CN113963531A - Detection method for keeping safe distance of running vehicle and display mode thereof - Google Patents
Detection method for keeping safe distance of running vehicle and display mode thereof Download PDFInfo
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Abstract
The application discloses a detection method for keeping a safe distance between running vehicles, which comprises the following steps: the scheme is based on video event detection equipment on the current road, and a video acquisition instrument is obtained by updating a machine vision algorithm in the equipment with the video detection function, wherein the working steps of the instrument are as follows: s1, the vehicle enters a video detection area; s2, acquiring vehicle and road information; s3, constructing a dynamic safety distance area; s4, displaying the vehicle dynamic safety area; the method has the technical key points that a dynamic safety area is added on the basis of the existing video monitoring technology, and the maintenance condition of the safety distance between vehicles in the monitoring video area can be directly judged through the changed colors; the data of the vehicle safety distance in the video area can be counted according to the number of the color changes of the dynamic safety area in the video; and (4) assisting to judge whether the intelligent degree of the intelligent automobile with the automatic driving function in the aspect of keeping the automobile distance meets the traffic rule requirement or not.
Description
Technical Field
The invention belongs to the technical field of traffic monitoring, and particularly relates to a detection method for keeping a safe distance between running vehicles and a display mode of the detection method.
Background
The prior technical scheme is that one or more sensors are used for detecting, so that attention to vehicles running on a road is paid; the existing scheme usually detects, captures and obtains evidence and warns the behaviors of vehicles on the road that violate rules, or detects, captures and obtains evidence and feeds back the abnormal behaviors of vehicles (such as abnormal parking, retrograde motion, too slow speed, traffic accidents and the like) appearing on the road to a management platform; in the roadside equipment in the current traffic industry, the video and the radar can acquire information of individual vehicles, such as vehicle types, vehicle speeds, vehicle numbers and other basic vehicle information, which are information identification and processing aiming at individual vehicles, but no relation is established between the vehicles;
according to the content of GBT28789, the existing event detection technology mainly detects items as follows: the total of 6 event types include a stop event, a retrograde motion event, a pedestrian event, a shedding event, a congestion event, and a drive-off event. Event detection is a method of detecting an illegal action that has occurred, and the result has hysteresis, that is: the method is characterized in that after violation occurs, the probability of motor vehicle accidents in roads is obviously increased along with the increase of the quantity of motor vehicles in China, so that the prevention of the accidents is very important work in the bud, wherein the driving safety is influenced by the driving speed and the safety distance of the motor vehicles, the motor vehicles are regulated by China to drive on expressways, when the speed reaches 100km/h, the safety distance of more than 100 meters is kept between the motor vehicles in the same lane, when the speed is lower than 100km/h, the distance between the motor vehicles and the front vehicles can be properly shortened, but the minimum safety distance is not less than 50 meters; in the content of GBT28789, the current event detection mechanism does not include data indexes of the distance between the front and the rear vehicles, the influence analysis of drunk driving, fatigue driving or call receiving behaviors on safe driving of a driver is generally carried out on the recent traffic accident reply, but the reason analysis and statistics of the traffic accident caused by the fact that the safe distance is not kept according to the regulations are not available all the time;
in summary, the disadvantages of the prior art are:
firstly, the important safety data index of the following distance is lacked at present;
secondly, the staff can not visually, quickly and accurately judge whether the running vehicle complies with the safety distance requirement specified by traffic regulations through the video image by naked eyes.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a detection method for keeping a safe distance between running vehicles and a display mode thereof, and solves the problems mentioned in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
a detection method for keeping a safe vehicle distance of a running vehicle comprises the following steps: the scheme is based on video event detection equipment on the current road, and a video acquisition instrument is obtained by updating a machine vision algorithm in the equipment with the video detection function, wherein the working steps of the instrument are as follows:
s1, the vehicle enters a video detection area;
s2, acquiring vehicle and road information;
s3, constructing a dynamic safety distance area;
s4, displaying the vehicle dynamic safety area;
the method is a single working step, and in an actual situation, the equipment acquires the driving information at any moment through the visual algorithm corresponding to the scheme for comparison, and updates the display content and the mode of the dynamic safe distance area.
