CN113362596A - Method, device and equipment for detecting lane traffic abnormality and storage medium - Google Patents
Method, device and equipment for detecting lane traffic abnormality and storage medium Download PDFInfo
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- CN113362596A CN113362596A CN202110619763.4A CN202110619763A CN113362596A CN 113362596 A CN113362596 A CN 113362596A CN 202110619763 A CN202110619763 A CN 202110619763A CN 113362596 A CN113362596 A CN 113362596A
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
- G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station
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- G—PHYSICS
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- 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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for detecting lane traffic abnormity, wherein the method comprises the following steps: when the broadcast information sent by the roadside V2X equipment is acquired, judging whether the vehicle drives into an ETC lane or not according to the broadcast information and the vehicle position information; if the vehicle is determined to be driven into the ETC lane, acquiring the vehicle state of the vehicle, and judging whether the current ETC lane is in an abnormal passing state or not according to the vehicle state; and if the current ETC lane is determined to be in the abnormal passing state, the abnormal passing state of the current ETC lane is sent to the roadside V2X equipment, so that the roadside V2X equipment adds the abnormal passing state of the current ETC lane into the broadcast information. According to the technical scheme disclosed by the embodiment of the invention, the effective monitoring of the traffic abnormal state of the ETC lane is realized, and the rear vehicle can timely acquire the abnormal driving problem of the ETC lane according to the broadcast information of the roadside V2X equipment.
Description
Technical Field
The embodiment of the invention relates to the technical field of traffic information and automobiles, in particular to a method and a device for detecting lane traffic abnormality, terminal equipment and a storage medium.
Background
With the continuous progress of science and technology, ETC (Electronic Toll Collection) is widely applied to expressways or bridges, and the setting of an ETC lane also improves the passing efficiency of vehicles.
When a vehicle enters or leaves an expressway from an ETC lane, the vehicle is intercepted and cannot be released due to authority problems of the vehicle, for example, license plates do not conform to the reasons of overdue vehicle-mounted ETC payment cards and the like, or the problem of faults of roadside ETC equipment occurs, the problems that the ETC lane is blocked and the like occur, and the vehicle at the rear cannot timely know the abnormal problems.
In the prior art, after monitoring that the ETC lane is abnormal in passage, workers set other lanes to be ETC lanes manually (namely closing the abnormal passage lanes and opening other lanes), and a rear vehicle can only reselect a new ETC lane according to lane type marks above each lane after lane types are changed.
Disclosure of Invention
The embodiment of the invention provides a method, a device and equipment for detecting lane passing abnormity and a storage medium, which are used for detecting whether the ETC lane where a vehicle runs currently has passing abnormity.
In a first aspect, an embodiment of the present invention provides a method for detecting a lane passing abnormality, including:
when the broadcast information sent by the roadside V2X equipment is acquired, judging whether the vehicle drives into an ETC lane or not according to the broadcast information and the vehicle position information; wherein the broadcast information includes road information of a target area; the target area comprises an ETC inlet area and/or an ETC outlet area;
if the vehicle is determined to be driven into the ETC lane, acquiring the vehicle state of the vehicle, and judging whether the current ETC lane is in an abnormal passing state or not according to the vehicle state; wherein the vehicle state comprises a travel time and/or a travel speed;
if the current ETC lane is determined to be in the abnormal passing state, the abnormal passing state of the current ETC lane is sent to the roadside V2X device, so that the roadside V2X device adds the abnormal passing state of the current ETC lane into the broadcast information.
In a second aspect, an embodiment of the present invention provides a device for detecting a lane passing abnormality, including:
the lane type judging module is used for judging whether the vehicle drives into an ETC lane or not according to the broadcast information and the vehicle position information when the broadcast information sent by the roadside V2X equipment is acquired; wherein the broadcast information includes road information of a target area; the target area comprises an ETC inlet area and/or an ETC outlet area;
the abnormal state judging module is used for acquiring the vehicle state of the vehicle if the vehicle is determined to drive into the ETC lane, and judging whether the current ETC lane is in an abnormal passing state or not according to the vehicle state; wherein the vehicle state comprises a travel time and/or a travel speed;
and the abnormal state sending module is used for sending the abnormal passing state of the current ETC lane to the roadside V2X equipment if the current ETC lane is determined to be the abnormal passing state, so that the roadside V2X equipment adds the abnormal passing state of the current ETC lane into the broadcast information.
