CN113112817A - Tunnel vehicle positioning and early warning system and method based on Internet of vehicles and following behaviors - Google Patents
Tunnel vehicle positioning and early warning system and method based on Internet of vehicles and following behaviors Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/14—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by recording the course traversed by the object
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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Abstract
The invention discloses a tunnel vehicle positioning and early warning system and a method thereof based on Internet of vehicles and following behaviors, wherein a segmented radio frequency identification system and a road side unit are built in a tunnel to acquire lane passing information of an Internet vehicle; the networked automobile detects the position and speed information of the non-networked automobile before and after the networked automobile detects the position and speed information of the non-networked automobile through the vehicle-mounted millimeter wave radar, and in addition, the networked automobile sends the running information of the networked automobile to the road side unit through the intelligent vehicle-mounted unit and transmits the running information to the edge industrial personal computer and the cloud platform, so that the position estimation of the networked automobile and the non-networked automobile in the tunnel is realized. And then, early warning is carried out on the vehicle by combining the vehicle speed change condition of each subsection interval in the tunnel. The method can realize real-time analysis of the running conditions of the networked and non-networked automobiles under the condition of no GNSS signal, and has an important effect on improving the traffic safety level in the tunnel.
Description
Technical Field
The invention relates to the technical field of intelligent traffic data processing, in particular to a tunnel vehicle positioning and early warning system and method based on the Internet of vehicles and following behaviors.
Background
With the acceleration of the motorized process, the problems of traffic jam and traffic safety are more and more highly valued by countries in the world. At present, the car networking technology develops fast, for the information interconnection intercommunication that realizes car end, way end, high in the clouds, provides important technical support. In recent years, the level of intelligence of vehicles is gradually improved, the installation and utilization rate of various sensors (such as a GPS, a camera, a millimeter wave radar, and an electronic tag) on the vehicles is gradually increased, and important information is provided for realizing intelligent management and control of vehicle operation.
In the tunnel, since there is no Global Navigation Satellite System (GNSS) signal, the positioning of the vehicle cannot be realized, and when an emergency such as a traffic accident occurs in the tunnel, timely traffic warning and guidance cannot be performed. Chinese patent document CN 111586632a discloses a cooperative neighbor vehicle positioning method based on communication sensing asynchronous data fusion, which periodically measures the state information of own vehicle and neighbor vehicles, and broadcasts the state measurement information of own vehicle by using V2V communication, however, under tunnels and overhead bridges, GNSS signals of global navigation satellite systems are severely interfered, and accurate positioning of vehicles cannot be achieved. In addition, many vehicles are conventional vehicles that do not have associated communication and sensing equipment, subject to the cost of purchase, and the sensing and monitoring of such vehicles needs to be enhanced. Chinese patent document CN 111770451a discloses a road vehicle positioning and sensing method and device based on vehicle-road coordination, in which a vehicle-mounted end obtains the state information of a vehicle itself, sends the state information to a road-side end, and a road-side end synchronizes the vehicle information and the road environment information in time and space, and feeds back the information to the vehicle-mounted end. Chinese patent document CN111624550A discloses a vehicle positioning method, apparatus and storage medium, in which the method performs time synchronization processing on the acquired reference vehicle information and target vehicle information, determines a matching vehicle of the target vehicle from the reference vehicle, and then determines the position information of the target vehicle according to the position information of the matching vehicle. Chinese patent document CN112019997A discloses a vehicle positioning method and device, in which a roadside node sends vehicle position calibration information, and when there is no GNSS signal, an inertial measurement unit of a vehicle collects vehicle acceleration information, thereby determining vehicle position information.
Disclosure of Invention
The invention provides a tunnel vehicle positioning and early warning system and a tunnel vehicle positioning and early warning method based on car networking and following behaviors, and solves the technical problems that the position information of a vehicle is difficult to position under the situation of no GNSS signal, and meanwhile, when the vehicle is a common vehicle (without a vehicle-mounted unit, an inertial measurement unit and the like), the vehicle is not provided with a related sensing and communication sensor, the running information of the vehicle is difficult to determine, and further the positioning and early warning cannot be carried out, so that the vehicle is jammed.