Furthermore, the video event detection equipment on the road is a traffic camera, the video can be transmitted to the rear end after being processed, and the video event is processed by the event detection equipment at the rear end.
Further, in the S2,
the device for acquiring information includes, but is not limited to, a video detection device, a radar device, a satellite positioning device, and a roadside RSU device, and the acquired information includes, but is not limited to, a running speed of a vehicle and a vehicle length.
Further, in the S3,
the dynamic safe distance refers to the distance between a rear vehicle and a front vehicle along with the change of the running speed of the motor vehicle, wherein the distance is changed along with the change of the speed of the motor vehicle according to an intersection rule.
Further, the dynamic safety distance is divided into a rectangle, the length of the rectangle is the length of the dynamic safety distance, the width of the rectangle is the width of the vehicle, so that the vehicle dynamic safety distance area is a rectangle which is connected with the motor vehicle and is positioned in the driving direction of the vehicle, and the rectangle is positioned in an area extending forwards from the vehicle head.
Further, in the S3,
the construction method of the vehicle dynamic safety area comprises two steps, wherein the first method is as follows: a vehicle body self fuzzy distance construction method; the second method is as follows: road reference object construction area method.
In a manner that is suitable for video regions without reference objects,
the method for constructing the area by taking the vehicle as a reference object and occupying the road length comprises the following steps:
vehicle running speed: v;
length of vehicle itself: l1;
width of the vehicle itself: w;
vehicle front dynamic safety distance length: l2;
firstly, calculating L2 according to the running speed of the vehicle, then calculating the multiple of the length of L2 and the length of L1 on the road by taking L1 as a base,
then:
the length of the safety distance should be L1 (L2/L1),
and the entire safe distance zone should be: w L1 (L2/L1),
as L2 changes with V, the length of the safety distance changes, and the area of the corresponding safety zone changes.
The second mode is suitable for a video area with a reference object, and a u value is introduced in the calculation process of the first mode, wherein the u value is a correction parameter and is used for reducing the error generated between the dynamic whole area of the video display and the actual safe area;
there are many scenes in the highway, such as road surface or tunnel, etc.; different scenes can adopt different regular targets as reference objects; wherein
If a broken line between lanes of the highway is taken as a reference, the broken line is a 69 line, and a trapezoid pattern is drawn in the image according to a certain rule in the image, such as a pair of 69 lines, namely the length of 15 meters is taken as a unit; through the length change of 2 groups or more than 2 groups of 69 lines, the trend rule of the change of the target length of the vehicle from near to far in the video can be calculated;
namely, when the vehicle runs forward for 15 meters, the length of the 69 line is shortened by X%, the conclusion and the rule of 1-meter-length change can be calculated, and the volume change rule obtained by the rule calculation is the u value.
In the above-mentioned S4, the method,
the basic judgment and display mode of the vehicle dynamic safety area is as follows:
in the process of the rear vehicle traveling, a system in the video acquisition instrument constructs a theoretical safe distance area for the rear vehicle, the safe distance area moves along with the traveling of the vehicle, and a frame body is formed between the front vehicle and the rear vehicle;
under the condition that a vehicle does not exist in the front, the size of the frame is theoretically in direct proportion to the running speed of the vehicle, and the area of the area is increased and decreased due to the increase and decrease of the vehicle speed;
in the moving process, if other vehicles do not appear in the area, the color of the frame body is green;
if other vehicles (including the front vehicle on the spot and the parallel vehicle entering the lane) appear in the area, the color of the frame body is red;
whether the frame body is green or red, the current vehicle speed and the length of the dynamic safety distance are displayed;
the specific display mode is as follows:
when the vehicle runs, if no vehicle exists in front of the vehicle in the video acquisition range, the lane in front of the vehicle is green; if a vehicle exists in the front, but the position of the front vehicle is out of the safety range, the lane between the two vehicles is green, the middle number is the actual distance between the two vehicles, and in the area, information which can be displayed can also display the speed information of the rear vehicle; if there is a vehicle in front and the position of the front vehicle is within the safe range, the lane between the two vehicles is red
(III) advantageous effects
Firstly, a dynamic safety area is added on the basis of the existing video monitoring technology, and the maintenance condition of the safety distance between vehicles in the monitoring video area can be directly judged through the changed colors;
secondly, the data of the vehicle safety distance in the video area can be counted according to the number of the color changes of the dynamic safety area in the video, for example: the number of the train numbers of the vehicles with the safe distance is not kept, and the number is basic data information of later data statistics and data analysis of a traffic department or a road manager;
and thirdly, assisting to judge whether the intelligent degree of the intelligent automobile with the automatic driving function in the aspect of keeping the automobile distance meets the traffic rule requirement or not.