In a third aspect, an embodiment of the present invention provides a terminal device, including:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method for detecting a lane passage abnormality according to any of the embodiments of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method for detecting lane passing abnormality according to any embodiment of the present invention.
According to the technical scheme disclosed by the embodiment of the invention, when the vehicle is determined to drive into the ETC lane according to the broadcast information sent by the roadside V2X equipment and the position information of the vehicle, if the current ETC lane is determined to be in the abnormal passing state according to the vehicle state of the vehicle, the abnormal passing state of the current ETC lane is sent to the roadside V2X equipment, so that the effective monitoring of the abnormal passing state of the ETC lane is realized, a large amount of manpower monitoring cost is saved, and meanwhile, the rear vehicle can timely acquire the abnormal driving problem of the ETC lane according to the broadcast information of the roadside V2X equipment.
Drawings
Fig. 1 is a flowchart of a method for detecting lane traffic abnormality according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for detecting lane traffic abnormality according to a second embodiment of the present invention;
fig. 3 is a block diagram of a detection apparatus for lane passing abnormality according to a third embodiment of the present invention;
fig. 4 is a block diagram of a terminal device according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The current Electronic Toll Collection (ETC) system adopts a segmented charging mode, and the whole system consists of an ETC inlet area, an ETC portal area and an ETC outlet area; the ETC entrance area is composed of roadside ETC equipment (namely entrance ETC equipment), a vehicle lever control device, an information display screen and the like, the entrance ETC equipment interacts with the vehicle-mounted ETC equipment, the driving qualification of the vehicle is identified and recorded, and the lever raising clearance is realized; the ETC portal area comprises roadside ETC equipment (namely portal ETC equipment), a video detection camera, a portal frame and the like, and the portal ETC equipment interacts with the vehicle-mounted ETC equipment to realize the recording of charging, vehicle information and travel information; the ETC exit region comprises roadside ETC equipment (export ETC equipment promptly), car lever controlling means and information display screen etc. and export ETC equipment and on-vehicle ETC equipment are mutual, discerns the qualification of driveing off of vehicle, realizes the clearance of raising the pole and the information display of charging.
In the embodiment of the present invention, the ETC inlet area and the ETC outlet area each include roadside V2X (vehicle to X) devices, i.e., an inlet V2X device and an outlet V2X device; the roadside V2X equipment is also a roadside Unit (RSU) installed on the roadside for implementing the V2X function; the inlet V2X device is in communication connection with an inlet ETC device, and the outlet V2X device is in communication connection with an outlet ETC device; in the vehicle interior, the vehicle-mounted V2X device is in communication connection with the vehicle-mounted ETC device; the vehicle-mounted V2X device is also an On Board Unit (OBU) installed in a vehicle and used for implementing a V2X function; in particular, the communication connection between the roadside V2X device and the roadside ETC device, and the communication connection between the vehicle-mounted V2X device and the vehicle-mounted ETC device can be communicated through a serial port.
Example one
Fig. 1 is a flowchart of a lane passing abnormality detection method according to an embodiment of the present invention, where this embodiment is applicable to determining whether a currently-traveling ETC lane is an abnormal lane according to road information sent by a roadside V2X device, and a traveling position and a vehicle state of a host vehicle, and the method may be executed by a lane passing abnormality detection apparatus according to an embodiment of the present invention, where the apparatus may be implemented by software and/or hardware and is integrated in a vehicle-mounted V2X device, and the method specifically includes the following steps:
s110, when broadcast information sent by roadside V2X equipment is acquired, judging whether the vehicle drives into an ETC lane or not according to the broadcast information and the vehicle position information; wherein the broadcast information includes road information of a target area; the target area includes an ETC inlet area and/or an ETC outlet area.
The roadside V2X equipment plays road information in the current area in the form of broadcast messages, and the road information covers an area within a certain range around the current roadside V2X equipment; the road information includes relevant information of each lane in the area, for example, length information, width information, number of lanes and lane type of each road are expressed in the form of longitude and latitude; among them, the lane type may include an MTC (Manual Toll Collection system) lane and an ETC lane.
