CN106485931A - A kind of intersection vehicle fast passing DAS (Driver Assistant System) and method - Google Patents

A kind of intersection vehicle fast passing DAS (Driver Assistant System) and method Download PDF

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Publication number
CN106485931A
CN106485931A CN201611003891.1A CN201611003891A CN106485931A CN 106485931 A CN106485931 A CN 106485931A CN 201611003891 A CN201611003891 A CN 201611003891A CN 106485931 A CN106485931 A CN 106485931A
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vehicle
module
intersection
speed
information
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庞明宝
刁化尧
王德军
王亚南
郝雷超
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Hebei University of Technology
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Hebei University of Technology
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle

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  • Atmospheric Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention discloses a kind of intersection vehicle fast passing DAS (Driver Assistant System) and method, and the system includes information acquisition module, vehicle localization module, obstacle recognition module, DBM, signal information module, vehicle aid decision module and automobile dynamic system；Technical characterstic according to road traffic, psychological characteristics in conjunction with concrete driver, the method of the induction information that driver one quickly can be passed unimpeded when having car overtake other vehicles again by each intersection and front as far as possible is supplied in vehicle operation, include whether to overtake other vehicles, concrete travel speed etc., so that vehicle is after travelling according to induction speed and driving mode, as realize not parking by intersection as possible, be that car networking, the development of automatic Pilot technology provide core technology and support.

Description

A kind of intersection vehicle fast passing DAS (Driver Assistant System) and method
Technical field
The invention belongs to vehicle assistant drive technical field in Communication and Transportation Engineering, more particularly to using distance measuring sensor, A kind of pinpoint intersection vehicle fast passing DAS (Driver Assistant System) of vehicle and method.
Background technology
Not parking quickly through each intersection for having Signalized control so as to avoid intersection delay from realizing energy-conserving and environment-protective it is Driver and the expectation of traffic control department, and the non-central area in the volume of traffic some cities less and suburb, the less spy of vehicle Point enables driver to go to drive according to the wish speed of oneself, and automatic Pilot and car networking technology are particularly sending out for vehicular ad hoc network Exhibition is provided for possibility, realizes the coordination problem that the unimpeded major obstacle of energy-conservation is changed into vehicle and each Intersections.? On the premise of ensureing safety, driver how is helped to realize desirably being passed unimpeded between intersection as far as possible, while reaching energy-conservation Purpose, becoming one needs the urgent technical problem for solving.
Existing investigative technique divides three aspects：
1. intersection control aspect
In terms of including green wave band control or face control and integrative design intersection and vehicle collaboration etc., be all from traffic pipe Reason person's angle, be not from driver's angle；It is only limitted to regional area；Vehicle guidance information is to find shortest route problem, not yet Consider how to avoid this concrete technical problems of intersection delay.
Automatic Pilot and car networking (IOV) technical elements in 2.ITS
Though having numerous studies and test, it is that vehicle safety is made based on automatic vehicle identification and bus or train route, truck traffic technology etc. Drive the technology that ensured, in terms of " vehicle crossing safety is current ", be based on the bus or train route communication technology and truck traffic skill Art causes the technology that vehicle is ensured by security during intersection and improves.As Wang Jianqiang (Wang Jianqiang, Wang Haipeng, Liu Jia Prosperous. the intersection vehicles drive assist system [J] based on bus or train route integration. Chinese Highway journal, 2013,26 (4)：169-175, 183.) it is travel safety of the raising vehicle in intersection, develops a kind of intersection vehicles based on bus or train route integration and drive Accessory system.On the basis of system layer modularization general frame method for designing, by radio frequency identification, GPS and speed Vehicle is accurately positioned Deng multisource information fusion technology, is interacted by bus or train route and obtain junction ahead traffic lights phase place and its expected change Change, and state of motion of vehicle is combined, propose a kind of velocity threshold algorithm of reflection driver's deceleration characteristic and carry out real-time judge driving Risk factor.System is reported to the police under dangerous situation, or the adaptive braking control method based on deceleration feedback control to vehicle from Dynamic braking；Finally build drive assist system test platform and carry out real train test.
Shortcoming：These technology as the basis of this technology, but can be not related to the technical problem intersection vehicles of the present invention Fast passing DAS (Driver Assistant System) and its method, that is, the technical scheme is that and ensureing the current premise of crossing safety Under, design a kind of can also quickly, the driving strategy of energy-conservation and induced velocity.
3. intersection is smooth by aspect, only two Master's thesis.
