CN102157072A - Inducing device and inducing method of vehicle confluence at intersection based on vehicle and road collaboration - Google Patents

Abstract

The invention is a vehicle-road coordination-based induction device for merging vehicles at an intersection and an induction method thereof. The device includes a video detector group, a roadbed computer module, a wireless router, a ramp roadside traffic information prompt screen and a traffic guidance belt, and the video detector group sends the video data of vehicles on the high-speed arterial road collected in real time to the roadbed computer module , the subgrade computer module processes video data to generate control signals, and the control signals are sent to the ramp roadside traffic information prompt screen through the wireless router for display and LED light mode conversion respectively. The induction method obtains the real-time speed and real-time distance of the moving vehicle by processing the traffic video stream of the vehicle on the high-speed arterial road, and generates a control signal, which is displayed on the traffic information prompt screen and controlled by the LED lights of the traffic guidance belt. Mode conversion. The invention can effectively avoid traffic accidents at the intersection of the ramp and the main road of the expressway.

Description

Induction device and induction method for vehicles merging at intersections based on vehicle-road coordination

technical field

The invention relates to a traffic signal safety control technology in an intelligent traffic system, in particular to a vehicle-road coordination-based vehicle merging induction device at an intersection and an induction method thereof.

Background technique

With the rapid development of my country's urban material civilization, the average level of traffic flow on main roads and on-ramps of expressways has increased significantly, and the pressure on ground traffic has increased. The intersection of the main road and the ramp of the urban expressway is a place where potential moving vehicles conflict, and the traffic safety hazard is quite large. It is a location where traffic accidents occur frequently. The objective reasons for its existence are: on the one hand, the geographical conditions near the intersection are limited, On the other hand, due to the limitation of the geometric layout of the road design and the limitations of the traffic facilities, the driver driving from the ramp to the intersection and preparing to merge into the main road of the expressway cannot see the high-speed moving vehicles on the main road of the expressway, and cannot carry out reasonable planning. The speed control of the vehicle is relatively high, and the psychological pressure of driving is relatively high. At present, some relatively effective control methods for entrance ramp signals in China only provide speed limit signals in the form of traffic lights flashing, which can only awaken the driver's awareness of controlling the speed of the vehicle, but cannot avoid artificial subjective speed control errors; and , Driving on the ramp, although the driver will consciously control the speed of the vehicle under normal circumstances, there is still a lot of psychological pressure to merge into the main road of the expressway autonomously.

Contents of the invention

The purpose of the present invention is to solve the shortage of traffic signal control at the intersection of main roads and ramps in China at present, and propose a vehicle-road coordination-based intersection vehicle merging induction device and its induction method, which effectively prevents vehicles from merging from the ramp. Merging into the main road of the expressway, traffic conflicts occur at the intersection, which eliminates or greatly reduces the psychological pressure of drivers who merge into the main road of the expressway from the ramp.

A vehicle-road coordination-based intersection vehicle merging induction device includes a video detector group, a ramp roadside traffic information prompt screen, a ramp roadside traffic guidance belt, a roadbed computer module and a wireless router; the video detector group includes four a video detector, and the roadbed computer module includes a microcontroller, a video capture card and a communication module; the video detector group is arranged on the upstream right roadside of the expressway main road, and the roadside traffic information of the ramp The prompt screen is arranged on the right side of the intersection where the ramp merges into the main road of the expressway. The prompt screen faces the ramp. The traffic guidance belt on the ramp road side is composed of LED screens and is arranged on the left side of the ramp. The wireless router is arranged on the side of the ramp road, and is on the same side as the traffic guidance belt on the side of the ramp road; each video detector is connected to the roadbed computer module through a shielded twisted pair, and the roadbed computer module is connected to a wireless router through a network cable. Each LED screen of the ramp roadside traffic information prompt screen and the ramp roadside traffic guidance belt has a wireless control card.

Each video detector collects the video image of the vehicle in the detection area of the high-speed main road in real time and sends it to the subgrade computer module, and the video acquisition card in the subgrade computer module performs analog-to-digital conversion on the video data to obtain video data in digital format The video data is transmitted to the microcontroller in the subgrade computer module; the microcontroller processes the received video data in real time to obtain the real-time speed of the moving vehicle and the real-time distance of the moving vehicle from the intersection where the ramp merges into the main road of the expressway, and According to the obtained real-time speed and real-time distance, a control signal is generated and sent to the communication module in the subgrade computer module. The communication module sends the control signal to the wireless router, and the wireless router sends the control signal to the traffic information prompt screen on the side of the ramp through wireless transmission. And the ramp road side traffic guidance belt, the ramp road side traffic information prompt screen displays in real time the dynamic position of all moving vehicles in the detection area of the upstream expressway main road at the intersection and the speed limit value of driving on the ramp according to the control signal, the ramp road side traffic The LED screen of the induction belt performs the mode conversion of flashing light according to the control signal.

A vehicle-road coordination-based intersection vehicle merging induction device and an induction method thereof, specifically comprising the following steps:

Step 1: Starting from the intersection where the ramp merges into the main road of the expressway, four video detectors are evenly arranged on the upstream right side of the main road of the expressway, and the four video detectors collect the detection area of the main road of the expressway in real time. The video image of the vehicle, and the collected video image is transmitted to the subgrade computer module;

Step 2, the video acquisition card in the subgrade computer module performs analog-to-digital conversion on the received video image, and transmits the converted video data in digital format to the microcontroller in the subgrade computer module, and the microcontroller processes the received video in real time The video data is obtained to obtain the real-time speed of the moving vehicle and the real-time distance of the moving vehicle from the intersection where the ramp merges into the main road of the expressway, and generate a control signal, and the communication module in the subgrade computer module transmits the generated control signal to the wireless router ;

米的LED屏及其左右相邻的两个LED屏的闪烁发光模式转换的信号，距离

由下面式子确定：The control signal includes: signal a, a signal that displays in real time the dynamic positions of all moving vehicles in the main road detection area of the expressway in the form of pattern animation, relative to the ramp and merges into the intersection of the main road of the expressway; signal b, on the ramp The speed limit value V _limit km/h of the up vehicle; signal c, the distance from the traffic guidance belt on the side of the control ramp road to the intersection where the ramp merges into the main road of the expressway is

