CN114120660B - Expressway ramp exit early warning method, system, equipment and storage medium - Google Patents
Expressway ramp exit early warning method, system, equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The application discloses a method, a system, equipment and a storage medium for early warning at the exit of a ramp of a highway, which are used for acquiring the position information and speed information of a vehicle at the current moment in a detection area and a plurality of position information of the vehicle in a set time period before the current moment; comparing the speed of the vehicle at the current moment with a preset speed threshold, and sending early warning information if the speed of the vehicle at the current moment is smaller than the preset speed threshold; and fitting the running trend of the vehicle according to the position information of the vehicle at the current moment and a plurality of position information of the vehicle in a set time period before the current moment, judging the running state of the vehicle at the current moment according to the running trend of the vehicle, and sending early warning information if the running state of the vehicle at the current moment is parking or reversing. According to the application, in the scene of the ramp exit of the expressway, the monitoring of dangerous behaviors such as reversing of the ramp exit is completed, traffic accidents at the ramp exit are reduced, casualties and property loss of a driver are reduced, and traffic running efficiency is improved.
Description
Technical Field
The application belongs to the technical field of intelligent traffic, and particularly relates to a method, a system, equipment and a storage medium for early warning at the exit of a ramp of an expressway.
Background
The vehicle-road cooperative system adopts advanced network communication, parallel computing and other technologies to link all traffic main bodies including traffic participants (people), vehicles (vehicles) and traffic infrastructure (roads), implements intelligent cooperation and cooperation between vehicles-vehicles and vehicles-roads in all directions, ensures traffic safety, improves traffic efficiency, forms a safe, efficient and environment-friendly road traffic system, and achieves the aim of relieving traffic jam.
With the increase of expressway mileage in China, traffic accidents on expressways are also increasing, and especially traffic accidents at the ramp exits of expressways are particularly typical. The speed of the vehicles running on the expressway is relatively high, and the ramp exit of the expressway is the main position for changing the direction of the vehicles and changing lanes, so that the expressway is also a high place where traffic collision occurs. Dangerous driving behavior of the expressway ramp exit is quite complex, sometimes a driver can suddenly change a ramp or reverse to forcedly enter the ramp because of fatigue driving, call receiving or information sending missing the ramp exit, a following vehicle can collide with two vehicles when the vehicle does not respond to a brake, traffic accidents at the expressway ramp exit are frequent, and the problems of casualties and property loss of the driver are serious.
Disclosure of Invention
Aiming at the problems existing in the prior art, the application provides a method, a system, equipment and a storage medium for early warning at the exit of a ramp of an expressway, and the monitoring of dangerous behaviors such as reversing at the exit of the ramp is completed under the scene of the exit of the ramp of the expressway, so that traffic accidents at the exit of the ramp are reduced, casualties and property loss of a driver are reduced, and traffic running efficiency is improved.
In order to solve the technical problems, the application is realized by the following technical scheme:
an early warning method for an expressway ramp exit, comprising the following steps:
acquiring position information and speed information of a vehicle at the current moment in a detection area, and setting a plurality of position information of the vehicle in a time period before the current moment; the detection area comprises a set section of expressway main road, one end of the set section of expressway main road is positioned in front of the diversion belt at the exit of the expressway ramp, and the other end of the set section of expressway main road is positioned behind the diversion belt at the exit of the expressway ramp;
comparing the speed of the vehicle at the current moment with a preset speed threshold, and sending early warning information if the speed of the vehicle at the current moment is smaller than the preset speed threshold;
and fitting the running trend of the vehicle according to the position information of the vehicle at the current moment and the plurality of position information of the vehicle in the set time period before the current moment, judging the running state of the vehicle at the current moment according to the running trend of the vehicle, and sending early warning information if the running state of the vehicle at the current moment is parking or reversing.
Further, the method further comprises the following steps:
and if the speed information of the vehicle at the current moment cannot be acquired, calculating the speed information of the vehicle according to the position information of the vehicle at the current moment, the position information of the vehicle at the moment and the time interval between the current moment and the moment, comparing the calculated speed of the vehicle with the preset speed threshold value, and if the calculated speed of the vehicle is smaller than the preset speed threshold value, sending early warning information.