The embodiment of the application provides a tunnel vehicle positioning system and an early warning method based on car networking and following behaviors in a first aspect, and the method comprises the following steps:
constructing a tunnel digital map, and marking at least one group of lane information and a vehicle signal identification and acquisition system;
the position information of the radio frequency identification system reads the passing information of the networked vehicles, and the lane information of the networked vehicles is sent to the cloud platform;
the method comprises the steps that the position of mileage on the installation section of a radio frequency identification system is taken as a starting point, an internet vehicle obtains wheel speed information of the internet vehicle through a vehicle electronic control unit, and an intelligent vehicle-mounted unit calculates accumulated passing mileage and determines the position of a tunnel lane where the vehicle is located;
the networked vehicles detect the relative distance and the relative speed of the surrounding common vehicles through the millimeter wave radar unit and convert the relative distance and the relative speed into the position and speed information of the common vehicles;
the networking vehicle sends the position information and the speed information of the networking vehicle and the surrounding common vehicles to the road side unit in a wireless communication mode through the intelligent vehicle-mounted unit, and the road side unit is started to the cloud platform in a wireless communication mode;
on different lanes of the tunnel digital map, the cloud platform obtains position and speed information of the networked vehicle and the common vehicle in real time;
and the cloud platform calculates the average value of the traffic flow speeds of different tunnel sections, and when the average value of the speeds is lower than a set threshold value, the fact that an emergency situation exists in the tunnel is judged, and early warning is carried out.
Further, the step of using the location of the mileage of the installation section of the radio frequency identification system as a starting point, acquiring the wheel speed information of the internet vehicle by the internet vehicle through the vehicle electronic control unit, calculating the accumulated passing mileage by the intelligent vehicle-mounted unit, and determining the location of the tunnel where the vehicle is located includes:
the electronic tag of the internet automobile obtains the passing time and speed of the internet automobile through the radio frequency identification system reader, and the installation position of the radio frequency identification system reader is taken as the basis;
reading passing information of the networked vehicles according to the position information of the radio frequency identification system to obtain real-time vehicle speed, and performing integral accumulation on the vehicle speed and time to obtain real-time networked vehicle position information;
when the networked automobile passes through the next radio frequency identification system reader, the reference position is corrected again, and the vehicle speed-time is subjected to integral accumulation on the basis of the installation position of the radio frequency identification system reader to obtain the position information of the networked automobile at the moment.
Further, the networked vehicle detects the relative distance and the relative speed of the surrounding common vehicles through the millimeter wave radar unit, and converts the relative distance and the relative speed into the position and the speed information of the common vehicles, and the method comprises the following steps:
the networked automobile detects the relative position, relative speed and direction information of surrounding vehicles through a millimeter wave radar, and the information is transmitted to the intelligent vehicle-mounted unit;
the intelligent vehicle-mounted unit calculates the speed and position information of the ordinary automobile according to the determined speed and position information;
when a common automobile has a plurality of networked automobile detection, the networked automobile detection information closest to the common automobile in the same lane and different lanes is taken as the standard.
Further, a tunnel digital map is constructed, and at least one group of lane information and vehicle signal identification and acquisition system is marked, which comprises the following steps:
and constructing a digital map of the tunnel, determining the width, the number and the line shape of the lanes, marking the positions of the radio frequency identification system, the road side unit and the edge industrial personal computer on the map, and storing the digital map of the tunnel on the edge industrial personal computer.
Further, the traffic flow speed average value of different tunnel sections is calculated to the cloud platform, and when speed average value was less than the settlement threshold value, there was emergency in the judgement tunnel, carries out the early warning, includes:
the early warning modes comprise broadcasting, lighting, sending early warning information to the intelligent vehicle-mounted unit display terminal, telephone and the like.
