CN106846792B - Urban Traffic Peccancy intelligent early-warning system and its method - Google Patents
Urban Traffic Peccancy intelligent early-warning system and its method Download PDFInfo
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- CN106846792B CN106846792B CN201710216956.9A CN201710216956A CN106846792B CN 106846792 B CN106846792 B CN 106846792B CN 201710216956 A CN201710216956 A CN 201710216956A CN 106846792 B CN106846792 B CN 106846792B
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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
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
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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
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
The invention discloses a kind of Urban Traffic Peccancy intelligent early-warning system and its methods.3 D laser scanning equipment is mounted on car lane and the traffic lights frame on pavement, point cloud data for acquisition target, and it synchronizes and transfers data to point cloud data input controller, point cloud data input controller sends data to regular decision processor violating the regulations and is handled, rule decision processor violating the regulations is calculated according to preset decision rule violating the regulations, result is just only fed back into point cloud data input controller when being judged that there is violation event, point cloud data input controller with will result be delivered to data center and pre-warning signal o controller respectively, pre-warning signal o controller exports pre-warning signal according to traffic lights rule, carry out the warning and prompting of violation information.The present invention can prejudge the motor vehicle of traffic violation and pedestrian in advance, realize the judgement to potential traffic accident and the warning to other vehicles.
Description
Technical field
The invention belongs to intelligent transportation fields, are related to urban road detection and early warning technology, and in particular to three-dimensional laser is swept
Retouch control technology, the decision algorithm violating the regulations and road conditions intelligent predicting based on three dimensional point cloud that equipment is combined with traffic lights
Strategy.
Background technique
In urban transportation crossroad, it will appear automobile violating the regulations and the pedestrian of the rule that do not observe traffic laws often.Although in accordance with the law
It can be punished accordingly, however when traffic accident occurs, the people and Che of those rule that observe traffic laws are often unfortunate
Ground becomes victim, by the various losses such as body, property and time.People caused by how reducing as far as possible because of traffic accident,
Wealth loss, especially allows the vehicle and pedestrian of those rule that observe traffic laws to avoid sustaining an injury, so that intelligent road early warning system
Become more important.
Patented technology relevant to road traffic is mainly reflected in two aspects: municipal intelligent traffic and separate vehicle at present
Early warning.
The scheme of intelligent road guidance class mostly passes through intelligent transportation equipment, signal control equipment and Integrated three
A component part is realized, such as Chinese patent CN106157640A.Its cardinal principle is will be collected by signal control equipment
The real-Time Signal Transfer of intelligent transportation equipment (picture, video, radar etc. acquire equipment) is to Integrated or direct large-size screen monitors
Curtain display, and carry out decision according to these information or intelligent transportation equipment is controlled.However in this kind of intelligent road system
In, data collected by intelligent transportation equipment are mostly picture, video and simple information of vehicles, can only obtain the roads such as traffic congestion
Picture and video information on road macroscopic information and each equipment in subrange, and by existing traffic information
The mode for being collected and summarizing detects traffic accident and carries out emergency processing, but sentencing in real time in advance can not be carried out to it
It is disconnected, therefore early warning cannot be played the role of.
Separate vehicle early warning is mounted on each motor vehicle, shoots its image sequence by the same target to different perspectives
Column obtain the range information of target based on principle of parallax and carry out three-dimensional reconstruction, to determine the motion profile of target, and according to mesh
The motion profile of target motion profile and reference vehicle generates warning information, such as Chinese patent CN104200689A.The system can be with
Realize the functions such as front truck anti-collision early warning, deviation prompting, pedestrian monitoring.Such early warning system it is signal-based it is real-time processing with
Warning algorithm can carry out effective early warning to single separate vehicle, however there is also many defects.Firstly, this kind of is pre-
Alert system is only merely for the protection to driving vehicle, and non-motor vehicle is not available the system then；Secondly, breaking rules and regulations for external
Vehicle can provide early warning for front truck anticollision, but can not carry out early warning to the passive shock from vehicle body side；Finally, this is
System is only capable of single separate vehicle being protected and lacked the early warning of road conditions totality, especially when the vehicle that the early warning system is housed
When itself breaks rules and regulations, effective early warning cannot be carried out to other objects.
