CN106781476B - Vehicle dynamic position analysis method in traffic accident - Google Patents
Vehicle dynamic position analysis method in traffic accident Download PDFInfo
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- CN106781476B CN106781476B CN201611197921.7A CN201611197921A CN106781476B CN 106781476 B CN106781476 B CN 106781476B CN 201611197921 A CN201611197921 A CN 201611197921A CN 106781476 B CN106781476 B CN 106781476B
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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
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
Abstract
The present invention provides vehicle dynamic position analysis methods in a kind of traffic accident, include the following steps: S1, are taken photo by plane mode by scene, carry out comprehensive data acquisition in ground survey road dimensions and floor line length；S2, obtain monitor video data, road surface grid coordinate system is formed, calibration processing and error evaluation are carried out to grid coordinate system, grid is carried out to the monitor video image comprising several accident vehicles and measures the accurate location for determining accident vehicle in single width monitor video image；S3, analyze driving trace, speed variation, brake safe distance, traveling lane and the driving direction variation of several accident vehicles, by several accident vehicles by grid coordinate system positioning, temporally dot sequency is plotted to take photo by plane and just penetrates top view and analyze, and obtains the integrated information of traffic accident.By the scene photo of take photo by plane figure and the scene of the accident scene situation that shoot the later period by drawing mesh coordinate, the running track of vehicle during traffic accident can be accurately depicted.
Description
Technical field
The present invention relates to vehicle dynamic position analysis sides in video image analysis field more particularly to a kind of traffic accident
Method.
Background technique
Traffic accident happens occasionally, the fixed monitor video with the awareness of safety and social development of people, on road
Covering surface is more and more wider, and the equipment such as automobile data recorder on vehicle can all record accident generating process.Traffic accident occurs
Afterwards, the analyses such as driving trace, speed before traffic police needs that accident vehicle accident occurs in fix duty, make confirmation of responsibility.It is existing
Some analysis methods include: to analyze etc. by ground trace.But existing main problem is, some are after the accident
Face trace is limited, is difficult to be caused final according to the change in location relationship between a little ground trace accurate judgement incident vehicle in front
Difficulty in confirmation of responsibility.This just needs those skilled in the art and solves corresponding technical problem.
Summary of the invention
The present invention is directed at least solve the technical problems existing in the prior art, a kind of traffic thing is especially innovatively proposed
Therefore middle vehicle dynamic position analysis method.
In order to realize above-mentioned purpose of the invention, the present invention provides vehicle dynamic position analysis sides in a kind of traffic accident
Method includes the following steps:
S1 is taken photo by plane mode by scene, scene of the accident Aerial Images is obtained, in ground survey road dimensions and floor line
Length carries out comprehensive data acquisition；
S2, obtains monitor video data, and it is flat to choose monitor video image Road for the monitor video image during interception accident
Two pairs of orthogonal parallel marking lines carry out grid dividing on face, form road surface grid coordinate system, determine grid coordinate system
Mark processing and error evaluation carry out grid to the monitor video image comprising several accident vehicles and measure determining accident vehicle in list
Accurate location in width monitor video image；
S3 analyzes driving trace, speed variation, brake safe distance, traveling lane and the traveling of several accident vehicles
Direction change, by several accident vehicles by grid coordinate system positioning, temporally dot sequency is plotted to take photo by plane and just penetrates top view pair
Position is answered to be analyzed, to obtain the integrated information of traffic accident.
Above-mentioned technical proposal has the beneficial effect that showing by take photo by plane figure and the scene of the accident scene situation that shoot the later period
Field figure can accurately depict the running track of vehicle during traffic accident by drawing mesh coordinate.
Vehicle dynamic position analysis method in the traffic accident, it is preferred that the S1 includes:
Unmanned plane accident section, size, the floor line length data of measurement road；It is just being penetrated using unmanned plane high-altitude
It takes photo by plane accident section, obtains clear, the complete scene of the accident and overlook panorama sketch.
