CN113299072A - Method and device for monitoring illegal parking vehicle - Google Patents
Method and device for monitoring illegal parking vehicle Download PDFInfo
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Abstract
The application provides a method and a device for monitoring an illegal vehicle, wherein the method comprises the following steps: receiving vehicle data broadcasted by an on-board unit in a vehicle, wherein the vehicle data comprises vehicle identification, vehicle position information, vehicle course, vehicle speed, vehicle state information and vehicle type information; determining candidate vehicle identifications in a stopped state according to the vehicle speed and the vehicle type information; and determining a target vehicle identification meeting a preset violation condition in the vehicle data of the candidate vehicle identification so as to generate violation processing information of the target vehicle corresponding to the target vehicle identification. According to the method and the device, the electronic and automatic illegal parking vehicle management can be realized, the processing efficiency of the illegal parking vehicle is improved, and the monitoring accuracy of the illegal parking vehicle is improved.
Description
Technical Field
The application relates to the technical field of intelligent traffic, in particular to a method and a device for monitoring illegal vehicles.
Background
The illegal parking vehicles refer to vehicles which are not parked according to regulations, and the illegal parking vehicles cause a series of problems such as traffic jam, traffic safety and the like, so that the illegal parking vehicles need to be monitored and managed in order to ensure the road traffic safety.
In the related art, the illegal vehicle is monitored in a manual monitoring mode, so that the efficiency is low.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the application provides a method for monitoring the illegal parking vehicles, so as to realize automatic management of the illegal parking vehicles and improve the processing efficiency of the illegal parking vehicles.
An embodiment of a first aspect of the present application provides a method for monitoring an illegal vehicle, which is applied to a road side unit, and the method includes:
receiving vehicle data broadcasted by an on-board unit in a vehicle, wherein the vehicle data comprises vehicle identification, vehicle position information, vehicle course, vehicle speed, vehicle state information and vehicle type information;
determining candidate vehicle identifications in a stopped state according to the vehicle speed;
and determining a target vehicle identification meeting a preset violation condition in the vehicle data of the candidate vehicle identifications so as to generate violation processing information of a target vehicle corresponding to the target vehicle identification.
In addition, the method for monitoring an illegal vehicle according to the above embodiment of the present application may further have the following additional technical features:
optionally, the determining, in the vehicle data of the candidate vehicle identifiers, a target vehicle identifier that meets a preset violation condition includes: judging whether the vehicle position information of the candidate vehicle identification is in a lane position area; and if the vehicle position information does not belong to the lane position area, determining whether the vehicle position information belongs to a preset illegal parking area, wherein if the vehicle position information belongs to the preset illegal parking area, determining that the corresponding candidate vehicle identifier is the target vehicle identifier.
Optionally, after the determining whether the vehicle position information of the candidate vehicle identifier is in the lane position region, the method further includes: if the vehicle is located in the lane position area, acquiring a signal of the signal control equipment of the lane flow direction corresponding to the lane position area; if the signal of the signal control equipment is a red light signal, determining that the corresponding candidate vehicle identification is not the target vehicle identification; if the signal of the signal control equipment is not a red light signal, acquiring the vehicle flow of the lane flow direction corresponding to the lane position area; and if the vehicle flow is larger than a preset threshold value, determining that the corresponding candidate vehicle identification is not the target vehicle identification.
Optionally, the vehicle state information includes an ignition duration in the stopped state, the method further comprising: if the vehicle flow is less than or equal to the preset threshold, judging whether the ignition duration of the candidate vehicle identification is less than or equal to a first preset duration; if the time length is less than or equal to the first preset time length, determining that the corresponding candidate vehicle identification is not the target vehicle identification; and if the time length is longer than the first preset time length, determining that the corresponding candidate vehicle identification is the target vehicle identification.
Optionally, after the determining whether the vehicle position information of the candidate vehicle identifier is in the lane position region, the method further includes: if the candidate vehicle identification is located in the lane position area, judging whether the ignition duration of the candidate vehicle identification is less than or equal to a second preset duration; if the time length is less than or equal to the second preset time length, determining that the corresponding candidate vehicle identification is not the target vehicle identification; and if the time length is greater than the second preset time length, determining that the corresponding candidate vehicle identification is the target vehicle identification.
Optionally, the vehicle state information includes fault information, and before the determining whether the vehicle position information of the candidate vehicle identifier is in the lane position area, the method further includes: judging whether the abnormal state of the vehicle is met or not according to the fault information; and if the vehicle abnormal state is met, determining that the corresponding candidate vehicle identification is not the target vehicle identification.
Optionally, the generating illegal parking handling information of the target vehicle corresponding to the target vehicle identifier includes: acquiring vehicle position information of the target vehicle, and determining the illegal parking type of the target vehicle according to the vehicle position information of the target vehicle and prestored map data; and generating illegal parking handling information of the target vehicle according to the illegal parking category, and sending the illegal parking handling information to a vehicle-mounted unit of the target vehicle.
