CN108986458A - A kind of highway emergency disposal analogue system and aid decision-making method based on air-ground coordination - Google Patents
A kind of highway emergency disposal analogue system and aid decision-making method based on air-ground coordination Download PDFInfo
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Abstract
This patent discloses a kind of highway emergency disposal analogue system and aid decision-making method based on air-ground coordination, the system comprises unmanned units, unmanned plane ground base component, industrial personal computer industrial personal computer.Apparatus of the present invention can arrive at rapidly place nearby, with very high flexibility, mobility as a set of Emergency Command Vehicle car kits after highway emergency generation；Given full play to inhumanity application means flexibly, be applicable in that scene is abundant, data acquire unobscured advantage, field data collection can be used in time when highway emergency occurs, ensure that the response speed of emergency disposal；Using the mode of emergency disposal Strategy Simulation, implementation of strategies process has been previewed in advance, and its implementation result has been evaluated, to assist floor manager personnel to make more excellent decision, achieve the purpose that improve decision accuracy, while reducing the bad bring risk of emergency disposal strategy.
Description
Technical field
The present invention relates to freeway traffic contingency management field, specifically a kind of highway based on air-ground coordination is answered
Anxious disposition simulator and aid decision-making method.
Background technique
Highway is the important component of road transport network.In the operation of highway, due to vehicle driving speed
Degree is fast, load-carrying vehicle specific gravity is higher, once emergency occurs, often will cause traffic accident more serious than urban road,
Part lane is caused to be closed, road passage capability is limited, small-scale congestion occurs；If emergency disposal not in time, also very may be used
Second accident can be caused, and congestion will be will lead to and traced back to upstream section, local section even all fronts section is closed, occurred
Regionality congestion on a large scale.
When taking emergency disposal strategy, existing method mostly the considerations of being for emergency disposal response speed.However, " fast "
It is not meant to " good ".And emergency disposal strategy, regardless of effect, will cause irreversible influence once implementing, and increase
The risk for adding strategy implement, which results in the tolerance of emergency disposal strategy is lower.In addition, even if more scientific, complete
Under highway emergency disposal strategy, it also can only be to hold basic Disposal Strategies direction, the specific implementation of strategy can also be lacked
Few certain flexibility, accuracy.For example, the reference value of certain parameters can be provided by having determined strategy, but cannot be according to the tool at scene
Body situation determines required parameter value.
Emulation technology is that a special kind of skill of real research object operational process and operation phenomenon is simulated using computer means
Subject is difficult to the experiment carried out in reality to achieve the purpose that reduce experimental cost or simulation, this is complicated for reply and disposition
Traffic system problem provide very good solution thinking and approach.Using emulation technology means, emergency disposal plan can be simulated
Slightly implement bring influence, evades the ineffective brought loss of emergency disposal strategy and risk as far as possible.In addition, with nobody
The fast development of machine in recent years, light, flexible feature be widely used in monitoring inspection, the several scenes such as emergency management and rescue it
In, it is adapted to Various Complex, severe working environment, while the traffic information extractive technique based on unmanned plane shooting video
It is widely applied, thus obtains emergency field data rapidly with huge advantage using unmanned plane.
Summary of the invention
Aiming at the problem that existing emergency disposal strategy is difficult to accomplish not only " fast " simultaneously but also " good ", i.e., existing method exists the present invention
When improving highway emergency disposal speed, it tends to be difficult to the problem of guaranteeing fault-tolerance, flexibility and the accuracy of Disposal Strategies,
Propose a kind of highway emergency disposal simulator and aid decision-making method based on air-ground coordination.
In order to solve the technical problem, the technical solution that this patent provides includes:
A kind of highway emergency disposal analogue system based on air-ground coordination, which is characterized in that the system comprises: nothing
Man-machine group, the unmanned unit includes an at least frame unmanned plane, and the unmanned plane includes communication module and image capture module, is led to
Cross image capture module acquisition highway image information and by the communication module with sending unmanned plane to base component；Nobody
Machine base component include image data receiving module, unmanned aerial vehicle (UAV) control module, wireless communication module；Wireless communication module is used for nothing
Communication between man-machine ground base component and unmanned unit, and support to be communicated with the unmanned plane using different communication transport protocol.