In general, on the one hand existing related roads early warning at present mostly also rests on real-time monitoring when accident occurs
And quick emergency processing, this kind of early warning system cannot the generation to accident judge that it is even more impossible to imminent thing in advance
Therefore carry out dynamic tracking in real time；On the other hand, it is able to carry out pre-warning system in advance and is also only mounted in separate unit independence shape
On the motor vehicle of formula, this kind of early warning system can not obtain the traffic information of entire traffic intersection, and the information of decision-making section is converged
Sum data collection has little significance.In addition, existing early warning system does not account for non-motor vehicle and pedestrian by machine violating the regulations yet
Necessary prompting and early warning before motor-car injury.
Summary of the invention
Road early warning most importantly to the fact violating the regulations occurred and can be possible to that other people will be damaged
Behavior make quick and real-time response, and warned in a manner of disclosed in certain.However, existing technology is mostly only capable of
It is enough to shorten the time arrived between emergency response processing after the accident, and not can avoid the generation of accident.Even there is something
Preceding early warning, but it is most of be all based on big data (road conditions congestion etc.) or the judgement (such as bad weather) based on experience, belong to
The early warning for property of providing for a rainy day can not instantaneously determine a other act of violating regulations.However the traffic occurred on road at present
Accident exactly focuses mostly in emergency situations, and only short several seconds occur from breaking rules and regulations accident.How well
Carrying out the early warning of traffic accident using this valuable several seconds is the technical issues of present invention is focused on solving.The present invention
The anticipation in advance and warning that accident is carried out by means of 3 D laser scanning equipment, week high using 3 D laser scanning equipment precision
The advantages of phase is short, acquisition range is flexible and available object location information can quickly obtain object violating the regulations in real time
The information such as track, position, and using the anticipation algorithm of the different type accident occurred in true road conditions, it may be implemented to potential friendship
The former judgement of interpreter and the warning to other vehicles.
System of the invention the technical solution adopted is as follows:
Urban Traffic Peccancy intelligent early-warning system, including 3 D laser scanning equipment, regular decision processor violating the regulations, point cloud
Data input controller, pre-warning signal o controller and data center, wherein 3 D laser scanning equipment is mounted on motor-driven
On the traffic lights frame on lane and pavement, for the point cloud data of acquisition target, and synchronizes and transfer data to a cloud
Data input controller, the point cloud data input controller send data to regular decision processor violating the regulations and are handled,
The regular decision processor violating the regulations is calculated according to preset decision rule violating the regulations, only when being judged that there is violation event
When result is just fed back into the point cloud data input controller, the point cloud data input controller with will result difference it is defeated
It send to data center and pre-warning signal o controller, the pre-warning signal o controller exports early warning according to traffic lights rule
Signal carries out the warning and prompting of violation information.
Further, the 3 D laser scanning equipment is located at the lower section of traffic lights, wherein below car lane traffic lights
3 D laser scanning equipment sweep length are as follows: from the distance on the inside of the zebra stripes of traffic lights opposite to crossing center, scanning is wide
Degree is；The distance between road axis and zebra stripes；The scanning of 3 D laser scanning equipment below the traffic lights of pavement is long
Degree and width are the length and width of zebra stripes where traffic lights.