A second aspect of the embodiments of the present application provides a tunnel vehicle positioning and early warning system based on car networking and following behaviors, the system is applied to at least one method according to any one of the first aspect, the system includes at least one group of vehicle signal identification and acquisition systems arranged in a tunnel, and the system is used for acquiring networked vehicle position information and general vehicle position information;
the cloud platform is used for receiving the information uploaded by the vehicle signal identification and acquisition system, analyzing and sending related information to the vehicle signal identification and acquisition system;
the online automobile position information positioning system is used for obtaining the passing time and speed of the online automobile and carrying out early warning;
the common automobile position information positioning system calculates the passing time and speed of the common automobile through the internet automobile position information system.
Further, the vehicle signal identification and acquisition system comprises a radio frequency identification system, a road side unit and an edge industrial personal computer;
the radio frequency identification system is used for reading the information that the networked vehicle passes through and correcting the reference position;
the roadside unit establishes vehicle-road information interaction with an intelligent vehicle-mounted unit on the networked vehicle through dedicated short-range communication DSRC and WIFI;
and the edge industrial personal computer is used for receiving the information of the road side unit and the radio frequency identification system, feeding back the processed information to the road side unit and uploading the processed information to the cloud platform.
Further, the networked automobile position information system comprises an intelligent vehicle-mounted unit and an electronic tag unit;
the intelligent vehicle-mounted unit acquires the wheel speed information of the real-time wheel speed sensor through the vehicle electronic control unit and performs real-time information interaction with the road side unit;
and the electronic tag unit obtains the passing time and the passing speed of the networked automobile through a radio frequency identification system.
Further, the ordinary automobile position information positioning system comprises a millimeter wave radar unit and an internet automobile position information system;
the millimeter wave radar units are all arranged on the networked automobile and used for detecting the relative position, relative speed and direction information of surrounding vehicles and transmitting the information to the networked automobile position information system.
Further, the cloud platform can receive information uploaded by the edge industrial personal computer and send related information to the edge industrial personal computer.
Drawings
FIG. 1 is a flow chart of the positioning and early warning process of networked vehicles in a tunnel according to the present invention;
FIG. 2 is a flow chart of the present invention for positioning and early warning of a vehicle in a tunnel;
FIG. 3 is a schematic diagram of the sensor layout in a tunnel according to the present invention;
FIG. 4 is a diagram of information interaction between the networked automobile and the cloud platform according to the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Other embodiments, which can be derived by one of ordinary skill in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment of the invention:
fig. 1 is a schematic flowchart of a tunnel vehicle positioning system and an early warning method based on car networking and following behaviors provided in a first embodiment of the present application, as shown in fig. 1, an execution subject of the embodiment of the present application is how an internet vehicle is positioned and early warning in a tunnel, and the tunnel internet vehicle positioning system and the early warning method provided in the embodiment include the following steps:
in the embodiment, a digital map of the tunnel is constructed, the width, the number and the line shape of the lanes are made clear, the positions of the RFID reader, the road side unit and the edge industrial personal computer are marked on the map, and the digital map of the tunnel is stored on the edge industrial personal computer. And the digital map of the tunnel is stored on the cloud platform and the edge industrial personal computer respectively.
102, reading the passing information of the networked vehicle by using the position information of the radio frequency identification system, and sending the information of the lane where the networked vehicle is located to a cloud platform;
103, taking the mounting section mileage position of the radio frequency identification system as a starting point, acquiring the wheel speed information of the networked vehicle by the networked vehicle through the vehicle electronic control unit, calculating the accumulated passing mileage by the intelligent vehicle-mounted unit, and determining the position of the tunnel lane where the vehicle is located;
in the embodiment, the electronic tag of the internet automobile passes through the radio frequency identification system reader to obtain the passing time and the passing speed of the internet automobile, and the installation position of the radio frequency identification system reader is taken as the basis;
in the embodiment, the passing information of the networked vehicles is read according to the position information of the radio frequency identification system to obtain the real-time vehicle speed, and the vehicle speed-time is subjected to integral accumulation to obtain the real-time networked vehicle position information;
in this embodiment, when the internet automobile passes through the next rfid system reader, the reference position is corrected again, and the vehicle speed-time is integrated and accumulated based on the installation position of the rfid system reader, so as to obtain the current position information of the internet automobile.
