynamic traffic conditions and changes in ambient light. Furthermore, visual guidance facilities within tunnels lack systematic optimization, failing to effectively mitigate the visual interference of the zebra stripe effect on drivers. Therefore, traditional lighting design alone cannot fundamentally solve the visual safety problems in highway tunnels; a comprehensive, dynamically adjustable solution is urgently needed. Summary of the Invention

[0005] The technical problem to be solved by this invention is to provide a zebra stripe effect control system for low-illuminance highway tunnels based on a layered spatial reference system. This system solves the zebra stripe effect problem caused by uneven illumination and alternating light and dark in tunnels, effectively improving the driver's visual comfort and driving safety, while achieving green energy saving and efficient management.

[0006] The technical solution adopted by the present invention to solve its technical problem is: to construct a low-illuminance highway tunnel zebra stripe effect control system based on a layered spatial reference system, including a traffic situation radar vision perception device, an accompanying light field intelligent control device, a three-dimensional spatial vision guidance device, and a static optical background equalization device. The traffic situation radar vision sensing device is used to reflect the dynamic environmental changes in the tunnel in real time. The accompanying light field intelligent control device is used to provide basic lighting and dynamic supplementary lighting in the tunnel; The three-dimensional spatial visual guidance device is used to enhance the sense of direction and path guidance within the tunnel; The static optical background equalization device is used to provide a basic visual environment inside the tunnel.

[0007] According to the above scheme, the traffic situation radar-visual perception device includes a radar-visual integrated binocular detector, a directional acoustic-optical coordinated early warning device, and a micro edge server installed on the inner wall of the tunnel. The radar-visual integrated binocular detector, the directional acoustic-optical coordinated early warning device, and the micro edge server are located on the same ring line of the inner wall of the tunnel. The radar-visual integrated binocular detector is spaced apart on the center line of the tunnel arch, the directional acoustic-optical coordinated early warning device is installed on the top of the tunnel side wall, and the micro edge server is installed on the side of the radar-visual integrated binocular detector. A directional acoustic-optical coordinated early warning device is installed every three radar-visual integrated binocular detectors.

[0008] According to the above scheme, the spacing between adjacent integrated binocular detectors is 150m±5%. The integrated binocular detector includes a millimeter-wave FMCW radar and a dual-camera zoom vision module. The millimeter-wave FMCW radar emits frequency-modulated continuous waves with a detection range of ≥180m and a detection range overlap rate of ≥15%. The dual-camera zoom vision module includes a telephoto camera and a short-focus camera with an imaging resolution of not less than 2560×1440 pixels, supporting wide dynamic range and low-light imaging. The micro edge server receives and stores the laser-vision fusion data from the integrated laser-vision binocular detector in real time through a high-speed data interface. The decision module of the micro edge server dynamically calculates the brightness requirements of the lighting section and sends dimming commands to the segmented dimming controller in real time. The directional sound and light coordinated early warning device includes a directional voice broadcast module and a text projection module; the text projection module projects speed limit signs, traffic status signs and directional arrows on the corresponding road surface along the driving direction, and the directional arrows are respectively in front of the speed limit signs and traffic status signs.

[0009] According to the above scheme, the accompanying light field intelligent control device includes LED main lighting fixtures, LED dynamic supplementary light strips and segmented dimming controllers. The LED main lighting fixtures are symmetrically arranged on both sides of the tunnel arch, the LED dynamic supplementary light strips are continuously arranged along the tunnel centerline at the arch position, and the segmented dimming controllers are arranged at intervals on the tunnel sidewalls. According to the above scheme, the text projection module and the LED intelligent color-changing arched outline strip are linked. When the tunnel is clear, the LED intelligent color-changing arched outline strip is green, and the road surface is projected with a green laser indicating "clear ahead". When the tunnel is slow-moving, the LED intelligent color-changing arched outline strip is yellow, and the road surface is projected with a yellow laser indicating "slow-moving ahead". When the tunnel is congested, the LED intelligent color-changing arched outline strip is red, and the road surface is projected with a red laser indicating "congestion ahead". The directional voice broadcast module is interconnected with the integrated binocular detector of the radar vision system. When vehicle speed is detected... When the speed exceeds the limit by 10%, a directional sound beam will be triggered to broadcast a voice warning, "You are speeding, please control your speed." The sound pressure level will be automatically adjusted according to the ambient noise. The formula for calculating the sound pressure level is: (1) In the formula, It is the sound pressure level of the voice warning (unit: dB(A)). It is the environmental noise value monitored in real time.

[0010] According to the above scheme, the LED dynamic supplementary lighting strip is divided into multiple control sections, which are arranged sequentially according to the driving direction as follows: CZ 1. CZ 2, ..., CZn A binocular radar detector is installed at the beginning of each control section, denoted as follows: R 1 、R 2 、R 3 、…、R n When the integrated binocular detector of the radar R i When a vehicle is detected, the control section CZ i and adjacent control sections CZ i+1 The LED dynamic fill light strip provides illumination when the vehicle leaves. CZ i Section and R i-1 and R i-2 If no other vehicles are detected, the controlled section that the vehicle has already passed will be automatically closed. CZ i-1 The internal LED dynamic fill light strip; In the scenario of a highway tunnel, assuming the vehicle arrival process approximates a Poisson process, then the headway... Obtain the parameter as The negative exponential distribution has a probability density function as: (2) In the formula: The average arrival rate of vehicles (vehicles / s). The headway is in seconds.