According to the road information of the target area in the broadcast information and the position information of the vehicle, whether the vehicle drives into an ETC lane or not can be judged; the vehicle position information may be obtained through a Positioning sensor of the vehicle or through an internet of vehicles platform, the Positioning sensor is a device used for obtaining position information and a motion attitude in the vehicle, and the Positioning sensor may include a GPS (Global Positioning System) communication module used for obtaining longitude and latitude information of the vehicle through the GPS.
S120, if the vehicle is determined to be driven into the ETC lane, acquiring the vehicle state of the vehicle, and judging whether the current ETC lane is in an abnormal passing state or not according to the vehicle state; wherein the vehicle state includes a travel time and/or a travel speed.
The ETC entrance area and the ETC exit area automatically identify vehicle information through roadside ETC equipment, and the traffic efficiency of vehicles in an ETC lane is far higher than that of an MTC lane, so that a maximum time threshold value and/or a minimum speed threshold value can be preset according to historical traffic records of each ETC lane in the target area, and if the average running speed of the vehicle in the current lane is smaller than the preset minimum speed threshold value and/or the average running time of the vehicle in the current lane is larger than the preset maximum time threshold value, the current ETC lane can be judged to be in an abnormal traffic state; the abnormal traffic state may be caused by a communication failure of the roadside ETC device or a vehicle failure of the preceding vehicle. Specifically, the method, after determining whether the vehicle has driven into the ETC lane, further includes: and if the vehicle is determined not to drive into the ETC lane, continuously judging whether the vehicle drives into the ETC lane or not until the vehicle is determined to drive into the ETC lane or the vehicle drives out of the target area so as to ensure the continuous monitoring of the driving lane of the vehicle.
Optionally, in an embodiment of the present invention, after determining that the host vehicle has driven into the ETC lane, the method further includes: judging whether the communication abnormal information sent by the roadside ETC equipment passes through the vehicle-mounted ETC equipment within preset time; the acquiring of the vehicle state information of the own vehicle includes: and if the communication abnormal information sent by the roadside ETC equipment is not acquired through the vehicle-mounted ETC equipment within the preset time, acquiring the vehicle state information of the vehicle. The communication abnormal information is abnormal information sent to the vehicle-mounted ETC equipment by the roadside ETC equipment in the communication process of vehicle information registration, identification, verification and the like with the vehicle-mounted ETC equipment, and comprises the following steps: ETC arrearages enter blacklists, ETC card invalidity, ETC card not inserted, ETC card damage, ETC lane residence time exceeding maximum allowable residence time (e.g., 15s), and the like; specifically, if the host vehicle passes through the ETC entry area, the entry ETC device does not record the entry passage record of the host vehicle (for example, the host vehicle enters the highway from the MTC lane and does not pass through the ETC entry area from the ETC lane), that is, the entry written information of the host vehicle is not acquired, and the sent communication abnormality information also includes the non-ETC entry written information for the roadside ETC device in the ETC exit area (i.e., the exit ETC device).
Optionally, in the embodiment of the present invention, after determining whether the vehicle-mounted ETC device is used within the preset time to obtain the communication abnormality information sent by the roadside ETC device, the method further includes: and if the communication abnormity information sent by the roadside ETC equipment is acquired through the vehicle-mounted ETC equipment within the preset time, sending a corresponding communication abnormity prompt according to the communication abnormity information. The communication abnormality prompt includes the directional sending of prompt information containing abnormal communication states to the roadside V2X device and the directional sending of prompt information sent to other V2X devices in the form of broadcast information, and specifically, the ID information of the vehicle-mounted ETC device of the vehicle, the real-time position of the vehicle, the ETC lane where the vehicle is located, and the obtained communication abnormality information can be added to the prompt information.
The communication abnormity prompt also comprises prompt information sent to the driver, and corresponding driving prompts are sent to the driver according to different types of communication abnormity information; for example, if the acquired communication abnormality information is that the ETC card is invalid and the ETC card is not inserted, a prompt message "please insert a valid ETC payment card" is sent to the driver; if the obtained communication abnormal information is that the ETC card is damaged, the retention time of the ETC lane exceeds the maximum allowable retention time, and no ETC entrance write-in information exists, the communication abnormal information cannot be repaired through simple operation of a driver, so that an MTC lane driving prompt can be sent to the driver, and the phenomenon that the driver mistakenly drives into the ETC lane and cannot pass is avoided; in particular, if it is determined that the host vehicle has the automatic driving function, an MTC lane driving instruction may be issued to the host vehicle to control the host vehicle to drive into the MTC lane by the automatic driving system.