104, the networked vehicle sends the position information and the speed information of the networked vehicle to a road side unit in a radio communication mode through an intelligent vehicle-mounted unit, and the road side unit starts a cloud platform in a radio communication mode;
105, acquiring the position and speed information of the networked vehicle and the common vehicle in real time by the cloud platform on different lanes of the tunnel digital map;
and 106, calculating the average value of the traffic flow speeds of different tunnel sections by the cloud platform, judging that an emergency situation exists in the tunnel when the average value of the speeds is lower than a set threshold value, and early warning.
In this embodiment, the early warning mode includes broadcasting, lighting, sending early warning information to the intelligent vehicle-mounted unit display terminal, and telephone.
The second embodiment of the invention:
fig. 2 is a schematic flowchart of a tunnel vehicle positioning system and an early warning method based on car networking and following behaviors provided in a second embodiment of the present application, and as shown in fig. 2, an execution subject of the embodiment of the present application is how to position and early warning a general vehicle in a tunnel, and step 101 and step 106 are detailed on the basis of the tunnel networking vehicle positioning system and the early warning method provided in the first embodiment of the present application, so that the general vehicle positioning system and the early warning method provided in the present embodiment include the following steps,
in the embodiment, a digital map of the tunnel is constructed, the width, the number and the line shape of the lanes are made clear, the positions of the RFID reader, the road side unit and the edge industrial personal computer are marked on the map, and the digital map of the tunnel is stored on the edge industrial personal computer. And the digital map of the tunnel is stored on the cloud platform and the edge industrial personal computer respectively.
Specifically, in this embodiment, a radio frequency identification system, that is, a radio frequency identification RFID reader, is arranged at the tunnel entrance, and then n RFID readers are arranged at different intervals along the traffic flow direction. In addition, set up m roadside units on the tunnel edge to set up a plurality of edge industrial computer.
in the embodiment, the electronic tag of the internet automobile passes through the radio frequency identification system reader to obtain the passing time and the passing speed of the internet automobile, and the installation position of the radio frequency identification system reader is taken as the basis;
in the embodiment, the passing information of the networked vehicles is read according to the position information of the radio frequency identification system to obtain the real-time vehicle speed, and the vehicle speed-time is subjected to integral accumulation to obtain the real-time networked vehicle position information;
in this embodiment, when the internet automobile passes through the next rfid system reader, the reference position is corrected again, and the vehicle speed-time is integrated and accumulated based on the installation position of the rfid system reader, so as to obtain the current position information of the internet automobile.
Specifically, in this embodiment, the real-time vehicle speed is obtained from the vehicle ECU, and the position of the networked vehicle in the tunnel is calculated in real time, where the real-time position is equal to the position of the first RFID reader plus the real-time traveled distance. And after passing through the second RFID reader, the position starting point of the networked vehicle is corrected again.
As shown in fig. 3, when the time when the networked vehicle 31 passes through the RFID reader 1 is t1, and the location mileage of the RFID reader 1 is S1, the real-time location of the networked vehicle 31 can be expressed as:
wherein v is31And (t) the real-time speed of the networked vehicle is acquired by a wheel speed sensor of the vehicle and is sent to an intelligent vehicle-mounted unit OBU of the vehicle through a vehicle ECU. And the intelligent vehicle-mounted unit OBU calculates the position of the networked vehicle 31 in real time according to the time when the networked vehicle passes through the RFID reader 1 and the installation position of the RFID reader 1.
When the networked vehicle 31 passes through the RFID reader 2 at time t2, then the real-time location of the networked vehicle 31 may be expressed as:
the position of the networked vehicle in the tunnel is continuously corrected through the accurate installation positions of the RFID readers on the tunnel and the passing condition of the networked vehicle.