[0011] Each control section CZ i The total working time of the LED dynamic supplementary lighting strip consists of the basic working time and the expected extended working time considering continuous traffic flow. The calculation model is as follows: (3) (4) (5) (6) (7) In the formula: For each control segment CZ i Total working time (s) of the LED dynamic fill light strip. Controlled section CZ i The basic working time (s) of the LED dynamic fill light strip. The expected extension of working time (s) due to the approach of subsequent vehicles. Controlled section CZ i Length (m) The vehicle's speed (m / s) The critical headway (s) is the critical headway. For continuous headway The random variable representing the length of the vehicle string follows a geometric distribution with the expected value being... .

[0012] According to the above scheme, the three-dimensional spatial vision guidance device adopts a three-layer three-dimensional layout of low-level boundary guidance, mid-level linear guidance and high-level contour guidance. The low-level boundary guidance includes omnidirectional retroreflective cat's eye road studs, energy-storing self-luminous oscillating road markings, and rhythmic zebra stripe outline markers. The omnidirectional retroreflective cat's eye road studs are spaced out on the edge lines on both sides of the roadway. The energy-storing self-luminous oscillating road markings are spaced out on the dividing line in the middle of the roadway. The rhythmic zebra stripe outline markers are spaced out on the maintenance road edges on both sides of the roadway. The midline guide includes a zebra-striped double-track guide strip and a zebra-striped double-bright trapezoidal outline marker. The zebra-striped double-track guide strip is continuously installed on the side walls on both sides of the tunnel, and the zebra-striped double-bright trapezoidal outline marker is spaced out on the side walls on both sides of the tunnel. The zebra-striped double-track guide strip is located on the upper part of the zebra-striped double-bright trapezoidal outline marker. The high-level contour guide is an LED intelligent color-changing arch contour strip, which is spaced out from the tunnel sidewall to the arch top. According to the above scheme, the spacing between the connected LED intelligent color-changing arched contour strips is 200m / track. The LED intelligent color-changing arched contour strip includes an aluminum alloy base, a color-changing LED light strip, and an acrylic protective light-transmitting cover. The cross-section of the LED intelligent color-changing arched contour strip is a semi-cylindrical shape with a radius of 5cm. The LED intelligent color-changing arched contour strip is linked with a directional sound and light coordinated early warning device. The LED intelligent color-changing arched contour strip displays red, yellow, and green, which correspond to the tunnel congestion, slow traffic, and smooth traffic status, respectively, forming a three-level early warning system.