Vehicle dynamic position analysis method in the traffic accident, it is preferred that the S1 further include:
Scene of the accident reconstruction process acquires the floor line and road dimensions data in incident crossing section, infrared rays survey
Measurement accuracy evaluation criterion as monitor video image lattice measured value is utilized unmanned plane accident section, processing by value
Unmanned plane sequence image obtains the Three-dimension Reconstruction Model of accident section, measures to the graticule distance in reconstruction model,
Threedimensional model measured value and site infrare line measured value are used as the reference frame of monitor video image lattice measured value simultaneously；
Scene of the accident road surface size is measured, is overlooked in the scene of the accident taken photo by plane and carries out scene of the accident road in panorama sketch
The intersection of crossing and side curb is established road surface coordinate system as coordinate origin first, then measures accident by face size marking
The width of each runway in scene, the length of floor line.
Vehicle dynamic position analysis method in the traffic accident, it is preferred that the S2 includes:
S2-A chooses in monitor video and is parallel to each other and vertical graticule for visible two groups, according to Cross ration invariability and disappears
It loses point principle and establishes road plane grid coordinate system in monitor video image, in the grid coordinate system plane, grid is parallel
The distance between line is equal；
S2-B calibrates grid coordinate system measured value, is corrected, fixed with the grid measured value of in grid one visible graticule
It is designated as actual length value, reaches the absolute measured value calibration of the vertical and horizontal to grid measurement coordinate system, obtains road plane
Measurable actual length grid coordinate system, for subsequent accident vehicle position；
S2-C, grid coordinate system plane survey precision test, by the actual measured value of roadmarking and video pictures grid
Coordinate system calculated value is compared；The length of three groups or more floor lines is surveyed in accident section, is surveyed using road plane grid
Corresponding length is measured, the relative error of measured value and actual value is calculated, determines the measurement error range of grid coordinate system plane；
Having the beneficial effect that for above-mentioned technical proposal is portrayed by the way that the video frame of monitor video is carried out mesh coordinate, is drawn
Need to measure the image of video frame position.
Vehicle dynamic position analysis method in the traffic accident, it is preferred that the S3 includes:
S3-1 intercepts the time series frame image of a wherein accident vehicle in monitor video picture, chooses a thing
Therefore the fixed subpoint of one or more of the vehicle on road surface reads mark point pixel coordinate position and analyzes this as mark point
Accident vehicle enters the driving trace after accident section, measures an accident vehicle tracing point using the grid coordinate system of foundation
Coordinate on ground；
S3-2, intercept another vehicle of accident monitoring video frame time series frame image, analyze another vehicle into
Driving trace after entering accident section, using another vehicle ground one or more subpoints as mark point, analysis
Another vehicle measures another track of vehicle point on ground in driving trace before the accident happened, using the grid coordinate system of foundation
The coordinate in face；
S3-3, the when m- distance change trend of analysis accident vehicle mark point to reference axis, to obtain accident vehicle
The driving status such as speed, traveling lane, driving direction；
Accident vehicle is collected with the video frame images a scene of the accident, obtains the two vehicles by S3-4
Relative positional relationship,
The non-security braking Distance Calculation formula of another vehicle is as follows at this time:
Wherein, s1For another non-security braking distance of vehicle, g is acceleration of gravity, and μ is another vehicle and ground
Face coefficient of friction, k are coefficient of friction correction factor, and t is brake reaction time；
S3-5 takes photo by plane and just penetrates top view mark vehicle location, m- position when according to the accident vehicle of grid coordinate system measurement
Relationship is transformed into take photo by plane and just penetrate on top view, marks the accident vehicle position opposite with road surface of equidimension, spacing sequentially in time
Set relational graph.
Having the beneficial effect that for above-mentioned technical proposal can carry out accurate position point to the traffic accident with monitor video
Analysis, and combine to take photo by plane and just take the photograph top view mark accident material time point accident vehicle position, more intuitively, clearly express accident
Change in process, is conducive to traffic control department confirmation of responsibility and all parties understand accident and pass through.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
Traffic accident generating process is mainly solved, the change in location process between accident vehicle provides accident duty for traffic police
Appoint the judgment basis assert.Accurate position analysis can be carried out to the traffic accident with monitor video, and is combined and taken photo by plane just
Top view mark accident material time point accident vehicle position is taken the photograph, more intuitively, clearly expression accident process changes, and is conducive to hand over
Pipe portion door confirmation of responsibility and all parties understand accident and pass through.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is flow diagram of the present invention；
Fig. 2 is that the present invention takes photo by plane and just penetrates top view；
Fig. 3 is that accident vehicle crosses the grid instrumentation plan of moment corresponding position in monitor video image of the present invention；
Fig. 4 be the present invention take photo by plane just penetrate top view mark vehicle dynamic position variation schematic diagram.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the connection being also possible to inside two elements can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis
Concrete condition understands the concrete meaning of above-mentioned term.