204, detecting the relative distance and the relative speed of the surrounding common vehicles by the networked vehicles through the millimeter wave radar unit, and converting the relative distance and the relative speed into position and speed information of the common vehicles;
in the embodiment, the networked automobile detects the relative position, relative speed and direction information of surrounding vehicles through a millimeter wave radar, and the information is transmitted to the intelligent vehicle-mounted unit;
in the embodiment, the intelligent vehicle-mounted unit calculates the speed and position information of the ordinary automobile according to the determined speed and position information;
in this embodiment, when a common vehicle has a plurality of networked vehicles for detection, the detection information of the networked vehicle closest to the common vehicle in the same lane and different lanes is used as the standard.
Specifically, in this embodiment, as shown in fig. 3, the millimeter wave radar of the internet-connected vehicle detects the surrounding ordinary vehicle in real time, and obtains the speed, the lane where the ordinary vehicle is located, and the relative distance between the ordinary vehicle and the lane. As shown in fig. 2, the internet connected vehicle 31 detects the normal vehicles 31, 32, the internet connected vehicle 11 detects the normal vehicles 21, 11, the internet connected vehicle 21 detects the normal vehicles 31, 12, 11, 21, and the internet connected vehicle 3i detects the normal vehicle 1 i. When a common vehicle is detected by a plurality of networked vehicles, the detection information (speed and position) of the networked vehicles closest to the common vehicle in different lanes in the same lane is taken as the standard.
specifically, in this embodiment, the intelligent on-board unit OBU of the networked automobile sends the ordinary vehicle information, the position of the intelligent on-board unit OBU and the vehicle speed information detected by the millimeter wave radar to the roadside unit, the roadside unit sends the information of various automobiles to the edge industrial personal computer, and the edge industrial personal computer displays the position and the vehicle speed of the automobile in a digital map in real time for traffic monitoring in the tunnel.
and step 207, calculating the average value of the traffic flow speeds of different tunnel sections by the cloud platform, judging that an emergency situation exists in the tunnel when the average value of the speeds is lower than a set threshold value, and early warning.
In this embodiment, the early warning mode includes broadcasting, lighting, sending early warning information to the intelligent vehicle-mounted unit display terminal, and telephone.
And carrying out running state analysis of the vehicle based on the collected traffic running information. When the running speed of the individual vehicle is lower than a set threshold (such as 35% -50% of the tunnel speed limit value) and the duration is greater than the set threshold (such as 15 seconds), the vehicle is considered to be in an abnormal running state.
Specifically, in this embodiment, different traffic operation monitoring sections are set in the tunnel digital map, and the sections may be sections formed by different RFID readers, such as a road between section 1 and section 2 in fig. 2, or may be self-set road sections (100 meters and 300 meters). And finding out the running vehicles in the monitoring section according to the digital map information of the tunnel, and calculating the average running speed of the running vehicles. For example, in a section formed by the section 1 and the section 2, the internet vehicle 21, the ordinary vehicle 11, the ordinary vehicle 12, and the ordinary vehicle 31 travel in the section, and the average vehicle speed thereof is calculated. When the vehicles in the section decelerate or stop due to vehicle failure, traffic accident, etc., it is necessary to cause the vehicles in the vicinity and downstream to decelerate.
And in the calculation period (such as 3 minutes), when the average vehicle speed of the monitoring section is less than or equal to a set threshold (such as 20km/h), judging that a traffic event occurs in the section. The edge industrial personal computer generates a traffic early warning strategy and sends traffic early warning to downstream vehicles in the section, and the early warning mode comprises broadcasting, lamplight, sending early warning information to an intelligent vehicle-mounted unit display terminal and the like.
By adopting the car networking technology and the car following running condition in the tunnel, the position positioning of the networked cars and the ordinary cars in the tunnel can be realized, and the discrimination of traffic events and traffic early warning are carried out according to the collected car running speed information, so that the road traffic safety level is improved.