(1) Li Hui current trackside inducible system not parking to urban road Single Intersection research (Li Hui. urban road list The intersection not parking current research of trackside inducible system [D]. Shandong Technology Univ's Master's thesis, 2012,4).1. research contents： On the basis of the current situation of analyze and research domestic and international intersection management and control and inducible system, with single crossing section wagon flow For research object, propose to build with intersection section car-mounted terminal as service object, by vehicle not parking by for the purpose of, with speed The not parking current dynamic inducible system scheme of Single Intersection for induction information is spent, and research and design has been carried out to scheme, design System and vehicle-mounted receiving terminal coordinate constitute a complete intersection real-time guidance platform.2. shortcoming.This investigative technique is Intersection is smoothly passed by inducing speed algorithm to be that driving vehicle offer is not parking when having queuing phenomena for intersection Speed, does not account for the induction speed algorithm that intersection is not queued up etc. in the case of other, and the speed being not related between intersection is lured Lead；Telecommunication flow information is using traditional ground induction coil collection, and these information only vehicle supervision department could obtain, vehicle and driving Member cannot obtain, and not meet engineering reality；It is only applicable to vehicle to arrive in the short-range of intersection, relatively long distance between intersection Section cannot realize；Research method is only limitted to, research contents is not integrated into the technology of system product, be not related to technology tool Body embodiment.
(2) Dong Hui (Dong Hui. passed unimpeded traffic light prompting system research [D] based on the vehicle energy saving of GPS. Harbin industry is big Learn Master's thesis, 2012,7) pass unimpeded traffic light prompting system research with regard to vehicle energy saving.1. research contents：Devise a kind of with Single-chip microcomputer is passed unimpeded traffic light prompting system for the automobile of core, obtains vehicle dynamic position and speed using GPS module；Single-chip microcomputer Carry out, in conjunction with traffic lights information, speed decision-making of passing unimpeded, and driving strategy is prompted in time by driver by display module； The speed algorithm policy under unlike signal lamp is devised, the reasonable speed by intersection is given, and is given by emulation experiment With checking.2. shortcoming.Which only considers single car when speed algorithm is designed, and does not meet road traffic reality, does not account for Multiple vehicles and multiple situations such as overtake other vehicles；Information gathering is only limitted to GPS mode, between vehicle, vehicle and other facilities of road Between automatic identification do not account for；The positioning precision of vehicle, in some cases, filtering is improved using kalman filter method Priori value is difficult to obtain, and is unfavorable for improving positioning precision；With single-chip microcomputer as system platform, capacity is too little, and system is implemented to be restricted.
Therefore, the Psychology and behavior for driver when by each intersection and Targets, in existing car networking skill On the basis of art, intelligent transportation system development, research invention is a kind of ensure traffic safety make again vehicle between intersection as far as possible The vehicle for desirably passing unimpeded travels inducible system, becomes a core technology in the urgent need to address of car networking technology development.
Content of the invention
For overcoming the deficiencies in the prior art, the present invention provides a kind of intersection vehicle fast passing DAS (Driver Assistant System) And method, it is intended to solve：According to the technical characterstic of road traffic, in conjunction with the psychological characteristics of concrete driver, ran in vehicle It is supplied to driver one quickly to pass unimpeded as far as possible when having car overtake other vehicles again by each intersection and front in journey The system and method for induction information, include whether to overtake other vehicles, concrete travel speed etc. so that vehicle is according to induction speed and row After the mode of sailing is travelled, as realize not parking by intersection as possible, be that car networking, the development of automatic Pilot technology provide core skill Art is supported.
The present invention solves the technical scheme of the technical problem：Design a kind of intersection vehicle fast passing auxiliary Control loop, the system include information acquisition module, vehicle localization module, obstacle recognition module, DBM, signal lamp Information module, vehicle aid decision module and automobile dynamic system, vehicle localization module and obstacle recognition module respectively with Information acquisition module is connected；DBM is connected with vehicle localization module and vehicle aid decision module respectively, and signal lamp is believed Breath module is respectively connected with vehicle aid decision module with obstacle recognition module, and obstacle recognition module and vehicle are aided in Decision-making module is connected with automobile dynamic system respectively.Information acquisition module includes bluetooth GPS device and distance measuring sensor.The number Include the actual GPS information in the intersection of the actual GPS information table of the road of combining cartographic information and combining cartographic information according to library module Table.The vehicle localization module is by reading the current location information data in the bluetooth GPS device in information acquisition module The actual GPS information table of the road of the combining cartographic information in library module, obtains the current speed of service of vehicle and positional information, and will This speed and positional information are sent to vehicle aid decision module.Obstacle recognition module is by reading in information acquisition module Distance measuring sensor in the distance of forward and backward vehicle and the current speed of service of the vehicle in automobile dynamic system, obtain phase The speed of service of adjacent vehicle and relative position information, and send that information to vehicle aid decision module.Vehicle aid decision Letter in the actual GPS information table in the intersection of the combining cartographic information in module reading database module, signal information module Signal lamp interval and duration, the current speed of service be given in conjunction with vehicle localization module and positional information, obstacle recognition mould The distance and the speed of service of the Adjacent vehicles that block is given, obtain vehicle whether overtake other vehicles, acceleration and deceleration and optimal velocity value, if smoothly Current then by voice to supply one optimal velocity of driver, if can not pass through then by voice to driver provide desired speed With parking waiting information.
