车路协同实验测试系统及安全控制技术研究
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摘要
交通系统是一个典型的复杂巨系统,依靠传统的交通管理方式,单从道路和车辆的角度考虑,很难解决近年来不断恶化的交通拥堵、事故频发、环境污染等问题。基于车车、车路信息交互建立人、车、路一体的交通运输系统,对提高交通运输系统的效率和安全性,实现交通系统的可持续性发展具有十分重要的意义。安全是交通的焦点问题,交通安全始终是ITS的关注点。车路协同系统是基于先进的传感和无线通讯等技术的,能够实现车车、车路动态实时信息交互,完成全时空动态交通信息采集和融合,从而保障在复杂交通环境下车辆行驶安全、实现道路交通主动控制、提高路网运行效率的新一代智能交通系统。虽然我国在交通安全领域进行了广泛而深入的研究,取得了一系列研究成果,有效改善了我国交通安全状况,但在信息不完备的情况下,这些技术未能全面解决我国的交通运输安全问题。开展智能车路协同关键技术研究,有利于为改善我国交通安全状态提供技术储备。
本文首先对车路协同系统国内外研究现状和发展趋势进行了分析,提出了车路协同系统技术体系框架,包括车路／车车通信技术、智能车载系统技术、智能路侧系统技术。分析了其中的车路／车车通信技术、车辆运动状态获取技术、车辆定位信息获取技术、行车环境信息感知技术、行车危险性分析技术、行车安全预警与车辆运动状态控制技术、交通流状态检测技术、非机动车及行人检测技术、路面状态及气候环境检测技术、交叉口信息化控制技术、通行安全警示技术、动态交通诱导技术。
车路协同系统目前尚处于功能定义及实验测试阶段,本文分析了车路协同测试系统关键装备及技术,包括基于车载激光雷达、基于声纳传感器的车辆主动避撞系统、实现车辆沿给定的路径快速平稳地行驶的车载红外光电传感器系统、用于汽车防撞、道路环境感知的车载CCD摄像系统、车载总线协议及车载网关系统、专用短程通信协议(DSRC)。在上述车载环境感知及信息传输技术分析的基础上,构建了车载环境感知实验车,通过实验测试了基于CCD摄像机的道路环境感灰度值提取方法。车路系统系统中智能路侧系统的主要作用是检测道路上车辆的行驶状态,掌握道路上的交通状况,为车路协同系统中各种控制功能提供基础数据和信息。文中重点分析了路侧视频检测技术、路侧红外检测技术、基于地感线圈的车流量检测技术、射频识别RFID技术。在上述智能路侧技术分析的基础上,构建了基于红外探测器、WiFi车载警示模块、无线警示平组成的行人安全警示系统。基于Zigbee网络构建了车车协同控制测试平台。
在车路协同环境下,针对危险路段的主动危险警示方法能否有效地避免和减少交通事故。本文重点研究危险路段的分析方法,提出了基于自适应谐振理论的道路安全评价分析方法以判断黑点区域,分析了弯道车速预警方法,包括：弯道建模方法,基于超声波、微波、激光、等技术的弯道半径测量方法,弯道最大安全车速计算方法；提出了基于车路无线通信的警示信息的广播算法,确保驾驶员驶入陡坡、弯道、黑点区域前,分析得出当前道路的最大允许速度,并通过车路通信预警的方式使驾驶员及时降低行车速度,降低危险路段交通事故发生率。
车路协同系统中无线通信、GPS定位、传感器等技术为车队安全巡航提供了有利条件。车辆间位置、状态描述是车队巡航控制的基础,本文提出了基于图论的信息交互图方法,建立了车路协同系统中网络拓扑结构动态图,采用人工势场函数建立基于势场函数的协同避撞方法和编队控制模式；通过对信息交互图中信息路由算法的分析,采用分簇方法建立了以车辆位置和行驶方向为主要因素的信息交互算法。
Transport system is a typical complex giant system.Relying on traditional traffic management from the perspective of roads and vehicles, it is difficult to resolve worsening traffic congestion, accidents, environmental pollutionin recent years. The establishment of transport system integration of people, vehicles and road is based on information exchange between car-car and vehicle-road, which is very important to improve efficiency and security, to achieve sustainable development of transport system. Cooperative vehicle infrastructure system has become the forefront of technology and research focus in the field of Intelligent Transportation System (ITS).Naturally, security is the focus of traffic, traffic safety is always the focus of intelligent transportation system. With the support of science and technology, new construction, operation and management has been establishd. VII system based on advanced sensing and wireless communication technologies, has achieved car-car and vehicle-road real-time information exchange, completed the entire space-time dynamic traffic information collection and integration,which is coming to the new generation of intelligent transportation systems for protecting the safe environment in a complex vehicle traffic, achieving active control of road traffic, and improving network efficiency. Although China has conducted an extensive and thorough research in the field of traffic safety, gained a series of research results, and improved traffic safety situation, without complete information, these technologies can't solve the entire problems of transportation safety. Accordingly, developping intelligent key technology of VII will help us to improve traffic safety condition and supply technical reserves.