The third embodiment of the invention:
as shown in fig. 4, the tunnel vehicle positioning and early warning system based on the car networking and following behaviors provided by the embodiment includes at least one group of vehicle signal identification and acquisition systems arranged in a tunnel, and is used for acquiring networking vehicle position information and general vehicle position information;
the cloud platform is used for receiving the information uploaded by the vehicle signal identification and acquisition system, analyzing and sending related information to the vehicle signal identification and acquisition system;
the online automobile position information positioning system is used for obtaining the passing time and speed of the online automobile and carrying out early warning;
the common automobile position information positioning system calculates the passing time and speed of the common automobile through the internet automobile position information system.
In this embodiment, the vehicle signal identification and acquisition system includes a radio frequency identification system, a road side unit and an edge industrial personal computer;
specifically, the radio frequency identification system is used for reading information that the internet-connected vehicle passes through and correcting a reference position;
specifically, the roadside unit establishes vehicle-road information interaction with an intelligent vehicle-mounted unit on a networked vehicle through dedicated short-range communication (DSRC) and wireless fidelity (WIFI);
specifically, the edge industrial personal computer is used for receiving information of the road side unit and the radio frequency identification system, feeding back the processed information to the road side unit, and uploading the processed information to the cloud platform.
In this embodiment, the networked automobile position information system includes an intelligent vehicle-mounted unit and an electronic tag unit;
specifically, the intelligent vehicle-mounted unit acquires wheel speed information of a real-time wheel speed sensor through a vehicle electronic control unit and performs real-time information interaction with a road side unit;
specifically, the electronic tag unit obtains the passing time and the passing speed of the networked automobile through a radio frequency identification system.
In this embodiment, the general automobile position information positioning system includes a millimeter wave radar unit and an internet automobile position information system;
specifically, the millimeter wave radar units are all arranged on the networked automobile and used for detecting the relative position, relative speed and direction information of surrounding vehicles and transmitting the information to the networked automobile position information system.
In this embodiment, the cloud platform may receive information uploaded by the edge industrial personal computer and send related information to the edge industrial personal computer;
although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A tunnel vehicle location system and early warning method based on car networking and following behavior, the method comprising:
constructing a tunnel digital map, and marking at least one group of lane information and a vehicle signal identification and acquisition system;
the position information of the radio frequency identification system reads the passing information of the networked vehicles, and the lane information of the networked vehicles is sent to the cloud platform;
the method comprises the steps that the position of mileage on the installation section of a radio frequency identification system is taken as a starting point, an internet vehicle obtains wheel speed information of the internet vehicle through a vehicle electronic control unit, and an intelligent vehicle-mounted unit calculates accumulated passing mileage and determines the position of a tunnel lane where the vehicle is located;
the networked vehicles detect the relative distance and the relative speed of the surrounding common vehicles through the millimeter wave radar unit and convert the relative distance and the relative speed into the position and speed information of the common vehicles;
the networking vehicle sends the position information and the speed information of the self vehicle and/or the surrounding common vehicles to the road side unit in a radio communication mode through the intelligent vehicle-mounted unit, and the road side unit is started to the cloud platform in a radio communication mode;
on different lanes of the tunnel digital map, the cloud platform obtains position and speed information of the networked vehicle and the common vehicle in real time;
and the cloud platform calculates the average value of the traffic flow speeds of different tunnel sections, and when the average value of the speeds is lower than a set threshold value, the fact that an emergency situation exists in the tunnel is judged, and early warning is carried out.
2. The method as claimed in claim 1, wherein the step of using the radio frequency identification system installation section mileage position as a starting point, the networked vehicle obtaining the wheel speed information of the networked vehicle through the vehicle electronic control unit, the intelligent vehicle-mounted unit calculating the accumulated passing mileage and determining the tunnel lane position of the vehicle comprises:
the electronic tag of the internet automobile obtains the passing time and speed of the internet automobile through the radio frequency identification system reader, and the installation position of the radio frequency identification system reader is taken as the basis;
reading passing information of the networked vehicles according to the position information of the radio frequency identification system to obtain real-time vehicle speed, and performing integral accumulation on the vehicle speed and time to obtain real-time networked vehicle position information;
when the internet automobile passes through the next radio frequency identification system reader, the reference position is corrected again, and the vehicle speed-time is subjected to integral accumulation on the basis of the installation position of the radio frequency identification system reader to obtain the position information of the internet automobile at the moment.