The method for early warning of Urban Traffic Peccancy intelligent early-warning system of the present invention, includes the following steps:
(1) when the traffic lights of car lane and pavement are shown as red signal, 3 D laser scanning equipment is swashed
Hair persistently emits the point cloud data of laser signal and acquisition target automatically with a fixed cycle, then synchronizes data transmission
To point cloud data input controller；
(2) point cloud data input controller carries out act of violating regulations judgement:
If the data and initial value of the acquisition of 3 D laser scanning equipment are unchanged, determine without violation phenomenon；If disobeying
Zhang Xianxiang, the then data that 3 D laser scanning equipment acquires in scanning area can change, and specific decision rule is as follows；
A) pedestrians disobeying traffic rule determines
Firstly, statistics is located at the quantity of the laser point with pedestrian, and other points are then removed, and formula is as follows:
Indicate i-th point of actual acquisition distance, S0The length for indicating zebra stripes, when the distance of certain pointLess than length
Spend S0, then it is assumed that the laser point is beaten on intermediary, which retains, and is otherwise rejected；
Secondly, statistics is all to be less than length S0Points, when points less than an amount threshold when, i.e., an inadequate pedestrian
Area, and by formula (1) filtered left point distance average and length S0Error less than one set
When distance threshold, that is, correspond to situation of the position of pedestrian near zebra stripes starting point but not among road, then this behavior
It is determined as no act of violating regulations；When meeting two conditions of formula (2):
It just indicates possibility violating the regulations, and starts to carry out the judgement violating the regulations of next step；Wherein, SσIt is setting apart from threshold
Value, NpFor less than length S0Point quantity, NσFor the amount threshold of setting；
Finally, may also there is motor vehicle to pass through perpendicular to the direction of pavement zebra stripes when the red light when pavement lights,
Such case also complies with formula (1) and (2), and in order to exclude the motor vehicle perpendicular to zebra stripes, it needs to increase by one and judges item
Part, that is, make a dash across the red light on zebra stripes if it is pedestrian, then it must be the lens direction row along 3 D laser scanning equipment
It walks, may determine that whether the pace of change of its position continuous two periods Nei is consistent, and formula is as follows thus:
WithMeet the average value of the point after formula (1) and (2) for continuous three data collection cycles；
Therefore, if the behavior that can be determined that pedestrian for meeting formula (1), (2) and (3) simultaneously is violating the regulations；
B) motor vehicle violation and hazard rating determine
Firstly, the information of statistics point, formula are as follows:
Indicate i-th point of actual acquisition distance,Indicate i-th point of initial distance, SσIt is setting apart from threshold
Value；
Then, statistics meets the points of above-mentioned formula (4), when the points for meeting formula (4) are greater than the quantity of setting
Threshold value, then it is assumed that the motor vehicle violation, formula are as follows:
Np>Nσ (5)
NpFor the point quantity for meeting formula (4), NσFor the amount threshold of setting；
Finally, carrying out dynamic monitoring on the basis of determining motor vehicle violation to its change in location information, calculating violating the regulations
The distance S of vehicle distances crossing central point, and different hazard ratings is divided according to the size of distance S；
(3) when point cloud data input controller determines that result is fed back to point cloud data input control there are when violation event
Device processed, point cloud data input controller with will result be delivered to data center and pre-warning signal o controller respectively, then
Pre-warning signal is transmitted to the section for needing to carry out early warning by pre-warning signal o controller, is carried out the warning of violation information and is mentioned
It wakes up.
The present invention increases 3 D laser scanning equipment and control chip, passes through on the basis of existing crossing traffic equipment
Setting meets the act of violating regulations detection mode of traffic lights rule, can shift to an earlier date to the motor vehicle of traffic violation and pedestrian
Anticipation plays warning and forewarning function well to other objects.The present invention has the advantages that compared with the existing technology
(1) pre-warning time shifts to an earlier date
Can by emergency response from the accident the moment advance to it is violating the regulations the moment occurs, can before traffic accident generation
Early warning prompting is prejudged and carried out, the probability of traffic accident generation can be greatly reduced, saves manpower and material resources loss.
(2) vehicle and pedestrian is served
Traditional early warning system mostly first passes data back command centre, and emergency is restarted after carrying out Macro or mass analysis by command centre
Measure.Violation information and pre-warning signal are sent to command centre and traffic using data Synchronous Transfer Mode by the present invention simultaneously
Scene makes the object of system service become two-stage from single especially, thus those possible as direct party vehicle and
Pedestrian can obtain maximum value.
(3) full intellectualized processing
Debugging and parameter preset are needed when the present invention in addition to installing in the early stage, are not needed in operational process later any
Full intellectualized autonomous operation may be implemented by the operation algorithm of act of violating regulations decision rule in artificial intervention.
(4) violation data can make decision analysis
In addition, because of violation data synchronous driving of the invention to command centre, can by collecting a large amount of violation data,
Time, place including violation event appearance, and the number of seconds differed with traffic lights switching, instantaneous motion profile etc. of breaking rules and regulations,
Deep data mining is carried out, better data can be provided for decision-making section and supported.