[0013] According to the above scheme, the static optical background equalization device includes a Kelvin-Helmholtz wave light and shadow adjustment zone, a Mach band effect boundary transition zone, and a background brightness balance zone. The Kelvin-Helmholtz wave light and shadow adjustment zone is located from the upper part of the tunnel sidewall to the arch, the Mach band effect boundary transition zone is located from the lower part of the tunnel sidewall to the maintenance passage, and the background brightness balance zone is located in the middle of the tunnel sidewall. According to the above scheme, the Kelvin-Helmholtz wave light and shadow adjustment zone is in the form of periodic fluctuation with a wavelength λ=10m. The trough point corresponds to the installation position of the LED main lighting fixture, and the peak structure is located at the midpoint of the spacing between the fixtures and extends to the lower end of the arch. The Kelvin-Helmholtz wave cloud pattern at the junction with the arch is painted in sky blue. The Mach band effect boundary transition region is a third-order gradient transition region, with the upper transition region set to light gray, the middle transition region set to medium gray, and the lower transition region set to dark gray; the Mach band effect boundary transition region is coated with a water-based ceramic coating. The background brightness balance zone is the middle part of the Mach band effect boundary transition zone and the Kelvin-Helmholtz wave light and shadow adjustment zone. The background brightness balance zone is coated with white water-based ceramic paint on the lower layer of the zebra stripe double track guide strip. The zebra stripe effect control system for low-illuminance highway tunnels based on a hierarchical spatial reference system of the present invention has the following beneficial effects: 1. This invention achieves systematic optimization of the light environment inside the tunnel by constructing a layered spatial reference system consisting of a static background layer, a light field modulation layer, an active guidance layer, and a dynamic perception layer. This effectively suppresses the zebra stripe effect caused by alternating light and dark, and significantly improves the driver's visual comfort and driving safety. 2. This invention constructs a three-dimensional spatial visual guidance system comprising low, middle, and high levels through the combined design of guidance facilities: low-level boundary guidance enhances lane boundary perception through omnidirectional retroreflective cat-eye road studs, energy-storing self-illuminating oscillating road markings, and zebra-striped linear contour markers; middle-level linear guidance provides continuous directional guidance using zebra-striped double-track guide strips and zebra-striped double-illuminating trapezoidal contour markers; and high-level contour guidance enhances the spatial three-dimensionality with intelligent color-changing arched contour strips. This layered and progressive visual guidance system significantly improves the driver's accuracy in perceiving the tunnel environment. 3. The light field control layer of the present invention adopts a dual-mode design of "basic lighting + dynamic supplementary lighting": the symmetrically arranged LED main lighting fixtures provide uniform basic lighting, and the LED dynamic supplementary lighting strips arranged in the center of the arch realize the accompanying lighting of "lights on when the car comes and lights off when the car leaves", which not only eliminates the "zebra stripe" phenomenon of traditional tunnel lighting, but also achieves energy-saving lighting effect. 4. This invention adopts a visual background optimization design of "upper dynamic guidance + lower smooth transition". The Kelvin-Helmholtz wave light and shadow adjustment zone alleviates the problem of light and dark transition in the side wall area, forming a dynamic guidance effect that conforms to visual motion perception. A three-level gradient grayscale transition zone is set in the lower part of the side wall, which effectively suppresses the Mach band effect at the junction of the maintenance passage and the side wall, and smooths the visual transition between the tunnel side wall and the maintenance passage area. 5. The dynamic perception layer of this invention achieves dual core functions through the intelligent linkage of radar-visual fusion technology and sound and light early warning system: on the one hand, it drives segmented lighting control based on real-time traffic flow perception data to achieve adaptive dimming of tunnels; on the other hand, through the collaborative work of directional sound and light co-probe early warning device and LED intelligent color-changing arch contour strip, it synchronously triggers a three-dimensional early warning of "voice warning + road surface projection + contour guidance", forming a closed-loop safety protection system of "perception-control-early warning". Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is a functional architecture diagram of the low-illuminance highway tunnel zebra stripe effect control system based on a layered spatial reference system of the present invention. Figure 2 This is a schematic diagram of the structure of the low-illuminance highway tunnel zebra stripe effect control system based on a layered spatial reference system of the present invention; Figure 3 This is a side view of the optimized visual background design for the sidewall of a highway tunnel according to the present invention; Figure 4 This is a schematic diagram of the omnidirectional lens retroreflective cat's eye road stud of the present invention; Figure 5 This is a schematic diagram of the rhythmic zebra stripe outline marker of the present invention; Figure 6 This is a schematic diagram of the zebra stripe double-spotted trapezoidal outline marker of the present invention; Figure 7 This is a schematic diagram of the traffic situation radar-visual perception system of the present invention; Figure 8 This is a schematic diagram of the road traffic condition warning sign projection of the present invention; Figure 9 This is a schematic diagram of the dynamic dimming control based on laser-visual fusion of the present invention; Figure 10 This is a schematic diagram of the dynamic control mode for highway tunnel lighting according to the present invention.

[0015] The image shows: 1. Integrated binocular detector, 2. Directional sound and light coordinated early warning device, 3. Micro edge server, 4. LED main lighting fixture, 5. LED dynamic supplementary light strip, 6. Omnidirectional lens retroreflective cat's eye road stud, 7. Energy-storing self-luminous oscillating road marking, 8. Rhythmic zebra stripe outline marker, 9. Zebra stripe double-track guide strip, 10. Zebra stripe double-bright trapezoidal outline marker, 11. LED intelligent color-changing arched outline strip, 12. Kelvin-Helmholtz wave light and shadow adjustment zone, 13. Mach band effect boundary transition zone, 14. Background brightness balance zone, 15. Segmented dimming controller, 101. Millimeter-wave FMCW radar, 102. Dual-camera zoom vision module, 103. Reflector, 104. Energy-storing self-luminous part, 201. Directional voice broadcast module, 202. Text projection module, 203. Speed ​​limit sign, 204. Traffic status sign, 205. Guide arrow. Detailed Implementation

[0016] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0017] like Figure 1-10 As shown, in the low-illuminance highway tunnel zebra stripe effect control system based on a layered spatial reference system of the present invention, the highway tunnel spatial reference system is divided into a static background layer, a light field control layer, an active guidance layer, and a dynamic perception layer. The static background layer includes the geometric structure and surface optical characteristics of the tunnel's internal road surface, sidewalls, maintenance walkways, and arch, providing a basic visual environment; the light field control layer includes the tunnel's internal lighting area; the active guidance layer includes various line-of-sight guidance facilities deployed within the tunnel to enhance directional awareness and path guidance; and the dynamic perception layer includes traffic flow and obstacles within the tunnel, reflecting real-time changes in the dynamic environment within the tunnel.

[0018] The zebra stripe effect control system for highway tunnels of this invention includes a traffic situation radar-visual perception device, an accompanying light field intelligent control device, a three-dimensional spatial visual guidance device, and a static optical background equalization device. These four devices are used to optimize the dynamic perception layer, light field control layer, active guidance layer, and static background layer, respectively, thereby effectively controlling the impact of the zebra stripe effect. The traffic situation radar-visual perception device is used to reflect dynamic environmental changes within the tunnel in real time; the accompanying light field intelligent control device is used to provide basic lighting and dynamic supplementary lighting within the tunnel; the three-dimensional spatial visual guidance device is used to enhance the sense of direction and path guidance within the tunnel; and the static optical background equalization device is used to provide a basic visual environment within the tunnel.