After Accident occurs, the process under having fixed monitor video to shoot before the accident happened needs during processing
Relative positional relationship before accident vehicle making contact is confirmed.Since monitoring camera is angled with ground,
It is difficult to see road lines clearly in video；
Understand that accident vehicle in the relative positional relationship of driving trace and vehicle and road before the accident happened, needs to analyze
Video is analyzed, be measured.
Solution: 1, scene is taken photo by plane and data acquire: unmanned plane accident section, the size of measurement road, ground
The data such as graticule length；Accident section of taking photo by plane just is penetrated using unmanned plane high-altitude, obtains bowing for clear, complete scene of the accident section
Depending on panorama sketch.
2, monitor video is handled:
1) accident process image is intercepted according to monitor video, establishes road surface examination network and chooses ground two to orthogonal
Parallel marking line (when without suitable graticule, can put four index points at the scene and artificially make, then transfer the picture) is as grid
Partitioning standards.And coordinate value (x, y) is marked to place where the accident occurred point；
2) grid dividing: road plane grid can be marked off according to Cross ration invariability and end point principle, utilize parallel lines
Distance grid is demarcated, thereby determine that road plane pixel represent actual size.
3) position of the analysis vehicle on road surface
According to network analysis measurement in the subpoint position on ground, determine measurement in the physical location on road surface.
4) vehicle driving trace is analyzed
The video image of vehicle is intercepted, chooses a certain fixed point of vehicle on the ground as mark point, continuous analysis should
The position of mark point, the variation of final tracing point can be considered as track of vehicle variation.
5) top view of taking photo by plane marks vehicle location
It according to the actual value that grid measures, is transformed into vertical view and takes photo by plane on figure, mark equidimension, vehicle and the road surface phase of spacing
To relational graph.
As shown in Figure 1, the present invention provides vehicle dynamic position analysis methods in a kind of traffic accident, including walk as follows
It is rapid:
S1 is taken photo by plane mode by scene, scene of the accident Aerial Images is obtained, in ground survey road dimensions and floor line
Length carries out comprehensive data acquisition；
S2, obtains monitor video data, and it is flat to choose monitor video image Road for the monitor video image during interception accident
Two pairs of orthogonal parallel marking lines carry out grid dividing on face, form road surface grid coordinate system, determine grid coordinate system
Mark processing and error evaluation carry out grid to the monitor video image comprising several accident vehicles and measure determining accident vehicle in list
Accurate location in width monitor video image；
S3 analyzes driving trace, speed variation, brake safe distance, traveling lane and the traveling of several accident vehicles
Direction change, by several accident vehicles by grid coordinate system positioning, temporally dot sequency is plotted to take photo by plane and just penetrates top view pair
Position is answered to be analyzed, to obtain the integrated information of traffic accident.
Above-mentioned technical proposal has the beneficial effect that showing by take photo by plane figure and the scene of the accident scene situation that shoot the later period
Field figure can accurately depict the running track of vehicle during traffic accident by drawing mesh coordinate.
Vehicle dynamic position analysis method in the traffic accident, it is preferred that the S1 includes:
Unmanned plane accident section, size, the floor line length data of measurement road；It is just being penetrated using unmanned plane high-altitude
It takes photo by plane accident section, obtains clear, the complete scene of the accident and overlook panorama sketch.
Fig. 2 is that the present invention takes photo by plane and just penetrates top view and (take photo by plane and answer zero defects vehicle inside schematic diagram, because after taking photo by plane and being accident
Acquisition, traffic police are seldom just used in the scene of the accident and are taken photo by plane)；
Vehicle dynamic position analysis method in the traffic accident, it is preferred that the S1 further include:
Scene of the accident reconstruction process acquires the floor line and road dimensions data in incident crossing section, infrared rays survey
Measurement accuracy evaluation criterion as monitor video image lattice measured value is utilized unmanned plane accident section, processing by value
Unmanned plane sequence image obtains the Three-dimension Reconstruction Model of accident section, measures to the graticule distance in reconstruction model,
Threedimensional model measured value and site infrare line measured value are used as the reference frame of monitor video image lattice measured value simultaneously；
Scene of the accident road surface size is measured, is overlooked in the scene of the accident taken photo by plane and carries out scene of the accident road in panorama sketch
The intersection of crossing and side curb is established road surface coordinate system as coordinate origin first, then measures accident by face size marking
The width of each runway in scene, the length of floor line.