Image data receiving module is for receiving the video data that unmanned unit returns in emergency region；Unmanned aerial vehicle (UAV) control module is used
In the flight control to unmanned unit.Industrial personal computer industrial personal computer, it is described on be loaded with traffic information extraction module, highway emergency
Dispose emulation module, emergency disposal Strategy Simulation evaluation module；Traffic information extraction module is to return video counts from unmanned unit
According to the middle data processing module for extracting expressway safety situation information, the highway emergency situation information includes traffic shape
State parameter information and emergency information；Highway emergency disposal emulation module is that expressway safety situation establishes model,
And the implementation of strategies of highway emergency disposal is realized in a simulated environment.Emulate start when, traffic information extraction module from
Real roads situation information is extracted in the video data of unmanned unit passback, and generates traffic information file, highway emergency
Emulation module reception is disposed from the traffic information of the traffic information extraction module, and establishes simulation model according to this；Then
Current expressway safety situation is assessed and analyzed, selects corresponding highway emergency disposal strategy, and answer this is implemented
The process of anxious Disposal Strategies is emulated；Emergency disposal Strategy Simulation evaluation module calculates vehicle and averagely prolongs after emulation
Accidentally, the evaluation indexes such as average queue length.
Preferably, when extracting Limited information, unmanned aerial vehicle (UAV) control module of the emulation module to unmanned plane in base component is anti-
Feedforward information, mode controls the more image datas of unmanned plane intake to unmanned aerial vehicle (UAV) control mould by wireless communication again.
Preferably, traffic state data information refers to the traffic state datas such as the magnitude of traffic flow, traffic density, queue length, tightly
Urgent thing part information includes the information such as time, place, type that emergency occurs.
And a kind of highway emergency disposal based on air-ground coordination emulates aid decision-making method, which is characterized in that institute
It states method to execute using system as described in any one of the above embodiments, which comprises step 1: Emergency Command Vehicle is sailed to urgent thing
Near part generation area, unmanned unit is released from highway Emergency Command Vehicle, flies to emergency generation area to collect
Image data, and start the traffic information extraction module in industrial personal computer, highway emergency disposal emulation module, preparation starts to imitate
Very；Step 2: traffic information extraction module extracts the magnitude of traffic flow, traffic density, queuing from the video data that unmanned unit returns
The information such as time, place, type, the degree that the traffic state datas such as length information and emergency occur, and these are believed
Breath is charged in traffic information file；Step 3: highway emergency disposal simulation software is handed over by the load of api interface plug-in request
Logical message file, and expressway safety situation simulation model is established accordingly；It is insufficient if the Limited information in traffic information file
To establish simulation model, then to unmanned aerial vehicle (UAV) control module feedback, controls unmanned unit and obtain more video datas, and return step
2；Step 4: highway emergency disposal simulation software analyzes the security postures of current simulation model, and according to generation emergency
Type and extent implement corresponding emergency disposal strategy；Step 5: emergency disposal Strategy Simulation evaluation system terminates in emulation
Afterwards, the evaluation indexes such as vehicles average delay, average queue length are calculated, it is real to highway emergency disposal strategy under simulated environment
Effect is applied to carry out evaluation and select adjustable strategies according to evaluation result or use the decision of strategy.
The present invention has the advantages that
(1) apparatus of the present invention, can be after highway emergency generation as a set of Emergency Command Vehicle car kits
Place nearby is arrived at rapidly, and there is very high flexibility, mobility；
(2) apparatus of the present invention and method given full play to inhumanity application means flexibly, be applicable in that scene is abundant, data acquisition
Unobscured advantage can be used for field data in time when highway emergency occurs and collect, ensure that at emergency
The response speed set；
(3) apparatus of the present invention and method acquire video data in space base by unmanned plane in real time and Emergency Command Vehicle is vehicle-mounted
Equipment establishes information realtime interactive channel between the two, ensure that the visitor of Building of Simulation Model in ground real-time extraction information
The property seen, to improve the accuracy of simulation result to a certain extent；
(4) mode of the method for the present invention application emergency disposal Strategy Simulation, has previewed implementation of strategies process, and right in advance
Its implementation result is evaluated, and to assist floor manager personnel to make more excellent decision, achievees the purpose that improve decision accuracy, simultaneously
Reduce the bad bring risk of emergency disposal strategy.
Detailed description of the invention
Fig. 1 is highway emergency disposal simulator structure chart of the invention；
Fig. 2 is a Sample Scenario figure of highway emergency disposal simulator of the invention；
Fig. 3 is highway emergency disposal aid decision-making method flow chart of the invention.
In figure:
1- industrial personal computer；2- unmanned plane ground base component；The unmanned unit of 3-；11- traffic information extraction module；12- highway
Emergency disposal emulation module；13- emergency disposal Strategy Simulation evaluation system；21- image procossing receiving module；22- unmanned plane control
Molding block；23- wireless communication module；31- unmanned plane (Wi-Fi agreement)；32- unmanned plane (Lightbr idge agreement)；33- without
Man-machine (3G/4G agreement).
Specific embodiment
Present invention work is further specifically illustrated below in conjunction with attached drawing and example.
