CN108922212B - Unmanned aerial vehicle-based traffic identification method under highway emergency - Google Patents
Unmanned aerial vehicle-based traffic identification method under highway emergency Download PDFInfo
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention discloses a traffic identification method under an emergency on a highway based on an unmanned aerial vehicle, and mainly aims to solve the problem that the highway is jammed for a long time once the emergency occurs at the current highway. The invention uses an industrial-grade unmanned aerial vehicle as a carrier, realizes monitoring of an emergency at the first time, relates to fast and efficient information acquisition of an expressway emergency by a police unmanned aerial vehicle, extracts traffic basic parameters of an emergency point, judges the influence range of the emergency, determines an upstream entrance ramp in the influence range, performs a series of dispersion processes of traffic of the emergency point by closing the upstream entrance ramp, and finally judges whether traffic dispersion is finished or not by the unmanned aerial vehicle; in the dispersion process, professionals can command on-site rescue through a tweeter carried by the unmanned aerial vehicle, the invention realizes the rapid monitoring and traffic dispersion work of the expressway emergency, relieves the traffic jam condition and reduces property loss.
Description
Technical Field
The invention relates to the field of road traffic dispersion, in particular to a traffic identification method under an expressway emergency based on an unmanned aerial vehicle.
Background
At present, the construction mileage of the expressway in China is continuously increased, the traffic flow is also continuously increased, meanwhile, emergencies on the expressway in China are frequent, but the emergency rescue capability of relevant departments in China on the expressway emergencies is weak. Once a major emergency occurs on the highway, because the traffic induction behavior of China is relatively lagged, a traffic jam zone which is several kilometers long can be formed in a short time, so that long-time traffic jam is caused, and in addition, attention to emergency lane management measures is not enough, so that emergency lane jam is easily caused, and a rescue team cannot arrive at the site at the first time, the gold rescue time is missed, and new casualties and property loss occur.
Police unmanned aerial vehicle has advantages such as mobility is strong, observation scope is wide, provides effectual means for solving highway safety control on a large scale. At present, the unmanned aerial vehicle is applied to traffic monitoring and data acquisition in China, so that traffic violation evidence obtaining, traffic jam real-time monitoring and the like can be realized, the pressure of highway traffic management is effectively relieved, but the unmanned aerial vehicle for highway police has few dredging applications to highway emergencies, and the traffic dredging application of the unmanned aerial vehicle under the highway emergencies needs to be improved, so that the highway is dredged in time, and casualties and property loss are reduced.
Disclosure of Invention
The invention aims to solve the problem that the conventional expressway is congested for a long time once an emergency occurs, and provides a traffic dispersion technology of an unmanned aerial vehicle under the emergency condition of the expressway.
In order to achieve the purpose, the specific technical scheme of the invention is as follows:
the method comprises the following steps: the unmanned aerial vehicle low-altitude cruise monitors highway emergencies. Police unmanned aerial vehicles are used as extension and supplement of highway monitoring and used for collecting road condition information of a highway in real time, the unmanned aerial vehicles cruise at specified road sections on the highway, an aerial photography video collecting platform records traffic states in real time, a low-altitude aerial photography video data set is established, once an emergency on the highway is found, the occurrence position of the emergency is determined, and relevant information of an emergency point is extracted.
Step two: whether need carry out traffic and dredge is judged through unmanned aerial vehicle. Once an emergency happens on the expressway, the traffic capacity of an event point and the surrounding of the event point is instantly reduced, and before the emergency happens, the traffic capacity of the event point is QFront sideThe traffic demand of each entrance ramp at the upstream of the accident point is qi(i ═ 1, 2, …, n), upstream of the point of originThe traffic demand is the traffic quantity Q of the main road and the traffic demand Q of each entrance ramp on the upstream1+q2+…+qnSum, before the time of the incident, incident upstream traffic demand Q + (Q)1+q2+…+qn)＜QFront sideThe road is smooth; after the emergency occurs, the traffic capacity of the emergency point is changed into QRear endIf Q isRear end＜Q+(q1+q2+…+qn) If congestion and queuing are caused, traffic dispersion is needed; if QRear end＞Q+(q1+q2+…+qn) Traffic dispersion is not required.