The signal of the flashing light mode conversion of the LED screen and the two adjacent LED screens on the left and right, the distance

Determined by the following formula:

${\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; [</span>\frac{{\mathrm{<span\; class="notranslate">\; 10</span>}}^{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; limit</span>}}}{\mathrm{<span\; class="notranslate">\; 3600</span>}}<span\; class="notranslate">\; \&times;</span>\frac{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; \&times;</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1,2,3</span>}<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; no</span>}$

表示该第i辆运动车辆到匝道汇入高速路主干道的交叉路口的动态距离值，单位量纲为米，

表示该第i辆运动车辆的实时速度，单位量纲为米/秒；Among them, n is a natural number, and i represents the i-th moving vehicle at the intersection where the ramp merges into the main road of the expressway on the main road of the expressway,

Indicates the dynamic distance value of the i-th moving vehicle to the intersection where the ramp merges into the main road of the expressway, and the unit dimension is meter,

Indicates the real-time speed of the i-th moving vehicle, and the unit dimension is m/s;

L为一个无量纲的数值且L≥5V_limit；Step 3, the wireless router sends the control signal to the ramp roadside traffic information prompt screen and the ramp roadside traffic guidance belt through wireless transmission, and the ramp roadside traffic guidance belt is composed of k LED screens.

L is a dimensionless value and L≥5V _limit ;

Step 4: After receiving the control signal, the wireless control card attached to the ramp roadside traffic information prompt screen displays signal a and signal b on the ramp roadside traffic information prompt screen, and the LED screen of the ramp roadside traffic guidance belt After the attached wireless control card receives the control signal, the corresponding LED screen forms an early warning unit according to the signal c and performs mode conversion of flashing light;

According to the information a in the control signal, the upper part of the interface of the traffic information prompt screen on the side of the ramp displays the dynamic positions of all moving vehicles in the detection area of the expressway main road in real time to the ramp driver in the form of pattern animation. The main content of the pattern animation includes: It represents the schematic pattern of the lanes and intersections of the static main road detection area of the expressway, which is used to represent the dot grid pattern corresponding to the dynamic change of the position of the moving vehicle in the detection area of the main road of the expressway in real time; the traffic information prompt screen on the side of the ramp road The lower part of the interface displays the driving information according to the information b in the control signal: speed limit V _limit km/h;

米的LED屏及其左右相邻的两个LED屏由以频率为3HZ闪烁发出绿色光的发光状态转换为以频率5HZ闪烁发出红色光的发光状态，剩余LED屏保持为3HZ闪烁发出绿色光的发光状态；When there is no moving vehicle in the detection area of the traffic guidance belt on the side of the ramp road, all the LED screens are in the state of flashing green light at a frequency of 3HZ. When there is movement in the detection area of the main road of the expressway When the vehicle is on the ramp road side traffic guidance belt, the distance from the intersection where the ramp merges into the main road of the expressway is

The LED screen of the meter and the two adjacent LED screens on the left and right are converted from the light-emitting state of flashing green light at a frequency of 3HZ to the light-emitting state of flashing red light at a frequency of 5HZ, and the remaining LED screens remain in the state of flashing green light at 3HZ luminous state;

Step 5. The driver driving on the ramp should keep the vehicle speed V _limit km/h according to the driving information displayed on the traffic information prompt screen on the side of the ramp, and the LED screen of the traffic guidance belt on the side of the ramp will emit green light on the corresponding ramp road section Insider car.

The advantages and positive effects of the present invention are: (1) the guiding device and the guiding method of the present invention only need to do real-time detection and calculation judgment on the speed of the vehicle and the dynamic distance between the vehicle and the intersection, have a small amount of calculation, and the hardware is easy to implement , the advantage of strong portability; (2) the guiding device and the guiding method of the present invention utilize the traffic information prompt screen to display the animation of the dot lattice patterns representing the dynamic position changes of all moving vehicles in the detection area of the upstream expressway main road at the intersection, traffic The setting of the information prompt screen is more humane, and it can accurately provide the driver with traffic information on the main road of the expressway; (3) The driver follows the driving information prompted by the traffic information prompt screen on the side of the ramp to limit the speed of the vehicle. Driving within the signal band with flashing green lights on the LED screen, it no longer requires subjective decision-making to control the speed of the vehicle. On the one hand, this method can greatly reduce or eliminate the driver’s driving mistakes and psychological pressure when driving autonomously into the main road of the expressway. On the one hand, it can effectively reduce the violent conflict between vehicles on the ramp and the main road of the expressway, thereby avoiding the occurrence of traffic accidents.

Description of drawings

Fig. 1 is a schematic diagram of the module structure of the induction device of the present invention;

Fig. 2 is a schematic diagram of the application scene of the induction device in the embodiment of the present invention;

Fig. 3 is a schematic diagram of setting up the traffic information prompt screen on the side of the ramp road in the embodiment of the present invention;

Fig. 4 is a schematic diagram of the interface layout of the ramp roadside traffic information prompt screen of the present invention;

Fig. 5 is the schematic diagram of the traffic guidance belt that LED screen of the present invention forms;

Fig. 6 is a flow chart of the overall steps of the vehicle inductive method of the present invention.

in:

100-Video detector group 200-Traffic signal on the side of the ramp road 300-Traffic deduction on the side of the ramp road 400-Subgrade computer model

Information prompt screen Conductor belt Block

401-microcontroller 402-video capture card 403-communication module 500-wireless router

101-first video detector 102-second video detector 103-third video detector 104-fourth video detector

501-First wireless router 502-Second wireless router

Detailed ways

The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

As shown in Figure 1, the vehicle-road coordination-based intersection vehicle merging induction device of the present invention includes: a video detector group 100, a ramp roadside traffic information prompt screen 200, a ramp roadside traffic guidance belt 300, a roadbed computer module 400 and Wireless router 500. The subgrade computer module 400 is based on a single-chip micro-controller 401 whose model is MSP430F149, and also includes a video acquisition card 402 and a communication module 403 . The video detector group 100 is used to detect the traffic parameters of the vehicles on the high-speed arterial road, and collects video data in real time and sends them to the subgrade computer module 400. The control signal of the LED screen 300 on the side traffic guidance belt sends the corresponding control signal to the ramp roadside traffic information prompt screen 200 and the ramp roadside traffic guidance belt 300 through the wireless router 500 .