As shown in Figure 1, being the highway emergency disposal simulator structure chart of the invention based on air-ground coordination, the inspection
Survey device be laid on highway emergency disposal command car, for highway emergency disposal decision-making in-situ and commander,
Including industrial personal computer 1, unmanned plane ground base component 2 and unmanned unit 3.
It is loaded with traffic information on industrial personal computer 1 and extracts software 11, highway emergency disposal simulation software 12, emergency disposal
Strategy Simulation evaluation system 13.Unmanned plane base component 2 include image data receiving module 21, unmanned aerial vehicle (UAV) control module 22, nothing
Line communication module 23.Frame highway inspection unmanned plane is included at least in unmanned unit 3, it can be by using different communication transmission association
The first unmanned plane 31, the second unmanned plane 32 and the third unmanned plane 33 of view form.
Traffic information extraction module 11 is to extract expressway safety situation information from unmanned unit passback video data
Data processing module.Highway emergency situation information includes traffic state data information and emergency information, specifically,
Traffic state data information refers to the traffic state datas such as the magnitude of traffic flow, traffic density, queue length, and emergency information includes tight
The information such as time, place, the type that urgent thing part occurs.The data result of traffic information extraction module 11 be stored in one it is fixed
In traffic information file.
Highway emergency disposal simulation software 12 establishes model for expressway safety situation, and real in a simulated environment
Existing highway emergency disposal implementation of strategies.When emulating beginning, traffic information extraction module 11 is returned from unmanned unit 3
Real roads situation information is extracted in video data, and generates traffic information file, highway emergency disposal simulation software 12
Above- mentioned information file is loaded by api interface plug-in request provided by software, and establishes simulation model according to this.When extraction information
When limited, simulation software 12 connects 22 feedback information of unmanned aerial vehicle (UAV) control module in unmanned plane base component 2, nothing by USB
Mode controls the more image datas of unmanned plane intake to Human-machine Control mould 22 by wireless communication again.In simulation process, high speed
Roads emergency disposition simulation software 12 is by assessment and analyzes current expressway safety situation, selects corresponding highway
Emergency disposal strategy, and the process for implementing the emergency disposal strategy is emulated.
Emergency disposal Strategy Simulation evaluation system 13 is after emulation, calculates vehicles average delay, average be lined up is grown
The evaluation indexes such as degree, evaluate highway emergency disposal strategy implement effect under simulated environment.
Unmanned plane base component 2 include image data receiving module 21, unmanned aerial vehicle (UAV) control module 22, wireless communication module
23.Image data receiving module 21 is for receiving the video data that unmanned unit returns in emergency region.Unmanned aerial vehicle (UAV) control
Module 22 is used for the flight to unmanned unit and controls.23 pieces of radio communication mold is for unmanned plane between base component 2 and unmanned unit 3
Communication, and support to be communicated with the unmanned plane using different communication transport protocol, such as use the unmanned plane of Wi-Fi agreement
31, using the unmanned plane 32 of Lightbr idge agreement and the unmanned plane 33 etc. of use 3G/4G agreement.
As shown in Fig. 2, being a scene of the highway emergency disposal simulator of the invention based on air-ground coordination
Exemplary diagram.Unmanned unit 3 is returned in the video data that highway emergency scene acquires through wireless communication
With passing to the unmanned plane in emergency disposal command car base component 2, unmanned plane base component 2 utilize USB connection industrial personal computer 1, realization
Real-time information interaction, to realize the emulation of real-time highway security postures and emergency disposal strategy.
As shown in figure 3, for the highway emergency aid decision-making method flow chart of the invention based on air-ground coordination, including
Following steps:
Step 1: highway Emergency Command Vehicle is sailed to emergency generation area, and unmanned unit 3 is referred to from emergency
It waves in vehicle and releases, fly to collect image data to emergency generation area, and start the traffic information in industrial personal computer 1 and extract software
11, highway emergency disposal simulation software 12, preparation start to emulate；
Step 2: traffic information extracts software 11 and extracts the magnitude of traffic flow, traffic from the video data that unmanned unit 3 returns
The information such as time, place, type, the degree that the traffic state datas such as density, queue length information and emergency occur,
And these information are charged in traffic information file；
Step 3: highway emergency disposal simulation software 12 loads traffic information file by api interface plug-in request,
And expressway safety situation simulation model is established accordingly.If the Limited information in traffic information file is not enough to establish emulation
Model then feeds back to unmanned aerial vehicle (UAV) control module 22, controls unmanned unit 3 and obtain more video datas, and return step 2；
Step 4: highway emergency disposal simulation software 12 analyzes the security postures of current simulation model, and according to generation
The type and extent of emergency implement corresponding emergency disposal strategy；
Step 5: emergency disposal Strategy Simulation evaluation system 13 calculates vehicles average delay, average row after emulation
The evaluation indexes such as team leader's degree evaluate highway emergency disposal strategy implement effect under simulated environment.Floor manager people
Member selects adjustable strategies according to evaluation result or uses the decision of strategy.