Detailed description of the invention
Fig. 1 is the distribution schematic diagram of 3 D laser scanning equipment in the embodiment of the present invention；
Fig. 2 is three-dimensional scanning device sphere of action schematic diagram in the embodiment of the present invention；
Fig. 3 is Urban Traffic Peccancy intelligent early-warning process flow in the embodiment of the present invention；
Fig. 4 is that Laser Scanning Equipment obtains pedestrian position information schematic diagram in the embodiment of the present invention；
Fig. 5 is that Laser Scanning Equipment obtains vehicle position information schematic diagram in the embodiment of the present invention；
Fig. 6 is violation vehicle change in location information Computing Principle in the embodiment of the present invention；
Fig. 7 be in the embodiment of the present invention pre-warning signal (a) output before (b) output after comparison diagram；
Fig. 8 is that pre-warning signal conveys schematic diagram in the embodiment of the present invention；
Fig. 9 is that left-hand bend motor vehicle meets pedestrian's early warning schematic diagram violating the regulations in the embodiment of the present invention；
Figure 10 is that left-hand bend motor vehicle meets motor vehicle pre-warning schematic diagram violating the regulations in the embodiment of the present invention；
Figure 11 is that pedestrian meets motor vehicle pre-warning schematic diagram violating the regulations in the embodiment of the present invention；
Figure 12 is laser point cloud data importation of the present invention system simply composition figure；
Figure 13 is pre-warning signal output par, c system of the present invention simply composition figure.
Specific embodiment
The present invention will be further described in detail in the following with reference to the drawings and specific embodiments.
The present invention using the real-time detection of 3 D laser scanning equipment break rules and regulations object change in location information, and according to its with just
The distance of normal driving vehicle and pedestrian divide warning level, and Dynamically Announce danger warning realizes that traffic is intelligent pre-
It is alert, it is intended to protect traffic intersection observe traffic laws rule pedestrian and Che amount.The technical solution of the present embodiment specifically includes that three-dimensional sharp
The laying of optical scanning device, early warning processing violating the regulations, early warning simulation violating the regulations.
1,3 D laser scanning implantation of device
The laying of 3 D laser scanning equipment is directed to two kinds of objects of motor vehicle and pedestrian respectively, in the present embodiment, at four
1 is laid on car lane respectively for detecting motor vehicle violation information, while also each laying 1 is used to examine on four zebra stripes
Survey pedestrians disobeying traffic rule information.After the transformation to traffic lights, the installation site of equipment is located at lower section (such as Fig. 1 of traffic lights
It is shown).
The scanning range of 3 D laser scanning equipment is as follows: 4 act on its sweep length of the equipment of car lane be from
To the distance at crossroad center on the inside of the zebra stripes of opposite, width is the distance between road axis and zebra stripes；4 effects
In the equipment of zebra stripes, its scanning range is to correspond to the length and width (as shown in Figure 2) of zebra stripes.
2, early warning processing violating the regulations
(1) process flow
Once red light lights on some lane or pavement, then detecting state is excited, and at this moment Laser Scanning Equipment is automatic
Persistently emit the point cloud data of laser signal and acquisition target with a fixed cycle.Due to the available object of laser point cloud
Location information, so numerical value is initial set value in the region that each laser scanning is controlled when red light lights.If disobeying
Zhang Xianxiang, then Laser Scanning Equipment acquisition data can change, in this, as whether Wei Zhang decision principle.Sentence when violating the regulations
When setting up surely, three-dimensional laser point cloud passes the signal to the section for needing to carry out early warning, and the amber light continuously to flash is as in advance
Alert output (former green light remains unchanged, and shows amber light simultaneously in the top of direction traffic lights), Fig. 3 shows break in traffic rules and regulations early warning
Process.If the data and initial value of scanning device acquisition are unchanged, determine without violation phenomenon.If there is alarm in previous cycle,
Then period all clear, if previous cycle continues for scanning also without alarm, until the direction becomes green light.
(2) laser scanning data acquires
3 D laser scanning equipment data precision collected can reach grade, and tranmitting frequency each second is up to 1,000,000
A point/second, so quick and high-precision acquisition equipment can be completely used for violation vehicle and the variation detection of pedestrian.At this
In early warning system, 3 D laser scanning equipment needs the data obtained to be position and its change information of object, therefore does not need
Scan setting with very high density.In view of the area of pedestrian and vehicle itself, acquisition density can be set as 5 centimetres, this
In the case of kind, single pedestrian need to only acquire 400 points, 3000 points of single motor vehicle, acquire points reduction can increase it is pre-
The speed of alert processing.