This paper analyzed the domestic and overseas current research status and the development trend in the field of Vehicle Infrastructure Integration (VII) system. First the whole cooperative vehicle infrastructure system's technology architecture is put forward. Which including vehicle to vehicle/infrastructure wireless communication technology, vehicle movement state information collection technology, vehicle location information collection technology, vehicle surroundings sensing technology, traffic risk analysis, road safety warning and vehicle movement state control, traffic flow detection technology, non-motor vehicle and pedestrian detection, road condition and climate detection, traffic signal control information at intersection, passing safety caution technology, dynamic route guidance technology.
The the VII testing system equitments and technology are presented, including on-board Laser Radar, active collision avoidance system based on sonar sensors, on-board infrared sensor system making vehicles travel fast and smoothly along the given route, on-board CCD camera video technology used in vehicle collision prevention and road condition perception, car-bus protocol, on-board gateway system realizing the transformation between the internet protocol and car-bus protocol, Dedicated Short Range Communication (DSRC). Based on on-board condition perception and information transmitting technology, we established a dynamic, road condition perception research plant with a realistic vehicle, testing the method extracting the gray value of road and outboard environment by experiments. The intelligent road-side system inⅦsystem, has a primary role in checking the vehicles'travelling condition, keeping watch over the real-time traffic situation, and providing basic data and information for variety of controlling functions inⅦsystem. The emphasis analyzed in this paper includes, a road-side video detection technology, road-side infrared detection system, traffic volume detection system based on induction coils, Radio Frequency Identification (RFID). Based on the analysis above, we set up a pedestrian security warning system, which is on the basic of infrared detectors, on-board WiFi modules and wireless warning screen. The vehicle to vehicle control testing bed based on Zigbee networks.
In the condition of cooperative vehicle and infrastructure system, this thesis researches an efficiency method that detects a dangerous section in order to validate the active warning method can effectively avoid and reduce traffic accidents in dangerous sections. Evaluation method of road safety based on the adaptive resonance theory is proposed to explore black spots. The curve speed warning methods are discussed, including curve modeling method, curve radius measurement method based on ultrasonic, microwave, laser, infrared, GPS and other technology, the calculation method of curve maximum safety speed. Vehicular warning information broadcasting scheme based on vehicle to infrastructure wireless communication is proposed to ensure that the maximum allowable speed of the current road can be calculated and alert the driver to decelerate through vehicle to infrastructure wireless communication before the vehicle is running in the entry of curve, so that the road traffic accidents rate on curve will be reduced enormously.
The wireless communication technology, GPS navigation, sensor technology in cooperative vehicle and infrastructure system provides the efficient method for vehicle safety cruising. Vehicle position, state descriptin is the base of vehicle cruising control; this thesis put forward the information exchange graph method based on graph theory. The dynamic topology graph is built for cooperative vehicle and infrastructure system, and the artificial potential field function is used to build the cooperative collision avoidance method and the formation control model. Through the analysising of the routing mehod of information exchange graph, taking into account the vehicle's position and moving direction, an information transmitti ng method based on clustering method is proposed.
本文首先对车路协同系统国内外研究现状和发展趋势进行了分析,提出了车路协同系统技术体系框架,包括车路／车车通信技术、智能车载系统技术、智能路侧系统技术。分析了其中的车路／车车通信技术、车辆运动状态获取技术、车辆定位信息获取技术、行车环境信息感知技术、行车危险性分析技术、行车安全预警与车辆运动状态控制技术、交通流状态检测技术、非机动车及行人检测技术、路面状态及气候环境检测技术、交叉口信息化控制技术、通行安全警示技术、动态交通诱导技术。
车路协同系统目前尚处于功能定义及实验测试阶段,本文分析了车路协同测试系统关键装备及技术,包括基于车载激光雷达、基于声纳传感器的车辆主动避撞系统、实现车辆沿给定的路径快速平稳地行驶的车载红外光电传感器系统、用于汽车防撞、道路环境感知的车载CCD摄像系统、车载总线协议及车载网关系统、专用短程通信协议(DSRC)。在上述车载环境感知及信息传输技术分析的基础上,构建了车载环境感知实验车,通过实验测试了基于CCD摄像机的道路环境感灰度值提取方法。车路系统系统中智能路侧系统的主要作用是检测道路上车辆的行驶状态,掌握道路上的交通状况,为车路协同系统中各种控制功能提供基础数据和信息。文中重点分析了路侧视频检测技术、路侧红外检测技术、基于地感线圈的车流量检测技术、射频识别RFID技术。在上述智能路侧技术分析的基础上,构建了基于红外探测器、WiFi车载警示模块、无线警示平组成的行人安全警示系统。基于Zigbee网络构建了车车协同控制测试平台。
在车路协同环境下,针对危险路段的主动危险警示方法能否有效地避免和减少交通事故。本文重点研究危险路段的分析方法,提出了基于自适应谐振理论的道路安全评价分析方法以判断黑点区域,分析了弯道车速预警方法,包括：弯道建模方法,基于超声波、微波、激光、等技术的弯道半径测量方法,弯道最大安全车速计算方法；提出了基于车路无线通信的警示信息的广播算法,确保驾驶员驶入陡坡、弯道、黑点区域前,分析得出当前道路的最大允许速度,并通过车路通信预警的方式使驾驶员及时降低行车速度,降低危险路段交通事故发生率。
车路协同系统中无线通信、GPS定位、传感器等技术为车队安全巡航提供了有利条件。车辆间位置、状态描述是车队巡航控制的基础,本文提出了基于图论的信息交互图方法,建立了车路协同系统中网络拓扑结构动态图,采用人工势场函数建立基于势场函数的协同避撞方法和编队控制模式；通过对信息交互图中信息路由算法的分析,采用分簇方法建立了以车辆位置和行驶方向为主要因素的信息交互算法。