Fourthly, in a future intelligent transportation vehicle-road cooperation system, the lane-level management and control is assisted.
Drawings
FIG. 1 is a flow chart of the calculation of theoretical data values after a vehicle enters a video detection area in accordance with the present invention;
fig. 2 is a flowchart of calculating an actual data value after a vehicle enters a video detection area 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, for the convenience of description, the terms "upper", "lower", "left" and "right" are used to refer to the same direction as the upper, lower, left, right, etc. of the drawings, and the terms "first", "second", etc. are used for descriptive distinction and have no special meaning.
In view of the problems in the prior art, the present invention provides a method for detecting a safe distance maintained by a traveling vehicle, comprising: the scheme is based on video event detection equipment on the current road, and a video acquisition instrument is obtained by updating a machine vision algorithm in the equipment with the video detection function, wherein the working steps of the instrument are as follows:
s1, the vehicle enters a video detection area;
s2, acquiring vehicle and road information;
s3, constructing a dynamic safety distance area;
s4, displaying the vehicle dynamic safety area;
the method is a single working step, and in an actual situation, the equipment acquires the driving information at any moment through the visual algorithm corresponding to the scheme for comparison, and updates the display content and the mode of the dynamic safe distance area.
By adopting the technical scheme:
the invention is mainly a display method for judging the safe distance kept by vehicles running on a road, and the display method comprises the following steps that core points are displayed, namely the color change of a dynamic safe distance display area, the size change of a dynamic safe distance and information displayed in the area; such a presentation is not known at present.
The video event detection equipment on the road is a traffic camera, the video can be transmitted to the rear end after being processed, and the video event is processed by the event detection equipment at the rear end.
In the above-mentioned S2, the method,
the equipment for acquiring information comprises but is not limited to video detection equipment, radar equipment, satellite positioning equipment and roadside RSU equipment, and the acquired information comprises but is not limited to the running speed and the length of a vehicle, and specifically comprises current road condition and environment information;
for example: weather condition information and road traffic information, because the distance which should be theoretically maintained is calculated by the running speed of the vehicle and the length of the vehicle, and the distance is adjusted by adding relevant parameters to the actual condition of the road.
In the above-mentioned S3, the method,
the dynamic safe distance refers to the distance between a rear vehicle and a front vehicle along with the change of the running speed of the motor vehicle, wherein the distance is changed along with the change of the speed of the motor vehicle according to an intersection rule.
Dividing the dynamic safety distance into a rectangle, wherein the length of the rectangle is the length of the dynamic safety distance, and the width of the rectangle is the width of the vehicle, so that the vehicle dynamic safety distance area is a rectangle which is connected with the motor vehicle and is positioned in the driving direction of the vehicle, and the rectangle is positioned in an area extending forwards from the vehicle head.
In the above-mentioned S3, the method,
the construction method of the vehicle dynamic safety area comprises two steps, wherein the first method is as follows: a vehicle body self fuzzy distance construction method; the second method is as follows: road reference object construction area method.