Since 3 D laser scanning equipment is directly integrated in existing traffic lights equipment, according to different types of
Traffic lights, 3 D laser scanning equipment acquisition angles also different from.Zebra stripes traffic lights stand on ground, thus scanning device with
Pedestrian's less parallel, laser can be emitted with level of approximation (see Fig. 4)；Car lane traffic lights are hung in upright bar, therefore are swashed
Light can only tilt down and cover entire scanning range (see Fig. 5).Note: Laser Scanning Equipment acquisition be camera lens and object it
Between distance, furthermore by presetting the angle information of number of scan points and range also available each point.
(3) act of violating regulations determines
A pedestrians disobeying traffic rule determines
In actual conditions, pedestrians disobeying traffic rule can't damage motor vehicle, therefore when pedestrians disobeying traffic rule occur only needs pair
Motor vehicle simply warns, and does not need setting danger classes.
Firstly, statistics is located at the quantity of the laser point with pedestrian, and other points are then removed, and formula is as follows:
S’piIndicate i-th point of actual acquisition distance, S0Indicate the length of zebra stripes.When the distance of certain point is less than S0, then
Think that the laser point is beaten on intermediary, which retains, and otherwise rejects.
Secondly, statistics is all to be less than S0Points, when points less than a threshold value when (area of an inadequate pedestrian), or
Person passes through the average value and S of formula (1) filtered left point0Error less than one set threshold value (position is in zebra stripes
Near starting point, not among road), then this behavior is determined as no act of violating regulations；When meeting two conditions of formula (2):
It just indicates possibility violating the regulations, and starts to start the determination processing violating the regulations of next step；Wherein, SσFor the distance of setting
Threshold value, NpFor less than length S0Point quantity, NσFor the amount threshold of setting.
Finally, may also there is motor vehicle to pass through perpendicular to the direction of pavement zebra stripes when the red light when pavement lights,
Such case also complies with formula (1) and (2), and in order to exclude the motor vehicle perpendicular to zebra stripes, it needs to increase by one and judges item
Part, that is, must walk along 3 D laser scanning equipment lens direction if judgement pedestrian makes a dash across the red light along zebra stripes,
May determine that whether the pace of change of its position continuous two periods Nei is consistent, and formula is as follows thus:
Sti-1、StiAnd Sti+1Meet the average value put after formula (1) and (2) for continuous three data collection cycles.Cause
This, while meet formula (1) (2) (3) can be determined that be violating the regulations.
B motor vehicle violation and hazard rating determine
Motor vehicle violation is larger to the harm of other objects, other than determining it, it is also necessary to its position of dynamic monitoring
Change information is set, and (if only judging whether to break rules and regulations, existing technology is real according to the far and near setting danger classes of distance
It is existing, but if desired carry out the judgement of hazard rating, then the prior art can not solve).Unlike pedestrians disobeying traffic rule detection, zebra
Line laser structured light equipment less parallel emits laser beam, and motor vehicle is then to cover entire detection zone (see Fig. 5) diagonally downward, often
The distance of a point difference.But due to the transmitting position of laser point be it is fixed, the initial distance of each point is also
Know.Information a little is counted first, and formula is as follows:
S’piIndicate i-th point of actual acquisition distance, SpiIndicate i-th point of initial distance, SσFor the distance of setting
Threshold value.Due to the range difference threshold value that above-mentioned formula has been contemplated that, then need to count the points for meeting above-mentioned formula,
Formula is as follows:
Np>Nσ (5)
NpFor the point quantity for meeting formula (4), NσFor the amount threshold of setting.When the points for meeting formula (4) are greater than setting
Amount threshold, then it is assumed that the motor vehicle violation.
In addition, motor vehicle occurs endangering caused by breaking rules and regulations very greatly, it is therefore desirable on the basis of determining violating the regulations, to its position
It sets change information and carries out dynamic monitoring, Fig. 6 shows the Computing Principle of violation vehicle change in location information, and violation vehicle is in
The distance S of heart point can be found out by the cosine law, and S is divided into three-level according to size.It is three-level that S, which is greater than 4 meters of danger classes,
Being greater than 2 meters less than 4 meters is second level, is level-one less than 2 meters.