An embodiment of a second aspect of the present application provides a monitoring apparatus for an illegal vehicle, including:
the system comprises a receiving module, a processing module and a display module, wherein the receiving module is used for receiving vehicle data broadcasted by an on-board unit in a vehicle, and the vehicle data comprises vehicle identification, vehicle position information, vehicle course, vehicle speed, vehicle state information and vehicle type information;
the determining module is used for determining candidate vehicle identifications in a stopping state according to the vehicle speed;
and the processing module is used for determining a target vehicle identifier meeting a preset violation condition in the vehicle data of the candidate vehicle identifiers so as to generate violation processing information of the target vehicle corresponding to the target vehicle identifier.
An embodiment of a third aspect of the present application provides a road side unit, including: the monitoring system comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the monitoring method for the illegal parking vehicles is realized.
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for monitoring illegal vehicles described above.
One embodiment in the above application has the following advantages or benefits: the method comprises the steps that a road side unit receives a vehicle identifier, vehicle position information, vehicle course, vehicle speed, vehicle state information and vehicle type information which are broadcasted by an on-board unit in a vehicle, and then a candidate vehicle identifier in a stop state is determined according to the vehicle speed. And determining a target vehicle identification meeting a preset violation condition in the vehicle data of the candidate vehicle identification so as to generate violation processing information of the target vehicle corresponding to the target vehicle identification. According to the method and the device, the road side unit acquires the vehicle data sent by the vehicle-mounted unit, and determines the illegal parking vehicles according to the vehicle data, so that the electronic and automatic management of the illegal parking vehicles is realized, the processing efficiency of the illegal parking vehicles is improved, and the monitoring accuracy of the illegal parking vehicles is improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
Fig. 1 is a schematic flowchart of a method for monitoring an illegal vehicle according to an embodiment of the present application;
fig. 2 is a schematic flowchart illustrating a step of determining a target vehicle identification link in a method for monitoring an illegal vehicle according to an embodiment of the present application;
fig. 3 is a schematic flowchart illustrating a step of determining a target vehicle identification link in another method for monitoring an illegal vehicle according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a monitoring system for an illegal vehicle according to an embodiment of the present application;
FIG. 5 is a schematic flow chart illustrating another method for monitoring an illegal vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a monitoring device for an illegal vehicle according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes a vehicle and a method and a device for monitoring an illegal vehicle according to an embodiment of the application with reference to the drawings.
Fig. 1 is a schematic flowchart of a method for monitoring an illegal vehicle according to an embodiment of the present application, where as shown in fig. 1, the method for monitoring an illegal vehicle includes:
The method for monitoring the illegal vehicle is applied to the road side unit. The roadside unit communicates with the vehicle-mounted unit through a V2X (vehicle to X) technology to acquire vehicle data sent by the vehicle-mounted unit, and the roadside unit may be set as required, for example, may be set on both sides of a road, and is not limited herein.
In this embodiment, a vehicle is provided with a vehicle-mounted unit, the vehicle-mounted unit obtains vehicle data by accessing a Controller Area Network (CAN) bus of the vehicle, and the vehicle broadcasts the vehicle data through the vehicle-mounted unit, where the vehicle data includes a vehicle identifier, vehicle position information, a vehicle heading, a vehicle speed, vehicle state information, and vehicle type information. The vehicle identification corresponds to the vehicle one to one, the vehicle speed is, for example, vehicle wheel speed data, and the vehicle state information includes, but is not limited to, a double flashing light switch signal ON or OFF, a vehicle runaway signal (a brake anti-lock system ABS ON or OFF, a vehicle body stabilization system ESPONor OFF, a traction control system TCS ON or OFF).
As one example, the on-board units periodically broadcast vehicle data, and the road side units receive the vehicle data broadcast by each on-board unit so as to determine the illegal vehicle according to the vehicle data.
And step 102, determining candidate vehicle identifications in a stop state according to the vehicle speed.
In this embodiment, after receiving the vehicle data broadcast by the on-board unit, the roadside unit determines the vehicle in the stopped state according to the vehicle speed in the vehicle data, and takes the vehicle identifier corresponding to the vehicle in the stopped state as the candidate vehicle identifier.
As an example, the road side unit determines that the vehicle speed is 0 according to the vehicle wheel speed data, and then determines that the vehicle is in a stopped state; the road side unit determines that the vehicle is not in a stopped state if the speed >0 is determined from the wheel speed data of the vehicle.
In one embodiment of the present application, when determining the candidate vehicle identifier in the stopped state, the general vehicle is further determined according to vehicle type information, wherein the vehicle type information includes a general vehicle type and a special vehicle type, and the special vehicle type includes, for example, a police car, an ambulance, and the like. As an example, a general vehicle in a stopped state is determined from the vehicle speed and the vehicle type information, and a vehicle identification satisfying the above condition is taken as a candidate vehicle identification.