Step three: the drone determines the range of traffic dispersion needed. The distance between each entrance ramp and the accident point is known as Si(i 1, 2.. times, n), the average speed of the vehicle is Δ v, and the time required for each on-ramp vehicle to reach the point of departure
The time t of finishing the handling of the emergency predicted by the known event handler according to the past experiencecThe influence range of the emergency on the upstream traffic is S ═ Δ v · tcThe upstream on-ramp 1, 2 … … x within the influence range S is determined.
Step four: taking traffic dispersion measures to suspend ramp entrance in upstream range of accident point
When the ramp is closed, t is equal to 0, vehicles between the entrance ramp 1 and the tail end of the queue continue to join in the congestion queue, and after all vehicles before the entrance ramp 1 join in the congestion queue, the upstream traffic demand Q + (Q) of the accident point is increased at the moment (Q)2+…+qn) Upstream vehicles join in a congested queue in sequence, and during the process, vehicles at the point of issue are queued at QRear endIs continuously discharged.
Step five: calculating the maximum queuing length according to the traffic wave theory
When in queue, the distance between the front end of the vehicle and the tail end of the vehicle in front of the vehicle is LFront sideThe distance between the tail end of the vehicle and the front end of the vehicle behind the tail end is LRear endThe length of the vehicle body is LSEffective length of each type of vehicle
Average queuing length of vehicles
The number of one-way lanes at the upstream of the accident point is m, and the existing queuing length l is obtained when measures are taken0Number of vehicles in line
The queuing length l after all the vehicles entering the queue are added into the queue at the entrance ramp iiAnd a formation time ti. Wherein the distance S between the entrance ramp i and the accident pointiThe density of vehicles to be in line upstream of the rear end of a vehicle in line is KiT is 0 to tiAt the moment, the average speed of the vehicles on the on-ramp i to the end of the queue is ViAfter a vehicle at a certain departure point on the entrance ramp x is completely added into the queuing queue, the queuing length reaches the maximum, and the time for reaching the maximum queuing length
Maximum queue length
Step six: calculating the queuing dissipation time according to the traffic flow theory
When the queuing length reaches the maximum, the traffic volume added into the queuing is smaller than the outgoing traffic volume, so the queuing length is gradually reduced, and the congestion queuing dissipation time of the event point is solved according to the traffic flow theory
Wherein N ismaxThe maximum number of queued vehicles;
step seven: process for judging accident point information to dredge traffic according to calculated reduction time
The dredging judgment process comprises the following four steps:
(1) comparing the event processing completion time with the event point congestion queuing dissipation time; time processing completion time t predicted by known time processing personnel according to past experiencecIf t isc＞tXiaoxiao (medicine for eliminating cough and asthma)If the congestion queue is completely dissipated before the event is processed, the traffic volume released on the entrance ramp needs to be controlled to enter the step (2), and if t is the casec＜tXiaoxiao (medicine for eliminating cough and asthma)If the congestion queue is not completely dissipated after the event is processed, recalculating the queue dissipation time, and entering the step (3);
(2) the difference between the traffic capacity of the incident point and the traffic volume of the main road after the emergency is
If the traffic volume q of the entrance ramp iiIs less than
The entrance ramp i is at tXiaoxiao (medicine for eliminating cough and asthma)-ΔtiCompletely passing through the moment if the traffic q of the entrance ramp iiIs greater than
The entrance ramp i is at tXiaoxiao (medicine for eliminating cough and asthma)-ΔtiThe traffic volume released at any moment is
According to the event processing finish time tcTo restore traffic through the point of origin to normal levels as soon as possible after the event has been processed, at tc-ΔtiAnd completely releasing each ramp at any moment.
(3) The congestion queuing is not completely dissipated when the event is processed, and the congestion is processed after the event is processedQueuing with QFront sideContinuously flowing out of the pipeline, recalculating the queue dissipation time
Each ramp is respectively arranged at
And completely opening the release at all times.
Step eight: the drone determines whether the grooming is complete. In the dredging process, professional rescuers can command field personnel to rescue through the tweeter of the unmanned aerial vehicle according to the low-altitude aerial images, after the entrance ramp is completely opened, the unmanned aerial vehicle extracts traffic information around the incident point again, and if the traffic capacity of the incident point is larger than the threshold value, the traffic capacity of the incident point is increased
Greater than the incident point upstream traffic demand Q + (Q)1+q2+…+qn) Determining that the dredging is finished; otherwise, the step is repeated.