Transport system is a typical complex giant system.Relying on traditional traffic management from the perspective of roads and vehicles, it is difficult to resolve worsening traffic congestion, accidents, environmental pollutionin recent years. The establishment of transport system integration of people, vehicles and road is based on information exchange between car-car and vehicle-road, which is very important to improve efficiency and security, to achieve sustainable development of transport system. Cooperative vehicle infrastructure system has become the forefront of technology and research focus in the field of Intelligent Transportation System (ITS).Naturally, security is the focus of traffic, traffic safety is always the focus of intelligent transportation system. With the support of science and technology, new construction, operation and management has been establishd. VII system based on advanced sensing and wireless communication technologies, has achieved car-car and vehicle-road real-time information exchange, completed the entire space-time dynamic traffic information collection and integration,which is coming to the new generation of intelligent transportation systems for protecting the safe environment in a complex vehicle traffic, achieving active control of road traffic, and improving network efficiency. Although China has conducted an extensive and thorough research in the field of traffic safety, gained a series of research results, and improved traffic safety situation, without complete information, these technologies can't solve the entire problems of transportation safety. Accordingly, developping intelligent key technology of VII will help us to improve traffic safety condition and supply technical reserves.
This paper analyzed the domestic and overseas current research status and the development trend in the field of Vehicle Infrastructure Integration (VII) system. First the whole cooperative vehicle infrastructure system's technology architecture is put forward. Which including vehicle to vehicle/infrastructure wireless communication technology, vehicle movement state information collection technology, vehicle location information collection technology, vehicle surroundings sensing technology, traffic risk analysis, road safety warning and vehicle movement state control, traffic flow detection technology, non-motor vehicle and pedestrian detection, road condition and climate detection, traffic signal control information at intersection, passing safety caution technology, dynamic route guidance technology.
The the VII testing system equitments and technology are presented, including on-board Laser Radar, active collision avoidance system based on sonar sensors, on-board infrared sensor system making vehicles travel fast and smoothly along the given route, on-board CCD camera video technology used in vehicle collision prevention and road condition perception, car-bus protocol, on-board gateway system realizing the transformation between the internet protocol and car-bus protocol, Dedicated Short Range Communication (DSRC). Based on on-board condition perception and information transmitting technology, we established a dynamic, road condition perception research plant with a realistic vehicle, testing the method extracting the gray value of road and outboard environment by experiments. The intelligent road-side system inⅦsystem, has a primary role in checking the vehicles'travelling condition, keeping watch over the real-time traffic situation, and providing basic data and information for variety of controlling functions inⅦsystem. The emphasis analyzed in this paper includes, a road-side video detection technology, road-side infrared detection system, traffic volume detection system based on induction coils, Radio Frequency Identification (RFID). Based on the analysis above, we set up a pedestrian security warning system, which is on the basic of infrared detectors, on-board WiFi modules and wireless warning screen. The vehicle to vehicle control testing bed based on Zigbee networks.
In the condition of cooperative vehicle and infrastructure system, this thesis researches an efficiency method that detects a dangerous section in order to validate the active warning method can effectively avoid and reduce traffic accidents in dangerous sections. Evaluation method of road safety based on the adaptive resonance theory is proposed to explore black spots. The curve speed warning methods are discussed, including curve modeling method, curve radius measurement method based on ultrasonic, microwave, laser, infrared, GPS and other technology, the calculation method of curve maximum safety speed. Vehicular warning information broadcasting scheme based on vehicle to infrastructure wireless communication is proposed to ensure that the maximum allowable speed of the current road can be calculated and alert the driver to decelerate through vehicle to infrastructure wireless communication before the vehicle is running in the entry of curve, so that the road traffic accidents rate on curve will be reduced enormously.
The wireless communication technology, GPS navigation, sensor technology in cooperative vehicle and infrastructure system provides the efficient method for vehicle safety cruising. Vehicle position, state descriptin is the base of vehicle cruising control; this thesis put forward the information exchange graph method based on graph theory. The dynamic topology graph is built for cooperative vehicle and infrastructure system, and the artificial potential field function is used to build the cooperative collision avoidance method and the formation control model. Through the analysising of the routing mehod of information exchange graph, taking into account the vehicle's position and moving direction, an information transmitti ng method based on clustering method is proposed.
引文
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