And 103, determining a target vehicle identifier meeting a preset violation condition in the vehicle data of the candidate vehicle identifiers so as to generate violation processing information of the target vehicle corresponding to the target vehicle identifier.
In this embodiment, an illegal parking condition is preset, after the candidate vehicle identifier is determined, the vehicle data corresponding to the candidate vehicle identifier is matched with the illegal parking condition, and a target vehicle identifier satisfying the illegal parking condition is determined from the candidate vehicle identifier, that is, the target vehicle corresponding to the target vehicle identifier is an illegal parking vehicle, so as to generate illegal parking processing information for the target vehicle.
As one example, the vehicle data includes vehicle position information, and the roadside unit stores therein the parking area range. The road side unit judges whether the vehicle position information is in a parking area or not according to the vehicle position information and a pre-stored parking area range, and if the vehicle position information is in the parking area, the candidate vehicle identification corresponding to the vehicle position information is determined not to be the target vehicle identification; and if the vehicle position information is not in the parking area, determining that the candidate vehicle identifier corresponding to the vehicle position information is the target vehicle identifier, namely determining that the target vehicle corresponding to the target vehicle identifier is the illegal parking vehicle.
As another example, the vehicle data includes vehicle position information, and the roadside unit stores therein a lane position region and an illegal parking region. The roadside unit determines whether the vehicle position information of the candidate vehicle identification is in a lane position region. And if the vehicle position information is not in the lane position area, determining whether the vehicle position information belongs to a preset illegal parking area, wherein if the vehicle position information belongs to the preset illegal parking area, determining that the corresponding candidate vehicle identification is a target vehicle identification, namely that the target vehicle corresponding to the target vehicle identification is an illegal parking vehicle.
In one embodiment of the present application, the violation handling information for the target vehicle corresponding to the target vehicle identification may be generated as follows: the road side unit acquires vehicle position information of the target vehicle, and determines the illegal parking category of the target vehicle according to the vehicle position information of the target vehicle and prestored map data. And further, generating illegal parking handling information of the target vehicle according to the illegal parking category, and sending the illegal parking handling information to the vehicle-mounted unit of the target vehicle.
In this example, the parking violation categories are determined according to the vehicle position information of the target vehicle and the pre-stored map data, and for example, the parking violation categories include pedestrian crossing violation, non-motor vehicle lane violation, intersection violation, and the like. Optionally, the road side unit sends information such as the identification of the target vehicle, the type of the parking violation, the time and the like to the traffic management system, the traffic management system records and generates the parking violation processing information of the target vehicle, and the parking violation processing information is returned to the road side unit. Further, the roadside unit transmits the violation processing information to the on-board unit of the corresponding target vehicle. Therefore, the illegal vehicle can be monitored, and the illegal parking processing information of the corresponding category can be displayed through the vehicle.
According to the method for monitoring the illegal parking vehicle, the road side unit receives the vehicle identification, the vehicle position information, the vehicle course, the vehicle speed, the vehicle state information and the vehicle type information which are broadcasted by the vehicle-mounted unit in the vehicle, and then the candidate vehicle identification in the stop state is determined according to the vehicle speed. And determining a target vehicle identification meeting a preset violation condition in the vehicle data of the candidate vehicle identification so as to generate violation processing information of the target vehicle corresponding to the target vehicle identification. According to the method and the device, the road side unit acquires the vehicle data sent by the vehicle-mounted unit, and determines the illegal parking vehicles according to the vehicle data, so that the electronic and automatic management of the illegal parking vehicles is realized, the labor cost and the time cost are reduced, and the processing efficiency of the illegal parking vehicles is improved. And besides, the illegal parking vehicles are determined according to vehicle data such as vehicle position information, course, vehicle speed, vehicle state information and vehicle type information, and compared with a mode of snapshot by a monitoring camera, the influence of weather such as rain, snow and the like is small, and the monitoring accuracy of the illegal parking vehicles is improved.
Based on the foregoing embodiment, in the foregoing embodiment, the step 103 determines, in the vehicle data of the candidate vehicle identifiers, the target vehicle identifier that meets the preset violation condition in various ways, and the following describes, with reference to fig. 2 and fig. 3, an implementation manner of determining the target vehicle identifier in the method for monitoring the vehicle violating the violation condition.
Fig. 2 is a schematic flow chart of determining a target vehicle identification link in the monitoring method for an illegal vehicle according to the embodiment of the present application, including:
In this embodiment, the vehicle data includes vehicle position information, which includes, for example, longitude and latitude, and elevation. And the vehicle corresponding to the candidate vehicle identification is in a stop state.
As one example, the roadside unit stores therein lane position areas representing the positions and ranges of the lanes, which may include latitudes and elevations. And the road side unit matches the vehicle position information of the candidate vehicle identification with a pre-stored lane position area, and determines whether the vehicle position information of the candidate vehicle identification is in the lane position area.