[0019] In a preferred embodiment of the present invention, the traffic situation radar-visual perception device includes a radar-visual integrated binocular detector 1, a directional acoustic-optical coordinated early warning device 2, and a micro edge server 3. The radar-visual integrated binocular detector 1, the directional acoustic-optical coordinated early warning device 2, and the micro edge server 3 are located on the same ring line of the tunnel inner wall. The radar-visual integrated binocular detector 1 is spaced apart on the center line of the tunnel arch. Three radar-visual integrated binocular detectors are spaced apart on the tunnel sidewall of the same cross section of the directional acoustic-optical coordinated early warning device 2. The micro edge server 3 is located on the side of the radar-visual integrated binocular detector 1, close to the tunnel arch. The radar-visual integrated binocular detector 1 is installed on the center line of the tunnel arch with a longitudinal installation spacing of 150m ± 5%. The radar-visual integrated binocular detector 1 includes a millimeter-wave FMCW radar 101 and a dual-camera zoom vision module 102. The millimeter-wave FMCW radar 101 emits frequency-modulated continuous waves, with a detection range ≥ 180m and a detection range overlap rate ≥ 15%. The dual-camera zoom vision module 102 includes a telephoto camera and a short-focus camera, with an imaging resolution of no less than 2560×1440 pixels, and supports wide dynamic range and low-light imaging. This structural setup, leveraging the advantages of radar-visual fusion, significantly improves the accuracy and reliability of vehicle detection, speed measurement, and event recognition within the tunnel, providing precise data support for subsequent dynamic dimming and early warning decisions. The micro edge server 3 is positioned on the side of the integrated radar-visual binocular detector 1, close to the tunnel arch. It receives and stores radar-visual fusion data from the integrated radar-visual binocular detector 1 in real time via a high-speed data interface. Its decision module dynamically calculates the brightness requirements of each lighting section and sends dimming commands to the segmented dimming controller 15 in real time. This structural setup, by pushing data processing down to the device level through edge computing, effectively solves the response latency problem of traditional centralized architectures, ensuring that the entire process latency from target detection to lighting adjustment is controlled within 100ms. This ensures that tunnel lighting can match traffic flow changes in real time, significantly improving the dynamic suppression of the zebra stripe effect.

[0020] The directional sound and light coordinated warning device 2 includes a directional voice broadcast module 201 and a text projection module 202. The text projection module 202 projects speed limit signs 203, traffic status signs 204, and directional arrows 205 onto the corresponding road surface along the direction of travel, forming "speed limit sign + directional arrow" and "traffic status sign + directional arrow" projections respectively within the lane; the character height of the speed limit sign 203 is ≥600cm, and the single character height of the traffic status sign 204 is ≥300cm; the directional arrows 205 are projected with a length ≥9m using laser in front of the speed limit sign 203 and the traffic status sign 204 respectively, and the text projection module 202 and the LED intelligent color-changing arched contour strip 11 are linked. When the tunnel is clear, the LED intelligent color-changing arched outline 11 turns green, and the road surface is projected with a green laser indicating "clear ahead." When traffic is slow in the tunnel, the LED intelligent color-changing arched outline 11 turns yellow, and the road surface is projected with a yellow laser indicating "slow ahead." When the tunnel is congested, the LED intelligent color-changing arched outline 11 turns red, and the road surface is projected with a red laser indicating "congestion ahead." The directional voice broadcast module 201 is interconnected with the integrated binocular detector 1. When vehicle speed is detected... Exceeding the speed limit by 10% When triggered, a directional sound beam broadcasts a voice warning, "You are speeding, please control your speed," with the audio frequency band preferentially selected in the 300-4000Hz range. This structural setup, through a three-dimensional warning method combining sound and light, effectively solves the problems of poor visibility and insufficient warning effect found in traditional tunnel warning systems, significantly improving the driver's perception of tunnel operating conditions and reaction speed. The sound pressure level calculation formula for the directional voice broadcast module 201 is as follows: (1) In the formula, This is the sound pressure level of the voice warning, measured in dB(A). It is the environmental noise value monitored in real time.

[0021] In a preferred embodiment of the present invention, the accompanying light field intelligent control device includes an LED main lighting fixture 4, an LED dynamic supplementary lighting strip 5, and a segmented dimming controller 15. The LED main lighting fixture 4 is symmetrically arranged on both sides of the tunnel arch, the LED dynamic supplementary lighting strip 5 is continuously arranged along the tunnel centerline at the tunnel arch position, and the segmented dimming controller 15 is spaced out on the tunnel sidewalls.