Compared with prior art, the beneficial effects of the present invention is：
1. it is the development offer core support of Vehicular automatic driving, car networking technology.Previously herein for intersection Research, most of route guidance algorithm for macroscopic view, lack and specifically avoid the concrete speed of vehicle of intersection delay, whether surpass The algorithm that the energy-conservations such as car pass unimpeded；Part automatic Pilot and car networking research, only from traffic safety angle, are not related to this research Problem；The smooth research by aspect in existing two intersections, the induction being only limitted to when vehicle arrives at intersection, it is not related to hand over Speed is driven between prong；The realization of system does not account for concrete engineering present situation, does not meet concrete reality, cannot realize yet. The present invention utilizes modern information technologies, be based particularly on space line constraint placement technology, range finder, vehicle auxiliary drive Strategy is sailed, makes obstacle recognition module, vehicle pinpoint module, signal information module, vehicle aid decision module and number Effectively link together according to storehouse etc., occur in the form of aiding in driving or system for prompting, concrete induction is provided to driver and believe Breath, allowing driver desirably be passed unimpeded between intersection as far as possible, while reaching the purpose of energy-conservation, being car networking, automatic Pilot The development of technology provides core technology and supports.
2. it is that driver and traffic department provide help, has huge social benefit.Intersection vehicles according to the present invention Current DAS (Driver Assistant System) carries out real-time judge to actual traffic situation and assist driver drives, and smoothly passes can not only vehicle Intersection, reduces the frequency of braking, the stand-by period is greatly reduced, and can reduce economic expenditure again, reduces environmental pollution, reduces Accident rate.
3. technology is implemented to can achieve batch production, has huge economic benefit.System is driven according to the auxiliary of this technology production System is integrated with the domestic os of vehicle further, becomes the complete automatic Pilot technology of a set of maturation, and car manufactures are just The production of mass can be carried out to which, realized the automatic Pilot of vehicle at the intersection, produced then huge economic benefit.
Description of the drawings
Fig. 1 is a kind of system architecture diagram of embodiment of DAS (Driver Assistant System) of the present invention；
The step of Fig. 2 embodiment a kind of for auxiliary driving method of the present invention flow chart；
The first ideal trajectory of vehicle that Fig. 3 is predicted for auxiliary driving method of the present invention；
Second ideal trajectory of vehicle that Fig. 4 is predicted for auxiliary driving method of the present invention；
The third ideal trajectory of vehicle that Fig. 5 is predicted for auxiliary driving method of the present invention；
The 4th kind of ideal trajectory of vehicle that Fig. 6 is predicted for auxiliary driving method of the present invention；
The 5th kind of ideal trajectory of vehicle that Fig. 7 is predicted for auxiliary driving method of the present invention；
The 6th kind of ideal trajectory of vehicle that Fig. 8 is predicted for auxiliary driving method of the present invention；
Fig. 9 is the one situation schematic diagram of path that test is chosen；
Figure 10 is the two situation schematic diagram of path that test is chosen；
Figure 11 is the three situation schematic diagram of path that test is chosen；
Figure 12 is that the travel speed that is once tested using DAS (Driver Assistant System) of the present invention and method vehicle running path one is become Change figure；
Figure 13 is that the vehicle distances that is once tested using DAS (Driver Assistant System) of the present invention and method vehicle running path one are handed over Prong Distance Remaining variation diagram.
Specific embodiment
The present invention is intersection vehicle fast passing DAS (Driver Assistant System) and method, and specific embodiment is as follows.
The present invention provides a kind of intersection vehicle fast passing DAS (Driver Assistant System) (abbreviation DAS (Driver Assistant System), ginseng See Fig. 1-13), the system includes information acquisition module, vehicle localization module, obstacle recognition module, DBM, signal Lamp information module, vehicle aid decision module and automobile dynamic system, vehicle localization module and obstacle recognition module are respectively It is connected with information acquisition module；DBM is connected with vehicle localization module and vehicle aid decision module respectively, signal lamp Information module is respectively connected with vehicle aid decision module with obstacle recognition module, and obstacle recognition module and vehicle are aided in Decision-making module is connected with automobile dynamic system respectively.Information acquisition module includes bluetooth GPS device and distance measuring sensor.The number Include the actual GPS information in the intersection of the actual GPS information table of the road of combining cartographic information and combining cartographic information according to library module Table.The vehicle localization module is by reading the current location information data in the bluetooth GPS device in information acquisition module The actual GPS information table of the road of the combining cartographic information in library module, obtains the current speed of service of vehicle and positional information, and will This speed and positional information are sent to vehicle aid decision module.Obstacle recognition module is by reading in information acquisition module Distance measuring sensor in the distance of forward and backward vehicle and the current speed of service of the vehicle in automobile dynamic system, obtain phase The speed of service of adjacent vehicle and relative position information, and send that information to vehicle aid decision module.Vehicle aid decision Letter in the actual GPS information table in the intersection of the combining cartographic information in module reading database module, signal information module Signal lamp interval and duration, the current speed of service be given in conjunction with vehicle localization module and positional information, obstacle recognition mould The distance and the speed of service of the Adjacent vehicles that block is given, obtain vehicle whether overtake other vehicles, acceleration and deceleration and optimal velocity value, if suitable Profit is current then by voice to supply one optimal velocity of driver, expects speed if can not pass through and then provide to driver by voice Degree and parking waiting information.