And S130, if the current ETC lane is determined to be in the abnormal passing state, sending the abnormal passing state of the current ETC lane to the roadside V2X equipment, so that the roadside V2X equipment adds the abnormal passing state of the current ETC lane into the broadcast information.
According to the technical scheme, when the current ETC lane in which the vehicle runs is determined to be in the abnormal passing state, the abnormal passing state of the current ETC lane is sent to the roadside V2X equipment, the roadside V2X equipment can add the abnormal passing state of the ETC lane into the broadcast information, and other vehicle-mounted V2X equipment in the area can timely acquire the passing state of each ETC lane through the broadcast information of the roadside V2X equipment.
According to the technical scheme disclosed by the embodiment of the invention, when the vehicle is determined to drive into the ETC lane according to the broadcast information sent by the roadside V2X equipment and the position information of the vehicle, if the current ETC lane is determined to be in the abnormal passing state according to the vehicle state of the vehicle, the abnormal passing state of the current ETC lane is sent to the roadside V2X equipment, so that the effective monitoring of the abnormal passing state of the ETC lane is realized, a large amount of manpower monitoring cost is saved, and meanwhile, the rear vehicle can timely acquire the abnormal driving problem of the ETC lane according to the broadcast information of the roadside V2X equipment.
Example two
Fig. 2 is a flowchart of a lane passage abnormality detection method according to a second embodiment of the present invention, which is embodied on the basis of the foregoing technical solution, and in this embodiment, after acquiring broadcast information sent by a roadside V2X device, the method further includes determining whether the vehicle is an abnormal passage vehicle according to abnormal vehicle information in the broadcast information, where the method specifically includes:
s201, acquiring broadcast information sent by roadside V2X equipment; wherein the broadcast information includes abnormal vehicle information and/or abnormal lane information; s202 is performed.
S202, judging whether the vehicle is a passing abnormal vehicle or not according to the abnormal vehicle information in the broadcast information; if so, go to step S203, otherwise, go to step S204.
The abnormal vehicle information is obtained by that when the roadside ETC equipment detects that vehicles without the vehicle-mounted ETC equipment exist in an ETC lane or the vehicle without the ETC function is caused by the fault of the vehicle-mounted ETC equipment, the vehicles are marked as abnormal vehicle information, and the roadside V2X equipment is added into broadcast information after acquiring the abnormal vehicle information of the roadside ETC equipment and broadcasts the abnormal vehicle information to the vehicle-mounted V2X equipment of each vehicle; the vehicle-mounted V2X equipment determines whether the vehicle is a passing abnormal vehicle according to the abnormal vehicle identification in the received broadcast information; in particular, the abnormal vehicle information also includes vehicle information that cannot be recognized due to a failure of the roadside ETC device itself, and although the vehicle itself has no abnormality, since the roadside ETC device cannot effectively recognize the vehicle, the vehicle cannot be driven in or out of the ETC lane, and therefore, it is also necessary for the vehicle to determine whether or not the vehicle itself is an abnormal vehicle for traffic based on the abnormal vehicle information in the broadcast information.
And S203, if the vehicle is determined to be an abnormal passing vehicle, sending out a passing abnormal prompt according to the abnormal vehicle information.
After the vehicle is determined to be a passing abnormal vehicle, according to different abnormal types of the abnormal vehicle information, for example, the vehicle cannot be identified by a roadside ETC device due to the own abnormal information of the vehicle, or the vehicle cannot be identified by the roadside ETC device due to the fault of the roadside ETC device, different abnormal prompt information is sent to a driver; meanwhile, no matter what the abnormal type is, an MTC lane driving prompt is sent to the driver, so that the condition that the vehicle cannot be released due to the fact that the vehicle drives into an ETC lane is avoided; in particular, if it is determined that the host vehicle has the automatic driving function, an MTC lane driving instruction may be issued to the host vehicle to control the host vehicle to drive into the MTC lane by the automatic driving system.
S204, if the vehicle is determined to be a non-passing abnormal vehicle, judging whether the vehicle is located in a passing abnormal lane according to the abnormal lane information in the broadcast information; if so, go to S205, otherwise, go to S206.