The video detector group 100 is located on the highway main road and includes four video detectors: a first video detector 101 , a second video detector 102 , a third video detector 103 and a fourth video detector 104 . As shown in Figure 2, four video detectors are arranged on the upstream right side of the main road of the expressway, and one is arranged every 100m. The range of the area is used as the detection area. Video detectors 101, 102, 103, 104 are used to detect moving vehicles in the main road detection area of expressways, and the frame rate of its real-time collection of traffic video images is 30 frames per second (Frames Per Second, referred to as fps), and the collected The video images are sent back to the base computer module 400 through the shielded twisted-pair wires buried on the side of the ramp road and the side of the main road of the expressway.

单位量纲为米(m)，该第i辆运动车辆的实时速度为

，单位量纲为：米/秒(m/s)，i＝1，2，3，…n，n为自然数。微控制器401根据得到的数字格式的视频数据实时通过自适应差分背景和差分帧间的视频流处理技术，得到的运动车辆的实时距离和实时速度生成对匝道路侧交通信息提示屏200和匝道路侧交通诱导带300的控制信号，并将控制信息发送给通信模块403。所述的控制信号包括：信号a、以图案动画的形式实时显示高速路主干道检测区域内的所有运动车辆相对交叉路口的动态位置的信号；信号b、在匝道上行车的限速值V_limit千米/小时(km/h)；信号c、控制在匝道路侧的交通诱导带上距离匝道和高速路主干道交叉路口距离为

的LED屏及其左右相邻的LED屏进行闪烁光信号模式转换的信号，本发明实施例中是指控制对应LED屏从以3HZ闪烁绿色光信号的模式转换到以5HZ闪烁红色光信号的模式，其中

的单位量纲为：米(m)，i＝1，2，3…n，n为自然数。通信模块403将控制信号发送给无线路由器500。The subgrade computer module 400 mainly adopts the video stream processing technology between adaptive differential background and differential frame to process video images, tracks moving vehicles in the monitoring area of the main road of the expressway, and obtains the real-time speed of the moving vehicles and the speed of the moving vehicles in real time. The real-time distance from the intersection where the ramp merges into the main road of the expressway maps the dynamic position of the moving vehicle to the corresponding position on the traffic diagram of the traffic information prompt screen on the side of the ramp. The video acquisition card 402 in the subgrade computer module 400 is connected with the video detectors 101, 102, 103, 104 on the main road side of the expressway through the shielded twisted pair, and the video image collected by the video detector is analog data, and the video acquisition The card 402 receives video images in real time and performs analog-to-digital conversion on the video images to obtain video data in digital format, which is sent to the microcontroller in the subgrade computer module. The microcontroller 401 calculates and obtains the real-time speed and speed of the moving vehicle based on the video data. The real-time distance from the intersection where the ramp merges into the main highway. The dynamic distance from the i-th vehicle to the intersection of the intersection where the ramp merges into the main road of the expressway in the detection area of the main road of the expressway is

The unit dimension is meter (m), and the real-time speed of the i-th moving vehicle is

, the unit dimension is: meter/second (m/s), i=1, 2, 3,...n, n is a natural number. The micro-controller 401 generates the real-time distance and real-time speed of the moving vehicle through the video stream processing technology of the adaptive difference background and the difference frame according to the video data obtained in digital format in real time, and generates the roadside traffic information prompt screen 200 and the turn The control signal of the traffic guidance belt 300 on the road side, and the control information is sent to the communication module 403 . The control signal includes: signal a, a signal that displays in real time the dynamic positions of all moving vehicles in the detection area of the main road of the expressway relative to the intersection in the form of pattern animation; signal b, the speed limit value V _limit for driving on the ramp Kilometers per hour (km/h); signal c, controlled on the traffic guidance belt on the side of the ramp road, the distance between the ramp and the intersection of the main road of the expressway is

The LED screen and its left and right adjacent LED screens perform the signal of flashing light signal mode conversion. In the embodiment of the present invention, it refers to the signal that controls the corresponding LED screen to switch from the mode of flashing green light signal at 3HZ to the mode of flashing red light signal at 5HZ. ,in

The unit dimension is: meter (m), i=1, 2, 3...n, n is a natural number. The communication module 403 sends the control signal to the wireless router 500 .

和

的主要通过现有方法获得：首先，利用自适应差分背景方法进行车辆检测，对视频数据进行差分背景的方法能够检测到运动的和静止的车辆，视频数据中的运动区域可以用差分背景和差分帧间来分割出运动目标和静止目标，而后利用中值滤波算法进行视频数据的噪声消除，并使用索贝尔算子(Sobel operator)进行视频数据的边缘增强处理完成视频数据的预处理；然后，利用多人决策制定技术(MPDM)进行车辆行车路径获得，同时利用在视频数据帧间的运动车辆在单位时间内其运动的滞后性即在视频数据中运动目标在单位时间内位移不大，速度近似等特点，把相邻视频数据帧间的聚类结果进行匹配，从而获取运动车辆的轨迹，根据车辆的运动轨迹计算获得

最后，根据行车路径的长度和实际车道几何平面以及视频数据中图像平面之间的映射关系计算出运动车辆实际的位移值，再用运动车辆的实际位移值除以视频检测器检测视频的周期就得到了运动车辆的实际的行车速度

。The microcontroller 401 acquires according to the video data in digital format

and

It is mainly obtained through existing methods: First, use the adaptive differential background method for vehicle detection, the method of differential background on video data can detect moving and stationary vehicles, and the moving area in video data can be detected by differential background and differential Segment the moving target and the static target between frames, then use the median filter algorithm to remove the noise of the video data, and use the Sobel operator (Sobel operator) to perform the edge enhancement processing of the video data to complete the preprocessing of the video data; then, Use multi-person decision-making technology (MPDM) to obtain the vehicle driving path, and at the same time use the hysteresis of the movement of the moving vehicle in the unit time between the video data frames, that is, the moving target in the video data has a small displacement in the unit time, and the speed Approximation and other characteristics, match the clustering results between adjacent video data frames, so as to obtain the trajectory of the moving vehicle, and calculate it according to the trajectory of the vehicle

Finally, the actual displacement value of the moving vehicle is calculated according to the mapping relationship between the length of the driving path, the geometric plane of the actual lane, and the image plane in the video data, and then the actual displacement value of the moving vehicle is divided by the period of the video detector to detect the video. Get the actual driving speed of the moving vehicle

.