As shown in figure 3, vehicle dynamic position analysis method in the traffic accident, it is preferred that the S2 includes:
S2-A chooses in monitor video and is parallel to each other and vertical graticule for visible two groups, according to Cross ration invariability and disappears
It loses point principle and establishes road plane grid coordinate system in monitor video image, in the grid coordinate system plane, grid is parallel
The distance between line is equal；
S2-B calibrates grid coordinate system measured value, is corrected, fixed with the grid measured value of in grid one visible graticule
It is designated as actual length value, reaches the absolute measured value calibration of the vertical and horizontal to grid measurement coordinate system, obtains road plane
Measurable actual length grid coordinate system, for subsequent accident vehicle position；
S2-C, grid coordinate system plane survey precision test, by the actual measured value of roadmarking and video pictures grid
Coordinate system calculated value is compared；The length of three groups or more floor lines is surveyed in accident section, is surveyed using road plane grid
Corresponding length is measured, the relative error of measured value and actual value is calculated, determines the measurement error range of grid coordinate system plane；
Having the beneficial effect that for above-mentioned technical proposal is portrayed by the way that the video frame of monitor video is carried out mesh coordinate, is drawn
Need to measure the image of video frame position.
As shown in figs. 4 a-4 c, vehicle dynamic position analysis method in the traffic accident, it is preferred that the S3 includes:
S3-1 intercepts the time series frame image of a wherein accident vehicle in monitor video picture, chooses a thing
Therefore the fixed subpoint of one or more of the vehicle on road surface reads mark point pixel coordinate position and analyzes this as mark point
Accident vehicle enters the driving trace after accident section, measures an accident vehicle tracing point using the grid coordinate system of foundation
Coordinate on ground；
S3-2, intercept another vehicle of accident monitoring video frame time series frame image, analyze another vehicle into
Driving trace after entering accident section, using another vehicle ground one or more subpoints as mark point, analysis
Another vehicle measures another track of vehicle point on ground in driving trace before the accident happened, using the grid coordinate system of foundation
The coordinate in face；
S3-3, the when m- distance change trend of analysis accident vehicle mark point to reference axis, to obtain accident vehicle
The driving status such as speed, traveling lane, driving direction；
Accident vehicle is collected with the video frame images a scene of the accident, obtains the two vehicles by S3-4
Relative positional relationship,
The non-security braking Distance Calculation formula of another vehicle is as follows at this time:
Wherein, s1For another non-security braking distance of vehicle, g is acceleration of gravity, and μ is another vehicle and ground
Face coefficient of friction, k are coefficient of friction correction factor, and t is brake reaction time；
S3-5 takes photo by plane and just penetrates top view mark vehicle location, m- position when according to the accident vehicle of grid coordinate system measurement
Relationship is transformed into take photo by plane and just penetrate on top view, marks the accident vehicle position opposite with road surface of equidimension, spacing sequentially in time
Set relational graph.
Having the beneficial effect that for above-mentioned technical proposal can carry out accurate position point to the traffic accident with monitor video
Analysis, and combine to take photo by plane and just take the photograph top view mark accident material time point accident vehicle position, more intuitively, clearly express accident
Change in process, is conducive to traffic control department confirmation of responsibility and all parties understand accident and pass through.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (5)
1. vehicle dynamic position analysis method in a kind of traffic accident, which comprises the steps of:
S1 is taken photo by plane mode by scene, scene of the accident Aerial Images is obtained, in ground survey road dimensions and floor line length
Carry out comprehensive data acquisition；
S2, obtains monitor video data, and the monitor video image during interception accident is chosen in the plane of monitor video image Road
Two pairs of orthogonal parallel marking lines carry out grid dividing, form road surface grid coordinate system, carry out at calibration to grid coordinate system
Reason and error evaluation carry out grid to the monitor video image comprising several accident vehicles and measure determining accident vehicle in single width prison
Control the accurate location in video image；
S3 analyzes driving trace, speed variation, brake safe distance, traveling lane and the driving direction of several accident vehicles
Variation, by several accident vehicles by grid coordinate system positioning, temporally dot sequency is plotted to take photo by plane and just penetrates top view and correspond to position
It sets and is analyzed, to obtain the integrated information of traffic accident.