The invention has the following advantages:
(1) by means of low-altitude cruising of the unmanned aerial vehicle, the aerial video acquisition platform records the traffic state in real time, a low-altitude aerial video data set is established, and emergencies can be found more quickly.
(2) The method for closing the ramp is used for dredging the congestion queuing problem caused by the emergency on the expressway, has strong execution capacity, is simple and effective, and has great relieving effect on the congestion condition.
(3) The method comprises the steps of determining the release time and the release traffic volume of a ramp through a traffic flow theory, recovering the traffic volume of an incident point to a normal level at the first time after the event processing is finished while relieving traffic jam, and extracting the traffic capacity of the incident point when the ramp is opened again through an unmanned aerial vehicle to determine whether dispersion is finished.
Drawings
FIG. 1 is a schematic diagram of an emergency point road network.
Fig. 2 is a schematic view of the grooming process of the present invention.
Detailed Description
The following description will clearly and completely describe the technical solution of the present invention in the concrete implementation by taking a bidirectional four-lane highway with a design speed of 100km/h as an example, with reference to the accompanying drawings of the present invention.
The method comprises the following steps: the unmanned aerial vehicle low-altitude cruise monitors highway emergencies. The unmanned aerial vehicle cruises at a designated road section on the highway at low altitude, the aerial photography video acquisition platform records the traffic state in real time, a low altitude aerial photography video data set is established, once an emergency on the highway is found, the occurrence position of the emergency is determined, and the related information of the emergency point is extracted.
Step two: whether need carry out traffic and dredge is judged through unmanned aerial vehicle. Once an emergency happens on the expressway, the traffic capacity of an event point and the traffic capacity around the event point are instantly reduced, and before a rear-end collision event happens, the traffic capacity of a single lane at the event point is QFront side2100veh/h, main road Q1400 veh/h, one lane occupied by the rear-end collision event, and one-way remaining traffic capacity QRear end0.35 × 2100 × 2 1470veh/h, and the traffic volume of each entrance ramp is q1＝800veh/h、q2＝700veh/h、q3Before the burst time of 360veh/h … …, the upstream traffic demand of the burst point Q + (Q)1+q2+…+qn)＜QFront sideThe road is smooth; traffic capacity Q of accident point after occurrence of emergencyRear end＜Q+(q1+q2+…+qn) And if congestion and queuing are caused, traffic dispersion is needed.
Step three: the drone determines the range of traffic dispersion needed. The time t of finishing the handling of the emergency predicted by the known event handler according to the past experiencec113min, the influence scope of the emergency on the upstream traffic
There are 3 entrance ramps in the 188km range of the accident point, from near to far there are entrance ramps 1, 2 and 3, respectively, and the distances from the accident point are 17 km, 76 km and 138 km, respectively, and the traffic volume of each entrance ramp is q1＝800veh/h、q2＝700veh/h、q3＝360veh/h，The time for each entrance ramp vehicle to reach the accident point is 10.2min, 45.6min and 82.8min respectively.
Step four: and taking a traffic dispersion measure and suspending the entrance of the upstream ramp of the accident point. When the ramp is closed, t is equal to 0, and the traffic demand from the entrance ramp 1 to the tail end of the vehicle queue is greater than QRear endAnd the queuing length is continuously increased, and after all vehicles before the entrance ramp 1 join in the congestion queuing, the upstream traffic demand Q + (Q) at the accident point is carried out at the moment2+...+qn) Upstream vehicles join the congestion queue in turn, during which the vehicles at the point of origin are continuously out at a flow rate of 1470 veh/h.
Step five: and calculating the maximum queuing length according to the traffic wave theory. The small cars on the highway account for 85 percent of the total traffic flow, the average length of the small cars is 4.5 meters, and the effective length L is obtained when the cars are in a queue in a jam state14.5+ 2-6.5 m; the average length of the other 15 percent of other vehicles is 9.4 meters, and the effective length L is obtained when the vehicles are in a congested queue2When the average queuing length of the vehicles is congested, 9.4+3 is 12.4m
PiRepresenting the proportion of the type of congested vehicle to the total vehicle type. When taking measures, the existing queuing length is 0.3 kilometer, and the number of the existing queuing vehicles
And (3) closing an entrance of the upstream ramp, and when the vehicles on the entrance ramps 1 and 2 enter the queuing queue, enabling the traffic volume of the entrance ramp 3 and the main road to be less than the outflow traffic volume, so that the vehicles on the entrance ramp 2 enter the congestion queue, the maximum queuing length is 2.8 kilometers, the time for reaching the maximum queuing length is 45.6 minutes, and the number of the queued vehicles is 756.