[0022] The LED main lighting fixtures 4 are arranged symmetrically on both sides of the tunnel arch, spaced apart at intervals of 10-12m, in accordance with the "Detailed Design Specifications for Highway Tunnel Lighting" (JTG / T D70 / 2-01-2014). The LED dynamic supplementary lighting strip 5 is continuously laid out along the centerline of the tunnel arch and connected to the segmented dimming controller 15, dividing the LED dynamic supplementary lighting strip 5 into multiple control sections. These control sections are defined sequentially according to the direction of travel. CZ 1. CZ 2, ..., CZn A binocular radar detector 1 is installed at the beginning of each control section, denoted as follows: R 1 、R 2 、R 3 、…、R n When the integrated binocular detector 1 R i When a vehicle is detected, the control section CZ i and adjacent control sections CZ i+1 The LED dynamic fill light strip 5 will activate the lighting when the vehicle drives away. CZ i Section and R i-1 and R i-2 If no other vehicles are detected, the controlled section that the vehicle has already passed will be automatically closed. CZ i-1 The internal LED dynamic supplementary lighting strip 5. This design uses an intelligent control logic of "lights on when a car approaches, lights off when a car leaves" to minimize energy consumption while ensuring driving safety, and effectively suppresses the zebra stripe effect in tunnels. In a highway tunnel scenario, assuming the vehicle arrival process approximates a Poisson process, the headway... Obtain the parameter as The negative exponential distribution has a probability density function as: (2) In the formula: The average arrival rate of vehicles (vehicles / s). The headway is in seconds.

[0023] Each control section CZ i The total working time of the LED dynamic supplementary lighting strip consists of the basic working time and the expected extended working time considering continuous traffic flow. The calculation model is as follows: (3) (4) (5) (6) (7) In the formula: For each control segment CZ i Total working time (s) of the LED dynamic fill light strip. Controlled section CZ i The basic working time (s) of the LED dynamic fill light strip. The expected extension of working time (s) due to the approach of subsequent vehicles. Controlled section CZ i Length (m) The vehicle's speed (m / s) The critical headway (s) is the critical headway. For continuous headway The random variable representing the length of the vehicle string follows a geometric distribution with the expected value being... .

[0024] The segmented dimming controller 15 is installed on the tunnel sidewall at intervals of 150m ± 5%, at a height of 1.5 to 1.8m above the maintenance walkway, and is arranged in the same cross section as the micro edge server 3. The segmented dimming controller 15 receives lighting control commands issued by the micro edge server 3 in real time, and performs precise dimming on the LED dynamic supplementary lighting strip 5 within its 150m section. The brightness adjustment response time is ≤100ms, which ensures the rapid response and efficient operation of the lighting system, thereby reducing the conditions for the generation of the zebra stripe effect from the root.

[0025] In a preferred embodiment of the present invention, the three-dimensional spatial visual guidance device adopts a three-layer three-dimensional layout of low-level boundary guidance, mid-level linear guidance, and high-level contour guidance. The low-level boundary guidance includes omnidirectional retroreflective cat-eye road studs 6, energy-storing self-illuminating oscillating markings 7, and rhythmic zebra-striped contour markers 8. The omnidirectional retroreflective cat-eye road studs 6 are spaced apart on the edge of the roadway, the energy-storing self-illuminating oscillating markings 7 are spaced apart on the roadway boundary line inside the tunnel, and the rhythmic zebra-striped contour markers 8 are spaced apart on the edge of the maintenance road. The mid-level linear guidance includes zebra-striped double-track guide strips 9 and zebra-striped double-bright trapezoidal contour markers 10. The zebra-striped double-track guide strips 9 are continuously arranged on the tunnel sidewalls, and the zebra-striped double-bright trapezoidal contour markers 10 are spaced apart on the tunnel sidewalls. The high-level contour guidance is an LED intelligent color-changing arched contour strip 11, which is spaced apart from the tunnel sidewalls to the arch top.

[0026] The omnidirectional retroreflective cat's-eye road stud 6 uses a combination of tempered glass substrate and metal reflective film as retroreflective elements, with a diameter of 10-12.5cm and a spacing of 6-10m. The substrate of the omnidirectional retroreflective cat's-eye road stud 6 is embedded in the edge line of the carriageway, and the protrusion height above the road surface does not exceed 2.5cm. This ensures passability when the vehicle is driven over it, while also generating slight vibration feedback to enhance the lane departure warning effect. This structure effectively enhances the visibility of lane boundaries in the tunnel through a dual guidance mechanism of optics and tactile feedback, providing drivers with a stable spatial position reference. The energy-storing self-luminous rumble strip 7 has a width of 200mm and a base plus protrusion height of 5-7mm. While ensuring a smooth driving experience, it can generate tactile warnings through vehicle vibration. The rumble strip uses energy-storing self-luminous paint, which can effectively adapt to the unique lighting environment inside the tunnel. It absorbs and stores energy through illumination from vehicle lights or other lighting sources, and continues to glow in low light or complete darkness, thus providing continuous and clear visual guidance. This structural design effectively solves the problem of reduced lane marking visibility caused by alternating light and dark conditions in highway tunnels, providing drivers with multi-sensory lane-keeping assistance. The rhythmic zebra stripe outline markers (8) are spaced at intervals along the edge of maintenance roads and are parallelogram-shaped, with a length of 40–60 cm and a height of 8–12 cm. The spacing between adjacent rhythmic zebra stripe outline markers (8) is 10–15 m. The surface features a rhythmic zebra stripe design with equal widths of black and white, with the white areas using a Class I white reflective film. This rhythmic stripe arrangement effectively reduces visual interference caused by the zebra stripe effect in tunnels, reducing driver visual fatigue and optical illusions caused by rapid changes in light and shadow. It also provides drivers with continuous spatial reference, improving distance perception and directional judgment within tunnels.