Further, the method further comprises the following steps:
the detection area further comprises a diversion belt at the exit of the expressway ramp;
acquiring state information on a diversion belt at the exit of the expressway ramp;
judging state information on the diversion belt at the exit of the expressway ramp, and sending early warning information if the diversion belt at the exit of the expressway ramp has a vehicle driving in.
Further, the method further comprises the following steps:
acquiring license plate information of a vehicle in a detection area;
the early warning information comprises license plate information.
The early warning system at the exit of the expressway ramp comprises a processing module, road side communication equipment, an early warning module and millimeter wave radar and camera fusion equipment arranged on a main road at the upstream of a detection area, wherein the early warning module comprises a vehicle-mounted early warning unit arranged in a vehicle;
the millimeter wave radar and camera fusion device is used for acquiring the position information and the speed information of the vehicle at the current moment in the detection area and a plurality of pieces of position information of the vehicle in a set time period before the current moment; the detection area comprises a set section of expressway main road, one end of the set section of expressway main road is positioned in front of the diversion belt at the exit of the expressway ramp, and the other end of the set section of expressway main road is positioned behind the diversion belt at the exit of the expressway ramp;
the processing module is used for comparing the speed of the vehicle at the current moment with a preset speed threshold value, and sending early warning information to the early warning module through the road side communication equipment if the speed of the vehicle at the current moment is smaller than the preset speed threshold value; and the vehicle driving trend is fitted according to the position information of the vehicle at the current moment and the position information of the vehicle in the set time period before the current moment, the driving state of the vehicle at the current moment is judged according to the driving trend of the vehicle, and if the driving state of the vehicle at the current moment is parking or reversing, the warning information is sent to the warning module through the road side communication equipment.
Further, if the speed information of the vehicle at the current moment cannot be obtained, the processing module is further configured to calculate speed information of the vehicle according to the position information of the vehicle at the current moment, the position information of the vehicle at the last moment at the current moment, and a time interval between the current moment and the last moment, compare the calculated speed of the vehicle with the preset speed threshold, and if the calculated speed of the vehicle is less than the preset speed threshold, send early warning information to the early warning module through the roadside communication device.
Further, the detection area further comprises a diversion belt at the exit of the expressway ramp;
the millimeter wave radar and camera fusion device is also used for acquiring state information on a diversion belt at the exit of the expressway ramp;
the processing module is also used for judging state information on the diversion belt at the exit of the expressway ramp, and if the diversion belt at the exit of the expressway ramp has a vehicle driving in, the processing module sends early warning information to the early warning module through the roadside communication equipment.
Further, the early warning module also comprises a variable information board arranged at the upstream and downstream of the detection area.
An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the one highway ramp exit warning method when the computer program is executed.
A computer readable storage medium storing a computer program which when executed by a processor implements the steps of a method for early warning at the exit of a highway ramp.
Compared with the prior art, the application has at least the following beneficial effects: after a detection area is set at the position of the exit of the expressway ramp, the position information and the speed information of a vehicle at the current moment in the detection area and a plurality of position information of the vehicle in a set time period before the current moment are firstly obtained; and comparing the speed of the vehicle at the current moment with a preset speed threshold value, and if the speed of the vehicle at the current moment is smaller than the preset speed threshold value, sending early warning information so as to timely early warn the vehicle close to the exit of the expressway ramp and prevent rear-end collision accidents. In addition, the running trend of the vehicle is fitted according to the position information of the vehicle at the current moment and a plurality of position information of the vehicle in a set time period before the current moment, the running state of the vehicle at the current moment is judged according to the running trend of the vehicle, if the running state of the vehicle at the current moment is parking or reversing, early warning information is sent, and the vehicle close to the exit of the expressway ramp is early warned in time, so that dangerous behaviors such as reversing the exit of the ramp are monitored, traffic accidents at the exit of the ramp are reduced, casualties and property loss of a driver are reduced, and traffic running efficiency is improved.