根据下面式子获得：The speed limit value V _limit for driving on the ramp is set according to the specific traffic scene of the ramp using the device and method of the present invention, and its value ranges from 40 to 60 under normal conditions. the distance

Obtained according to the following formula:

${\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="L\; i"\; filenames="HDA0000052639630000021.png"\; state="\{\{state\}\}">L</figure-callout></span><figure-callout\; id="2"\; label="L\; i"\; filenames="HDA0000052639630000021.png"\; state="\{\{state\}\}">\; </figure-callout>}}_{\mathrm{<span\; class="notranslate">\; </span>}}^{\mathrm{<span\; class="notranslate">i</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; [</span>\frac{{\mathrm{<span\; class="notranslate">\; 10</span>}}^{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; limit</span>}}}{\mathrm{<span\; class="notranslate">\; 3600</span>}}<span\; class="notranslate">\; \&times;</span>\frac{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; \&times;</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1,2,3</span>}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; no</span>}$

The LED screen on the traffic guidance belt 300 on the side of the ramp changes its light emitting mode according to the warning distance, and generates n groups of real-time dynamic changing warning unit positions.

The wireless router 500 is arranged on the side of the ramp, and is on the same side as the traffic guidance belt on the side of the ramp formed by the LED screen. The number of wireless routers 500 is set appropriately according to the traffic scene, so that a local wireless network is formed between the wireless router 500 and the roadbed computer module 400, the traffic information prompt screen 200 on the side of the ramp road, and the LED screen 500 on the traffic guidance belt on the side of the ramp road. network. The wireless routers 500 are connected with a network cable through the LAN interface, and one of the wireless routers 500 is connected to the road-based computer module 400, and then sends the control signal received from the road-based computer module 400 to other wireless routers 500 and traffic information on the side of the ramp. Prompt screen 200, traffic guidance belt 300 on the ramp road side. As shown in FIG. 2 , two wireless routers 500 are deployed in the embodiment of the present invention, and the coverage radius of wireless signals transmitted by each wireless router 500 is 100 meters. The first wireless router 501 is connected to the roadbed computer module 400 through a network cable, and then connected to the second wireless router 502 through a network cable. The first wireless router 501 and the second wireless router 502 send control signals to the traffic information prompt screen on the side of the ramp road. 200 and the traffic guidance belt 300 on the side of the ramp road.

The ramp roadside traffic information prompting screen 200 is arranged at the right roadside of the intersection where the ramp merges into the main road of the expressway, and it has a wireless control card, which receives the control signal transmitted by the wireless router 500 and prompts The screen faces the ramp. As shown in Figure 3, the ramp roadside traffic information prompt screen 200 in the embodiment of the present invention is an LED display screen with a length of 256 cm and a width of 160 cm consisting of 10,240 LED lamp points, and is suspended by a steel frame at a place 6 meters above the ground. , with the display facing the ramp. As shown in FIG. 4 , the interface of the roadside traffic information prompt screen 200 is divided into an upper half interface and a lower half interface. The upper half interface of the traffic information prompt screen 200 displays in real time the dynamic positions of all moving vehicles in the detection area of the main road of the upstream expressway at the intersection to the ramp driver in the form of pattern animation according to the information a in the control signal. The pattern animation displayed in the embodiment of the present invention is composed of a dot matrix of LED lights that emit red light. The main content of the pattern animation includes: a schematic pattern representing the lanes and intersections of the static main road detection area of the expressway for real-time representation Corresponding to the dynamic change of the position of the moving vehicle in the detection area of the main road of the expressway. The lower half of the interface of the traffic information prompt screen 200 displays the driving information: "speed limit V _limit km/h" according to the information b in the control signal. The displayed driving information text part "speed limit" in the embodiment of the present invention is composed of a dot matrix of LED lights emitting red light, and the displayed driving information value and unit part "V _limit km/h" is composed of LED lights emitting yellow light. In addition, the overall content of the driving information is surrounded by a flowing rectangular frame composed of a dot matrix of LED lights emitting green light.

其中[·]为取整符号，L为一个无量纲的数值，且由于我国的高速路主干道上的行车的最低车速为80km/h，且匝道的行车速度标准在40km/h到60km/h的范围内，则本发明实施例中在匝道上行车的限速值为50km/h，则此处L≥250。L的具体值根据应用的交通场景而合理设定。每个LED屏带有一个具有无线信号接收功能的无线控制卡，用来接收匝道路侧的无线路由器500传送过来的控制信号。如图5所示，本发明实施例中，LED屏之间间隔3m，从匝道汇入高速路主干道的交叉口开始排列设置在匝道左边路侧上，每一个LED屏的主体为由256个LED灯点组成的长64cm和宽16cm的长方形点阵的灯屏，用竖直钢架架设在路侧防护栏上方，距离地面高度1.5m处，且位于从匝道与高速路主干道的交叉路口到相距交叉路口Lm处的这一段匝道的检测区域内。The traffic guidance belt 300 on the side of the ramp is composed of k LED screens arranged on the left side of the ramp,

Among them, [ ] is a rounding symbol, L is a dimensionless value, and because the minimum speed of driving on the main road of expressways in my country is 80km/h, and the speed standard of ramps is 40km/h to 60km/h within the range of In the embodiment of the present invention, the speed limit for driving on the ramp is 50 km/h, so here L≥250. The specific value of L is reasonably set according to the applied traffic scene. Each LED screen has a wireless control card with a wireless signal receiving function, which is used to receive the control signal transmitted by the wireless router 500 on the road side of the ramp. As shown in Figure 5, in the embodiment of the present invention, the distance between the LED screens is 3m, and they are arranged on the left side of the ramp from the intersection where the ramp merges into the main road of the expressway. The main body of each LED screen is composed of 256 LED screens. A rectangular dot matrix light screen with a length of 64cm and a width of 16cm composed of LED light points is erected on the roadside guardrail with a vertical steel frame, at a height of 1.5m from the ground, and is located at the intersection of the ramp and the main road of the expressway to the detection area of the ramp at the intersection Lm away.