It should be noted that specifically which vehicle do not needed to detect when determining motor vehicle violation and hazard rating
It breaks rules and regulations, it is important that the minimum distance apart from green light vehicle route is quickly calculated, therefore, the S2 of each moment detection
(Fig. 6) be that nearest line of distance center line (meet θ angle in formula (4) and the point of (5) condition it is maximum that
Line).
(4) output of pre-warning signal
Once detecting act of violating regulations, need to export pre-warning signal, so that vehicle and pedestrian learns information in time.
It is all upper, middle and lower-ranking that existing traffic lights are most of, however mostly value uses 1 layer in use, thus can will most
It is used as warning lamp for one layer above (see Fig. 7).When monitoring that act of violating regulations has potential threat to the lane or zebra stripes, the lane
Instruction traffic lights top layer is exported in a manner of flashing yellow lamp, and the frequency of flashing can correspond to warning grade, the flashing of higher grade
Speed is faster, and vice versa.In addition, zebra stripes can increase phonetic warning.
When zebra stripes red light lights, there are two types of situations for pre-warning signal output: one is perpendicular to the Through Lane of zebra stripes
Green light or opposing lane left turn lane green light；Two are parallel to zebra stripes car lane left-hand bend green light.Both of these case is then
It need to only be delivered to respectively on the traffic lights of corresponding car lane.
When car lane red light lights, also there are two types of situations for pre-warning signal output: one is perpendicular to the transverse direction in the lane
Car lane green light；Two are perpendicular to the zebra stripes green light of the car lane.In this case it needs pre-warning signal is defeated simultaneously
It send to corresponding car lane and zebra stripes traffic lights (see Fig. 8).
3, early warning simulation violating the regulations
Fig. 9 shows the schematic diagram for occurring system early warning in the case of pedestrians disobeying traffic rule when motor vehicle turns left.When turning left in figure
Sweep green light lights, and the pavement in left side is shown as red light, while triggering the laser scanning integrated on the pavement traffic lights
Equipment, laser carries out dynamic scan monitoring with a fixed frequency, is on zebra stripes when there is pedestrian to walk, according to decision criteria
Determination has act of violating regulations, and system is transferred signals to immediately in the early-warning lamp in corresponding lane, and pre-warning signal lights (left-hand bend green light
Top lights amber light simultaneously), at this moment, left-hand bend motor vehicle will observe pre-warning signal, Reduced Speed Now.In addition, when machine in figure
When motor-car is laterally kept straight on, early warning processing is similar to Fig. 4.
Figure 10 shows the early warning schematic diagram occurred in the case of straight trip motor vehicle violation when motor vehicle turns left.When left in figure
Turning roadway green light lights, and starts to work perpendicular to the car lane laser scanning system of the lane both direction, discovery is violating the regulations
Then signal is equally transferred to the pre-warning signal of left-hand bend car lane to phenomenon, and yellow early warning etc. lights, with violation vehicle position
Continuous variation, warning grade gradually promotes, and amber light flash speed is gradually accelerated, and left-hand bend motor vehicle sees that pre-warning signal slows down
It takes in a reef.In addition, motor vehicle keep straight on when occur vertical lane break rules and regulations motor vehicle when, early warning principle is similar with Fig. 5.
Figure 11 shows the early warning schematic diagram in the case of occurring motor vehicle violation when pedestrian walks zebra stripes.When pedestrian institute in figure
Direction there is green light when, start to work perpendicular to two car lane scanning systems in zebra stripes direction, discovery is existing in violation of rules and regulations
As then signal is transferred to the zebra stripes, and issues early warning (pedestrian's early warning can use voice and the same stepping of signal lamp two ways
Row).
The detailed implementation of this system is as shown in Figures 12 and 13 respectively, and wherein Figure 12 is laser point cloud data importation system
Simple to constitute, Figure 13 is that pre-warning signal output par, c system is simply constituted.L1 to L8 is respectively the calculating scanning on different lanes
Equipment, MP are regular decision processor violating the regulations, and IC1 is point cloud data input controller, and IC2 is pre-warning signal o controller,
DC is data center, and SZ1 to SZ4 is respectively zebra stripes pre-warning signal output end, and SL1 to SL4 is car lane left-hand bend direction
Pre-warning signal output end, SS1 to SS4 be car lane execute direction pre-warning signal output end.