Further, when the speed information of the vehicle at the current moment cannot be obtained, the application also designs a method for calculating the speed information of the vehicle according to the position information of the vehicle at the current moment, the position information of the vehicle at the last moment at the current moment and the time interval between the current moment and the last moment, comparing the calculated speed of the vehicle with a preset speed threshold value, and sending early warning information when the calculated speed of the vehicle is smaller than the preset speed threshold value, thereby improving the early warning reliability.
Furthermore, the application also obtains the state information on the diversion belt at the exit of the expressway ramp, judges the state information on the diversion belt at the exit of the expressway ramp, and if the diversion belt at the exit of the expressway ramp has vehicles to drive in, sends early warning information, if vehicles driving into the diversion belt of the ramp illegally appear, the surrounding vehicles are effectively early warned, so that accidents are prevented.
Furthermore, the application also acquires license plate information of the vehicles in the detection area, and the sent early warning information comprises the license plate information, so that the punishment of the illegal vehicles is facilitated.
According to the early warning system at the exit of the expressway ramp, under the scene of the exit of the expressway ramp with frequent accidents, the vehicle-mounted equipment, the road side communication equipment, the variable information board, the millimeter wave radar and camera fusion equipment and the processing module are combined, so that accurate capturing and timely reminding of illegal information can be realized, a driver can drive more normally, monitoring of dangerous behaviors such as reversing the exit of the ramp can be completed, traffic accidents at the exit ramp are reduced, casualties and property loss of the driver are reduced, traffic running efficiency is improved, and the system is not required to be arranged in a high computing platform.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of equipment set-up in a highway ramp exit early warning system according to the present application;
FIG. 2 is a schematic diagram of the parameters of the early warning judgment standard according to the present application.
In the figure: 1-a processing module; 2-roadside communication devices; 3-an early warning module; 4-millimeter wave radar and camera fusion equipment; 5-detection zone.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
As a specific embodiment of the present application, referring to fig. 1 and 2, a method for early warning at the exit of a ramp on a highway includes:
s1, acquiring position information and speed information of a vehicle at the current moment in a detection area, and setting a plurality of pieces of position information of the vehicle in a time period before the current moment; the detection area comprises a set section of expressway main road, one end of the set section of expressway main road is positioned in front of the diversion belt at the exit of the expressway ramp, and the other end of the set section of expressway main road is positioned behind the diversion belt at the exit of the expressway ramp.
S2, comparing the speed of the vehicle at the current moment with a preset speed threshold, wherein the speed threshold in the application refers to the lowest speed limit of the expressway main road where the vehicle is currently located, and if the speed of the vehicle at the current moment is smaller than the preset speed threshold, early warning information is sent, and in the embodiment, the early warning information in the situation is prompt information and prompts the vehicle to pay attention to the speed. Specifically, as shown in fig. 2, the early warning judgment logic in this case is as follows:
wherein vehicleStatus represents a vehicle state; threshold represents the lowest speed limit of the lane in which the vehicle is currently located; normal indicates normal; earlyWarning represents an alert.
In a preferred embodiment, if the speed information of the vehicle at the current moment cannot be obtained, the speed information of the vehicle is calculated according to the position information of the vehicle at the current moment, the position information of the vehicle at the last moment at the current moment and the time interval between the current moment and the last moment, the calculated speed of the vehicle is compared with a preset speed threshold value, and if the calculated speed of the vehicle is smaller than the preset speed threshold value, early warning information is sent, and in the embodiment, the early warning information in the case is warning, and the vehicle is reminded of being out of regulation and driving away as soon as possible. Specifically, as shown in fig. 2, the speed formula of the vehicle is calculated as follows:
wherein speed represents the current frame speed of the vehicle; position Y i And positionationY i-1 Representing the longitudinal positions of the vehicle (i.e., the position information of the vehicle at the present time and the position information of the vehicle at the time immediately preceding the present time) of the i-th and i-1 th frames, respectively; datetime i The time of the i-th frame (i.e., the time interval between the current time and the previous time) is represented.