的LED屏以及其左右相邻的LED屏，立即同步地由模式一切换到以5HZ闪烁发出红色光的发光状态，i＝1，2，3…n，n为自然数，i表示高速路主干道上距离匝道汇入高速路主干道的交叉路口的第i辆运动车辆，这三个以5HZ闪烁红色光的LED屏共同构成一个警示单元，与此同时，不属于在警示单元位置上的其他LED屏依旧保持模式一发光闪烁的状态。The traffic guidance strip 300 on the side of the ramp road flashes and lights when there are moving vehicles or no moving vehicles in the detection area of the main road of the expressway. If there is no moving vehicle in the 400m detection area, each LED screen on the traffic guidance belt on the side of the ramp will flicker at a frequency of 3HZ, and the light color will be green; mode 2, when there are moving vehicles in the 400m detection area of the main road of the expressway , then the distance between the traffic guidance belt on the side of the ramp and the intersection is

The LED screen and its adjacent LED screens immediately and synchronously switch from mode 1 to the luminous state of flashing red light at 5HZ, i=1, 2, 3...n, n is a natural number, i represents the main road of the expressway For the i-th moving vehicle at the intersection where the ramp merges into the main road of the expressway, these three LED screens flashing red light at 5HZ together form a warning unit. At the same time, other LED screens that do not belong to the position of the warning unit The screen still maintains the state of mode 1 lighting and flashing.

和

同时还实时检测它们的速度和，生成车辆由匝道安全汇入高速路主干道的控制信号：控制匝道路侧交通信息提示屏200上半部分界面以图案动画的形式实时显示高速路主干道检测区域内的所有运动车辆相对交叉路口的动态位置的信号；控制路侧交通信息提示屏200下半部分界面实时显示行车信息：“限速V_limitkm/h”的信号；控制匝道路侧交通诱导带300上的两组LED屏显示预警，如图2所示，距离匝道与高速路主干道交叉口距离为

与

的2个LED屏，以及其左右相邻的LED屏立即同步地由以3HZ闪烁绿光的模式切换到以5HZ闪烁发出红色光的模式，此时匝道路侧交通诱导带300上闪烁绿色光的LED屏形成绿光分段的区域，而三个相邻闪烁红光的LED屏构成一组预警单元，图2为匝道路侧交通诱导带300上的两组预警单元，随着

的动态变化，两组预警单元的位置也会随着动态变化。匝道上的车辆21保持车速V_limitkm/h在绿光所对应的匝道路段行车，避免在警示单元所对应的匝道路段行车，则可安全汇入高速路主干道。As shown in FIG. 2 , four video detectors 101 , 102 , 103 , and 104 respectively arranged on the upstream side of the main road of the expressway with an interval of 100 m perform detection work. When there is no moving vehicle on the main road of the expressway, the roadbed computer module 400 obtains the information that there is no car in the detection area of the main road of the expressway from the video data returned by the four video detectors, and then the roadbed computer module 400 sends a report to the ramp road connected to it. The wireless router 500 on the side transmits the generated control signals, and these control signals are forwarded to the traffic information prompt screen 200 at the ramp road side and the LED screen 300 on the ramp road side traffic guidance belt through each wireless router 500 in a wireless communication manner. On the wireless control card of the control ramp roadside traffic information prompt screen 200, the upper part of the display interface displays the traffic conditions in the detection area of the main road of the expressway, and the lower part of the interface displays the driving information: "speed limit V _limit km/h"; In addition, the control signal controls each LED screen on the ramp roadside traffic guidance belt 300 to work in mode 1, that is, each LED screen blinks at a frequency of 3 Hz and emits a green light signal. When a moving vehicle enters the detection area, for example, the vehicles 11 and 12 shown in FIG. , the subgrade computer module 400 processes and obtains the real-time distance values of moving vehicles from intersections respectively

and

while also monitoring their speed in real time and Generate a control signal for the vehicle to safely merge into the main road of the expressway from the ramp: the upper part of the interface of the traffic information prompt screen 200 on the side of the control ramp displays in real time the relative intersection of all moving vehicles in the detection area of the main road of the expressway in the form of pattern animation the signal of the dynamic position of the control roadside traffic information prompt screen 200 to display the driving information in real time on the lower part of the interface: the signal of "speed limit V _limit km/h"; control the two groups of LED screen displays on the roadside traffic guidance belt 300 of the ramp Early warning, as shown in Figure 2, the distance from the ramp to the highway main road intersection is

and

The 2 LED screens and the adjacent LED screens immediately and synchronously switch from the mode of flashing green light at 3HZ to the mode of flashing red light at 5HZ. The LED screen forms a segmented area of green light, and three adjacent flashing red LED screens form a group of early warning units.

The dynamic changes of the two groups of early warning units will also change with the dynamic changes. The vehicle 21 on the ramp maintains the vehicle speed V _limit km/h and drives on the ramp road section corresponding to the green light, avoids driving on the ramp road section corresponding to the warning unit, and then can safely merge into the main road of the expressway.

A vehicle merging induction method at the intersection of an expressway main road and a ramp of the present invention, as shown in Figure 6, specifically comprises the following steps:

Step 1. Starting from the intersection where the ramp merges into the main road of the expressway, the four video detectors 101, 102, 103, and 104 arranged on the upstream right side of the main road of the expressway are evenly arranged to collect the images of the main road of the expressway in real time. Detect video images of vehicles in the area, and send the collected video images to the subgrade computer module 400 . In the embodiment of the present invention, the distance between the video detectors arranged on the main road side of the expressway is 100m. In the detection area of the main road, the video detector collects video images at a frame rate of 30 frames per second, and detects in real time whether there is a vehicle entering the detection area of the main road of the expressway.