In one embodiment of the application, the vehicle state information includes failure information, and the roadside unit determines whether the vehicle abnormal state is satisfied according to the failure information before determining whether the vehicle position information of the candidate vehicle identification is in the lane position region. If the vehicle abnormal state is met, determining that the corresponding candidate vehicle identification is not the target vehicle identification; and if the vehicle abnormal state is not satisfied, further judging whether the vehicle position information of the candidate vehicle mark is in the lane position area.
The fault information comprises a double-flashing-light switch signal, and the opening and closing states of a brake anti-lock system, a vehicle body stabilizing system and a traction control system.
As an example, if the double flashing light switch signal and the anti-lock braking system, the vehicle body stabilizing system and the traction control system are all in the off state, it is determined that the vehicle abnormal state is not satisfied; and if the double-flashing-light switch signal and any one of the anti-lock braking system, the vehicle body stabilizing system and the traction control system is in an opening state, determining that the abnormal state of the vehicle is met. Whether the abnormal state of the vehicle is met or not is judged through the fault information, the fault vehicle is prevented from being determined as an illegal parking vehicle, and the accuracy of monitoring the illegal parking vehicle is further improved.
In this embodiment, the roadside unit stores the illegal parking region, and if the vehicle position information of the candidate vehicle identifier is not in the lane position region, it is determined whether the vehicle position information belongs to the preset illegal parking region.
Optionally, if the vehicle position information belongs to a preset parking violation area, determining that the candidate vehicle identifier corresponding to the vehicle position information is a target vehicle identifier, that is, the target vehicle corresponding to the target vehicle identifier is a parking violation vehicle. And if the vehicle position information does not belong to the preset illegal parking area, determining that the candidate vehicle identification corresponding to the vehicle position information is not the target vehicle identification.
The parking-violation area can be set as required, and the parking-violation area includes, for example, a pedestrian crossing, an intersection area, a road section within 30 meters of a bus stop, and the like, which is not specifically limited herein.
In one embodiment of the present application, the vehicle state information further includes an ignition duration. After judging whether the vehicle position information of the candidate vehicle mark is in the lane position area or not, if the vehicle position information is in the lane position area, judging whether the ignition duration of the candidate vehicle mark is less than or equal to a second preset duration or not. If the time length is less than or equal to the second preset time length, determining that the corresponding candidate vehicle identification is not the target vehicle identification; and if the time length is greater than the second preset time length, determining that the corresponding candidate vehicle identification is the target vehicle identification.
The second preset time period may be set as needed, for example, the second preset time period is 10 minutes. In the example, the ignition duration represents the duration of the vehicle in the flameout-free state, and for a candidate vehicle identifier, if the vehicle position information is in the lane position area and the ignition duration is less than or equal to 10 minutes, the candidate vehicle identifier is determined not to be the target vehicle identifier; and if the vehicle position information is in the lane position area and the ignition duration is longer than 10 minutes, determining that the candidate vehicle identifier is the target vehicle identifier, namely belonging to the illegal vehicle. Optionally, if the vehicle is in a flameout state, determining that the corresponding candidate vehicle identifier is the target vehicle identifier.
In the embodiment, whether the abnormal state of the vehicle is met or not is judged through the fault information, the fault vehicle is prevented from being determined as an illegal parking vehicle, the illegal parking vehicle is judged according to the ignition duration under the condition that the vehicle position information is located in the lane position area, and the accuracy of monitoring the illegal parking vehicle is further improved.
Fig. 3 is a schematic flow chart of determining a target vehicle identification link in another monitoring method for an illegal vehicle according to the embodiment of the present application, including:
In this embodiment, the vehicle data includes vehicle position information, which includes, for example, longitude and latitude, and elevation. And the vehicle corresponding to the candidate vehicle identification is in a stop state. The foregoing description of step 201 also applies to step 301, and is not repeated here.
And step 302, if the vehicle is in the lane position area, acquiring a signal of the signal control equipment of the lane flow direction corresponding to the lane position area.
In this embodiment, the roadside unit further stores a signal control device corresponding to the lane position area, where the signal control device is, for example, a traffic signal lamp, and each lane position area may correspond to one or more traffic signal lamps. The lane flow direction is used to indicate the traveling direction of the vehicle in the lane position area.
As an example, the vehicle position information is in a lane position area corresponding to a lane in an east-west direction, and the lane flow direction is driving toward the west, two communication devices corresponding to the lane position area are acquired, and a communication device on the west side of the lane position area is determined from the two communication devices, and a signal of the communication device is acquired.
It should be noted that, the above implementation manner of acquiring the signal of the signal control device of the lane flow direction corresponding to the lane position area is only an example, and for example, the heading of the vehicle may also be acquired, and the corresponding signal control device may be determined according to the heading of the vehicle, so as to acquire the signal of the signal control device in front of the vehicle.
Optionally, the signal control device signal comprises a red light signal, a green light signal, etc.