The vehicle localization module includes the GPS with bluetooth or Beidou navigation etc..In the base for obtaining original location data On plinth, using the road actual location information of storage, the real-time longitude and latitude of more accurate vehicle and speed are obtained by location algorithm The information such as degree, the location algorithm is：
WhereinFor revised accurate coordinates, B' is the coefficient matrix of error equation, and P weighs battle array for observation, and C' is for about Bundle equation coefficient battle array, W=B'Pl, U=C'(B'TPB)-1C'T, Wx is constraint equation constant term.
The obstacle recognition module utilizes distance measuring sensor, identifies between this vehicle and other vehicles, means of transportation Distance, and neighbouring vehicle speed is extracted, it is that vehicle aid decision module provides foundation.
The carrying platform of the DAS (Driver Assistant System) can be intelligent terminal, such as mobile phone, flat board etc., or vehicle is certainly The report control platform of band.
Further, the present invention provides a kind of intersection vehicle fast passing auxiliary driving method and (referred to as aids in driving Method is sailed, referring to Fig. 2), the method is using above-mentioned DAS (Driver Assistant System) and following step：Vehicle aid decision module reads data Signal lamp interval in the actual GPS information table in the intersection of the combining cartographic information in library module, signal information module and hold Continuous duration, is constraint by the driver's desired speed and the road speed limit that give, believes in conjunction with the longitude and latitude that vehicle localization module is given Breath and Current vehicle velocity information, obstacle recognition module be given to the distance of front truck and the velocity information of front truck, obtain car Whether overtake other vehicles, acceleration and deceleration and optimal velocity value, if smoothly current then by voice to supply one optimal velocity of driver, such as Desired speed and parking waiting information is provided by voice to driver if it can not pass through.Specially：(1) expectation that driver sets Drive speed vPhaseAnd normal minimum license speed v for approximately at the uniform velocity travelling permissionPerhaps, vPerhapsVoluntarily arranged by driver, the present embodiment Value is 20km/h, each section maximum speed limit speed vmax, in the present embodiment, value is 70km/h.Have：vPerhaps<=vPhase<=vmax.
(2) vehicle to travelling, the information that the identification module that breaks the barriers is obtained judge whether front has vehicle, if no, Execution step (5)；If having and the section not allowing to overtake other vehicles, drive with car；If having and the section allowing to overtake other vehicles, execution step (3).
(3) time and distance to needs of overtaking other vehicles calculates, specially：
Wherein v1Represent vehicle present speed, got by vehicle localization module；vbRepresent Overtaken Vehicle speed, by barrier Identification module gets；s1Represent distance between Current vehicle and Overtaken Vehicle, got by obstacle recognition module；s4Represent vehicle Between safe distance between vehicles, be set given value.
(4) in the case that there is vehicle in front and the section allows to overtake other vehicles, the needs of overtaking other vehicles that calculated according to step (3) Time and distance are judged, if can not return to oneself track after overtaking other vehicles, are driven with car, by voice message driver with Chinese herbaceous peony OK；Otherwise, overtaken other vehicles by voice message driver.
(5) in the case that front does not have vehicle, predict according to vPhaseArrive at the time of intersection.If after arriving at being green light, With vPhaseFor vehicle guidance speed (this speed ensures that driver is not parking by intersection according to oneself desired speed)；Otherwise judge with vmaxArrive at whether intersection can catch up with green light, if can, with vmaxFor vehicle guidance speed, (this speed ensures driver according to a little higher than The Maximum speed limit of desired speed is not parking by intersection), by voice message driver by being travelled at this rate；If no Can, execution step (6).
(6) vehicle is calculated in next letter green light time started in control cycle to be less than vPhaseArrive at speed v of intersection4.Due to v4 Its running orbit of difference be different, there is following 6 kinds of movement locus, each movement locus ideally is shown in Fig. 3-Fig. 8 Shown.Different v are obtained according to different motion track4Computing formula.
1. work as v4>v1, v4>vi, i.e., Fig. 3 situation when：
v4For optimal velocity (for arithmetic number) to be calculated, v1For initial velocity, (vehicle present speed, by vehicle localization module Get), viFor intersection speed limit (given value), a1For acceleration (setting value of driver, it is known that), a2For deceleration, (driver sets Definite value, it is known that), L is the distance (aid decision module is calculated) to intersection, trFor the reaction time, (driver sets Know value), taIt it is the time (being calculated by aid decision module) to the intersection time just for green light, similarly hereinafter.