And S3, fitting the running trend of the vehicle according to the position information of the vehicle at the current moment and a plurality of pieces of position information of the vehicle in a set time period before the current moment, judging the running state of the vehicle at the current moment according to the running trend of the vehicle, and sending early warning information if the running state of the vehicle at the current moment is parking or reversing. Specifically, as shown in fig. 2, the judgment of illegal parking and illegal reversing is realized by comparing the longitudinal positions of different frames of the same vehicle, and the method is specifically as follows:
wherein vehicleStatus represents a vehicle state; position Y i And positionationY i-1 The vehicle longitudinal positions of the i-th and i-1 th frames are respectively indicated; park represents a parking status; reversing represents a reverse state; normal represents a normal driving state.
As a preferred embodiment of the application, the detection area of the application also comprises a diversion belt at the exit of the ramp of the expressway; the early warning method of the application further comprises the following steps:
acquiring state information on a diversion belt at the exit of a ramp of the expressway;
judging state information on the diversion belt at the exit of the expressway ramp, and sending early warning information if the diversion belt at the exit of the expressway ramp is provided with a vehicle entering. Specifically, as shown in fig. 2, the state information judgment logic for judging the flow guiding belt at the exit of the expressway ramp is as follows:
wherein vehicleStatus represents a vehicle state; position y represents the longitudinal position of the vehicle; position x represents the lateral position of the vehicle; the traffic represents a vehicle violation status; the division Y represents the ordinate of the starting point of the guide belt; the division x indicates the abscissa of the start point of the guide belt.
As a more preferred embodiment, the present application further includes:
acquiring license plate information of a vehicle in a detection area;
the early warning information comprises license plate information and simultaneously stores violation information, and in the embodiment, the obtained violation information is stored by using SQL Server for later violation judgment, storage evidence and data playback.
As shown in fig. 1, the application provides an early warning system at the exit of a ramp on a highway, which is used for implementing the early warning method of the application, and specifically comprises a processing module 1, a road side communication device 2, an early warning module 3 and a millimeter wave radar and camera fusion device 4 arranged on a main road upstream of a detection area 5, wherein the early warning module comprises a vehicle-mounted early warning unit arranged in a vehicle, the vehicle-mounted early warning unit is provided with a vehicle-mounted device, and the vehicle-mounted early warning unit is a part of the vehicle-mounted device.
Preferably, the pre-warning module further comprises a variable information board disposed upstream and downstream of the detection zone.
The millimeter wave radar and camera fusion device is used for acquiring the position information and the speed information of the vehicle at the current moment in the detection area and a plurality of pieces of position information of the vehicle in a set time period before the current moment; the detection area comprises a set section of expressway main road, one end of the set section of expressway main road is positioned in front of the diversion belt at the exit of the expressway ramp, and the other end of the set section of expressway main road is positioned behind the diversion belt at the exit of the expressway ramp.
The processing module is used for comparing the speed of the vehicle at the current moment with a preset speed threshold value, and sending early warning information to the early warning module through the road side communication equipment if the speed of the vehicle at the current moment is smaller than the preset speed threshold value; and the vehicle running trend is fitted according to the position information of the vehicle at the current moment and a plurality of position information of the vehicle in a set time period before the current moment, the running state of the vehicle at the current moment is judged according to the running trend of the vehicle, and if the running state of the vehicle at the current moment is parking or reversing, the pre-warning information is sent to the pre-warning module through the road side communication equipment.
In a preferred embodiment, if the millimeter wave radar and camera fusion device cannot acquire the speed information of the vehicle at the current moment, the processing module is further configured to calculate the speed information of the vehicle according to the position information of the vehicle at the current moment, the position information of the vehicle at the last moment at the current moment, and the time interval between the current moment and the last moment, compare the calculated speed of the vehicle with a preset speed threshold, and if the calculated speed of the vehicle is less than the preset speed threshold, send the early warning information to the early warning module through the roadside communication device.