In this embodiment, if the signal of the signaling control device is a red light signal, it is determined that the vehicle corresponding to the candidate vehicle identifier is waiting for a red light, and therefore, by determining that the corresponding candidate vehicle identifier is not the target vehicle identifier, it is possible to avoid determining the vehicle waiting for the red light as an illegal parking vehicle, and further improve the accuracy of monitoring the illegal parking vehicle.
And step 304, if the signal of the signal control equipment is not a red light signal, acquiring the vehicle flow of the lane flow direction corresponding to the lane position area.
In this embodiment, if the signaling device signal is not a red light signal, it is determined that the vehicle corresponding to the candidate vehicle identifier does not wait for a red light, and the traffic of the vehicle flowing in the lane corresponding to the lane position area is further acquired.
The vehicle flow rate is used to indicate a vehicle congestion degree of the lane, and the lane flow rate includes, for example, the number of vehicles within a preset distance in a lane position area.
And 305, if the vehicle flow is greater than a preset threshold, determining that the corresponding candidate vehicle identifier is not the target vehicle identifier.
As one example, the preset threshold includes X vehicles/Y meters. The roadside unit determines that the traffic flow of the corresponding lane of the lane position area is larger than 60/300 meters according to the number of vehicles and the position information of the vehicles in the lane position area, determines that the current lane is congested, and determines that the corresponding candidate vehicle identification is not the target vehicle identification, so that the situation that the vehicles in a stopped state in the lane are determined as illegal vehicles when the road is congested can be avoided, and the monitoring accuracy of the illegal vehicles is further improved.
In an embodiment of the application, the vehicle state information further includes an ignition duration in a stopped state, and after the vehicle flow is acquired, if the vehicle flow is less than or equal to a preset threshold, it is determined whether the ignition duration of the candidate vehicle identifier is less than or equal to a first preset duration. If the time length is less than or equal to the first preset time length, determining that the corresponding candidate vehicle identification is not the target vehicle identification; and if the time length is longer than the first preset time length, determining that the corresponding candidate vehicle identification is the target vehicle identification.
The first preset time period may be set as needed, for example, the first preset time period is 5 minutes, and it should be noted that the first preset time period may be different from the second preset time period, or may be the same as the second preset time period, which is not limited herein. The ignition duration represents the duration of the vehicle in a flameout-free state, and for a candidate vehicle identifier, if the vehicle flow is less than or equal to a preset threshold and the ignition duration is less than or equal to 5 minutes, the candidate vehicle identifier is determined not to be the target vehicle identifier; and if the vehicle flow is less than or equal to the preset threshold value and the ignition duration is greater than 5 minutes, determining that the candidate vehicle identifier is the target vehicle identifier, namely belonging to the illegal vehicle. Optionally, if the vehicle is in a flameout state, determining that the corresponding candidate vehicle identifier is the target vehicle identifier.
In this embodiment, by determining whether the vehicle position information of the candidate vehicle identifier is in the lane position area, and then determining the illegal parking vehicle according to the signal of the signal control device and the vehicle flow rate under the condition that the vehicle position information is in the lane position area, it can be avoided that the vehicle waiting for the red light is determined as the illegal parking vehicle, and the vehicle in the stopped state in the lane when the road is congested is determined as the illegal parking vehicle, so that the accuracy of monitoring the illegal parking vehicle is further improved.
The following description is made in conjunction with a monitoring system for an illegal vehicle.
Fig. 4 is a schematic diagram of a monitoring system for an illegal vehicle according to an embodiment of the present application, as shown in fig. 4, the system includes: road side unit, vehicle and on-vehicle unit, traffic management system.
In this embodiment, the roadside unit includes a positioning module, a storage module, a data processing module, a V2X communication module, and a communication module.
The storage module is used for storing map data, such as names of parking forbidding areas, names of roads where parking forbids are located, names of jurisdictions where parking forbids are located, longitude and latitude information, elevation values and other information. The data processing module is used for processing according to the received vehicle data of the surrounding vehicles and the map data of the area where the road side unit is stored in the storage module, and monitoring the illegal vehicles. The V2X communication module is used to communicate with the on-board unit via V2X technology. The communication module is used for communicating with an external traffic management system, the communication modes include ethernet communication, 4G communication, 5G communication and the like, and the communication contents include but are not limited to: the method comprises the steps of applying for map data, receiving map updating data, reporting illegal stopping information output by a data processing module to a traffic management system, receiving an electronic notice issued by the traffic management system and the like.
In this embodiment, the vehicle includes an on-board unit and a display module, and the on-board unit includes a V2X communication module, a data processing module, and a positioning module.
The V2X communication module is used for communicating with the road side unit through the V2X technology. The data processing module is used for processing the received positioning data and the like.
The positioning module may be a GPS (global positioning System) positioning module.
In this embodiment, the traffic management system is configured to perform data communication with the communication module of the roadside unit, store information about vehicles violating parking, generate a "motor vehicle parking notice not according to regulations", and send the "motor vehicle parking notice not according to regulations" to the roadside unit.
