CN109949576A - Traffic monitoring method and system - Google Patents
Traffic monitoring method and system Download PDFInfo
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- CN109949576A CN109949576A CN201910333850.6A CN201910333850A CN109949576A CN 109949576 A CN109949576 A CN 109949576A CN 201910333850 A CN201910333850 A CN 201910333850A CN 109949576 A CN109949576 A CN 109949576A
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Abstract
The present invention relates to a kind of traffic monitoring method and system, and this method comprises the following steps: sending unmanned plane to accident point；Accident point information is acquired, and fence is divided based on the accident point information；Acquire the information of vehicles on the accident point periphery；Vasodilator effect is sent to the vehicle.The present invention is realized using unmanned plane and is dredged traffic accident, forms vasodilator effect by fence and information of vehicles, commander's vehicle evades accident point, so as to complete dredging for accident, go out without traffic police to phenomenon, can quick congestion problems caused by solution accident, there is practicability.
Description
Technical field
The present invention relates to traffic monitoring fields, refer in particular to a kind of traffic monitoring method and system.
Background technique
Urban transportation and urban development and people's daily life are closely bound up.As the development of social economy, people live
The quantity of the raising of quality, urban motor vehicle increases sharply, and traffic congestion has become each metropolitan a great problem in the whole nation.
Frequently occur in the environment of driving quantity is increased sharply now in road congestion and car accident, effective processing at present
Mode is to send traffic police's floor manager, but in remote districts or section, can not rapidly solve the problems, such as.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, a kind of traffic monitoring method and system are provided, are solved existing
The problem of remote areas that some car accidents need to be generated by traffic police's floor manager can not quickly solve.
Realizing the technical solution of above-mentioned purpose is:
The present invention provides a kind of traffic surveillance and control systems, comprising:
Unmanned plane is communicated to connect for acquiring accident point information and establishing with the vehicle on accident point periphery；
Control centre establishes fence and vasodilator effect for receiving the accident point information, and based on this.
The present invention is realized using unmanned plane and is dredged traffic accident, controls unmanned plane after receiving accident warning information
Quickly fly to accident spot, and accident impact region divide and forms fence, then passes through fence, vehicle and thing
Therefore instruction is dredged in point information formation, commander's vehicle evades accident point, so as to complete dredging for accident, goes out without traffic police to existing
As, can quick congestion problems caused by solution accident, there is practicability.
Traffic surveillance and control system of the present invention further improvement lies in that, the vehicle on the unmanned plane and the accident point periphery is logical
Cross V2R network communication connection.
Traffic surveillance and control system of the present invention further improvement lies in that, the control centre be the unmanned plane airborne control
Module.
Traffic surveillance and control system of the present invention further improvement lies in that, the control centre and the unmanned plane pass through channel radio
Interrogate network telecommunication connection.
Traffic surveillance and control system of the present invention further improvement lies in that, the unmanned plane includes at least:
GPS mould group, for determining ownship position；
Rangefinder, for reading accident point distance；
Video camera, for acquiring accident point image information；
Loudspeaker, for carrying out voice broadcast；And
Onboard control module controls with the GPS mould group, the rangefinder, the video camera and the loudspeaker and connects
It connects, the accident point distance and the video camera for receiving the determining ownship position of the GPS mould group, rangefinder reading are adopted
The accident point image information of collection, and fence and vasodilator effect are established based on this, the onboard control module is also used in nothing
Method controls the loudspeaker and carries out voice broadcast to the vasodilator effect when establishing communication link.
The present invention also provides a kind of traffic monitoring methods, include the following steps:
Send unmanned plane to accident point；
Accident point information is acquired, and fence is divided based on the accident point information；
Acquire the information of vehicles on the accident point periphery；
Vasodilator effect is sent to the vehicle.
Traffic monitoring further improvements in methods of the present invention are, obtain the thing by the airborne equipment of the unmanned plane
Therefore point information, the accident point information include at least: GPS position information, range information and congestion image information；
Fence is divided based on the accident point information.
Traffic monitoring further improvements in methods of the present invention are that the unmanned plane passes through V2R network and the accident point
The vehicle on periphery establishes communication channel；
Information of vehicles is acquired by the communication channel.