As a more preferable implementation manner, the detection area further comprises a diversion belt at the exit of the expressway ramp;
the millimeter wave radar and camera fusion device is also used for acquiring state information on a diversion belt at the exit of the expressway ramp;
the processing module is also used for judging the state information on the diversion belt at the exit of the expressway ramp, and if the diversion belt at the exit of the expressway ramp has a vehicle driving in, the early warning module sends early warning information through the road side communication equipment.
As shown in fig. 1, the vehicle-mounted early warning unit is installed in a vehicle running on a road, the roadside communication equipment is installed beside the road, the variable information boards are totally two, the variable information boards are respectively installed in front of and behind (i.e. upstream and downstream of a detection area) the exit of a ramp on the expressway, the millimeter wave radar and camera fusion equipment is installed in the middle position of a portal frame at the exit of the ramp on the expressway, and the processing module is installed at the side position of the road on the expressway. Wherein L1 represents a detection blind area of the millimeter wave radar and camera fusion device, and L2 represents a distance between a start position of a detection area and a rear-side variable information board.
The vehicle-mounted equipment and the road side communication equipment can mutually transmit data through wireless communication, the road side communication equipment transmits the data to the variable information board through wireless communication, the road side communication equipment and the processing module mutually transmit the data through wireless communication, and the millimeter wave radar and camera fusion equipment acquires and processes the data and sends the data to the processing module through a network cable.
Specifically, in this embodiment, the vehicle-mounted device includes a vehicle information positioning module, an information sending and receiving module, and a flat panel display, where the vehicle information positioning module can obtain position information of the vehicle itself, the information sending and receiving module can send the position information of the vehicle to the road side communication device, and can receive information sent from the road side communication device, and the flat panel display can display a relative position of the vehicle in the road.
Specifically, in this embodiment, the roadside communication device includes a roadside information transmitting and receiving module and a roadside industrial personal computer, where the roadside information transmitting and receiving module is capable of receiving information from outside and transmitting the roadside information to the vehicle-mounted device. The road side industrial personal computer is connected with the road side information sending and receiving module, the road side information receiving module inputs the acquired data into the road side industrial personal computer, the data are processed in the industrial personal computer, and then the processed result is sent out through the road side information sending module.
Specifically, in this embodiment, the variable information board can receive information of the roadside communication device, and can display the current road condition in real time, so as to provide relevant warning information for a driver who is about to enter and has already entered the expressway ramp exit road section, and further guide the driver to travel in a standardized manner.
Specifically, in this embodiment, the millimeter wave radar and camera fusion device includes a millimeter wave radar and a camera, which are complementary to each other. The millimeter wave radar mainly collects original dynamic vehicle information, and the camera mainly collects traffic body information in a road and road static data. The millimeter wave radar can make up for the situation that the camera cannot complete the detection task in bad light or bad weather.
And transmitting the violation information stored in the SQL Server to the road side communication equipment through a wireless communication technology. The variable information board receives the violation information of the road side communication equipment, and information broadcasting is carried out on the exit road section of the ramp so as to remind a driver who is driving; the vehicle-mounted device receives the violation vehicle information and the violation information of other surrounding vehicles sent by the road side communication device, and the violation condition and the local running track of the current vehicle on the road section are displayed in a flat panel display in the vehicle-mounted device.
The following describes in more detail a processing method of the processing module in the present application with respect to data information acquired by the millimeter wave radar and camera fusion device.
Step 1: the set variable receives data sent by the millimeter wave radar and camera fusion device. The data is transmitted in a wired way through a network cable, and comprises three parts, namely millimeter wave radar data, camera data and road static data (namely state information on a diversion belt at the exit of a ramp of a highway). The data obtained by fusing millimeter wave radar data and camera data are stored in json format, and road static data are stored in global variables.