Alternatively, the road side unit RSU is installed at the side of the road, or at a place where management of the parking violation vehicles is required, such as motorway/non-motorway, street, public place, sidewalk, etc. The on-board unit OBU is mounted on the vehicle and broadcasts vehicle data periodically, for example at a frequency of 10 Hz. The vehicle data includes: vehicle identification, vehicle location information, vehicle heading, vehicle speed, vehicle status information, vehicle type information, and the like.
The monitoring system of the illegal parking vehicle can acquire the vehicle data sent by the vehicle-mounted unit through the road side unit, determine the illegal parking vehicle according to the vehicle data, realize electronic and automatic management of the illegal parking vehicle, reduce the labor cost and the time cost, improve the processing efficiency of the illegal parking vehicle and improve the monitoring accuracy of the illegal parking vehicle.
Based on the foregoing embodiments, fig. 5 is a schematic flowchart of another monitoring method for an illegal vehicle according to the embodiments of the present application.
Referring to fig. 5, the on board unit OBU acquires vehicle status information by accessing a vehicle CAN bus, including: a double flashing light switch signal ON or OFF, a vehicle runaway signal (for example, a brake anti-lock system ABS switch state, a vehicle body stability system ESP switch state, a traction control system TCS switch state, etc.), and vehicle wheel speed data (speed value >0, speed value ═ 0).
The road side unit RSU receives vehicle data periodically broadcast by the on board unit OBU, the road side unit RSU carries out real-time data calculation and position judgment by combining map data of a region where the vehicle is stored in the storage module through the data processing module according to received longitude and latitude, elevation, course, vehicle speed, vehicle state information, vehicle type information and the like of surrounding vehicles, determines the road, lane and direction where the vehicle is located, and judges whether the vehicle is a parking violation vehicle according to the following steps:
1) a vehicle having a speed of 0 and a vehicle type of a normal vehicle is screened out.
2) According to the vehicle data, abnormal vehicle judgment is carried out on the vehicle with the speed of 0, and if the vehicle is an abnormal vehicle, the vehicle is judged not to belong to an illegal vehicle; if the vehicle is an abnormal vehicle, executing step 3);
3) determining the road where the vehicle is located, judging whether the vehicle is on the lane, and if the vehicle is not on the lane, executing the step 4); if the vehicle is on the lane, step 5) is executed.
4) Judging whether the vehicle is in a parking area, if so, judging that the vehicle does not belong to an illegal parking vehicle; if the vehicle is not in the parking area, the time when the vehicle speed is 0 and the ignition state are determined. If the time when the vehicle speed is 0 is less than or equal to T1 min and the vehicle is not flamed out (the value of T1 can be set, and the value of T1 in the application is 10min), the vehicle does not belong to the illegal parking vehicle; if the time when the vehicle speed is 0 is not less than T1 min and the vehicle is flamed out, the vehicle belongs to the illegal parking vehicle, and step 8) and step 9) are executed.
5) If the vehicle is on the lane, judging whether the traffic signal lamp nearest to the front of the lane is in a red light state or not in real time, and if the traffic signal lamp is in the red light state, judging that the vehicle does not belong to an illegal parking vehicle; if not, step 6) is executed.
6) And judging that the number of vehicles on the lane where the vehicles are located is less than or equal to V/L meter (V/L meter is the number of vehicles on the lane with a certain length), and calculating the RSU according to the received number of vehicles on the lane and the positions of the vehicles. The V/L values of the vehicles with different sizes can be different, for example, the V/L of a truck is less than the V/L of a car), if not, the vehicle is considered to be traffic jam, and the vehicle is judged not to belong to an illegal parking vehicle; if yes, go to step 7).
7) The time and point or state at which the vehicle speed is 0 are determined. If the time when the vehicle speed is 0 is less than or equal to T2 min and the vehicle is not flamed out (the value of T2 can be set, and the value of T2 in the application is 5min), the vehicle does not belong to illegal parking; if the time of the vehicle speed being 0 is not less than T2 min & flameout, the vehicle belongs to the illegal parking vehicle, and step 8) and step 9) are executed.
8) And if the vehicle is judged to belong to illegal parking, uploading information such as vehicle identification, vehicle VIN (vehicle identification number), vehicle-mounted unit identification, illegal parking place, illegal parking starting time and the like to the traffic management system.
9) And after receiving the information uploaded by the RSU, the traffic management system records and stores the illegal parking, generates illegal parking processing information and issues the illegal parking processing information to the RSU. The RSU sends the illegal parking handling information, and the vehicle OBU receives the illegal parking handling information and then displays the illegal parking handling information through the display screen, it should be noted that the display mode of the illegal parking handling information includes, but is not limited to, images, characters, sounds, and the like.