And S205, giving out a lane change prompt.
The method comprises the steps that since the vehicle is determined to be located in an abnormal lane, an ETC lane driving prompt is sent to a driver, so that the vehicle can drive into other ETC lanes; in particular, if it is determined that the host vehicle has the automatic driving function, an ETC lane driving command may be issued to the host vehicle to control the host vehicle to drive into another ETC lane by the automatic driving system.
S206, judging whether the vehicle drives into an ETC lane or not according to the broadcast information and the vehicle position information; if not, go to step S207, and if so, go to step S208.
And S207, giving an abnormal lane prompt.
The vehicle does not drive into the ETC lane temporarily, and an abnormal lane prompt is sent to the driver according to the position information of the vehicle so as to prompt the driver about the specific position of the abnormal lane and prevent the vehicle from driving into the abnormal lane; for example, the abnormal lane is indicated as "the second ETC lane on the right side is in an abnormal state, and please go to another lane"; particularly, if the vehicle is determined to have the automatic driving function, an ETC lane driving instruction can be sent to the vehicle so as to control the vehicle not to drive into the ETC lane with abnormal passing through the automatic driving system; and while sending the abnormal lane prompt, continuously judging whether the vehicle drives into the ETC lane or not until the vehicle is determined to drive into the ETC lane or the vehicle drives out of the target area.
S208, acquiring the vehicle state of the vehicle, and judging whether the current ETC lane is in an abnormal passing state or not according to the vehicle state; s209 is performed.
And S209, if the current ETC lane is determined to be in the abnormal passing state, sending the abnormal passing state of the current ETC lane to the roadside V2X equipment, so that the roadside V2X equipment adds the abnormal passing state of the current ETC lane into the broadcast information.
According to the technical scheme disclosed by the embodiment of the invention, whether the vehicle is abnormal vehicle information or not and whether the vehicle is located in abnormal lane information or not are determined according to the broadcast information sent by the roadside V2X equipment, and a traffic abnormality prompt, a lane change prompt and an abnormal lane prompt are respectively sent according to different judgment results, so that the detection of the traffic abnormal state of the ETC lane and the detection of the vehicle abnormal state of the vehicle per se are further realized.
EXAMPLE III
Fig. 3 is a block diagram of a structure of a detection apparatus for lane passing abnormality according to a third embodiment of the present invention, the apparatus specifically includes: a lane type determination module 310, an abnormal state determination module 320, and an abnormal state transmission module 330;
the lane type judging module 310 is configured to, when broadcast information sent by roadside V2X equipment is acquired, judge whether the vehicle has driven into an ETC lane according to the broadcast information and the vehicle position information; wherein the broadcast information includes road information of a target area; the target area comprises an ETC inlet area and/or an ETC outlet area;
the abnormal state judgment module 320 is configured to, if it is determined that the vehicle has driven into the ETC lane, obtain a vehicle state of the vehicle, and judge whether the current ETC lane is in an abnormal passing state according to the vehicle state; wherein the vehicle state comprises a travel time and/or a travel speed;
the abnormal state sending module 330 is configured to send the abnormal passing state of the current ETC lane to the roadside V2X device if it is determined that the current ETC lane is the abnormal passing state, so that the roadside V2X device adds the abnormal passing state of the current ETC lane to the broadcast information.
According to the technical scheme disclosed by the embodiment of the invention, when the vehicle is determined to drive into the ETC lane according to the broadcast information sent by the roadside V2X equipment and the position information of the vehicle, if the current ETC lane is determined to be in the abnormal passing state according to the vehicle state of the vehicle, the abnormal passing state of the current ETC lane is sent to the roadside V2X equipment, so that the effective monitoring of the abnormal passing state of the ETC lane is realized, a large amount of manpower monitoring cost is saved, and meanwhile, the rear vehicle can timely acquire the abnormal driving problem of the ETC lane according to the broadcast information of the roadside V2X equipment.
Optionally, on the basis of the foregoing technical solution, the abnormal state determining module 320 is further configured to, if it is determined that the vehicle does not drive into the ETC lane, continue to determine whether the vehicle has driven into the ETC lane until it is determined that the vehicle has driven into the ETC lane or the vehicle has driven away from the target area.