Step 2: processing the data after the millimeter wave radar and the camera fusion device are fused, wherein the data are received in the step 1, and the data are specifically as follows:
step 2.1: and slicing each frame of data after the millimeter wave radar and the camera are fused. And the frame data comprises information of all traffic subjects which can be detected by the millimeter wave radar and camera fusion equipment at the current moment. The fused data is scrambled and has no standard format. Searching the first "{" character and the last "}" position in the data processing subprogram, slicing the data by using the two positions, returning to the json character string of the rule, and then referring to the standard json class, and calling the corresponding library function to process the corresponding row;
step 2.2: based on each frame data sliced in the step 2.1, extracting information of each frame data in a program by using a loop, and inserting the extracted information into a dynamic table.
Step 3: based on the data processed in the step 2, the establishment of early warning judgment standards is completed, whether illegal vehicles with different early warning grades exist in the detection range of the equipment is judged through a program, the illegal vehicles are screened out, and information of related illegal vehicles is obtained, wherein the method comprises the following steps of:
step 3.1: extracting historical data of 13 frames of the vehicle based on the data of each vehicle in each frame obtained in the step 2.2;
step 3.2: the contents of the dynamic table in step 2.2 are updated dynamically. Selecting a fixed length of the dynamic table as 1000, and deleting the leader when the length of the dynamic table is larger than 1000 until the length of the dynamic table is smaller than or equal to 1000;
step 3.3: and selecting the 1 st, 5 th, 9 th and 13 th frame historical data to judge the early warning level based on the 13 th frame historical data in the step 3.1. Wherein each frame of data for each vehicle contains the number, location, speed and license plate information for that vehicle.
In one embodiment, the application provides a computer device comprising a processor and a memory for storing a computer program comprising program instructions, the processor for executing the program instructions stored by the computer storage medium. The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable gate arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., which are the computational core and control core of the terminal adapted to implement one or more instructions, in particular adapted to load and execute one or more instructions to implement a corresponding method flow or a corresponding function; the processor provided by the embodiment of the application can be used for operating an early warning method at the exit of the ramp of the expressway.
In one embodiment, a method for early warning at the exit of a highway ramp may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. Computer-readable storage media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data.
The computer storage media may be any available media or data storage device that can be accessed by a computer, including, but not limited to, magnetic storage (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical storage (e.g., CD, DVD, BD, HVD, etc.), and semiconductor storage (e.g., ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid State Disk (SSD)), etc.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. The early warning method for the exit of the ramp of the expressway is characterized by comprising the following steps of:
acquiring position information and speed information of a vehicle at the current moment in a detection area and a plurality of position information of the vehicle in a set time period before the current moment by adopting millimeter wave radar and camera fusion equipment; the detection area comprises a set section of expressway main road, one end of the set section of expressway main road is positioned in front of the diversion belt at the exit of the expressway ramp, and the other end of the set section of expressway main road is positioned behind the diversion belt at the exit of the expressway ramp;
comparing the speed of the vehicle at the current moment with a preset speed threshold, and sending early warning information if the speed of the vehicle at the current moment is smaller than the preset speed threshold;
fitting a running trend of the vehicle according to the position information of the vehicle at the current moment and the plurality of position information of the vehicle in a set time period before the current moment, judging the running state of the vehicle at the current moment according to the running trend of the vehicle, and sending early warning information if the running state of the vehicle at the current moment is parking or reversing;
the detection area further comprises a diversion belt at the exit of the expressway ramp;
acquiring state information on a diversion belt at the exit of the expressway ramp;
judging state information on the diversion belt at the exit of the expressway ramp, and sending early warning information if the diversion belt at the exit of the expressway ramp has a vehicle driving in;
the judgment logic of the state information on the diversion belt at the exit of the expressway ramp is as follows:
wherein vehicleStatus represents a vehicle state; position y represents the longitudinal position of the vehicle; position x represents the lateral position of the vehicle; the traffic represents a vehicle violation status; the division Y represents the ordinate of the starting point of the guide belt; the division x indicates the abscissa of the start point of the guide belt.