Step six: and calculating the queuing dissipation time according to the traffic flow theory. When the queuing length reaches the maximum, the queuing length is gradually reduced according to the principle that the traffic volume flowing into the accident point is smaller than the traffic volume flowing outTraffic flow theory solution event point congestion queuing dissipation time tXiaoxiao (medicine for eliminating cough and asthma)＝110.8min。
Step seven: and carrying out a traffic dispersion process according to the accident point information collected by the unmanned aerial vehicle. Firstly, calculating the time required for the vehicles to arrive at the incident point on the entrance ramps 1, 2 and 3 to be 10.2 minutes, 45.6 minutes and 82.8 minutes respectively; then comparing the event processing finish time with the congestion queuing dissipation time tc＝113min>tXiaoxiao (medicine for eliminating cough and asthma)110.8 min; difference between traffic capacity after emergency and traffic volume of main road
470veh/h traffic volume is released 100.6 time-sharing after the entrance ramp 1 closes the ramp;
470veh/h traffic volume is released 65.2 time-sharing after the entrance ramp 2 closes the ramp;
the on-ramp 3 is completely released when the off-ramp passes 28 minutes.
Step eight: the drone determines whether the grooming is complete. The drone determines whether the grooming is complete. In the dredging process, professional rescuers can command field personnel to rescue through the tweeter of the unmanned aerial vehicle according to the low-altitude aerial images, after the entrance ramp is completely opened, the unmanned aerial vehicle extracts traffic information around the incident point again, and the single road capacity of the incident point at the moment
And if the traffic demand is larger than the upstream traffic demand of the accident point, the dispersion is determined to be completed.
As can be seen from the above description of the specific embodiments with reference to the attached drawings, the present invention makes full use of the unmanned aerial vehicle technology to realize rapid discovery of emergency events on the highway, adopts the coordination control of the upstream entrance ramp to ensure that the traffic volume of the incident point is lower than the remaining traffic capacity, rapidly dredge the traffic jam of the incident point on the highway, and realize the traffic dredging process of the incident point; and when the professional does not arrive at the scene, the non-professional rescue force is commanded to carry out the on-site rescue through the tweeter carried by the unmanned aerial vehicle according to the on-site situation shot by the unmanned aerial vehicle, the gold rescue time is seized, and casualties and property loss are reduced. The perfect matching of the unmanned aerial vehicle and the traffic dispersion technology is realized.
Claims (1)
1. An unmanned aerial vehicle-based traffic identification method under an expressway emergency, which is characterized by comprising the following steps:
the method comprises the following steps: unmanned aerial vehicle low-altitude cruise monitoring highway emergency
The method comprises the steps that an unmanned aerial vehicle cruises at a designated road section on a highway at low altitude, an aerial photography video acquisition platform records traffic states in real time, a low altitude aerial photography video data set is established, once an emergency on the highway is found, the occurrence position of the emergency is determined, and information of an emergency point is extracted;
step two: judge whether need carry out traffic through unmanned aerial vehicle and dredge
The traffic capacity of the comparison point becomes QRear endThe traffic demand of the upstream traffic of the accident point is the traffic quantity Q of the main road and the traffic demand Q of each entrance ramp of the upstream1+q2+...+qnSum, if QRear end＜Q+(q1+q2+...+qn) If congestion and queuing are caused, traffic dispersion is needed; if QRear end＞Q+(q1+q2+...+qn) Traffic dispersion is not needed;
step three: unmanned aerial vehicle determines range of traffic dispersion
The distance between each entrance ramp and the accident point is known as SiAnd i is 1, 2, …, n, the average speed of the vehicle is Δ v, the time required for each on-ramp vehicle to reach the point of departure
The time t of finishing the handling of the emergency predicted by the known event handler according to the past experiencecThe influence range of the emergency on the upstream traffic is S ═ Δ v · tcThereby determining the upstream on-ramp 1, 2 … … x within the influence range S;
step four: taking traffic dispersion measures to suspend ramp entrance in upstream range of accident point
