WO2024144264A1 - Control method for sensing and determining road state - Google Patents

Abstract

A control method for sensing and determining a road state, according to an embodiment of the present invention, comprises steps in which: a control unit receives information for determining whether a condition of black ice being formed is satisfied; laser lighting is emitted at the road surface from a light-emitting unit of a laser lighting sensor, if the condition of black ice being formed is satisfied; and light energy information incident on light-receiving units of other adjacent lighting sensors is transmitted to the control unit, wherein the control unit calculates reflectivity on the basis of energy information transmitted from the other adjacent lighting sensors, and determines whether black ice has been formed according to the calculated reflectivity.

Description

Control method for detecting and determining road surface conditions

The present invention provides a control method for detecting and determining road surface conditions that detects the occurrence of thin ice or black ice based on an interface provided in a smart pole and is compatible with and interlocks with heterogeneous devices and notifies the control setter, etc. to respond to the situation. It's about.

Conventional systems for detecting or predicting black ice either i) determine whether black ice is generated by measuring the height difference between the road surface and the black ice on the road when the road surface temperature is around 0°C, or ii) detect the presence of black ice in the vehicle. Using an infrared sensor mounted on the bottom of the front, the road surface temperature is measured while the vehicle is moving to determine whether black ice has occurred, iii) using camera vision data showing the road surface condition to detect black ice, or iv) It was common to predict the creation of black ice by analyzing the surrounding temperature/humidity, or v) predict the creation of black ice by analyzing the frequency pattern of noise generated by friction between the vehicle's tires and black ice. .

However, the conventional black ice prediction or detection method using the height difference between the road surface and black ice has a fundamental limitation in that the road must be maintained at an ideally uniform height and surface condition in normal times.

In addition, the infrared sensor attached to a conventional vehicle has the problem of requiring a significant investment of time and money because the detection vehicle must continuously drive on the road to obtain information related to black ice detection in real time and share it with the control center. .

In addition, the method of detecting black ice using vision data captured on the road surface shows difficulty in securing reliability of detection due to a significant decrease in detection ability in situations where the surrounding area is dark or the surface of the camera lens is contaminated.

In addition, in analyzing the frequency pattern of noise generated by friction between a vehicle's tires and the black ice surface, there are many cases and deviations depending on the type of road surface composition, construction method, tire type, and wear condition, so the black ice detection noise algorithm is used. There are difficulties in composition.

In addition, all of the above black ice prediction methods can only predict when a pedestrian or vehicle enters a black ice section, which has the disadvantage of having limitations in disseminating prior situations regarding the occurrence of black ice.

Prior art: Korean Patent No. 10-2329413

The present invention is proposed to improve the above problems.

Specifically, black ice is predicted by analyzing the regular and diffuse reflection patterns of laser light irradiated onto the road surface from a laser irradiation device mounted on a smart pole installed on the roadside, and whether or not black ice is created is determined based on the amount of laser light reflected from the road surface. The purpose is to provide a control method that can determine whether a pothole exists. .

In addition, we provide a road situation prediction system and control method that can detect road conditions around smart streetlights or smart poles without any additional devices using a heterogeneous device interface and a laser lighting system, and transmit and receive data directly with the control system. The purpose.

In addition, the purpose is to provide a road situation prediction system and control method that allows the detection results detected by the smart pole to be quickly transmitted to the control center so that prompt action can be taken in response to black ice occurrences.

A control method for detecting and determining road surface conditions according to an embodiment of the present invention to achieve the above object includes the steps of receiving information for determining whether the conditions for black ice generation are satisfied at a control unit; If the conditions for creating black ice are met, laser light is irradiated from the light emitting unit of the laser light sensor to the road surface; A step of transmitting light energy information incident to the light receiving units of other adjacent lighting sensors to a control unit, wherein the control unit calculates a reflectance based on the energy information transmitted from other adjacent lighting sensors, and calculates the calculated reflectance. It is characterized by determining whether black ice is created according to.

The information for determining whether the conditions for creating black ice are satisfied includes an ambient luminance value for determining whether it is nighttime or in the shade.

The information for determining whether the conditions for creating black ice are satisfied further includes the amount of rainfall or snowfall on the day of detection.

The information for determining whether the conditions for generating black ice are satisfied further includes ambient humidity.

The information for determining whether the conditions for generating black ice are satisfied further includes ambient temperature.

If it is determined from the ambient luminance value that it is nighttime or in the shade, that the amount of rainfall or snow, and the humidity are above a set value, and that the ambient temperature is below the freezing temperature, laser light is irradiated from the laser light sensor.