米的LED屏及其左右相邻的两个LED屏的闪烁发光模式转换的信号。这些信号从路基计算机模块400传送给匝道路侧的无线路由器500。Step 2, the subgrade computer module 400 processes the collected video images in real time, obtains the real-time speed of the moving vehicle and the real-time distance of the moving vehicle from the intersection where the ramp merges into the highway main road, and generates a control signal, and the subgrade computer module 400 will generate the The control signal is sent to wireless router 500 . After the video image is transmitted to the subgrade computer module 400 by wire, the video capture card 402 in the subgrade computer module 400 performs analog-to-digital conversion on the received video image to obtain video data in digital format, and the video capture card 402 transmits the video data to The micro-controller 401 in the subgrade computer module 400, the micro-controller 401 uses the video stream processing technology of adaptive differential background and differential frame to process the video data, and obtains the real-time speed of the moving vehicle and the distance of the moving vehicle from the ramp to the main road of the expressway The real-time distance of the intersection, and then generate the following control signals according to the real-time speed and real-time distance: signal a, in the form of pattern animation, real-time display of all moving vehicles in the main road detection area of the expressway merge into the intersection of the main road of the expressway relative to the ramp The signal of the dynamic position of the intersection; signal b, the speed limit value V _limit km/h for driving on the ramp; the value range of V _limit is 40-60; signal c, the distance from the control ramp road side traffic guidance belt to the entrance of the ramp The intersection distance of the main road of the expressway is

The LED screen of the meter and the signal of the blinking light-emitting mode conversion of the two adjacent LED screens on the left and right. These signals are transmitted from the roadbed computer module 400 to the wireless router 500 on the roadside of the ramp.

通过下面式子确定：the distance

Determined by the following formula:

${\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="L\; i"\; filenames="HDA0000052639630000021.png"\; state="\{\{state\}\}">L</figure-callout></span><figure-callout\; id="2"\; label="L\; i"\; filenames="HDA0000052639630000021.png"\; state="\{\{state\}\}">\; </figure-callout>}}_{\mathrm{<span\; class="notranslate">\; </span>}}^{\mathrm{<span\; class="notranslate">i</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; [</span>\frac{{\mathrm{<span\; class="notranslate">\; 10</span>}}^{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; limit</span>}}}{\mathrm{<span\; class="notranslate">\; 3600</span>}}<span\; class="notranslate">\; \&times;</span>\frac{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; \&times;</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1,2,3</span>}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; no</span>}$

表示该第i辆运动车辆到匝道汇入高速路主干道的交叉路口的动态距离值，单位量纲为米，

表示该第i辆运动车辆的实时速度，单位量纲为米/秒。Among them, n is a natural number, and i represents the i-th moving vehicle at the intersection where the ramp merges into the main road of the expressway on the main road of the expressway,

Indicates the dynamic distance value of the i-th moving vehicle to the intersection where the ramp merges into the main road of the expressway, and the unit dimension is meter,

Indicates the real-time speed of the i-th moving vehicle, and the unit dimension is m/s.

Step 3: The wireless router 500 sends the control signal to the ramp roadside traffic information prompt screen 200 and the ramp roadside traffic guidance belt 300 through wireless transmission.

L为一个无量纲的数值且L≥5V_limit。每个LED屏都附带有一个无线控制卡，可用于接收无线信号。匝道路侧交通信息提示屏200也附带有一个无线控制卡，用来接收无线信号。The traffic guidance belt on the side of the ramp road is composed of k LED screens arranged,

L is a dimensionless value and L≥5V _limit . Each LED screen comes with a wireless control card, which can be used to receive wireless signals. The ramp roadside traffic information prompt screen 200 is also attached with a wireless control card for receiving wireless signals.

Step 4: After the wireless control card attached to the ramp roadside traffic information prompt screen 200 receives the control signal, it displays signal a and signal b on the ramp roadside traffic information prompt screen 200, and the ramp roadside traffic guidance belt 300 After the wireless control card attached to the LED screen receives the control signal, the corresponding LED screen forms an early warning unit according to the signal c and performs mode conversion of flashing light.

According to the information a in the control signal, the upper half interface of the ramp roadside traffic information prompt screen 200 displays the dynamic positions of all moving vehicles in the detection area of the expressway main road in real time to the ramp driver in the form of pattern animation. The main content of the pattern animation includes : Represents the schematic pattern of the lanes and intersections of the static expressway main road detection area, which is used to represent the dot grid pattern corresponding to the dynamic change of the moving vehicle position in the expressway main road detection area in real time; the traffic information prompt screen on the side of the ramp road The lower part of the interface of 200 displays the driving information according to the information b in the control signal: speed limit V _limit km/h.

米的LED屏及其左右相邻的两个LED屏由以频率为3HZ闪烁发出绿色光的发光状态转换为以频率5HZ闪烁发出红色光的发光状态，剩余LED屏保持为3HZ闪烁发出绿色光的发光状态。When there is no moving vehicle in the detection area of the traffic guidance belt 300 on the side of the ramp road, all the LED screens are in the luminous state of flashing green light at a frequency of 3HZ. When the vehicle is in motion, the intersection on the ramp road side traffic guidance belt 300 away from the ramp merges into the main road of the expressway is

The LED screen of the meter and the two adjacent LED screens on the left and right are converted from the light-emitting state of flashing green light at a frequency of 3HZ to the light-emitting state of flashing red light at a frequency of 5HZ, and the remaining LED screens remain in the state of flashing green light at 3HZ Glowing state.

Each LED screen of the ramp roadside traffic guidance belt 300 and the wireless control card attached to the ramp roadside traffic information prompt screen 200 will act immediately after receiving the control signal:

The control signal controls the ramp roadside traffic information prompt screen 200. The upper part of the interface displays the dynamic positions of all moving vehicles in the detection area of the upstream expressway at the intersection to the ramp driver in real time in the form of a red pattern animation composed of LED light dot matrix. Simultaneously, the lower half interface of the traffic information prompt screen 200 on the side of the ramp displays in real time: the driving information of "speed limit V _limit km/h".