2. vehicle dynamic position analysis method in traffic accident according to claim 1, which is characterized in that the S1 packet
It includes:
Unmanned plane accident section, size, the floor line length data of measurement road；It is just penetrated and is taken photo by plane using unmanned plane high-altitude
Accident section obtains clear, the complete scene of the accident and overlooks panorama sketch.
3. vehicle dynamic position analysis method in traffic accident according to claim 2, which is characterized in that the S1 is also wrapped
It includes:
Scene of the accident reconstruction process, acquires the floor line and road dimensions data in incident crossing section, and infrared rays survey value will
Measurement accuracy evaluation criterion as monitor video image lattice measured value handles nobody using unmanned plane accident section
Machine is taken photo by plane sequence image, is obtained the Three-dimension Reconstruction Model of accident section, is measured to the graticule distance in reconstruction model, three-dimensional
Model measurement value and site infrare line measured value are used as the reference frame of monitor video image lattice measured value simultaneously；
Scene of the accident road surface size is measured, is overlooked in the scene of the accident taken photo by plane and carries out scene of the accident road surface ruler in panorama sketch
The intersection of crossing and side curb is established road surface coordinate system as coordinate origin first, then measures the scene of the accident by very little mark
The width of each runway, the length of floor line.
4. vehicle dynamic position analysis method in traffic accident according to claim 1, which is characterized in that the S2 packet
It includes:
S2-A chooses in monitor video and is parallel to each other and vertical graticule for visible two groups, according to Cross ration invariability and end point
Principle establishes road plane grid coordinate system in monitor video image, in the grid coordinate system plane, grid parallel lines it
Between be equidistant；
S2-B calibrates grid coordinate system measured value, is corrected, and is with the grid measured value calibration of in grid one visible graticule
Actual length value, reaches the absolute measured value calibration of the vertical and horizontal to grid measurement coordinate system, and obtain road plane can
The grid coordinate system for measuring actual length is positioned for subsequent accident vehicle；
S2-C, grid coordinate system plane survey precision test, by the actual measured value of roadmarking and video pictures mesh coordinate
It is that calculated value is compared；The length of three groups or more floor lines is surveyed in accident section, utilizes the measurement pair of road plane grid
Length is answered, the relative error of measured value and actual value is calculated, determines the measurement error range of grid coordinate system plane.
5. vehicle dynamic position analysis method in traffic accident according to claim 1, which is characterized in that the S3 packet
It includes:
S3-1 intercepts the time series frame image of a wherein accident vehicle in monitor video picture, chooses an accident vehicle
The fixed subpoints of one or more on road surface are used as mark point, and reading mark point pixel coordinate position analyzes an accident
Vehicle enters the driving trace after accident section, measures an accident vehicle tracing point on ground using the grid coordinate system of foundation
The coordinate in face；
S3-2 intercepts the time series frame image of another vehicle of accident monitoring video frame, analyzes another vehicle and enter thing
Therefore the driving trace behind section, using another vehicle ground one or more subpoints as mark point, it is another to analyze this
One vehicle measures another track of vehicle point on ground in driving trace before the accident happened, using the grid coordinate system of foundation
Coordinate；
S3-3, the when m- distance change trend of analysis accident vehicle mark point to reference axis, to obtain the speed of accident vehicle
The driving status such as degree, traveling lane, driving direction；
Accident vehicle is collected with the video frame images a scene of the accident, obtains the opposite of the two vehicles by S3-4
Positional relationship,
The non-security braking Distance Calculation formula of another vehicle is as follows at this time:
Wherein, s1For another non-security braking distance of vehicle, g is acceleration of gravity, and μ is that another vehicle rubs with ground
Coefficient is wiped, k is coefficient of friction correction factor, and t is brake reaction time；
S3-5 takes photo by plane and just penetrates top view mark vehicle location, and m- position is closed when according to the accident vehicle of grid coordinate system measurement
System, is transformed into take photo by plane and just penetrate on top view, marks equidimension, the accident vehicle of spacing and road surface relative position sequentially in time
Relational graph.
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