Optionally, on the basis of the above technical solution, the device for detecting lane passing abnormality further includes:
and the communication abnormal information judging module is used for judging whether the communication abnormal information sent by the roadside ETC equipment is obtained through the vehicle-mounted ETC equipment within the preset time.
Optionally, on the basis of the foregoing technical solution, the abnormal state determining module 320 is further specifically configured to obtain the vehicle state information of the vehicle if it is determined that the communication abnormal information sent by the roadside ETC device is not obtained through the vehicle-mounted ETC device within the preset time.
Optionally, on the basis of the above technical solution, the device for detecting lane passing abnormality further includes:
and the communication abnormity prompt sending module is used for sending a corresponding communication abnormity prompt according to the communication abnormity information if the communication abnormity information sent by the roadside ETC equipment is obtained through the vehicle-mounted ETC equipment within the preset time.
Optionally, on the basis of the above technical solution, the device for detecting lane passing abnormality further includes:
and the passing abnormal vehicle judging module is used for judging whether the vehicle is a passing abnormal vehicle or not according to the abnormal vehicle information in the broadcast information.
And the traffic abnormity prompt sending module is used for sending a traffic abnormity prompt according to the abnormal vehicle information if the vehicle is determined to be a traffic abnormal vehicle.
Optionally, on the basis of the above technical solution, the device for detecting lane passing abnormality further includes:
the traffic abnormal lane judging module is used for judging whether the vehicle is positioned in a traffic abnormal lane or not according to the abnormal lane information in the broadcast information if the vehicle is determined to be a non-traffic abnormal vehicle;
and the lane change prompt sending module is used for sending out a lane change prompt if the vehicle is determined to be positioned in the abnormal lane.
Optionally, on the basis of the foregoing technical solution, the lane type determining module 310 is specifically configured to determine whether the vehicle has driven into the ETC lane according to the broadcast information and the vehicle position information if it is determined that the vehicle is located in a non-abnormal lane.
Optionally, on the basis of the above technical solution, the device for detecting lane passing abnormality further includes:
and the abnormal lane prompt sending module is used for sending an abnormal lane prompt if the vehicle is determined not to drive into the ETC lane.
The device can execute the method for detecting the lane traffic abnormity provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, reference may be made to the method provided in any embodiment of the present invention.
Example four
Fig. 4 is a schematic structural diagram of a terminal device according to a fourth embodiment of the present invention. Fig. 4 shows a block diagram of an exemplary terminal device 12 suitable for use in implementing embodiments of the present invention. The terminal device 12 shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 4, terminal device 12 is in the form of a general purpose computing device. The components of terminal device 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 that couples various system components including the memory 28 and the processing unit 16.
The memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Terminal device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running a program stored in the memory 28, for example, implementing a lane passage abnormality detection method provided by any of the embodiments of the present invention. Namely: when the broadcast information sent by the roadside V2X equipment is acquired, judging whether the vehicle drives into an ETC lane or not according to the broadcast information and the vehicle position information; wherein the broadcast information includes road information of a target area; the target area comprises an ETC inlet area and/or an ETC outlet area; if the vehicle is determined to be driven into the ETC lane, acquiring the vehicle state of the vehicle, and judging whether the current ETC lane is in an abnormal passing state or not according to the vehicle state; wherein the vehicle state comprises a travel time and/or a travel speed; if the current ETC lane is determined to be in the abnormal passing state, the abnormal passing state of the current ETC lane is sent to the roadside V2X device, so that the roadside V2X device adds the abnormal passing state of the current ETC lane into the broadcast information.