From the signal c generated by the subgrade computer module 400, n distance values are obtained in real time i=1, 2, 3 . . . n, control the real-time dynamic positions of n groups of early warning units on the ramp roadside traffic guidance belt 300 and the corresponding LED screens to perform flashing mode conversion.

Step 5. The driver driving on the ramp should keep the vehicle speed V _limit km/h according to the driving information displayed on the traffic information prompt screen on the side of the ramp, and the LED screen of the traffic guidance belt on the side of the ramp will emit green light on the corresponding ramp road section Insider car.

The vehicle-road coordination-based intersection vehicle merging induction device and its induction method can collect and integrate more traffic information on expressways and arterial roads that drivers cannot obtain in real time. In addition, the LED lights on the traffic guidance belt 300 will give real-time feedback to the drivers on the ramp in the form of flashing light signals in different modes, so as to provide reliable guarantee for the drivers on the ramp to make speed control decisions and effectively avoid traffic conflicts. At the same time, reduce the driver's driving psychological pressure.

Claims (10)

1. A vehicle-road coordination-based intersection vehicle merging induction device, characterized in that, the induction device includes a video detector group, a ramp roadside traffic information prompt screen, a ramp roadside traffic guidance belt, a roadbed computer module and Wireless router; the video detector group includes four video detectors, and the road-based computer module includes a microcontroller, a video capture card and a communication module; the video detector group is arranged on the upstream of the highway main road On the right road side, the ramp road side traffic information prompt screen is arranged at the right road side of the intersection where the ramp merges into the expressway main road, the prompt screen faces the ramp, and the ramp road side traffic guidance belt is controlled by an LED screen Arrangement structure, arranged on the left side of the ramp, the wireless router is arranged on the side of the ramp, and on the same side as the traffic guidance belt on the side of the ramp; each video detector is connected to the computer module of the roadbed through a shielded twisted pair, and the roadbed The computer module is connected to a wireless router through a network cable, and the wireless routers are connected through a network cable; each LED screen of the ramp roadside traffic information prompt screen and the ramp roadside traffic guidance belt has a wireless control card; Each video detector collects video images of vehicles in the detection area of the expressway in real time, and transmits them to the subgrade computer module; the video acquisition card performs analog-to-digital conversion on the received video images, and converts the video data in digital format obtained after conversion Send it to the microcontroller, and the microcontroller processes the received video data in real time to obtain the real-time speed of the moving vehicle and the real-time distance from the moving vehicle to the intersection where the ramp merges into the main road of the expressway, and according to the obtained real-time speed and real-time distance Generate a control signal and send it to the communication module, the communication module sends the control signal to the wireless router, and the wireless router sends the control signal to the ramp roadside traffic information prompt screen and the ramp roadside traffic guidance belt through wireless transmission According to the control signal, the prompt screen displays in real time the dynamic position of all moving vehicles in the detection area of the main road of the upstream expressway at the intersection and the speed limit value of driving on the ramp, and the LED screen of the traffic guidance belt on the side of the ramp flashes according to the control signal. convert. 2. A vehicle-road coordination-based intersection vehicle merging induction device according to claim 1, characterized in that, the four video detectors start from the intersection where the ramp merges into the highway main road every One is arranged at 100m, and the area from the intersection where the ramp merges into the main road of the expressway to the 400m upstream of the main road of the expressway is used as the detection area of the main road of the expressway. The video detector collects video images at a frame rate of 30 frames per second . 3. A kind of intersection vehicle merging induction device based on vehicle-road coordination according to claim 1, characterized in that, the microcontroller is an MSP430F149 single-chip microcontroller, and the control signals it produces include: signal a 1. In the form of pattern animation, real-time display signals of the dynamic positions of all moving vehicles in the main road detection area of the expressway merge into the main road of the expressway relative to the ramp; signal b, the speed limit value V _limit of driving on the ramp m/h, V _limit ranges from 40 to 60; signal c, the distance from the traffic guidance belt on the side of the control ramp to the intersection where the ramp merges into the main road of the expressway is

The signal of the flashing light mode conversion of the LED screen of meters and its adjacent LED screens on the left and right, the distance

Determined by the following formula: ${\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; [</span>\frac{{\mathrm{<span\; class="notranslate">\; 10</span>}}^{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; limit</span>}}}{\mathrm{<span\; class="notranslate">\; 3600</span>}}<span\; class="notranslate">\; \&times;</span>\frac{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; \&times;</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1,2,3</span>}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; no</span>}$ Among them, n is a natural number, and i represents the i-th moving vehicle at the intersection where the ramp merges into the main road of the expressway on the main road of the expressway,

Indicates the dynamic distance value of the i-th moving vehicle to the intersection where the ramp merges into the main road of the expressway, and the unit dimension is meter, Indicates the real-time speed of the i-th moving vehicle, and the unit dimension is m/s. 4. A vehicle-road coordination-based intersection vehicle merging induction device according to claim 1 or 3, characterized in that, the ramp roadside traffic information prompt screen is a long LED light point composed of 10240 The 256 cm, 160 cm wide LED display is suspended on a steel frame at a height of 6 meters from the ground. 5. A vehicle-road coordination-based intersection vehicle merging induction device according to claim 1 or 3, characterized in that the upper half of the interface of the roadside traffic information prompt screen is based on the information in the control signal a In the form of pattern animation, the dynamic position of all moving vehicles in the detection area of the main road of the expressway is displayed to the ramp driver in real time. The displayed pattern animation is composed of a dot matrix of LED lights emitting red light. The main content of the pattern animation includes: The static schematic pattern of lanes and intersections in the detection area of the main road of the expressway is used to represent the dot grid pattern corresponding to the dynamic change of the position of the moving vehicle in the detection area of the main road of the expressway in real time; the lower part of the interface is based on the control signal Information b displays driving information: speed limit V _limit km/h, the word speed limit in the displayed driving information is composed of a dot matrix of LED lights emitting red light, and the V _limit km/h part of the displayed driving information It is composed of a dot matrix of LED lights that emit yellow light, and the overall content of the driving information is surrounded by a flowing rectangular frame composed of a dot matrix of LED lights that emit green light. 6. A vehicle-road coordination-based intersection vehicle merging induction device according to claim 1 or 3, characterized in that the ramp roadside traffic guidance belt includes k LED screens,