Claims (4)
1. a kind of highway emergency disposal analogue system based on air-ground coordination, which is characterized in that the system comprises:
Unmanned unit, the unmanned unit include that an at least frame unmanned plane, the unmanned plane includes communication module and Image Acquisition
Module acquires highway image information by image capture module and sends unmanned plane ground group to by the communication module
Part；
Unmanned plane base component include image data receiving module, unmanned aerial vehicle (UAV) control module, wireless communication module；Radio communication mold
Block for unmanned plane the communication between base component and unmanned unit, and support with using different communication transport protocol unmanned plane into
Row communication.Image data receiving module is for receiving the video data that unmanned unit returns in emergency region；Unmanned plane control
Molding block is used for the flight to unmanned unit and controls.
Industrial personal computer industrial personal computer, it is described on be loaded with traffic information extraction module, highway emergency disposal emulation module, at emergency
Set Strategy Simulation evaluation module；Traffic information extraction module is to extract expressway safety from unmanned unit passback video data
The data processing module of situation information, the highway emergency situation information includes traffic state data information and emergency
Information；Highway emergency disposal emulation module is that expressway safety situation establishes model, and realizes in a simulated environment high
The implementation of fast roads emergency Disposal Strategies.Emulate start when, video counts that traffic information extraction module is returned from unmanned unit
According to middle extraction real roads situation information, and traffic information file is generated, the reception of highway emergency disposal emulation module comes from
In the traffic information of the traffic information extraction module, and simulation model is established according to this；Then assess and analyze current high speed
Highway safety situation selects corresponding highway emergency disposal strategy, and carries out to the process for implementing the emergency disposal strategy
Emulation；Emergency disposal Strategy Simulation evaluation module calculates the evaluations such as vehicles average delay, average queue length after emulation
Index.
2. system according to claim 1, which is characterized in that when extracting Limited information, emulation module is to unmanned plane
Unmanned aerial vehicle (UAV) control module feedback information in base component, mode controls unmanned plane intake to unmanned aerial vehicle (UAV) control mould by wireless communication again
More image datas.
3. system according to claim 1, which is characterized in that traffic state data information refer to the magnitude of traffic flow, traffic density,
The traffic state datas such as queue length, emergency information include the information such as time, place, type that emergency occurs.
4. a kind of highway emergency disposal based on air-ground coordination emulates aid decision-making method, which is characterized in that the method
It is executed using system as claimed in any one of claims 1-3, which comprises
Step 1: Emergency Command Vehicle is sailed to emergency generation area, by unmanned unit from highway Emergency Command Vehicle
It releases, flies to collect image data to emergency generation area, and it is public to start the traffic information extraction module in industrial personal computer, high speed
Road emergency disposal emulation module, preparation start to emulate；
Step 2: traffic information extraction module extracts the magnitude of traffic flow, traffic density, row from the video data that unmanned unit returns
The information such as time, place, type, the degree that the traffic state datas such as team leader's degree information and emergency occur, and by these
Information is charged in traffic information file；
Step 3: highway emergency disposal simulation software loads traffic information file by api interface plug-in request, and accordingly
Establish expressway safety situation simulation model；If the Limited information in traffic information file is not enough to establish simulation model, then
To unmanned aerial vehicle (UAV) control module feedback, controls unmanned unit and obtain more video datas, and return step 2；
Step 4: highway emergency disposal simulation software analyzes the security postures of current simulation model, and according to the urgent thing of generation
The type and extent of part implement corresponding emergency disposal strategy；
Step 5: emergency disposal Strategy Simulation evaluation system calculates vehicles average delay, average queue length after emulation
Etc. evaluation indexes, to highway emergency disposal strategy implement effect under simulated environment carry out evaluate and selected according to evaluation result
Adjustable strategies or the decision for using strategy.
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| CN110047269A (en) * | 2019-04-08 | 2019-07-23 | 王飞跃 | Accident support system, accident support method, electronic device and storage medium |
| CN110223518A (en) * | 2019-06-21 | 2019-09-10 | 北京航空航天大学 | A kind of intensive section traffic flow guidance method of vehicle towards 3 D stereo traffic system |
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| CN111508241A (en) * | 2020-04-16 | 2020-08-07 | 陈威 | Unmanned aerial vehicle-based traffic command device under highway emergency and implementation method thereof |
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| CN117877273A (en) * | 2024-03-12 | 2024-04-12 | 山东高速股份有限公司 | Intelligent high-speed traffic state judging method and system based on air-ground information fusion |
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| CN117912254A (en) * | 2024-03-19 | 2024-04-19 | 山东高速股份有限公司 | Highway open space detection collaborative layout method, equipment and medium |
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