Traffic monitoring further improvements in methods of the present invention are that the unmanned plane passes through V2R network and the accident point
The vehicle on periphery establishes communication channel；
The mobile unit that the vehicle is controlled by the communication channel, for obtaining the information of vehicles of proximate vehicle.
Traffic monitoring further improvements in methods of the present invention are that the unmanned plane is arrived in by plane to the vehicle on accident point periphery
Place, and information of vehicles is obtained by video camera.Traffic monitoring further improvements in methods of the present invention are that Xiang Suoshu vehicle is sent
The step of vasodilator effect, comprising:
Vasodilator effect is sent to the vehicle by V2R network；And/or
Vasodilator effect is played using voice.
Detailed description of the invention
Fig. 1 is the system architecture diagram of traffic surveillance and control system of the present invention.
Fig. 2 is the structural schematic diagram that fence delimited in traffic surveillance and control system of the present invention and method.
Fig. 3 is the hardware structural diagram of unmanned plane in traffic surveillance and control system of the present invention.
Fig. 4 is the flow chart of traffic monitoring method of the present invention.
Fig. 5 is the flow chart that vehicle is identified in traffic monitoring method of the present invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
Refering to fig. 1, it the present invention provides a kind of traffic monitoring method and system, is gathered around for improving traffic to a certain extent
The efficiency that plug and accident solve.It after having accident alarm, sends unmanned plane to accident point, acquire accident information and divides that accidents happened
Point and the fence on periphery, pass through V2R (Vehicle To Road Side Unit, information exchange of the vehicle to roadside equipment)
Technology collects nearby vehicle information and demarcates vehicle, and then provides vasodilator effect and/or instruction by V2R, after the completion of dredging
Engineering truck is called to support.Traffic monitoring method and system of the invention directly can carry out car accident using unmanned plane dredging place
Reason, by making fence and do vehicle calibration, the outer Vehicle By-pass region of commander's fence, vehicle is by dredging instruction in fence
Incident area is sailed out of, the accident treatment time is accelerated, saves human resources and cost, there is wide applicability.Below
Traffic monitoring method and system of the invention are illustrated in conjunction with attached drawing.
Refering to fig. 1, it is shown that the system architecture diagram of traffic surveillance and control system of the invention.Refering to Fig. 3, it is shown that of the invention
The hardware structural diagram of unmanned plane in traffic surveillance and control system.Below with reference to Fig. 1 and Fig. 3, to traffic surveillance and control system of the present invention into
Row explanation.
As shown in figures 1 and 3, traffic surveillance and control system of the invention includes unmanned plane 20 and control centre, wherein unmanned plane
20 communicate to connect for acquiring accident point information and establishing with the vehicle on accident point periphery；Control centre is for receiving accident point letter
Breath, and fence and vasodilator effect are established based on this.
Preferably, control centre is also used to send vasodilator effect to the vehicle on accident point periphery, to guide vehicle to evade
Accident point.
Further, the vehicle on unmanned plane 20 and accident point periphery by V2R (Vehicle to Road side Unit,
Information exchange of the vehicle to roadside equipment) network communication connection, preferably, unmanned plane 20 is also used to through V2R network communication channels
Acquire the information of vehicles of accident point nearby vehicle.Again goodly, the vasodilator effect that control centre establishes is by unmanned plane 20 via V2R
Network communication channels are sent to the vehicle on accident point periphery.
In a better embodiment, unmanned plane 20 is also used to control the vehicle-mounted of vehicle by V2R network communication channels and set
It is standby, to obtain the information of vehicles of proximate vehicle.This embodiment is suitable for target vehicle and does not install V2X equipment, i.e., at nobody
When machine 20 can not establish V2R network communication with target vehicle and connect, V2R network communication is had been established by neighbouring in unmanned plane 20
The vehicle of connection, the corresponding information of vehicles for obtaining the target vehicle.Preferably, unmanned plane 20 is by having been established V2R with neighbouring
The mode that the mobile unit of the vehicle of network communication establishes shared picture obtains the information of vehicles of the target vehicle.
Further, when target vehicle periphery is without the vehicle that V2R network communication has been established, unmanned plane 20 flies unmanned plane 20
Face the information of vehicles for obtaining the target vehicle at the target vehicle and by video camera, and the information of vehicles of the target vehicle is sent out
Onboard control module 21 is given to be demarcated.