If the calculated reflectivity is greater than or equal to the first set value, it is determined that black ice has been created, and information notifying that black ice has been created is transmitted to the control center.

If the calculated reflectance is less than the first set value, it is determined again whether it is less than the second set value, and if the reflectance is less than the second set value, it is determined that a pothole exists, and information indicating the existence of the pothole is provided above. It is characterized in that it is transmitted to the control center.

If the calculated reflectance is between a first set value and a second set value, the road surface is determined to be normal.

The first set value is 70 to 80%, and the second set value is 10 to 20%.

According to the control method according to an embodiment of the present invention, a smart sensor device mounted on a street light or smart pole is provided with a laser lighting sensor, laser light is irradiated from the light emitting unit of the laser lighting sensor, and other neighboring smart poles It has the advantage of being able to quickly determine whether black ice has occurred or whether a pothole exists, based on the amount of laser reception received from the optical receiver mounted on the .

In addition, when the occurrence of black ice or potholes is detected, the detection results are quickly transmitted to the control center, so that appropriate response measures can be taken immediately, as well as preventing accidents in advance by sending a danger signal to passing vehicles. There is an effect that can be done.

1 is a block diagram illustrating an operating system of an integrated smart sensor device equipped with a laser light sensor according to an embodiment of the present invention.

Figure 2 is a perspective view of a smart pole showing the location where the integrated smart sensor device is attached according to an embodiment of the present invention.

Figure 3 is a block diagram illustrating the configuration of an integrated smart sensor device according to an embodiment of the present invention.

Figure 4 is a perspective view showing the internal configuration of a smart sensor device.

Figure 5 is a diagram showing how light emitted from a laser light sensor is reflected depending on the road surface condition.

Figure 6 is a diagram showing a laser light sensor according to an embodiment of the present invention detecting the road surface condition when installed on a streetlight.

Figure 7 is a flow chart showing a control method for detecting and determining road surface conditions according to an embodiment of the present invention.

Hereinafter, a black ice and pothole detection and control method according to an embodiment of the present invention will be described in detail with reference to the drawings.

Figure 1 is a block diagram for explaining the operating system of an integrated smart sensor device equipped with a laser light sensor according to an embodiment of the present invention.

Referring to FIG. 1, the operating system 10 of the integrated smart sensor device according to an embodiment of the present invention includes an integrated smart sensor device 100 equipped with a laser light sensor (or laser sensor) (see FIG. 4) therein. , may include a control server 200 and a control device 300.

The laser lighting sensor may be installed inside the smart sensor device 100, or may be installed at a point close to the bottom of the fixed pole (see FIG. 2).

In detail, the integrated smart sensor device 100 is a street light, security light, smart pole, traffic light, or landscape light that can be installed around roads or facilities by combining ICT technologies such as communication devices (long-distance and short-distance communication) and IoT. It can be operated attached to a lighting system.

The control server 200 may be a server that controls smart streetlights or smart poles. The control server 200 may transmit and receive information with the at least one integrated smart sensor device 100 and the at least one control device 300 by wire or wirelessly.

Meanwhile, the control device 300 transmits and receives information to and from the control server 200 by wire or wirelessly, and may be a device used by an administrator who controls smart streetlights or smart poles. The control device 300 is a control interface that allows the control server 200 to check information generated by at least one integrated smart sensor device 100 and control the at least one integrated smart sensor device 100. can be provided.

Figure 2 is a perspective view of a smart pole showing the location where the integrated smart sensor device according to an embodiment of the present invention is attached.

Referring to Figure 2, the integrated smart sensor device 100 according to the present invention is mounted on a fixing arm 120 extending from the fixing pole 140, or on a lighting device 130 mounted on the fixing pole 140. It can be attached and operated.

In detail, the fixed pole 140 may be installed vertically upward for a predetermined length on the ground or the floor of a facility. The fixing pole 140 may be formed as a pipe with an empty interior, and the lower end is fixed to the ground.

The fixing arm 120 may extend a predetermined length in the horizontal direction at a predetermined height from the bottom of the fixing pole 110.

Meanwhile, the integrated smart sensor device 100 may detect movement of an object to generate object movement information or detect noise occurring around the integrated smart sensor device 100 to generate noise information.

In addition, the laser lighting sensor 400 according to the present invention is installed at a point close to the lower end of the fixed pole 140, so that the laser light is irradiated to the road surface and is transmitted from the laser lighting sensor installed on the fixed pole of the neighboring street light. It is possible to receive irradiated laser light.