[0027] The zebra-striped double-track guide strip 9 is continuously installed on the tunnel sidewall, at a height of 1.2–1.5m above the maintenance walkway, with a width of 300mm. It employs a double-strip structure design, with the two strips arranged parallel to each other. Every 20–40 meters, a zebra-striped arrow marker is placed in the middle of the two strips. The overall color of the zebra-striped double-track guide strip 9 is red. This structural design establishes a continuous, consistent, and constant visual reference system, effectively guiding the driver's line of sight. Combined with the rhythmic appearance of the zebra-striped arrows, it forms continuous spatial guidance cues within the tunnel, thereby improving the driver's distance judgment and speed perception. The zebra-striped double-sided trapezoidal delineator 10 has a length of 15-18 cm, a height of 4-6 cm, a top width of 3 cm, and a bottom width of 5 cm. The spacing between adjacent zebra-striped double-sided trapezoidal delineators 10 is 8-10 m. They are installed on the tunnel sidewall at a height of 65-75 cm from the maintenance lane. The reflective area of ​​the zebra-striped double-sided trapezoidal delineator 10 includes two rectangular surfaces facing the direction of travel. Each rectangular surface includes two reflective parts 103 and two energy-storing self-luminous parts 104, which are arranged alternately. The reflective parts 103 use a first-class yellow reflective film, and the energy-storing self-luminous parts 104 use energy-storing self-luminous materials. This structural design provides a dual protection mechanism of "active light emission + passive reflection," significantly improving the driver's visibility of the delineator in the special lighting conditions of the tunnel. The LED intelligent color-changing arched contour strip 11 is installed close to the tunnel sidewall and extends from the bottom of the maintenance lane to the top of the tunnel, forming a ring around the tunnel's cross-section with a spacing of 200m per lane. The LED intelligent color-changing arched contour strip 11 consists of an aluminum alloy base, color-changing LED light strips, and an acrylic protective light-transmitting cover. Its cross-section is a semi-cylindrical shape with a radius of 5cm. This ring-shaped, full-section coverage design effectively solves the problems of limited visibility and untimely information transmission in traditional tunnel sight guidance facilities, while also possessing good durability and visibility, meeting the needs of long-term use in tunnel environments. The color-changing LED light strip is linked with the directional sound and light coordinated warning device 2, displaying red, yellow, and green, corresponding to tunnel congestion, slow traffic, and smooth flow, respectively, forming a three-level warning system. It provides intuitive warnings through color changes and synchronously triggers voice prompts and road surface projections through linkage with sound and light equipment, achieving multi-modal warnings, effectively reducing traffic accidents, and improving traffic efficiency and driving safety.

[0028] In a preferred embodiment of the present invention, the static optical background equalization device includes a Kelvin-Helmholtz wave light and shadow adjustment zone 12, a Mach band effect boundary transition zone 13, and a background brightness balance zone 14. The Kelvin-Helmholtz wave light and shadow adjustment zone 12 is located from the upper part of the tunnel sidewall to the arch, the Mach band effect boundary transition zone 13 is located from the lower part of the tunnel sidewall to the maintenance passage, and the background brightness balance zone 14 is located in the middle of the tunnel sidewall. The static optical background equalization device is designed based on the 361 golden color matching method, constructing a multi-level optical control system through the golden ratio of main color (60%), auxiliary color (30%), and accent color (10%). The main color scheme (60%) consists of the background brightness balance area 14, which mainly undertakes the functions of overall brightness balance and environmental coordination; the auxiliary color area (30%) includes the Kelvin-Helmholtz wave light and shadow adjustment area 12 and the Mach band effect boundary transition area 13, which are used for zebra stripe light and shadow adjustment and boundary transition; the accent color area (10%) is the zebra stripe double track guide strip 9, which provides active visual guidance function through high contrast design.

[0029] Kelvin-Helmholtz wave light and shadow adjustment zone 12 is coated on both sides of the tunnel. Its vertical coverage range extends from 0.6 to 1.0 m above the zebra-striped double-track guide strip 9, along the tunnel wall to the arch. The Kelvin-Helmholtz wave cloud pattern adopts a strict periodic fluctuation design with a wavelength λ=10m, which matches the luminaire installation spacing 1:1. The trough point corresponds to the installation position of the LED main lighting luminaire 4, and the wave crest structure is located at the midpoint of the luminaire spacing and extends to a height of 0.5m at the lower end of the arch. The overall waveform maintains a 15° tilt angle along the direction of travel. The Kelvin-Helmholtz wave cloud pattern is painted sky blue at the junction with the arch. The Kelvin-Helmholtz wave light and shadow adjustment zone 12 uses water-based ceramic coating, which has the dual functions of dynamic visual guidance and transition between light and dark areas. Mach band effect boundary transition zone 13 is set on both sides of the tunnel, covering the area 0-0.6m above the maintenance tunnel. The Mach band effect boundary transition zone 13 adopts a three-stage gradient transition zone design: the upper transition zone (0.4-0.6m) is light gray, the middle transition zone (0.2-0.4m) is medium gray, and the lower transition zone (0-0.2m) is dark gray. The Mach band effect boundary transition zone 13 uses water-based ceramic coating, controlling the smooth transition between the maintenance tunnel and the sidewall colors through color gradient control, gradually reducing the contrast difference between colors, avoiding the visual abruptness caused by the Mach band effect, and thus effectively suppressing visual discomfort caused by strong color differences. Background brightness balance zone 14 is located in the middle of both sides of the tunnel, covering the middle part of the Mach band effect boundary transition zone 13 and the Kelvin-Helmholtz wave light and shadow adjustment zone 12. Background brightness balance zone 14 uses white water-based ceramic coating, which is applied to the lower layer of zebra stripe double track guide strip 9 to improve the overall brightness of the tunnel sidewalls, reduce the contrast difference in the light transition area, thereby optimizing the driver's visual perception and ensuring the balance and stability of the lighting in the tunnel.