In a manner that is suitable for video regions without reference objects,
the method for constructing the area by taking the vehicle as a reference object and occupying the road length comprises the following steps:
vehicle running speed: v;
length of vehicle itself: l1;
width of the vehicle itself: w;
vehicle front dynamic safety distance length: l2;
firstly, calculating L2 according to the running speed of the vehicle, then calculating the multiple of the length of L2 and the length of L1 on the road by taking L1 as a base,
then:
the length of the safety distance should be L1 (L2/L1),
and the entire safe distance zone should be: w L1 (L2/L1),
the L2 changes along with the change of V, the length of the safety distance changes, and the area of the corresponding safety area also changes;
in a specific application scenario, for example: when the vehicle is traveling laterally from right to left,
the vehicle type recognition system acquires the information of the brand and the model of the vehicle through the video, acquires two data of L1 and W,
the current vehicle speed determines the L2 data,
the L2 data is theoretically certain to be greater than the L1 data, unless the vehicle is stopped, L2 ═ L1 × n; n is the multiple required to reach the length of L2 based on L1, and the safe distance is in the following region: L2W
The specific description is as follows:
when the vehicle runs at the speed of 120kM/H, the following distance is required to be not less than 100 meters;
for example, if the length of the vehicle is 5 meters and the width is 2.5 meters, the safe distance area is an area (100 × 2.5) 250 square meters in front of the vehicle head;
when the vehicle runs at the speed of 60kM/H, the following distance is required to be not less than 50 meters;
for example, if the length of the vehicle is 5 meters and the width is 2.5 meters, the safe distance area is an area (50 × 2.5) 125 square meters in front of the vehicle head;
however, in the present scheme, it is not necessary to represent a numerical value in the lane in the form of a graph, and if there is no distance marking in the video, only the length of L2 can be obtained, and the position of L2 cannot be obtained, that is, the starting point of L2 is the head position in the road traveling direction, and the end point does not know where it is.
The method has the core that the minimum following distance and the vehicle length which need to be kept by the current vehicle are obtained by identifying the vehicle type and the running speed of the vehicle in the lane, the edge of the vehicle is overlapped with the side line of the lane, the length of the overlapped area is the vehicle length, the ratio of the data of the minimum following distance and the vehicle length is used, and the obtained data multiplied by the length and the width of the vehicle is the area which needs to be drawn in front of the vehicle in the video;
the description is that the camera is installed on the road side and directly shoots the section of the road, and is a calculation mode in an ideal state.
In a real road, the monitoring camera is usually installed with a certain angle,
from the picture shot by the camera, the lane is changed from wide to narrow in the direction from near to far, and the same length distance is gradually shortened in the video in the real scene; therefore, when the installation mode of the camera is a mode which is not installed on the road side and directly shoots the section of the road, the parameter u in the second mode is required to be added, the parameter has the function of correcting the distance for the situation shown by the image shot by the camera in other installation modes, and is used for calculating the change rule of the same length reduction when the lane is narrowed in the video in the process from the vehicle entering the video area to the vehicle leaving the video area, so that the calculation result conforms to the actual situation, and the error is reduced;
the second mode is suitable for a video area with a reference object, and a u value is introduced in the calculation process of the first mode, wherein the u value is a correction parameter and is used for reducing the error generated between the dynamic whole area of the video display and the actual safe area;
there are many scenes in the highway, such as road surface or tunnel, etc.; different scenes can adopt different regular targets as reference objects; wherein the content of the first and second substances,
if a broken line between lanes of the highway is taken as a reference, the broken line is a 69 line, and a trapezoid pattern is drawn in the image according to a certain rule in the image, such as a pair of 69 lines, namely the length of 15 meters is taken as a unit; through the length change of 2 groups or more than 2 groups of 69 lines, the trend rule of the change of the target length of the vehicle from near to far in the video can be calculated;
namely, when the vehicle runs 15 meters forwards, the conclusion that the length of the 69 line is shortened by X%, the conclusion and the rule of 1-meter-length change can be calculated, and the volume change rule obtained by the rule calculation is the u value;
it should be noted that the above-mentioned 69 lines are not the only references, for example: the length of the interval between the lamps installed on both sides of the road in the tunnel is also the requirement of the installation specified by the country, which can also be used as a distance reference, and the above-mentioned 69 lines are used to help the examiner understand the meaning of the u value and how to obtain the u value.