EXAMPLE five
Fifth embodiment of the present invention further provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of detecting a lane crossing abnormality according to any of the embodiments of the present invention; the method comprises the following steps:
when the broadcast information sent by the roadside V2X equipment is acquired, judging whether the vehicle drives into an ETC lane or not according to the broadcast information and the vehicle position information; wherein the broadcast information includes road information of a target area; the target area comprises an ETC inlet area and/or an ETC outlet area;
if the vehicle is determined to be driven into the ETC lane, acquiring the vehicle state of the vehicle, and judging whether the current ETC lane is in an abnormal passing state or not according to the vehicle state; wherein the vehicle state comprises a travel time and/or a travel speed;
if the current ETC lane is determined to be in the abnormal passing state, the abnormal passing state of the current ETC lane is sent to the roadside V2X device, so that the roadside V2X device adds the abnormal passing state of the current ETC lane into the broadcast information.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for detecting lane passing abnormality is applied to a vehicle-mounted V2X device and comprises the following steps:
when the broadcast information sent by the roadside V2X equipment is acquired, judging whether the vehicle drives into an ETC lane or not according to the broadcast information and the vehicle position information; wherein the broadcast information includes road information of a target area; the target area comprises an ETC inlet area and/or an ETC outlet area;
if the vehicle is determined to be driven into the ETC lane, acquiring the vehicle state of the vehicle, and judging whether the current ETC lane is in an abnormal passing state or not according to the vehicle state; wherein the vehicle state comprises a travel time and/or a travel speed;
if the current ETC lane is determined to be in the abnormal passing state, the abnormal passing state of the current ETC lane is sent to the roadside V2X device, so that the roadside V2X device adds the abnormal passing state of the current ETC lane into the broadcast information.
2. The method according to claim 1, further comprising, after determining whether the host vehicle has driven into the ETC lane:
and if the vehicle is determined not to drive into the ETC lane, continuously judging whether the vehicle drives into the ETC lane or not until the vehicle is determined to drive into the ETC lane or the vehicle drives out of the target area.
3. The method according to claim 1 or 2, further comprising, after determining that the host vehicle has driven into the ETC lane:
judging whether the communication abnormal information sent by the roadside ETC equipment passes through the vehicle-mounted ETC equipment within preset time;
the acquiring of the vehicle state information of the own vehicle includes:
and if the communication abnormal information sent by the roadside ETC equipment is not acquired through the vehicle-mounted ETC equipment within the preset time, acquiring the vehicle state information of the vehicle.
4. The method according to claim 3, wherein after judging whether the communication abnormality information sent by the roadside ETC device is acquired through the vehicle-mounted ETC device within a preset time, the method further comprises:
and if the communication abnormity information sent by the roadside ETC equipment is acquired through the vehicle-mounted ETC equipment within the preset time, sending a corresponding communication abnormity prompt according to the communication abnormity information.
5. The method of claim 1, after acquiring the broadcast information sent by the roadside V2X device, further comprising:
judging whether the vehicle is a passing abnormal vehicle or not according to the abnormal vehicle information in the broadcast information;
and if the vehicle is determined to be an abnormal vehicle, sending out an abnormal traffic prompt according to the abnormal vehicle information.
6. The method of claim 5, after determining whether the host vehicle is an abnormal vehicle, further comprising:
if the vehicle is determined to be a non-passing abnormal vehicle, judging whether the vehicle is located in a passing abnormal lane or not according to the abnormal lane information in the broadcast information;
if the vehicle is determined to be located in the abnormal lane, sending out a lane change prompt;
the judging whether the vehicle drives into the ETC lane or not according to the broadcast information and the vehicle position information comprises the following steps:
and if the vehicle is determined to be in the non-abnormal lane, judging whether the vehicle drives into the ETC lane or not according to the broadcast information and the vehicle position information.
7. The method according to claim 6, further comprising, after determining whether the host vehicle has driven into the ETC lane:
and if the vehicle is determined not to drive into the ETC lane, giving an abnormal lane prompt.
8. A detection device for a lane passage abnormality, characterized by comprising:
the lane type judging module is used for judging whether the vehicle drives into an ETC lane or not according to the broadcast information and the vehicle position information when the broadcast information sent by the roadside V2X equipment is acquired; wherein the broadcast information includes road information of a target area; the target area comprises an ETC inlet area and/or an ETC outlet area;
the abnormal state judging module is used for acquiring the vehicle state of the vehicle if the vehicle is determined to drive into the ETC lane, and judging whether the current ETC lane is in an abnormal passing state or not according to the vehicle state; wherein the vehicle state comprises a travel time and/or a travel speed;
and the abnormal state sending module is used for sending the abnormal passing state of the current ETC lane to the roadside V2X equipment if the current ETC lane is determined to be the abnormal passing state, so that the roadside V2X equipment adds the abnormal passing state of the current ETC lane into the broadcast information.
9. A terminal device, characterized in that the terminal device comprises:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, cause the one or more processors to implement the method of detecting a lane crossing abnormality according to any one of claims 1 to 7.
10. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the method of detecting a lane passage abnormality according to any one of claims 1 to 7.
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