L is a dimensionless value and L≥5V _limit . There are two modes for the LED screen of the traffic guidance belt on the side of the ramp to flicker: Mode 1. When there are no moving vehicles in the detection area of the main road of the expressway, each One LED screen is in the state of flashing green light with a frequency of 3HZ; mode 2, when there are moving vehicles in the detection area of the main road of the expressway, the distance from the intersection where the ramp merges into the main road of the expressway is

The meter’s LED screen and its two adjacent LED screens immediately and synchronously switch from mode 1 to the light-emitting state that blinks at a frequency of 5HZ and emits red light, and the remaining LED screens maintain a light-emitting state that blinks at a frequency of 3HZ and emits green light. =1, 2, 3...n, n is a natural number, i represents the i-th moving vehicle at the intersection where the ramp merges into the main road of the expressway. 7. A vehicle-road coordination-based intersection vehicle merging induction device according to claim 5, characterized in that the LED screen starts at the intersection where the ramp merges into the main road of the expressway, every 3 meters Arranged on the left side of the ramp, each LED screen is a rectangular lattice light screen with a length of 64 cm and a width of 16 cm consisting of 256 LED light points, and is erected above the roadside guardrail with a vertical steel frame. 1.5 meters above the ground, and located in the detection area of the ramp from the intersection where the ramp merges into the main road of the expressway to the section L meters away from the intersection. 8. Applying the induction method of a vehicle-road coordination-based intersection vehicle merging induction device according to claim 1, it is characterized in that, specifically comprising the following steps: Step 1. Starting from the intersection where the ramp merges into the main road of the expressway, four video detectors are evenly arranged on the upstream right side of the main road of the expressway to collect the video of the vehicles in the detection area of the main road of the expressway in real time. image, and transmit the collected video image to the embankment computer module; Step 2, the video acquisition card in the subgrade computer module performs analog-to-digital conversion on the received video image, and transmits the converted video data in digital format to the microcontroller in the subgrade computer module, and the microcontroller processes the received video in real time video data to obtain the real-time speed of the moving vehicle and the real-time distance of the moving vehicle from the intersection where the ramp merges into the main road of the expressway, and generate a control signal, and the communication module in the subgrade computer module transmits the generated control signal to the wireless router; The control signal includes: signal a, a signal that displays in real time the dynamic positions of all moving vehicles in the main road detection area of the expressway in the form of pattern animation, relative to the ramp and merges into the intersection of the main road of the expressway; signal b, on the ramp The speed limit value V _limit km/h of the up vehicle; signal c, the distance from the traffic guidance belt on the side of the control ramp road to the intersection where the ramp merges into the main road of the expressway is

The signal of the flashing light mode conversion of the LED screen and the two adjacent LED screens on the left and right, the distance

Determined by the following formula: ${\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; [</span>\frac{{\mathrm{<span\; class="notranslate">\; 10</span>}}^{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; limit</span>}}}{\mathrm{<span\; class="notranslate">\; 3600</span>}}<span\; class="notranslate">\; \&times;</span>\frac{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; \&times;</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1,2,3</span>}<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; no</span>}$ Among them, n is a natural number, and i represents the i-th moving vehicle at the intersection where the ramp merges into the main road of the expressway on the main road of the expressway,

Indicates the dynamic distance value of the i-th moving vehicle to the intersection where the ramp merges into the main road of the expressway, and the unit dimension is meter, Indicates the real-time speed of the i-th moving vehicle, and the unit dimension is m/s; Step 3, the wireless router sends the control signal to the ramp roadside traffic information prompt screen and the ramp roadside traffic guidance belt through wireless transmission, and the ramp roadside traffic guidance belt is composed of k LED screens.

L is a dimensionless value and L≥5V _limit ; Step 4: After receiving the control signal, the wireless control card attached to the ramp roadside traffic information prompt screen displays signal a and signal b on the ramp roadside traffic information prompt screen, and the LED screen of the ramp roadside traffic guidance belt After the attached wireless control card receives the control signal, the corresponding LED screen forms an early warning unit according to the signal c and performs mode conversion of flashing light; According to the signal a in the control signal, the upper part of the interface of the traffic information prompt screen on the side of the ramp displays the dynamic positions of all moving vehicles in the detection area of the expressway main road in real time to the ramp driver in the form of pattern animation. The main content of the pattern animation includes: It represents the schematic pattern of the lanes and intersections of the static main road detection area of the expressway, which is used to represent the dot grid pattern corresponding to the dynamic change of the position of the moving vehicle in the detection area of the main road of the expressway in real time; the traffic information prompt screen on the side of the ramp road The lower part of the interface displays the driving information according to the signal b in the control signal: speed limit V _limit km/h; When there is no moving vehicle in the detection area of the traffic guidance belt on the side of the ramp road, all the LED screens are in the state of flashing green light at a frequency of 3HZ. When there is movement in the detection area of the main road of the expressway When the vehicle is on the ramp road side traffic guidance belt, the distance from the intersection where the ramp merges into the main road of the expressway is The LED screen of the meter and the two adjacent LED screens on the left and right are converted from the light-emitting state of flashing green light at a frequency of 3HZ to the light-emitting state of flashing red light at a frequency of 5HZ, and the remaining LED screens remain in the state of flashing green light at 3HZ luminous state; Step 5. The driver driving on the ramp should keep the vehicle speed V _limit km/h according to the driving information displayed on the traffic information prompt screen on the side of the ramp, and the LED screen of the traffic guidance belt on the side of the ramp will emit green light on the corresponding ramp road section Insider car. 9. A vehicle-road coordination-based intersection vehicle merging induction method according to claim 8, characterized in that the video detectors described in step 1 are arranged at an interval of 100 meters, and will merge into the vehicle from the ramp. The area from the intersection of the expressway main road to the 400m upstream of the expressway main road is used as the detection area of the expressway main road. 10. A vehicle-road coordination-based intersection vehicle merging induction method according to claim 8, characterized in that the speed limit value V _limit for driving on the ramp described in step 2 ranges from 40 to 60 .

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