Still further, the information of vehicles on the accident point periphery of acquisition is sent to control centre by unmanned plane 20, in control
The heart is used to receive the information of vehicles of the vehicle on accident point periphery and demarcates to vehicle.
As another better embodiment of the invention, as shown in figure 3, in control in traffic surveillance and control system of the invention
The heart is the onboard control module 21 of unmanned plane 20, is taken this in the event of an accident, it can be achieved that sending unmanned plane completion to dredge, without people
Work intervention, can be improved and dredge efficiency.
Further, unmanned plane 20 at least further includes GPS mould group, rangefinder, video camera and loudspeaker, unmanned plane 20
Onboard control module 21 and GPS mould group, rangefinder, video camera and loudspeaker control connect, for controlling GPS mould group, ranging
The operation of instrument, video camera and loudspeaker.GPS mould group therein is for determining ownship position；Rangefinder is for reading accident point
Distance, the rangefinder are preferably the sensor 27 being installed on unmanned plane 20；Video camera is taken the photograph for acquiring accident point image information
Camera is preferably the Double-shaft rotary camera being installed on unmanned plane.Loudspeaker is preferably used for for carrying out voice broadcast
Vasodilator effect is directly broadcasted when can not establish communication link, which is preferably the four-way loudspeaker being installed on unmanned plane
25.Onboard control module 21 receives the accident point distance and video camera that ownship position, the rangefinder that GPS mould group determines are read
The accident point image information of acquisition, and fence and vasodilator effect are established based on this.Wherein this seat in the plane that GPS mould group determines
Set, rangefinder read accident point distance and video camera acquisition accident point image information composition accident point information.Airborne control
Molding block 21 is after forming vasodilator effect, when communication link can not be established, i.e., when can not establish communication link with vehicle, and control
Loudspeaker carries out voice broadcast to vasodilator effect.
Specifically, onboard control module 21 includes that fence divides submodule and dredges son with what fence division submodule was connect
Module；Fence therein divides submodule and goes out for corresponding to accident impact region division on the electronic map according to accident point information
Fence；It dredges submodule and forms corresponding vasodilator effect using fence, and vasodilator effect is sent to corresponding vehicle
To guide vehicle to evade accident point.
Onboard control module 21 further includes vehicle calibration submodule, and the vehicle calibration submodule and fence divide submodule and connect
It connects, is demarcated for the vehicle on the electronic map to accident point periphery；The vehicle calibration submodule also with dredge submodule
Connection, and calibration result is sent to and dredges submodule, is based on calibration result and is formed corresponding to dredge plan for dredging submodule
Slightly.
The vehicle for dredging submodule combination fence and accident point periphery forms corresponding vasodilator effect, to guide electricity
Vehicle in sub- fence sails out of incident area by instruction is dredged.Include fence and calibrate preferably, vasodilator effect is
The electronic map is sent to vehicle by the electronic map of the vehicle on accident point periphery, and vehicle can lead to after receiving vasodilator effect
Display equipment is crossed to be shown, it, can be according to accident impact region (namely the electricity shown on electronic map to know accident situation
Sub- fence) and evaded.
Onboard control module 21 further includes shooting submodule, and the camera control of the shooting submodule and unmanned plane 20 connects
It connects, as shown in figure 3, video camera is the Double-shaft rotary camera 23 being arranged on unmanned plane 20, shooting submodule and the twin shaft revolve
The rotatable control of camera 23 connection, to control the shooting of the Double-shaft rotary camera.Shooting submodule and fence divide submodule
Block connection, onboard control module 21 at the unmanned plane during flying to location of accident point after shooting instruction formed by shooting submodule send out
Video camera is given, control video camera shoots accident point to form accident point image information, and the accident point image is believed
Breath is sent to fence and divides submodule.Further, fence divides the accident point that submodule is used to obtain shooting submodule transmission
Image information, for being identified to accident point image information to determine accident impact region, preferably, camera horizontal and
Upright position rotates by a certain angle below to accident vehicle, and the rotation angle according to the rangefinder on unmanned plane it is known that and can count
Calculate horizontal distance and vertical range of the unmanned plane away from accident vehicle, and combine horizontal position and upright position rotation angle and
The location information of accident vehicle can be calculated in the GPS ownship position of unmanned plane, and area determination module is according to calculated accident
The location information of vehicle identifies accident point image information, it may be determined that obtains corresponding accident impact region namely congestion road
Section；Fence division submodule corresponds to accident impact region according to determining accident impact region on the electronic map and draws mark line
To form fence.Preferably, unmanned plane 20 hovers as shown in Fig. 2, Fig. 2 is shown as the electronic map at location of accident point
At the top of corresponding location of accident point, shooting submodule adjusts camera towards location of accident point and shooting forms accident point diagram
As information, and by accident point, the image information is sent to fence division submodule, and fence divides submodule and passes through acquisition parameters meter
The position for obtaining accident vehicle is calculated, the region where location of accident point 31 can be first determined by the identification to image, then basis
The area size of location of accident point 31 determines the length in the section that it is influenced and influenced section, and provides accident impact region
The coordinate of 32 four corners, the coordinate according to the four corners draw out rectangular fence, electronics on the electronic map
The regional scope that fence is drawn a circle to approve is equal to the range in accident impact region 32.In example shown in Fig. 2, location of accident point 31 is located at
At T-shaped road junction, which affects the two road at T-shaped road junction, so the length in section is influenced according to it
Mark two accident impact regions 32.