2. The method for early warning at the exit of a highway ramp according to claim 1, further comprising:
and if the speed information of the vehicle at the current moment cannot be acquired, calculating the speed information of the vehicle according to the position information of the vehicle at the current moment, the position information of the vehicle at the moment and the time interval between the current moment and the moment, comparing the calculated speed of the vehicle with the preset speed threshold value, and if the calculated speed of the vehicle is smaller than the preset speed threshold value, sending early warning information.
3. The method for early warning at the exit of a highway ramp according to claim 1 or 2, further comprising:
acquiring license plate information of a vehicle in a detection area;
the early warning information comprises license plate information.
4. An early warning system at the exit of a ramp on an expressway, which is characterized by comprising a processing module, a roadside communication device, an early warning module and a millimeter wave radar and camera fusion device arranged on a main road at the upstream of a detection area, wherein the early warning module comprises a vehicle-mounted early warning unit arranged in a vehicle;
the millimeter wave radar and camera fusion device is used for acquiring the position information and the speed information of the vehicle at the current moment in the detection area and a plurality of pieces of position information of the vehicle in a set time period before the current moment; the detection area comprises a set section of expressway main road, one end of the set section of expressway main road is positioned in front of the diversion belt at the exit of the expressway ramp, and the other end of the set section of expressway main road is positioned behind the diversion belt at the exit of the expressway ramp;
the processing module is used for comparing the speed of the vehicle at the current moment with a preset speed threshold value, and sending early warning information to the early warning module through the road side communication equipment if the speed of the vehicle at the current moment is smaller than the preset speed threshold value; and the vehicle driving trend is fitted according to the position information of the vehicle at the current moment and the position information of the vehicle in the set time period before the current moment, the driving state of the vehicle at the current moment is judged according to the driving trend of the vehicle, and if the driving state of the vehicle at the current moment is parking or reversing, the warning information is sent to the warning module through the road side communication equipment.
5. The system according to claim 4, wherein the processing module is further configured to calculate the speed information of the vehicle according to the position information of the vehicle at the current time, the position information of the vehicle at the last time at the current time and the time interval between the current time and the last time, compare the calculated speed of the vehicle with the preset speed threshold, and send the early warning information to the early warning module through the roadside communication device if the calculated speed of the vehicle is less than the preset speed threshold.
6. The system of claim 4, wherein the detection area further comprises a diversion zone at the exit of the expressway ramp;
the millimeter wave radar and camera fusion device is also used for acquiring state information on a diversion belt at the exit of the expressway ramp;
the processing module is also used for judging state information on the diversion belt at the exit of the expressway ramp, and if the diversion belt at the exit of the expressway ramp has a vehicle driving in, the processing module sends early warning information to the early warning module through the roadside communication equipment.
7. The system of claim 4, wherein the pre-warning module further comprises variable information boards disposed upstream and downstream of the detection zone.
8. An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the steps of a method for pre-warning at the exit of a highway ramp as claimed in any one of claims 1 to 3.
9. A computer-readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of a method for early warning at the exit of a highway ramp as claimed in any one of claims 1 to 3.
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| CN101903924A (en) * | 2007-12-21 | 2010-12-01 | 株式会社建伍 | Road-vehicle communication system and vehicle-mounted device |
| CN108510754A (en) * | 2018-05-29 | 2018-09-07 | 杭州博达伟业公共安全技术股份有限公司 | Violation driving behavior alarming device and method |
| CN110969837A (en) * | 2018-09-30 | 2020-04-07 | 长城汽车股份有限公司 | Road information fusion system and method for automatic driving vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108230752B (en) * | 2018-01-26 | 2019-10-25 | 山东省交通规划设计院 | Intelligent traffic safety method for early warning, Cloud Server, with vehicle terminal and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101903924A (en) * | 2007-12-21 | 2010-12-01 | 株式会社建伍 | Road-vehicle communication system and vehicle-mounted device |
| CN108510754A (en) * | 2018-05-29 | 2018-09-07 | 杭州博达伟业公共安全技术股份有限公司 | Violation driving behavior alarming device and method |
| CN110969837A (en) * | 2018-09-30 | 2020-04-07 | 长城汽车股份有限公司 | Road information fusion system and method for automatic driving vehicle |
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