3. The tunnel vehicle positioning and early warning method based on the car networking and following behaviors as claimed in claim 1, wherein the networked vehicle detects the relative distance and relative speed of the surrounding ordinary vehicles through a millimeter wave radar unit and converts the relative distance and relative speed into the position and speed information of the ordinary vehicles, comprising:
the networked automobile detects the relative position, relative speed and direction information of surrounding vehicles through a millimeter wave radar, and the information is transmitted to the intelligent vehicle-mounted unit;
the intelligent vehicle-mounted unit calculates the speed and position information of the ordinary automobile according to the determined speed and position information;
when a common automobile has a plurality of networked automobiles for detection, the detection information of the networked automobiles closest to the common automobile in the same lane and different lanes is taken as the standard.
4. The tunnel vehicle positioning and early warning method based on the car networking and following behaviors as claimed in claim 1, wherein a tunnel digital map is constructed, at least one set of lane information and vehicle signal identification and acquisition system is labeled, and the method comprises the following steps:
and constructing a digital map of the tunnel, determining the width, the number and the line shape of the lanes, marking the positions of the radio frequency identification system, the road side unit and the edge industrial personal computer on the map, and storing the digital map of the tunnel on the edge industrial personal computer.
5. The tunnel vehicle positioning and early warning method based on the vehicle networking and following behaviors as claimed in claim 1, wherein the cloud platform calculates the average value of the traffic flow speeds of different tunnel sections, and when the average value of the speeds is lower than a set threshold value, it is judged that an emergency situation exists in the tunnel, and early warning is performed, including:
the early warning modes comprise broadcasting, lighting, sending early warning information to the intelligent vehicle-mounted unit display terminal, telephone and the like.
6. A tunnel vehicle positioning and early warning system based on vehicle networking and following behaviors, which is applied to at least one method of any one of claims 1 to 5, and comprises at least one group of vehicle signal identification and acquisition systems arranged in a tunnel and used for acquiring networking vehicle position information and general vehicle position information;
the cloud platform is used for receiving the information uploaded by the vehicle signal identification and acquisition system, analyzing and sending related information to the vehicle signal identification and acquisition system;
the online automobile position information positioning system is used for obtaining the passing time and speed of the online automobile and carrying out early warning;
the common automobile position information positioning system calculates the passing time and speed of the common automobile through the internet automobile position information system.
7. The system of claim 6, wherein the system comprises: the vehicle signal identification and acquisition system comprises a radio frequency identification system, a road side unit and an edge industrial personal computer;
the radio frequency identification system is used for reading the information that the networked vehicle passes through and correcting the reference position;
the roadside unit establishes vehicle-road information interaction with an intelligent vehicle-mounted unit on the networked vehicle through dedicated short-range communication DSRC and WIFI;
and the edge industrial personal computer is used for receiving the information of the road side unit and the radio frequency identification system, feeding back the processed information to the road side unit and uploading the processed information to the cloud platform.
8. The system of claim 6, wherein the system comprises: the networked automobile position information system comprises an intelligent vehicle-mounted unit and an electronic tag unit;
the intelligent vehicle-mounted unit acquires the wheel speed information of the real-time wheel speed sensor through the vehicle electronic control unit and carries out real-time information interaction with the road side unit;
and the electronic tag unit obtains the passing time and the passing speed of the networked automobile through a radio frequency identification system.
9. The tunnel vehicle positioning system and early warning system based on the car networking and following behaviors as claimed in claim 6, wherein the ordinary vehicle position information positioning system comprises a millimeter wave radar unit and a networking vehicle position information system;
the millimeter wave radar units are all arranged on the networked automobile and used for detecting the relative position, relative speed and direction information of surrounding vehicles and transmitting the information to the networked automobile position information system.
10. The system of claim 6, wherein the cloud platform is capable of receiving information uploaded by the edge industrial personal computer and sending related information to the edge industrial personal computer.
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