When the ramp is closed, t is equal to 0, vehicles between the entrance ramp 1 and the tail end of the queue continue to join in the congestion queue, and after all vehicles before the entrance ramp 1 join in the congestion queue, the upstream traffic demand Q + (Q) of the accident point is increased at the moment (Q)2+...+qn) Upstream vehicles join in a congested queue in sequence, and during the process, vehicles at the point of issue are queued at QRear endIs continuously discharged;
step five: calculating the maximum queuing length according to the traffic wave theory
When in queue, the distance between the front end of the vehicle and the tail end of the vehicle in front of the vehicle is LFront sideThe distance between the tail end of the vehicle and the front end of the vehicle behind the tail end is LRear endThe length of the vehicle body is LSEffective length of each type of vehicle
Average queuing length of vehicles
PiThe method comprises the steps of representing the proportion of the type of a jammed vehicle to the total vehicle type, wherein the number of one-way lanes at the upstream of an accident point is m; when taking measures, the existing queue length l0Number of vehicles in line
The queuing length l after all the vehicles entering the queue are added into the queue at the entrance ramp iiAnd a formation time ti(ii) a Wherein the distance S between the entrance ramp i and the accident pointiThe density of vehicles to be in line upstream of the rear end of a vehicle in line is KiT is 0 to tiAt the moment, the average speed of the vehicles on the on-ramp i to the end of the queue is ViAfter a vehicle at a certain departure point on the entrance ramp x is completely added into the queuing queue, the queuing length reaches the maximum, and the time for reaching the maximum queuing length
Maximum queue length
Step six: calculating the queuing dissipation time according to the traffic flow theory
When the queuing length reaches the maximum, the traffic volume added into the queuing is smaller than the outgoing traffic volume, so the queuing length is gradually reduced, and the congestion queuing dissipation time of the event point is solved according to the traffic flow theory
NmaxThe maximum number of queued vehicles;
step seven: monitoring traffic dispersion process according to incident point information acquired by unmanned aerial vehicle
The dredging process is divided into the following three steps:
(1) the unmanned aerial vehicle compares the event processing completion time with the event point congestion queuing dissipation time, and the processing completion time t is predicted according to past experiencecIf t isc＞tXiaoxiao (medicine for eliminating cough and asthma)If the situation shows that the congestion is completely dissipated before the event is processed, the traffic volume released by the entrance ramp needs to be controlled, and the step (2) is carried out; if tc＜tXiaoxiao (medicine for eliminating cough and asthma)If the congestion queue is not completely dissipated after the event is processed, recalculating the queue dissipation time, and entering the step (3);
(2) the difference between the traffic capacity of the incident point and the traffic volume of the main road after the emergency is
If the traffic volume q of the entrance ramp iiIs less than
The entrance ramp i is at tXiaoxiao (medicine for eliminating cough and asthma)-ΔtiCompletely passing through the moment if the traffic q of the entrance ramp iiIs greater than
The entrance ramp i is at tXiaoxiao (medicine for eliminating cough and asthma)-ΔtiThe traffic volume released at any moment is
The unmanned aerial vehicle informs each ramp of t according to the comparison resultc-ΔtiCompletely releasing each ramp at any moment;
(3) when the event is processed, the congestion queuing is not completely dissipated, and after the event is processed, the congestion queuing is QFront sideContinuously flowing out of the pipeline, recalculating the queue dissipation time
The unmanned aerial vehicle informs each ramp of being respectively on each ramp according to the comparison result
Completely opening and releasing at any moment;
step eight: unmanned aerial vehicle determines whether dispersion is completed
After the entrance ramp is completely opened, the unmanned aerial vehicle extracts the traffic information around the incident point again, and if the traffic capacity of the incident point is higher than the traffic capacity of the incident point, the unmanned aerial vehicle extracts the traffic information
Greater than the incident point upstream traffic demand Q + (Q)1+q2+...+qn) Determining that the dredging is finished; otherwise it indicates not completed.
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| CN110444019B (en) * | 2019-08-01 | 2020-09-11 | 安徽科力信息产业有限责任公司 | Vehicle abnormal parking cause detection method and system based on vehicle-mounted parking warning board |
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