[0030] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A zebra stripe effect control system for low-illuminance highway tunnels based on a hierarchical spatial reference system, characterized in that, This includes traffic situation radar perception devices, accompanying light field intelligent control devices, three-dimensional spatial visual guidance devices, and static optical background equalization devices; The traffic situation radar vision sensing device is used to reflect the dynamic environmental changes in the tunnel in real time. The accompanying light field intelligent control device is used to provide basic lighting and dynamic supplementary lighting in the tunnel; The three-dimensional spatial visual guidance device is used to enhance the sense of direction and path guidance within the tunnel; The static optical background equalization device is used to provide a basic visual environment inside the tunnel.

2. The zebra stripe effect control system for low-illuminance highway tunnels based on a hierarchical spatial reference system according to claim 1, characterized in that, The traffic situation radar-visual perception device includes an integrated radar-visual binocular detector, a directional acoustic-optical coordinated early warning device, and a micro edge server installed on the inner wall of the tunnel. The integrated radar-visual binocular detector, the directional acoustic-optical coordinated early warning device, and the micro edge server are located on the same ring line of the inner wall of the tunnel. The integrated radar-visual binocular detector is spaced apart on the center line of the tunnel arch, the directional acoustic-optical coordinated early warning device is installed on the upper part of the tunnel side wall, and the micro edge server is installed on the side of the integrated radar-visual binocular detector. A directional acoustic-optical coordinated early warning device is installed every three integrated radar-visual binocular detectors.

3. The zebra stripe effect control system for low-illuminance highway tunnels based on a hierarchical spatial reference system according to claim 2, characterized in that, The spacing between adjacent integrated binocular radar detectors is 150m ± 5%, and the integrated binocular radar detectors include millimeter-wave FMCW radar and dual-camera zoom vision modules. The millimeter-wave FMCW radar transmits frequency-modulated continuous waves with a detection range of ≥180m and a detection range overlap rate of ≥15%; the dual-camera zoom vision module includes a telephoto camera and a short-focus camera, with an imaging resolution of no less than 2560×1440 pixels, supporting wide dynamic range and low-light imaging. The micro edge server receives and stores the laser-vision fusion data from the integrated laser-vision binocular detector in real time through a high-speed data interface. The decision module of the micro edge server dynamically calculates the brightness requirements of the lighting section and sends dimming commands to the segmented dimming controller in real time. The directional sound and light coordinated early warning device includes a directional voice broadcast module and a text projection module; the text projection module projects speed limit signs, traffic status signs and directional arrows on the corresponding road surface along the driving direction, and the directional arrows are respectively in front of the speed limit signs and traffic status signs.

4. The zebra stripe effect control system for low-illuminance highway tunnels based on a hierarchical spatial reference system according to claim 1, characterized in that, The accompanying light field intelligent control device includes LED main lighting fixtures, LED dynamic supplementary light strips, and segmented dimming controllers. The LED main lighting fixtures are symmetrically arranged on both sides of the tunnel arch, the LED dynamic supplementary light strips are continuously arranged along the tunnel centerline at the arch position, and the segmented dimming controllers are spaced out on the tunnel sidewalls.

5. The zebra stripe effect control system for low-illuminance highway tunnels based on a layered spatial reference system according to claim 3, characterized in that, The text projection module and the LED intelligent color-changing arched outline strip are linked. When the tunnel is clear, the LED intelligent color-changing arched outline strip is green, and the road surface is projected with a green laser indicating "clear ahead". When the tunnel is slow-moving, the LED intelligent color-changing arched outline strip is yellow, and the road surface is projected with a yellow laser indicating "slow-moving ahead". When the tunnel is congested, the LED intelligent color-changing arched outline strip is red, and the road surface is projected with a red laser indicating "congestion ahead". The directional voice broadcast module is interconnected with the integrated binocular detector of the radar vision system. When vehicle speed is detected... When the speed exceeds the limit by 10%, a directional sound beam will be triggered to broadcast a voice warning, "You are speeding, please control your speed." The sound pressure level will be automatically adjusted according to the ambient noise. The formula for calculating the sound pressure level is: （1） In the formula, It is the sound pressure level of the voice warning (unit: dB(A)). It is the environmental noise value monitored in real time.