In a specific application scene, a dotted line in the middle of a lane is called a 69 line, the length of the white line is 6 meters, the length of two white lines at intervals is 9 meters, the dotted line is called the 69 line, a trapezoidal pattern is drawn in an image according to a certain rule (for example, a pair of 69 lines, namely the length of 15 meters is taken as a unit), a trend rule of target length change from near to far of a vehicle can be calculated through a change rule of the length of the 69 line, and a conclusion that the length of the 69 line is shortened by X% when the vehicle runs forwards by 15 meters can be calculated; this rule is also applicable to the rule of the volume change of the vehicle displacement, and the volume change rule calculated by this rule is the above-mentioned u.
Compared with the first mode, accurate road surface distance position information can be obtained firstly through a 69-line reference method, the constructed dynamic safe distance area is based on the road surface, and after the safe distance to be kept is obtained according to the vehicle running speed, the constructed dynamic safe distance area in the image is more accurate. (the error in the first method is because the calculation and display are performed based on the size of the vehicle itself, and although the relative safety zone is reduced as the size of the vehicle is smaller as the distance is farther, the area of the displayed dynamic whole zone is larger than the actual safety zone due to the lack of correction of the parameter u.
Other correction parameters (u)
The differences of vehicle type, weather and road grade theoretically correspond to different correction parameters and are used for adjusting the range of a dynamic safety area; if a large vehicle is limited by the vehicle type and the braking distance is affected, the way of keeping the vehicle distance should be different from that of a small vehicle, and if the vehicle is in foggy weather, the safety distances of all vehicles should be increased, and other situations, so for different influence factors, through the requirements of an owner, correction parameter indexes corresponding to different influence factors can be set, for example:
vehicle parameters: u1, parameters corresponding to rules that the large vehicle should keep a longer distance;
meteorological parameter parameters: u2, parameters corresponding to rules that should be kept farther away for different weather;
road grade parameters: u3, parameters corresponding to rules that roads of different grades should be kept farther away;
in the flowcharts of fig. 1 and 2, in constructing the vehicle dynamic safety distance using u, a plurality of conditions of a plurality of parameters u, u1, u2, u3 are passed;
examples are:
vehicle type parameters: the u1 of the small car is 50 meters at low speed and 100 meters at high speed, and the u1 of the large car should keep a longer distance than the small car; after the vehicle type is detected in the video, corresponding correction values are given to the u1 parameters; when the vehicle enters the road section, corresponding data calculation and correction are carried out by taking two parameters of vehicle speed data and vehicle type information detected by the current video as information for constructing a dynamic area.
Meteorological parameters:
foggy weather involves sight, road icing involves stopping distances, and other possible climates; after the weather type is detected in the video, a corresponding correction value is given to the u2 parameter; when the vehicle enters the road section, corresponding data calculation and correction are carried out by taking the two parameters of the vehicle speed data and the meteorological information acquired by the current video detection equipment as information for constructing a dynamic area.
Road grade parameters:
the road grade is divided into various dimensions, such as national road, provincial road and county road according to the administrative level; the highway is divided into an expressway, an expressway and a common highway according to the speed; the road grades of different types are different in requirements, the speed indexes for vehicle running in traffic rules are different in requirements, and the extended theoretical safe distance is also different along with the speed indexes; the parameter value of u3 varies according to road grades. When the road video detection equipment deployment software is initialized, after the road management party or the owner knows the road attribute, the parameter value of u3 is set for the road section in the video in advance; when the vehicle enters the road section, the two parameters of the vehicle speed data and the road section information are used as information for constructing a dynamic area to carry out corresponding data calculation and correction.