In addition, the integrated smart sensor device 100 can measure the amount of surrounding light and generate vibration information by detecting the tilt and impact of the fixed pole 140.

The integrated smart sensor device 100 can transmit object movement information, noise information, light amount information, and vibration applied to the fixed pole 140 to other external heterogeneous devices or control systems, and detects object movement information, light amount information, The lighting device 130 may be controlled based on vibration information and noise information or by applying and combining these information.

Meanwhile, the height at which the integrated smart sensor 120 is installed may be 3 to 6 meters if the fixed pole 140 functions as a security light, and may be 8 to 15 meters if it functions as a street light, but the installation height may be 3 to 6 meters. It can be adjusted appropriately depending on location or conditions.

The lighting device 130 may include lighting capable of illuminating or controlling various lighting brightness (dimming), color temperature adjustment (tunable white), and color changing (color changing). For example, the lighting device 130 may include LED lights of RGBW colors and may include LED lights of various white color temperatures. Additionally, the lighting device 130 may irradiate or control lighting by changing the lighting brightness, color temperature, or color according to a control command transmitted from the integrated smart sensor device 100.

The lighting device 130 may be fixed to the top of the fixing pole 140. The lighting device 130 is electrically connected to the integrated smart sensor device 100 and may include an LED light capable of turning the light on/off, brightness control, color temperature control, and color adjustment. .

Figure 3 is a block diagram for explaining the configuration of an integrated smart sensor device according to an embodiment of the present invention.

Referring to FIG. 3, the integrated smart sensor device 100 includes a communication unit 101, a motion sensor 102, a noise sensor 103, a power supply unit 104, a positioning sensor 105, and an output unit 106. , it may include a vibration sensor 107, an optical sensor 108, a control unit 109, and a laser light sensor 400.

The laser illumination sensor 200 includes a light emitting unit 410 that radiates laser, and a light receiving unit 420 that receives laser irradiated from another laser illumination sensor.

In detail, the communication unit 101 can communicate with an external device through wired or wireless communication. The communication unit 121 uses M2M (Machine to Machine) communication (e.g., LTE, 5G, NB-IoT, CAT1, LTE CAT1, CATm1, etc.) or communication network technology such as WCDMA and GSM to control the control server 200. You can communicate directly with others. In addition, the communication unit 101 performs short-distance communication using RF (Radio Frequency) communication (e.g., Sub-1GHz, BLE: Bluetooth Low Energy, Wi-Fi: Wireless-Fidelity, Sub-1 GHz or Zigbee, etc.) technology. can support.

The motion sensor 102 may detect movement of an object and generate object movement information. For example, the motion sensor 102 may include at least one passive infrared sensor (PIR sensor).

The noise sensor 103 can detect surrounding noise and generate noise information.

The power supply unit 104 can supply power throughout the integrated smart sensor device 100. The power supply unit 104 may include a converter that converts alternating current power to direct current power and a dc/dc converter that converts the level of direct current power.

The positioning sensor 105 can generate positioning information related to the location of the integrated smart sensor device 100 through precise location-based satellite positioning. The positioning sensor 105 can generate positioning information using a global navigation satellite system (GNSS).

The output unit 106 can convert and output analog and digital data. The output unit 106 can use digital conversion technologies such as PWM, DALI, DALI-2, D4i, DT6, DT7, and DT8, and can use protocols (1-10V, 0-10V) for analog converters. .

The vibration sensor 107 detects the tilt of the fixed pole 110, the fixed arm 120, or the lighting device 130, or detects vibration caused by an external shock, ground shaking, or earthquake to generate tilt information or vibration information. can do.

The control unit 109 may transmit tilt information and vibration information to the control server 200 through the communication unit 101.

The control server 200 may be a third party server set by an administrator.

Meanwhile, the optical sensor 108 may generate light detection information by detecting surrounding luminous flux, luminance, or illuminance. The control unit 109 can control the lighting brightness (Dimming), color temperature (Tunable White), and color (Color Changing) of the lighting device 130 based on light detection information.

Additionally, the control unit 109 may transmit light detection information to the control server 200. The light detection information can be transmitted to the control device 300 through the control server 200, and the manager of the control device 300 can remotely control the lighting device 130 based on the light detection information.

Meanwhile, the control unit 109 may control the components of the integrated smart sensor device 100 to perform set or determined operations.

The control unit 109 may control the components of the integrated smart sensor device 100 to execute a predicted operation or an operation determined to be desirable among at least one executable operation.