2. work as v4>v1, v4≤vi, i.e., Fig. 4 situation when：
3. work as v4=v1, v4>vi, i.e., Fig. 5 situation when：
4. work as v4=v1, v4≤vi, i.e., Fig. 6 situation when：
5. work as v4<v1, v4>vi, i.e., Fig. 7 situation when：
6. work as v4<v1, v4≤vi, i.e., Fig. 8 situation when：
Optimal velocity is the one kind in six kinds of situations, permits speed in conjunction with section speed limit and driver, calculates Reach speed interval of the intersection for green light.As long as driver's here interval guarantees to pass through intersection by being travelled. If v4>=vPerhaps, with v4For vehicle guidance speed, (this speed ensures that driver does not stop according to the speed less than expectation higher than minimum license Car passes through intersection), by voice message driver according to v4Travelled.Otherwise, vehicle is with vPerhapsFor vehicle guidance speed.This side Formula vehicle arrives at intersection must parking waiting.Driver is given prompting by voice：Smoothly can not pass through intersection, by vPerhaps Parking waiting when travelling and reaching intersection.
The DAS (Driver Assistant System) and method embody the purpose of " as not parking by intersection to reach energy-conservation as possible ".? In various tupes, if can be not parking by as most preferably with driver's desired speed；Otherwise accelerate speed with vmaxNot parking pass through For taking second place；These are all infeasible, see that can reduce speed (to be not less than minimum license speed as principle) not parking passes through.If Not all right, just only the red lights such as intersection are arrived at according to driver's desired speed.
Application test
(1) testing equipment and test site overview
The testing equipment used by the current DAS (Driver Assistant System) of intersection vehicles of the present invention and method has：Android intelligence hand The connecting line of machine, distance measuring sensor, GPS (having Bluetooth function) and correlation.Android smartphone is the operation of DAS (Driver Assistant System) Platform, distance measuring sensor are attached by Serial Port Line and conversion line with mobile phone, and GPS is connected with mobile phone by bluetooth communication agreement Connect.Test vehicle is using the Sagitar of popular series.
The test routine for choosing the current DAS (Driver Assistant System) of intersection vehicles is three：
Path one is the Chen Xing road zone routing of Tianjin Beichen District, such as Fig. 9.Road is two-way six-lane, and in being provided with Central median, belongs to a part for town and country combination, and surrounding is mainly residential quarter, and large-scale commercial building and public place of entertainment almost do not have Have, so the volume of traffic of road is less, meet the requirement of DAS (Driver Assistant System).Along road northwest on occasion Xing Lu and Chen Wang road 4 continuous intersections are taken as test site to southeastern direction, and to the intersection numbering 1,2,3,4 that chooses.
Path two is Tianjin Beichen District twoport town to Liu Yuan subway stop footpath, such as Figure 10.It is divided into two parts：Jin Yong highway Highway division is two-way 4 track forever for section and Chen Chang section, wherein Tianjin, and Chen Chang section is two-way 4 track.Belong to suburban line, road Surrounding is mainly village, though next-door neighbour Tianjin is protected at a high speed, vehicle flowrate is less, meets the requirement of DAS (Driver Assistant System).From twoport direction Set out along road 7 continuous intersections are chosen as test site.
Path three is bought No. three tunnels glory road for Tianjin Hongqiao District T-shaped and arrives with one voice a thousand li dike path, such as Figure 11.Road week Mainly residential quarter is enclosed, and old-fashioned cell is mostly, the volume of traffic of road is medium, meets the requirement of the system.Buy from T-shaped Direction is set out along 4 continuous intersections of road selection as test site with one voice for No. three lines and glorious road.
Disturbed for excluding immediately, the test in three paths is the average result of 30 times, and the time period of this 30 times tests Identical.
The signal information table of No. 1 intersection in 1 path one of table
No. 2 Intersections information tables in 2 path one of table
(2) test result analysis in path one
1) test data
The test data that intersection vehicles are passed through required for DAS (Driver Assistant System) includes the speed of the location data of vehicle, vehicle Degree information, the velocity information of front truck, vehicle and intersection spacing and signal information etc..The location data of vehicle, the speed of vehicle Degree information, the velocity information of front truck and the data such as vehicle and intersection spacing can be obtained by testing equipment, and signal lamp This test of information is obtained by public safety traffic management department, and Tables 1 and 2 is the partial information for showing.
2) test result analysis
For wherein once testing, by path for the moment, Vehicle Speed changes and vehicle distances vehicle Figure 12 and Figure 13 Intersection Distance Remaining variation diagram.It can be seen that：
1. do not use DAS (Driver Assistant System) of the present invention, generally, when away from intersection, driver according to oneself Desired speed is travelled, and when intersection is closed on, by observing Intersections state, takes countermeasure, normally travel, plus Speed passes through or ramp to stop.