In the above-mentioned S4, the method,
the basic judgment and display mode of the vehicle dynamic safety area is as follows:
during the traveling of the rear vehicle, the system in the video acquisition instrument constructs a theoretical safe distance area for the rear vehicle, the safe distance area moves along with the traveling of the vehicle, and a frame is formed between the front vehicle and the rear vehicle (note: the frame in the application means an area formed between the front vehicle and the rear vehicle).
In the case of no vehicle in the front, the size of the frame is theoretically proportional to the running speed of the vehicle, the area of the area is increased and decreased by the increase and decrease of the vehicle speed, and in addition, along with the adjustment of the display mode by application software, the frame can extend on a lane from the head of the vehicle or can be displayed in front of the vehicle in the case of no vehicle in the front;
in addition, along with the adjustment of the display mode by application software, the vehicle can extend on the lane from the head of the vehicle or be displayed in front of the vehicle under the condition that the front vehicle does not exist;
if there is a vehicle ahead, even if the speed is higher, the frame is formed between the front and rear vehicles, and the frame is limited to the vehicle-to-vehicle space without this rule.
In the moving process, if other vehicles do not appear in the area, the color of the frame body is green;
if other vehicles (including the front vehicle on the spot and the parallel vehicle entering the lane) appear in the area, the color of the frame body is red;
no matter the frame is green or red, the current speed of the rear vehicle, the length of the theoretical dynamic safety distance and the actual distance information kept with the front vehicle are displayed;
wherein the color represents the state in which the speed of the following vehicle, the degree of the theoretical safe distance and the distance information actually kept with the preceding vehicle are displayed.
The specific display mode is as follows:
when the vehicle runs, if no vehicle is in front of the vehicle in the video acquisition range, a lane in front of the vehicle is green, and the green area is directly extended on the road or is displayed in front of the vehicle only in a frame body mode and is displayed differently according to the adjustment of application software on the display mode; if there is a car in the front, but the front position is outside the safe range, and the lane between two cars is green, and green can two front and back cars of direct connection, also can only show the framework in the back car the place ahead, and the display mode that sets up is different. The middle information is the actual distance between the two vehicles, the theoretical safe distance and the rear vehicle speed.
The region displays information even if it is red, and the information includes, but is not limited to, information such as the speed of the rear vehicle, the theoretical safe distance, and the actual distance between the two vehicles; the text information can be displayed in the area, and the displayable information includes but is not limited to the traveling speed of the rear vehicles, the actual distance between the current vehicles, the theoretical safety distance and the like.
In a specific application scene, the display mode of the vehicle dynamic safety area is as follows:
1. the dynamic area displays the head part of the vehicle in the driving direction of the vehicle;
2. colors displayed in the dynamic area are different, and color change is updated in real time;
3. the lengths displayed in the dynamic areas are different, and the length change is updated in real time;
4. various data information can be displayed in the dynamic area, and the information can be displayed or not displayed along with the setting;
5. and updating the data displayed in the dynamic area in real time.
6. When the front of the vehicle is not in the vehicle, the dynamic safety distance in front of the vehicle can directly extend all the way on the road, and only the actual safety area can be displayed, and the area size is different according to the display mode.
7. The safe distance between the two vehicles and the dynamic safe area in front of the rear vehicle can be directly connected with the front vehicle, and can also only display the actual safe area of the rear vehicle, and the area size is different according to the display mode.
For example, the following steps are carried out:
the monitoring device identifies vehicles in the road as "square"; in the judgment of the safe distance keeping condition of the vehicle, the collision or video superposition of a vehicle dynamic safe area and a model of a front vehicle frame is used as a main judgment mode;
if the vehicles are in front of the two vehicles on the way, the vehicles are respectively provided with a 'vehicle dynamic safety zone', one vehicle is green, and the other vehicle is red; green indicates that the current vehicle is located at a position corresponding to the "vehicle safe distance"; red indicates that the current vehicle is located at a position that does not conform to the "vehicle safe distance"; three data are respectively arranged in a red and green area of the vehicle dynamic safety distance, and the three data displayed in the red and green area respectively represent the speed of a rear vehicle, the distance between the rear vehicle and a front vehicle and the theoretical safety distance;
the theoretical safety distance is expressed by the color state of the area in addition to the data.