According to the method for monitoring the illegal parking vehicles, the road side unit can acquire the vehicle data sent by the vehicle-mounted unit, the illegal parking vehicles are determined according to the vehicle data, electronic and automatic management of the illegal parking vehicles is achieved, labor cost and time cost are reduced, the processing efficiency of the illegal parking vehicles is improved, and the monitoring accuracy of the illegal parking vehicles is improved.
In order to realize the above embodiment, the present application further provides a monitoring device for an illegal vehicle.
Fig. 6 is a schematic structural diagram of a monitoring apparatus for an illegal vehicle according to an embodiment of the present application, as shown in fig. 6, the apparatus includes: the device comprises a receiving module 10, a determining module 20 and a processing module 30.
The receiving module 10 is configured to receive vehicle data broadcasted by an on-board unit in a vehicle, where the vehicle data includes a vehicle identifier, vehicle location information (longitude and latitude, elevation), a vehicle speed, a vehicle heading, vehicle state information, and vehicle type information (general vehicle, special vehicle).
A determining module 20, configured to determine the candidate vehicle identifier in the stopped state according to the vehicle speed.
And the processing module 30 is configured to determine, in the vehicle data of the candidate vehicle identifiers, a target vehicle identifier that meets a preset violation condition, so as to generate violation processing information for a target vehicle corresponding to the target vehicle identifier.
According to an embodiment of the present application, the processing module 30 is specifically configured to: judging whether the vehicle position information of the candidate vehicle identification is in a lane position area; and if the vehicle position information does not belong to the lane position area, determining whether the vehicle position information belongs to a preset illegal parking area, wherein if the vehicle position information belongs to the preset illegal parking area, determining that the corresponding candidate vehicle identifier is the target vehicle identifier.
According to an embodiment of the application, the processing module 30 is further configured to: if the vehicle is located in the lane position area, acquiring a signal of the signal control equipment of the lane flow direction corresponding to the lane position area; if the signal of the signal control equipment is a red light signal, determining that the corresponding candidate vehicle identification is not the target vehicle identification; if the signal of the signal control equipment is not a red light signal, acquiring the vehicle flow of the lane flow direction corresponding to the lane position area; and if the vehicle flow is larger than a preset threshold value, determining that the corresponding candidate vehicle identification is not the target vehicle identification.
According to an embodiment of the application, the vehicle state information comprises a duration of ignition in the stopped state, the processing module 30 further comprises: the first judgment unit is used for judging whether the ignition duration of the candidate vehicle identifier is less than or equal to a first preset duration or not if the vehicle flow is less than or equal to the preset threshold; if the time length is less than or equal to the first preset time length, determining that the corresponding candidate vehicle identification is not the target vehicle identification; and if the time length is longer than the first preset time length, determining that the corresponding candidate vehicle identification is the target vehicle identification.
According to an embodiment of the present application, the processing module 30 further comprises: the second judgment unit is used for judging whether the ignition duration of the candidate vehicle mark is less than or equal to a second preset duration or not if the candidate vehicle mark is in the lane position area; if the time length is less than or equal to the second preset time length, determining that the corresponding candidate vehicle identification is not the target vehicle identification; and if the time length is greater than the second preset time length, determining that the corresponding candidate vehicle identification is the target vehicle identification.
According to one embodiment of the application, the vehicle status information includes fault information, and the processing module 30 further includes: an abnormality judgment unit for judging whether a vehicle abnormal state is satisfied according to the failure information; and if the vehicle abnormal state is met, determining that the corresponding candidate vehicle identification is not the target vehicle identification.
According to an embodiment of the application, the apparatus further comprises: the generating module is used for acquiring the vehicle position information of the target vehicle and determining the illegal parking type of the target vehicle according to the vehicle position information of the target vehicle and prestored map data; and generating illegal parking handling information of the target vehicle according to the illegal parking category, and sending the illegal parking handling information to a vehicle-mounted unit of the target vehicle.
It should be noted that the foregoing explanation of the embodiment of the monitoring method for an illegal vehicle is also applicable to the monitoring device for an illegal vehicle in this embodiment, and is not repeated herein.
According to the monitoring device for the illegal parking vehicle, the road side unit receives the vehicle identification, the vehicle speed and the vehicle state information broadcasted by the vehicle-mounted unit in the vehicle, and then the candidate vehicle identification in the stop state is determined according to the vehicle speed. And determining a target vehicle identification meeting a preset violation condition in the vehicle data of the candidate vehicle identification so as to generate violation processing information of the target vehicle corresponding to the target vehicle identification. According to the method and the device, the road side unit acquires the vehicle data sent by the vehicle-mounted unit, and determines the illegal parking vehicles according to the vehicle data, so that the electronic and automatic management of the illegal parking vehicles is realized, the labor cost and the time cost are reduced, and the processing efficiency of the illegal parking vehicles is improved. And besides, the illegal parking vehicles are determined according to vehicle data such as vehicle position information, course, vehicle speed, vehicle state information and vehicle type information, and compared with a mode of snapshot by a monitoring camera, the influence of weather such as rain, snow and the like is small, and the monitoring accuracy of the illegal parking vehicles is improved.