6. The zebra stripe effect control system for low-illuminance highway tunnels based on a hierarchical spatial reference system according to claim 4, characterized in that, The LED dynamic supplementary lighting strip is divided into multiple control sections, which are arranged sequentially according to the driving direction. CZ 1. CZ 2, ..., CZn A binocular radar detector is installed at the beginning of each control section, denoted as follows: R 1 、R 2 、R 3 、…、R n When the integrated binocular detector of the radar R i When a vehicle is detected, the control section CZ i and adjacent control sections CZ i+1 The LED dynamic fill light strip provides illumination when the vehicle leaves. CZ i Section and R i-1 and R i-2 If no other vehicles are detected, the controlled section that the vehicle has already passed will be automatically closed. CZ i-1 The internal LED dynamic fill light strip; In the scenario of a highway tunnel, assuming the vehicle arrival process approximates a Poisson process, then the headway... Obtain the parameter as The negative exponential distribution has a probability density function as: （2） In the formula: The average arrival rate of vehicles (vehicles / s). The headway (s) is the distance between the train and the front. Each control section CZ i The total working time of the LED dynamic supplementary lighting strip consists of the basic working time and the expected extended working time considering continuous traffic flow. The calculation model is as follows: （3） （4） （5） （6） （7） In the formula: For each control segment CZ i Total working time (s) of the LED dynamic fill light strip. Controlled section CZ i The basic working time (s) of the LED dynamic fill light strip. The expected extension of working time (s) due to the approach of subsequent vehicles. Controlled section CZ i Length (m) The vehicle's speed (m / s) The critical headway (s) is the critical headway. For continuous headway The random variable representing the length of the vehicle string follows a geometric distribution with the expected value being... .

7. The zebra stripe effect control system for low-illuminance highway tunnels based on a layered spatial reference system according to claim 1, characterized in that, The three-dimensional spatial vision guidance device adopts a three-layer three-dimensional layout of low-level boundary guidance, mid-level linear guidance and high-level contour guidance. The low-level boundary guidance includes omnidirectional retroreflective cat's eye road studs, energy-storing self-luminous oscillating road markings, and rhythmic zebra stripe outline markers. The omnidirectional retroreflective cat's eye road studs are spaced out on the edge lines on both sides of the roadway. The energy-storing self-luminous oscillating road markings are spaced out on the dividing line in the middle of the roadway. The rhythmic zebra stripe outline markers are spaced out on the maintenance road edges on both sides of the roadway. The midline guide includes a zebra-striped double-track guide strip and a zebra-striped double-bright trapezoidal outline marker. The zebra-striped double-track guide strip is continuously installed on the side walls on both sides of the tunnel, and the zebra-striped double-bright trapezoidal outline marker is spaced out on the side walls on both sides of the tunnel. The zebra-striped double-track guide strip is located on the upper part of the zebra-striped double-bright trapezoidal outline marker. The high-level contour guide is an LED intelligent color-changing arch contour strip, which is spaced out from the tunnel sidewall to the arch top.

8. The zebra stripe effect control system for low-illuminance highway tunnels based on a layered spatial reference system according to claim 7, characterized in that, The interconnected LED intelligent color-changing arched contour strips are spaced 200m apart per tunnel. Each LED intelligent color-changing arched contour strip includes an aluminum alloy base, a color-changing LED light strip, and an acrylic protective light-transmitting cover. The cross-section of each LED intelligent color-changing arched contour strip is a semi-cylindrical shape with a radius of 5cm. The LED intelligent color-changing arched contour strip is linked with a directional sound and light coordinated early warning device. The LED intelligent color-changing arched contour strip displays red, yellow, and green, corresponding to tunnel congestion, slow traffic, and smooth traffic, respectively, forming a three-level early warning system.

9. The zebra stripe effect control system for low-illuminance highway tunnels based on a hierarchical spatial reference system according to claim 1, characterized in that, The static optical background equalization device includes a Kelvin-Helmholtz wave light and shadow adjustment zone, a Mach band effect boundary transition zone, and a background brightness balance zone. The Kelvin-Helmholtz wave light and shadow adjustment zone is located from the upper part of the tunnel sidewall to the arch, the Mach band effect boundary transition zone is located from the lower part of the tunnel sidewall to the maintenance passage, and the background brightness balance zone is located in the middle of the tunnel sidewall.

10. The zebra stripe effect control system for low-illuminance highway tunnels based on a hierarchical spatial reference system according to claim 9, characterized in that, The Kelvin-Helmholtz wave light and shadow adjustment zone is in the form of periodic fluctuation with a wavelength of λ=10m. The trough point corresponds to the installation position of the LED main lighting fixture, and the peak structure is located at the midpoint of the spacing between the fixtures and extends to the lower end of the arch. The Kelvin-Helmholtz wave cloud pattern is painted in sky blue at the junction with the arch. The Mach band effect boundary transition region is a third-order gradient transition region, with the upper transition region set to light gray, the middle transition region set to medium gray, and the lower transition region set to dark gray; the Mach band effect boundary transition region is coated with a water-based ceramic coating. The background brightness balance zone is the middle part of the Mach band effect boundary transition zone and the Kelvin-Helmholtz wave light and shadow adjustment zone. The background brightness balance zone is coated with white water-based ceramic paint on the lower layer of the zebra stripe double track guide strip.

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