The numerical control after the above example is operation support data,
the passing habits of the vehicles on the road section are known by counting the colors of the dynamic safety areas of the passing vehicles in the range of the camera area, and the obtained information comprises passing data of the road section keeping the safety distance and not keeping the safety distance, namely the times of red and green frames in the road section;
the core technical points of the application are as follows:
in the real video image, a visual effect is used for distinguishing whether the rear vehicle conforms to a safe distance mode;
the colors used include, but are not limited to, red or green, and other colors may also be used to represent safe distance status;
the display states of the dynamic safe distance area include, but are not limited to, safe or unsafe states, and there may be more display states other than the above two states;
such as: a distance early warning state;
the visual effect switching mode includes, but is not limited to, a monochrome effect, a gradient color effect, a light and dark dual effect, a flicker effect and other colors or visual effects, for example, a gradient mode is used in the process of changing the region from green to red as the distance is gradually reduced;
the shape of the dynamic security area includes, but is not limited to, displaying in a shape in a picture, and may be other shapes such as a radar wave shape, a wide and narrow thick and thin arrow shape, and more other shapes;
the information displayed in the dynamic safe distance area includes, but is not limited to, numerical values or status information such as "actual vehicle distance", "theoretical safe distance", "driving speed", and the like, and may also include other vehicle information such as "license plate number" and the like;
the method for constructing the dynamic safety zone through the speed of the rear vehicle has the essential difference from the judgment method of the vehicle manufacturer because the method for keeping the distance of the vehicle manufacturer which automatically drives at present is 'sensing the position of the front vehicle';
a method for judging video superposition or model collision between the dynamic safety area and the front vehicle; the safety zone can change length or size with vehicle speed;
a method of constructing a reference object used for constructing a dynamic region; a construction method without a reference for constructing a dynamic region;
when no vehicle exists in front, the dynamic area can extend on the road or can be only displayed in the front of the vehicle;
when a vehicle is in front of the vehicle, the dynamic area can be only displayed in the front area of the rear vehicle or can be directly connected with the front vehicle.
The method is characterized in that corresponding correction parameter types are set for factors which can influence the running of vehicles on roads, including but not limited to meteorological factors, road grades and vehicle type factors, and the correction parameters are superposed according to actual road conditions to be used for calculating the dynamic safe vehicle distance.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (9)
1. A detection method for keeping a safe distance between running vehicles, comprising:
the scheme is based on video event detection equipment on the current road, and a video acquisition instrument is obtained by updating a machine vision algorithm in the equipment with the video detection function, wherein the working steps of the instrument are as follows:
s1, the vehicle enters a video detection area;
s2, acquiring vehicle and road information;
s3, constructing a dynamic safety distance area;
s4, displaying the vehicle dynamic safety area;
the method is a single working step, and in an actual situation, the equipment acquires the driving information at any moment through the visual algorithm corresponding to the scheme for comparison, and updates the display content and the mode of the dynamic safe distance area.
2. The detection method for maintaining a safe vehicle distance for a traveling vehicle according to claim 1, characterized in that: the video event detection equipment on the road is a traffic camera, the video can be transmitted to the rear end after being processed, and the video event is processed by the event detection equipment at the rear end.
3. The detection method for maintaining a safe vehicle distance for a traveling vehicle according to claim 1, characterized in that: in the above-mentioned S2, the method,
the device for acquiring information includes, but is not limited to, a video detection device, a radar device, a satellite positioning device, and a roadside RSU device, and the acquired information includes, but is not limited to, a running speed of a vehicle and a vehicle length.
4. The detection method for maintaining a safe vehicle distance for a traveling vehicle according to claim 1, characterized in that: in the above-mentioned S3, the method,
the dynamic safe distance refers to the distance between a rear vehicle and a front vehicle along with the change of the running speed of the motor vehicle, wherein the distance is changed along with the change of the speed of the motor vehicle according to an intersection rule.