The embodiment of the application provides a road side unit, includes: the monitoring method for the parking violation vehicles is realized when the processor executes the program.
An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the above-mentioned method for monitoring illegal vehicles.
In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A method for monitoring an illegal vehicle is applied to a road side unit and is characterized by comprising the following steps:
receiving vehicle data broadcasted by an on-board unit in a vehicle, wherein the vehicle data comprises vehicle identification, vehicle position information, vehicle course, vehicle speed, vehicle state information and vehicle type information;
determining candidate vehicle identifications in a stopped state according to the vehicle speed;
and determining a target vehicle identification meeting a preset violation condition in the vehicle data of the candidate vehicle identifications so as to generate violation processing information of a target vehicle corresponding to the target vehicle identification.
2. The method of claim 1, wherein determining a target vehicle identification that satisfies a preset violation condition in the vehicle data of the candidate vehicle identifications comprises:
judging whether the vehicle position information of the candidate vehicle identification is in a lane position area;
and if the vehicle position information does not belong to the lane position area, determining whether the vehicle position information belongs to a preset illegal parking area, wherein if the vehicle position information belongs to the preset illegal parking area, determining that the corresponding candidate vehicle identifier is the target vehicle identifier.
3. The method of claim 2, wherein after said determining whether the vehicle position information of the candidate vehicle identification is in a lane position region, further comprising:
if the vehicle is located in the lane position area, acquiring a signal of the signal control equipment of the lane flow direction corresponding to the lane position area;
if the signal of the signal control equipment is a red light signal, determining that the corresponding candidate vehicle identification is not the target vehicle identification;
if the signal of the signal control equipment is not a red light signal, acquiring the vehicle flow of the lane flow direction corresponding to the lane position area;
and if the vehicle flow is larger than a preset threshold value, determining that the corresponding candidate vehicle identification is not the target vehicle identification.
4. The method of claim 3, wherein the vehicle state information includes an ignition duration in the stopped state, the method further comprising:
if the vehicle flow is less than or equal to the preset threshold, judging whether the ignition duration of the candidate vehicle identification is less than or equal to a first preset duration;
if the time length is less than or equal to the first preset time length, determining that the corresponding candidate vehicle identification is not the target vehicle identification;
and if the time length is longer than the first preset time length, determining that the corresponding candidate vehicle identification is the target vehicle identification.
5. The method of claim 2, wherein after said determining whether the vehicle position information of the candidate vehicle identification is in a lane position region, further comprising:
if the candidate vehicle identification is located in the lane position area, judging whether the ignition duration of the candidate vehicle identification is less than or equal to a second preset duration;
if the time length is less than or equal to the second preset time length, determining that the corresponding candidate vehicle identification is not the target vehicle identification;
and if the time length is greater than the second preset time length, determining that the corresponding candidate vehicle identification is the target vehicle identification.
6. The method of claim 2, wherein the vehicle state information includes fault information, and further comprising, prior to said determining whether the vehicle position information of the candidate vehicle identification is in a lane position region:
judging whether the abnormal state of the vehicle is met or not according to the fault information;
and if the vehicle abnormal state is met, determining that the corresponding candidate vehicle identification is not the target vehicle identification.
7. The method of any one of claims 1-6, wherein the generating violation handling information that identifies a corresponding target vehicle to the target vehicle comprises:
acquiring vehicle position information of the target vehicle, and determining the illegal parking type of the target vehicle according to the vehicle position information of the target vehicle and prestored map data;
and generating illegal parking handling information of the target vehicle according to the illegal parking category, and sending the illegal parking handling information to a vehicle-mounted unit of the target vehicle.
8. A monitoring device for an illicit vehicle, comprising:
the system comprises a receiving module, a processing module and a display module, wherein the receiving module is used for receiving vehicle data broadcasted by an on-board unit in a vehicle, and the vehicle data comprises vehicle identification, vehicle position information, vehicle course, vehicle speed, vehicle state information and vehicle type information;
the determining module is used for determining candidate vehicle identifications in a stopping state according to the vehicle speed;
and the processing module is used for determining a target vehicle identifier meeting a preset violation condition in the vehicle data of the candidate vehicle identifiers so as to generate violation processing information of the target vehicle corresponding to the target vehicle identifier.
9. A road side unit, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method for monitoring of an offending vehicle as claimed in any of claims 1-7 when the program is executed.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method for monitoring an offending vehicle according to any one of claims 1-7.
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| CN202110351317.XA CN113299072A (en) | 2021-03-31 | 2021-03-31 | Method and device for monitoring illegal parking vehicle |
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| CN202110351317.XA CN113299072A (en) | 2021-03-31 | 2021-03-31 | Method and device for monitoring illegal parking vehicle |
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Application publication date: 20210824 |