2. using DAS (Driver Assistant System) of the present invention, judging in the certain limit of intersection, can carry for driver For speed decision-making foundation.When the optimal velocity that driver is provided according to DAS (Driver Assistant System) of the present invention is travelled, reach and intersect During mouth, not parking can pass through.And then reduce stand-by period and total journey time.
The average result of 30 tests is carried out on path one using DAS (Driver Assistant System) of the present invention and does not adopt the present invention The results contrast of system is as shown in table 3.As can be seen from Table 3：
1. in terms of the time.It can be seen that in the case that desired speed is for 60km/h, using DAS (Driver Assistant System) of the present invention Time be 119s, and in the case of DAS (Driver Assistant System) of the present invention is not used, total journey time reaches 170s, the present invention DAS (Driver Assistant System) causes stroke total duration to reduce 51s.Under other desired speeds, the system is not used using the system ratio 34s, 57s, 75s, 76s are reduced respectively.This is primarily due to, and when DAS (Driver Assistant System) of the present invention is not used, often sends out Raw situation about waiting in intersection parking, so as to increased total journey time.And after adopting this technology system, by adjusting speed Degree, makes the time in traveling and the time waited in intersection parking all accordingly reduce, has declined so as to total journey time. Under different desired speeds, the time consumed using the system is also different.It is mainly this present invention DAS (Driver Assistant System) to be adopted The optimal velocity selection strategy for taking is determined the system is to pay the utmost attention to whether can pass through intersection under desired speed, such as Can, then take this speed.Such as can not, then the speed for taking speed policy calculation to obtain.For not using the system, Time can still shorten, such as in the case that desired speed is for 30km/h, although the overall time increases compared to during 60km/h 39s, but than not using DAS (Driver Assistant System) of the present invention to shorten nearly 75s.
2. in terms of oil consumption.From table 3 it is observed that than not taking this in the case of using DAS (Driver Assistant System) of the present invention The more fuel-economizing of invention DAS (Driver Assistant System).When desired speed is for 60km/h, using the system than not using this to be in total kilometres System fuel-economizing 106ml, also has saving under other desired speeds.This is primarily due in the case of the system is not used, can be often Run into accelerate or slow down situation occur, when drive to away from intersection nearer when, driver observes Intersections feelings Condition, if can't pass, can take ramp to stop, when being again started up, can accelerate to pass through, and boost phase is than at the uniform velocity travelling oil consumption More.Additionally, due to the increase of possible intersection stand-by period, the relative of idling oil consumption can be caused to increase.And take the present invention After DAS (Driver Assistant System), as effectively intersection parking can be avoided, so also just consequently reduce being added due to intersection The oil consumption that speed and idling etc. are brought increases.
In general, driver drives vehicle driving time of concern and oil consumption problem, DAS (Driver Assistant System) of the present invention Which can be optimized well.For urban road, intersection smoothly can pass through will directly affect whole Travel time, so DAS (Driver Assistant System) of the present invention reduces whole journey time by reducing the intersection delay time to reach Purpose, and saved fuel consumption simultaneously, reduce environmental pollution.
3 path one of table is using DAS (Driver Assistant System) result of the test of the present invention and the comparison not adopted
When proving to pass through intersection using the system by testing, oil consumption is reduced and the time shortens, and illustrates the system Feasibility.
(3) test result analysis in path two and three
30 test is equally carried out to path two and path three, and the result of the test for obtaining is respectively as shown in table 4, table 5.Equally It can be seen that：
1) for path two, which is from twoport town to Liu Yuan subway stop footpath, belongs to suburban line, and this path overall length is 6.9 kilometers, it is divided into 7 intersections, the distance between intersection is longer, wherein has distance between an intersection to reach 2.6 public In.So total journey time will be grown compared to path one, such as in the desired speed of 60km/h, using the system and do not make 532s, 441s are respectively with the time of the system.And with respect to the time that the intersection stand-by period is travelled between intersection Increased, this is resulted in the time proportion that is saved using the system and declines, such as under the desired speed of 60km/h, path two Time reduce proportion be 20.6%, and the minimizing proportion in path one be 35.4%.But this does not affect present invention auxiliary to drive system The advantage of system, DAS (Driver Assistant System) of the present invention are and reduce intersection delay and design.System is driven from table 4 using present invention auxiliary System is not only embodied in time, averagely reduces 85s than not using the system to have a clear superiority；It is also embodied in fuel consumption On, averagely reduce 175ml.The result of the test in path two shows that this DAS (Driver Assistant System) of the present invention is less for vehicle In the case of, the no matter length of the how many distances and intersection between in intersection, can reduce well intersection time delays and Oil consumption.