5. The detection method for maintaining a safe vehicle distance for a traveling vehicle according to claim 4, characterized in that: dividing the dynamic safety distance into a rectangle, wherein the length of the rectangle is the length of the dynamic safety distance, and the width of the rectangle is the width of the vehicle, so that the vehicle dynamic safety distance area is a rectangle which is connected with the motor vehicle and is positioned in the driving direction of the vehicle, and the rectangle is positioned in an area extending forwards from the vehicle head.
6. The detection method for maintaining a safe vehicle distance for a traveling vehicle according to claim 1, characterized in that:
in the above-mentioned S3, the method,
the construction method of the vehicle dynamic safety area comprises two steps, wherein the first method is as follows: a vehicle body self fuzzy distance construction method; the second method is as follows: road reference object construction area method.
7. The detection method for maintaining a safe vehicle distance for a traveling vehicle according to claim 6, characterized in that: in a manner that is suitable for video regions without reference objects,
the method for constructing the area by taking the vehicle as a reference object and occupying the road length comprises the following steps:
vehicle running speed: v;
length of vehicle itself: l1;
width of the vehicle itself: w;
vehicle front dynamic safety distance length: l2;
firstly, calculating L2 according to the running speed of the vehicle, then calculating the multiple of the length of L2 and the length of L1 on the road by taking L1 as a base,
then:
the length of the safety distance should be L1 (L2/L1),
and the entire safe distance zone should be: w L1 (L2/L1),
as L2 changes with V, the length of the safety distance changes, and the area of the corresponding safety zone changes.
8. The detection method for maintaining a safe vehicle distance for a traveling vehicle according to claim 6, characterized in that: the second mode is suitable for a video area with a reference object, and a u value is introduced in the calculation process of the first mode, wherein the u value is a correction parameter and is used for reducing the error generated between the dynamic whole area of the video display and the actual safe area;
if a broken line between lanes of the highway is taken as a reference, the broken line is a 69 line, and a trapezoid pattern is drawn in the image according to a certain rule in the image, such as a pair of 69 lines, namely the length of 15 meters is taken as a unit; through the length change of 2 groups or more than 2 groups of 69 lines, the trend rule of the change of the target length of the vehicle from near to far in the video can be calculated;
namely, when the vehicle runs forward for 15 meters, the length of the 69 line is shortened by X%, the conclusion and the rule of 1-meter-length change can be calculated, and the volume change rule obtained by the rule calculation is the u value.
9. The detection method for maintaining a safe vehicle distance for a traveling vehicle according to claim 1, characterized in that: in the above-mentioned S4, the method,
the basic judgment and display mode of the vehicle dynamic safety area is as follows:
in the process of the rear vehicle traveling, a system in the video acquisition instrument constructs a theoretical safe distance area for the rear vehicle, the safe distance area moves along with the traveling of the vehicle, and a frame body is formed between the front vehicle and the rear vehicle;
under the condition that a vehicle does not exist in the front, the size of the frame is theoretically in direct proportion to the running speed of the vehicle, and the area of the area is increased and decreased due to the increase and decrease of the vehicle speed;
in the moving process, if other vehicles do not appear in the area, the color of the frame body is green;
if other vehicles appear in the area, including the overtaking front vehicle and the parallel vehicle entering the lane, the color of the frame body is red;
whether the frame body is green or red, the current vehicle speed and the length of the dynamic safety distance are displayed;
the specific display mode is as follows:
when the vehicle runs, if no vehicle exists in front of the vehicle in the video acquisition range, the lane in front of the vehicle is green; if a vehicle exists in the front, but the position of the front vehicle is out of the safety range, the lane between the two vehicles is green, the middle number is the actual distance between the two vehicles, and in the area, information which can be displayed can also display the speed information of the rear vehicle; if there is a vehicle in front and the position of the front vehicle is within the safe range, the lane between the two vehicles is red.
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