When certain direction red signal display when, by trigger set out direction 3 D laser scanning equipment start acquire number
According to, and synchronize and transfer data to data input controller, which, which hands over data to processor, is handled, and processor
It is calculated according to preset decision rule violating the regulations, result is just only fed back into IC1 when determining violation event, IC1 is immediately
Result is delivered to data center and pre-warning signal o controller respectively, last IC2 is according to traffic lights rule by pre-warning signal
Output end where being output to, completes the warning and prompting of violation information.
Claims (7)
1. Urban Traffic Peccancy intelligent early-warning system, which is characterized in that the system includes 3 D laser scanning equipment, rule violating the regulations
Decision processor, point cloud data input controller, pre-warning signal o controller and data center, wherein three-dimensional laser is swept
It retouches equipment to be mounted on car lane and the traffic lights frame on pavement, for the point cloud data of acquisition target, and synchronize
Point cloud data input controller is transferred data to, the point cloud data input controller sends data to rule violating the regulations and determines
Processor is handled, and the regular decision processor violating the regulations is calculated according to preset decision rule violating the regulations, only when sentencing
It makes and result is just fed back into the point cloud data input controller, the point cloud data input controller when having showed violation event
With will result be delivered to data center and pre-warning signal o controller respectively, the pre-warning signal o controller is according to red
Green light rule exports pre-warning signal, carries out the warning and prompting of violation information；The 3 D laser scanning equipment is located at traffic lights
Lower section, wherein the sweep length of the 3 D laser scanning equipment below car lane traffic lights are as follows: from traffic lights opposite zebra
To the distance at crossing center on the inside of line, sweep length is；The distance between road axis and zebra stripes；Under the traffic lights of pavement
The sweep length and width of the 3 D laser scanning equipment of side are the length and width of zebra stripes where traffic lights.
2. Urban Traffic Peccancy intelligent early-warning system according to claim 1, which is characterized in that the 3 D laser scanning
The acquisition density of equipment is set as 5 centimetres.
3. Urban Traffic Peccancy intelligent early-warning system according to claim 1, which is characterized in that with the sudden strain of a muscle of traffic lights top layer
Output of the mode of bright amber light as pre-warning signal, carries out the warning and prompting of violation information.
4. Urban Traffic Peccancy intelligent early-warning system according to claim 3, which is characterized in that the traffic lights on pavement are also
Have additional phonetic warning.
5. the method for early warning of Urban Traffic Peccancy intelligent early-warning system as described in claim 1, which is characterized in that including as follows
Step:
(1) when the traffic lights of car lane and pavement are shown as red signal, 3 D laser scanning equipment is excited, from
The dynamic point cloud data for persistently being emitted laser signal and acquisition target with a fixed cycle, is then synchronized and transfers data to a cloud
Data input controller；
(2) point cloud data input controller carries out act of violating regulations judgement:
If the data and initial value of the acquisition of 3 D laser scanning equipment are unchanged, determine without violation phenomenon；If occurring violating the regulations existing
As the data that then 3 D laser scanning equipment acquires in scanning area can change, and specific decision rule is as follows；
A) pedestrians disobeying traffic rule determines
Firstly, statistics is located at the quantity of the laser point with pedestrian, and other points are then removed, and formula is as follows:
Indicate i-th point of actual acquisition distance, S0The length for indicating zebra stripes, when the distance of certain pointLess than length S0,
Then think that the laser point is beaten on intermediary, which retains, and otherwise rejects；
Secondly, statistics is all to be less than length S0Points, when points less than an amount threshold when, i.e., the face of an inadequate pedestrian
Product, and by the distance average and length S of formula (1) filtered left point0Error less than one set distance
When threshold value, that is, correspond to situation of the position of pedestrian near zebra stripes starting point but not among road, then this behavior determines