4 path two of table is using DAS (Driver Assistant System) result of the test of the present invention and the comparison not adopted
2) for path three, this path belongs to urban road, but due to surrounding environment, this link counting is not very big. It can be seen from Table 5 that, using this technology system than not using this technology system save time and fuel oil.Time and fuel oil Average decrement is 42s, 117ml.As long as illustrating that this technology system can meet the condition of small traffic volume, either rural road Or urban road all reflects advantage.
5 path three of table is using DAS (Driver Assistant System) result of the test of the present invention and the comparison not adopted
By the test in three paths, use condition and the advantage of the system has been absolutely proved.
Presently preferred embodiments of the present invention is the foregoing is only, not in order to limit the present invention, all essences in the present invention Any modification, equivalent and improvement that is made within god and principle etc., should be included within the scope of the present invention.
The present invention does not address part and is applied to prior art.

Claims (6)

1. a kind of intersection vehicle fast passing DAS (Driver Assistant System), it is characterised in that the system includes information gathering mould Block, vehicle localization module, obstacle recognition module, DBM, signal information module, vehicle aid decision module and vapour Car dynamical system, vehicle localization module are respectively connected with information acquisition module with obstacle recognition module；DBM divides Be not connected with vehicle localization module and vehicle aid decision module, signal information module and obstacle recognition module respectively with Vehicle aid decision module is connected, and obstacle recognition module is connected with automobile dynamic system respectively with vehicle aid decision module； Information acquisition module includes bluetooth GPS device and distance measuring sensor；The DBM includes the road of combining cartographic information The actual GPS information table in the intersection of actual GPS information table and combining cartographic information；The vehicle localization module passes through reading information The road reality of the combining cartographic information in current location information database module in the bluetooth GPS device in acquisition module GPS information table, obtains the current speed of service of vehicle and positional information, and this speed and positional information is sent to vehicle auxiliary Decision-making module；Obstacle recognition module is by the distance of the forward and backward vehicle in the distance measuring sensor in reading information acquisition module And the current speed of service of the vehicle in automobile dynamic system, the speed of service and the relative position of Adjacent vehicles is obtained, and will The information is sent to vehicle aid decision module；Combining cartographic information in vehicle aid decision module reading database module Signal lamp interval and duration in the actual GPS information table in intersection, signal information module, gives in conjunction with vehicle localization module The distance and the speed of service of the Adjacent vehicles that the current speed of service for going out and positional information, obstacle recognition module are given, obtains Whether vehicle overtakes other vehicles, acceleration and deceleration and optimal velocity value, if smoothly current then by voice to supply one optimal velocity of driver, If can not pass through then provide desired speed and parking waiting information by voice to driver.
2. a kind of intersection vehicle fast passing DAS (Driver Assistant System) according to claim 1, it is characterised in that institute State vehicle localization module and include GPS or Beidou navigation with bluetooth.
3. a kind of intersection vehicle fast passing DAS (Driver Assistant System) according to claim 1 and 2, its feature exist In the vehicle localization module using the road actual location information of storage, passes through on the basis of original location data is obtained Location algorithm obtains the information such as the real-time longitude and latitude of more accurate vehicle and speed, and the location algorithm is：
X ^ = ( B &prime; T PB &prime; ) - 1 W - &lsqb; ( B &prime; T PB &prime; ) - 1 C &prime; T U - 1 C &prime; ( B &prime; T PB &prime; ) - 1 &rsqb; W - ( B &prime; T PB &prime; ) - 1 C &prime; T U - 1 W x
WhereinFor revised accurate coordinates, B' is the coefficient matrix of error equation, and P weighs battle array for observation, and C' is constraint equation Factor arrays, W=B'Pl, U=C'(B'TPB)-1C'T, Wx is constraint equation constant term.
4. a kind of intersection vehicle fast passing DAS (Driver Assistant System) according to claim 1, it is characterised in that institute State obstacle recognition module and distance measuring sensor utilized, the distance of this vehicle and other vehicles is identified, and neighbouring vehicle speed is extracted, Foundation is provided for vehicle aid decision module.
5. a kind of intersection vehicle fast passing DAS (Driver Assistant System) according to claim 1, it is characterised in that institute State the report control platform of the carrying platform for mobile phone, flat board or vehicle self-carrying of DAS (Driver Assistant System).