At this time, if the control unit 109 requires connection with an external device to perform the determined operation, the relevant external device (e.g., CCTV, emergency button, speaker, personal smart device, car, environmental sensor, water level sensor, fire It can generate control signals to control sensors, electric charging devices, drones, etc.), link with interface software (API, Applied Programming Interface), and transmit the generated control signals to the relevant external device.

Additionally, it is possible to change the profiled processing and actions of the control unit 109 by transmitting a control signal from an external device to the control unit 109 through linkage with control signals and interface software.

The control unit 109 may control at least some of the components of the integrated smart sensor device 100 to run a predetermined application program. Furthermore, the control unit 109 may operate two or more of the components included in the integrated smart sensor device 100 in combination with each other in order to run the application program.

Figure 4 is a perspective view showing the internal configuration of a smart sensor device.

Referring to FIG. 4, the communication unit 101 of the smart sensor device 100 according to an embodiment of the present invention may include an RF communication module 1011, an M2M communication module 1012, and a 4G ring antenna 1013. . The RF communication module 1011 and the M2M communication module 1012 may be mounted on the sensor board 160, and the 4G ring antenna 1013 may be wrapped around the inner peripheral surface of the housing 170.

The motion sensor 102 may include a first infrared sensor 1021 (PIR: Passive Infrared Sensor), a second infrared sensor 1022, and a third infrared sensor 1023.

The noise sensor 103 may include a noise sensing module 1031, and the power supply unit 104 may include a power supply module 1041.

The positioning sensor 105 may include a positioning sensing module 1051, and the optical sensor 108 may include a photosensor module 1081,

The output unit 106 may include an analog/digital output module 1061, the vibration sensor 107 may include an accelerometer 1071, and the control unit 109 may include a microcontroller unit 1091 (MCU). : microcontroller unit) may be included.

The microcontroller unit 1091 reports the real-time precise status of the main components of the lighting device operation, performs preliminary inspection, resolves abnormalities, and controls the converter responsible for supplying and driving power to the lighting device when applying the digital protocol. It is equipped with a control algorithm that allows information to be reported to the center.

Meanwhile, the laser illumination sensor 200 can be mounted inside the smart sensor device 100 and includes a light emitting unit 410 and a light receiving unit 420. In addition, the reflectance or diffuse reflectance of the road surface can be measured by comparing the amount of light energy received by the light receiving unit 420, and the measured information is transmitted to the lighting device 120 and the control system through the control device 300. It may be provided as a server 200.

In addition, the smart sensor device 100 may further include a temperature sensor 111 that detects the surrounding temperature and a humidity sensor 110 that detects humidity.

Figure 5 is a diagram showing how light emitted from a laser light sensor is reflected depending on road surface conditions.

Figure 5 (a) shows light reflected when laser light is irradiated on a black ice surface, (b) shows light reflected on a general road surface without black ice, and (c) shows light reflected in a pothole. This is the reflection when irradiated.

As shown in (b) of Figure 5, when laser light is irradiated on a general road surface, some of it is diffusely reflected due to the characteristics of the road surface, and when laser light is irradiated on a black ice surface as shown in (b), the light is reflected regularly, causing the angle of incidence and reflection. It is formed in the same way.

As shown in Figure 5 (c), when laser light is irradiated to the porthole, most of the light is extinguished by diffuse reflection and almost no light is regularly reflected. Therefore, the amount of light received by the light receiving part of the laser light sensor located on the opposite side is minimal. In this way, after radiating laser light to the road surface, the amount of light energy received by the light receiving part of the laser light sensor installed in the neighboring streetlight or smart pole is analyzed to determine whether black ice has formed on the road surface or whether potholes exist. It becomes possible to judge.

For example, in the case of a road surface in a normal state without black ice, the light reception rate can be confirmed through experiments that 70 to 80% of the irradiated light is received. In addition, when light is irradiated to the black ice surface, it can be confirmed that more than 90% of the light is received, and in the case of a pothole, it can be confirmed that less than 10% of the light is received.

The present invention is characterized in that, based on such experimental data, the road surface condition is determined based on the light reception rate of the laser light and transmitted to the control center.

Figure 6 is a diagram showing a laser light sensor according to an embodiment of the present invention detecting road surface conditions when installed on a streetlight.

Referring to FIG. 6, a laser lighting sensor may be mounted near the lighting devices of streetlights (P1 to Pn, H1 to Hn) arranged at regular intervals on the edge of the road or on the fixed pole of the smart sensor device, and in the laser lighting device When laser light is irradiated toward the road surface, the light receiving part of the laser light sensor installed on the neighboring streetlight receives the laser light. In addition, the amount of light received from neighboring laser light sensors varies depending on the condition of the road surface, and when the laser light reception data or reflectance data is transmitted to the control center, the control center determines the road surface condition based on the received data. You will judge.