For no act of violating regulations；When meeting two conditions of formula (2):
It just indicates possibility violating the regulations, and starts to carry out the judgement violating the regulations of next step；Wherein, SσFor the distance threshold of setting, NpFor
Less than length S0Point quantity, NσFor the amount threshold of setting；
Finally, may also there is motor vehicle to pass through perpendicular to the direction of pavement zebra stripes when the red light when pavement lights, it is this
Situation also complies with formula (1) and (2), and in order to exclude the motor vehicle perpendicular to zebra stripes, need to increase a Rule of judgment,
That is, making a dash across the red light on zebra stripes if it is pedestrian, then it must be walked along the lens direction of 3 D laser scanning equipment, be
This may determine that whether the pace of change of its position continuous two periods Nei is consistent, and formula is as follows:
WithMeet the average value of the point after formula (1) and (2) for continuous three data collection cycles；
Therefore, if the behavior that can be determined that pedestrian for meeting formula (1), (2) and (3) simultaneously is violating the regulations；
B) motor vehicle violation and hazard rating determine
Firstly, the information of statistics point, formula are as follows:
Indicate i-th point of actual acquisition distance,Indicate i-th point of initial distance, SσFor the distance threshold of setting；
Then, statistics meets the points of above-mentioned formula (4), is greater than the amount threshold of setting when meeting counting for formula (4),
Then think that the motor vehicle violation, formula are as follows:
Np> Nσ (5)
NpFor the point quantity for meeting formula (4), NσFor the amount threshold of setting；
Finally, carrying out dynamic monitoring on the basis of determining motor vehicle violation to its change in location information, calculating violation vehicle
Distance S apart from crossing central point, and different hazard ratings is divided according to the size of distance S；
(3) when point cloud data input controller determine there are when violation event, result is fed back into point cloud data input controller,
Point cloud data input controller with will result be delivered to data center and pre-warning signal o controller respectively, then early warning believe
Pre-warning signal is transmitted to the section for needing to carry out early warning by number o controller, carries out the warning and prompting of violation information.
6. the method for early warning of Urban Traffic Peccancy intelligent early-warning system according to claim 5, which is characterized in that step
(1) in, the 3 D laser scanning equipment is excited by trigger.
7. the method for early warning of Urban Traffic Peccancy intelligent early-warning system according to claim 5, which is characterized in that step
(2) in, the hazard rating of motor vehicle violation is divided into three-level: when distance S is greater than 4 meters, danger classes is three-level, when distance S is less than
Being greater than 2 meters at 4 meters is second level, when distance S is less than 2 meter Shi Wei level-ones.
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| CN107481516A (en) * | 2017-09-21 | 2017-12-15 | 临沂市华夏高科信息有限公司 | A kind of pedestrian's street crossing safety warning system |
| CN110223505A (en) * | 2018-03-02 | 2019-09-10 | 杭州海康威视数字技术股份有限公司 | A kind of determination method and device of pedestrian running red light behavior |
| CN108922188B (en) * | 2018-07-24 | 2020-12-29 | 河北德冠隆电子科技有限公司 | Radar tracking and positioning four-dimensional live-action traffic road condition perception early warning monitoring management system |
| CN109559528B (en) * | 2019-01-18 | 2023-03-21 | 吉林大学 | Self-perception interactive traffic signal control device based on 3D laser radar |
| CN111599214B (en) * | 2019-03-04 | 2020-12-15 | 安徽省华腾农业科技有限公司经开区分公司 | Traffic intersection dynamic big data updating method and storage medium |
| CN110991224A (en) * | 2019-10-18 | 2020-04-10 | 平安科技（深圳）有限公司 | Image recognition-based pedestrian red light running detection method and device and related equipment |
| CN111127918B (en) * | 2019-12-09 | 2021-08-06 | 东南大学 | Signal lamp control device for preventing red light running behavior near intersection |
| CN111105645A (en) * | 2019-12-31 | 2020-05-05 | 武汉理工大学 | Multi-dimensional hierarchical intelligent street-crossing early warning system |
| CN111477011A (en) * | 2020-04-08 | 2020-07-31 | 图达通智能科技(苏州)有限公司 | Detection device and detection method for road intersection early warning |
| CN111798697A (en) * | 2020-06-16 | 2020-10-20 | 杭州恒领科技有限公司 | Construction road driving obstacle avoidance early warning device based on human-vehicle cooperation |
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