6. a kind of intersection vehicle fast passing auxiliary driving method, it is characterised in that the method is using as claim 1st, the DAS (Driver Assistant System) described in 2,4,5 any one and following step：In vehicle aid decision module reading database module Signal lamp interval and duration in the actual GPS information table in the intersection of combining cartographic information, signal information module, passes through Given driver's desired speed is constraint, the latitude and longitude information be given in conjunction with vehicle localization module and Current vehicle with road speed limit Velocity information, obstacle recognition module be given to the distance of front truck and the velocity information of front truck, obtain vehicle whether overtake other vehicles, plus Slow down and optimal velocity value, if smoothly current then by voice to supply one optimal velocity of driver, if can not pass through then Desired speed and parking waiting information is provided by voice to driver；Specially：
(1) the expectation drive speed v that driver setsPhaseAnd normal minimum license speed v for approximately at the uniform velocity travelling permissionPerhaps, vPerhapsBy driving The person of sailing voluntarily is arranged, each section maximum speed limit speed vmax, have：vPerhaps<=vPhase<=vmax；
(2) vehicle to travelling, the information that the identification module that breaks the barriers is obtained judge whether front has vehicle, if no, executing Step (5)；If having and the section not allowing to overtake other vehicles, drive with car；If having and the section allowing to overtake other vehicles, execution step (3)；
(3) time and distance to needs of overtaking other vehicles calculates, specially：
t c = v m a x - v 1 + v b ( v m a x - v 1 ) + s 1 + s 4 - 0.5 ( v m a x 2 - v 1 2 ) v m a x - v b
l c = 0.5 ( v m a x 2 - v 1 2 ) + v m a x v b ( v max - v 1 ) + s 1 + s 4 - 0.5 ( v max 2 - v 1 2 ) v max - v b
Wherein v1Represent vehicle present speed, got by vehicle localization module；vbRepresent Overtaken Vehicle speed, by obstacle recognition Module gets；s1Represent distance between Current vehicle and Overtaken Vehicle, got by obstacle recognition module；s4Represent between vehicle Safe distance between vehicles, be set given value；
(4) in the case that there is vehicle in front and the section allows to overtake other vehicles, the time of the needs of overtaking other vehicles calculated according to step (3) Judged with distance, if oneself track can not be returned to after overtaking other vehicles, driven with car, by voice message driver with Chinese herbaceous peony row；No Then, overtaken other vehicles by voice message driver；
(5) in the case that front does not have vehicle, predict according to vPhaseArrive at the time of intersection；If being green light after arriving at, with vPhase For vehicle guidance speed；Otherwise judge with vmaxArrive at whether intersection can catch up with green light, if can, with vmaxFor vehicle guidance speed Degree, by voice message driver by being travelled at this rate；If can not, execution step (6)；
(6) vehicle is calculated in next letter green light time started in control cycle to be less than vPhaseArrive at speed v of intersection4；Due to v4No It is different with its running orbit, there is following 6 kinds of movement locus, different v are obtained according to different motion track4Calculate public Formula；
1. work as v4>v1, v4>viWhen：
v 4 = a 1 a 2 ( t r + t i - t a ) - a 2 v 1 + a 1 v i &PlusMinus; &lsqb; a 1 a 2 ( t a - t r - t i ) + a 2 v 1 - a 1 v i &rsqb; 2 - ( a 1 - a 2 ) ( 2 a 1 a 2 v 1 t r - a 2 v 1 2 + a 1 v i 2 + 2 a 1 a 2 t i v i - 2 a 1 a 2 L ) a 1 - a 2
v4For optimal velocity to be calculated, v1For initial velocity, viFor intersection speed limit, a1For acceleration, a2For deceleration, L be to The distance of intersection, trFor reaction time, taIt it is the time to the intersection time just for green light, similarly hereinafter；
2. work as v4>v1, v4≤viWhen：
v 4 = a 1 t a - a 1 t r + v 1 &PlusMinus; ( a 1 t a - a 1 t r + v 1 ) 2 - ( 2 a 1 L - 2 a 1 v 1 t r + v 1 2 )
3. work as v4=v1, v4>viWhen：
v 4 = a 12 ( t r + t i - t a ) + v i + ( a 2 t r + a 2 t i - a 2 t a + v i ) 2 + 2 a 2 ( L - v 1 t r - t i v i ) - v i 2
4. work as v4=v1, v4≤viWhen：
v 4 = L - v 1 t r t a - t r
5. work as v4<v1, v4>viWhen：
v 4 = v 1 2 - v i 2 + 2 a 2 ( L - v 1 t r + v i t i ) 2 v 1 - 2 v i + 2 a 2 ( t a - t r - t i )
6. work as v4<v1, v4≤viWhen：
v 4 = a 2 t a - a 2 t r + v 1 &PlusMinus; ( a 2 t a - a 2 t r + v 1 ) 2 - ( 2 a 2 L - 2 a 2 v 1 t r + v 1 2 )
Optimal velocity is the one kind in six kinds of situations, permits speed in conjunction with section speed limit and driver, calculates arrival and hands over Prong is the speed interval of green light；As long as driver's here interval guarantees to pass through intersection by being travelled；If v4> =vPerhaps, with v4For vehicle guidance speed, by voice message driver according to v4Travelled；Otherwise, vehicle is with vPerhapsFor vehicle guidance Speed；This mode vehicle arrives at intersection must parking waiting；Driver is given prompting by voice：Smoothly can not pass through intersection Mouthful, by vPerhapsParking waiting when travelling and reaching intersection.
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