Figure 7 is a flow chart showing a control method for detecting and determining road surface conditions according to an embodiment of the present invention.

Referring to FIG. 7, the optical sensor 108 measures the luminance of the current surroundings (S110) and determines whether the current time is night (S111).

In detail, if it is determined that the current time is not night, it is determined whether the road portion corresponding to the point where the smart sensor device 100 is installed is shaded (S113). If it is determined that it is not shaded, the possibility of black ice occurring is low. Terminates the control process.

If it is determined that the current time is night or the point where the smart sensor device 100 is installed is in the shade, the control unit 109 receives rainfall and snow amount information released by the Korea Meteorological Administration through the communication unit 101 (S112). The river flow and snowfall information can be understood as a process to check whether there is news of snow rain on the day of detection and whether snow rain has fallen at the current time.

Additionally, the control unit 109 receives the current humidity value from the humidity sensor 110. In this way, if current weather and humidity information is received at the time the control process for determining the road surface condition is performed, it can be determined whether the condition for black ice to be created on the current road surface is satisfied.

If it is determined that it is raining or snowing and the amount of rainfall or snow and the humidity are more than the set value, that is, the value that satisfies the conditions for creating black ice (S114), the control unit is configured to detect the surrounding temperature at the temperature sensor 111. Control and receive the detected temperature value (S115).

Then, it is determined whether the detected temperature is below the freezing temperature, that is, a temperature that enables black ice generation (S116). If it is determined to be below the freezing temperature, the control unit 109 determines that all current black ice creation conditions are satisfied. In the light emitting unit 410 of the laser lighting sensor 400, laser light is irradiated toward the road surface, and the amount of energy of the laser light received from the light received by other laser lighting sensors installed on surrounding street lights is received, and the reflectance of the road surface is adjusted. Calculate (S117).

Then, the control unit 109 determines whether the calculated reflectance is more than the first set value (S118), and if it is more than the set value, it is reported that black ice has been created (S120), and information is provided to the control center (S122) ). The information is transmitted to the control center via the control device 300 and the control server 200. The control center can display warning messages in the form of voice or text on streetlight signs to encourage passing vehicles to drive safely.

The first set value may be set within the range of 70 to 80%, but is not limited thereto.

If it is determined that the reflectance is less than the first set value, it is determined whether the reflectance is less than the second set value (S119). The second set value may be set within the range of 10 to 20%, but is not limited thereto.

If it is determined that the reflectance is less than the second set value, it is determined that a porthole exists at the point where the laser light is irradiated (S121), and this information is provided to the control center.

Meanwhile, if the reflectance is between the first set value and the second set value, the road surface is determined to be in a normal state, and the control process can be terminated.

Claims (10)

Receiving information from a control unit to determine whether conditions for creating black ice are satisfied; If the conditions for creating black ice are met, laser light is irradiated from the light emitting unit of the laser light sensor to the road surface; A step of transmitting light energy information incident to the light receiving units of other adjacent lighting sensors to the control unit, The control unit calculates reflectance based on energy information transmitted from other adjacent lighting sensors, A control method for detecting and determining road surface conditions, characterized in that it determines whether black ice is created according to the calculated reflectivity. According to claim 1, The information for determining whether the conditions for creating black ice are satisfied includes an ambient luminance value for determining whether it is nighttime or in the shade. According to claim 2, The information for determining whether the conditions for generating black ice are satisfied further includes the amount of rainfall or snowfall on the day of detection. According to claim 3, The information for determining whether the conditions for generating black ice are satisfied further includes ambient humidity. According to claim 4, The information for determining whether the conditions for generating black ice are satisfied further includes ambient temperature. According to claim 5, A control method characterized in that when it is determined from the ambient luminance value that it is nighttime or in the shade, the amount of rainfall or snow, and the humidity are above the set value, and the ambient temperature is below the freezing temperature, laser light is emitted from the laser light sensor. According to claim 6, If the calculated reflectivity is greater than or equal to the first set value, it is determined that black ice has been created, and information indicating that black ice has been created is transmitted to the control center. According to claim 7, If the calculated reflectance is less than the first set value, it is determined again whether it is less than the second set value, If the reflectance is less than the second set value, it is determined that a pothole exists, and information indicating the existence of a pothole is transmitted to the control center. According to claim 8, If the calculated reflectance is between a first set value and a second set value, the road surface is determined to be normal. According to clause 9, The first set value is 70 to 80%, A control method characterized in that the second set value is 10 to 20%.

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