As shown in figure 3, unmanned plane 20 further includes communication unit 24, onboard control module 21 and the control of communication unit 24 connect
It connects, which is used to establish with the mobile unit of the vehicle on accident point periphery and communicate to connect, and obtains from mobile unit
Take corresponding information of vehicles；Vehicle calibration submodule is connect with communication unit, the information of vehicles for obtaining according to communication unit
Corresponding calibration is carried out on the electronic map.Preferably, communication unit 24 includes the first communication module group, first communication module group is logical
Cross the V2X installed on V2R (Vehicle to Road side Unit, information exchange of the vehicle to roadside equipment) and vehicle
(Vehicle to everything, vehicle is to extraneous information exchange) equipment communicates to connect, and the first communication module group receives on vehicle
V2X equipment upload information of vehicles, which includes license board information, vehicle location and vehicle speed information.This
The information of vehicles received is sent to vehicle calibration submodule by one communication module group, and vehicle calibration submodule is in turn in electronic map
On vehicle is demarcated.
And the vehicle for not installing V2X equipment, communication unit 24 can not just be directly obtained the information of the vehicle.For
This vehicle calibration submodule is also connect with shooting submodule, and shooting submodule obtains the complete of accident point nearby vehicle using video camera
Scape overhead view image；Vehicle calibration submodule is used for according to information of vehicles calibrated on electronic map on panorama overhead view image
All vehicles are seriatim identified, specifically, are read panorama overhead view image, are compared on electronic map on panorama overhead view image
Demarcated information of vehicles, i.e., the position of comparison vehicle and shape to realize to all vehicles on panorama overhead view image carry out by
The identification of one ground；When vehicle, which occurs, to be identified, searches whether there are neighbouring identified vehicle and obtain lookup result, sentence
Disconnected vehicle whether adjacent to when, the shooting distance with the mobile unit (including automobile data recorder and camera) installed on vehicle is
Standard, if being judged as beyond shooting distance not neighbouring；Vehicle calibration submodule utilizes communication unit in the presence of lookup result is
24 with the vehicle equipment communication of neighbouring identified vehicle and obtain the information of unrecognized vehicle；If lookup result is not
In the presence of, vehicle calibration submodule controls unmanned plane by onboard control module 21 and flies to unrecognized vehicle, passes through bat
Take the photograph the information that submodule obtains unrecognized vehicle；Vehicle calibration submodule is demarcated further according to the information of vehicles of acquisition.
Preferably, sending shared picture to mobile unit when communication unit 24 is communicated with the vehicle-mounted setting of neighbouring identified vehicle
Instruction, mobile unit shoot unrecognized vehicle using automobile data recorder or vehicle-mounted camera according to shared picture commands and are formed
Picture is sent to communication unit, communication unit by the picture of received unrecognized vehicle be sent to vehicle calibration submodule into
Row identification, to obtain the license board information of vehicle and location information and be demarcated.
Specifically included by the information that shooting submodule obtains unrecognized vehicle: the video camera shooting of unmanned plane can not
The image of the vehicle of identification, by being identified the license board information to obtain the unrecognized vehicle to image；Video camera exists
When obtaining the image of unrecognized vehicle, camera rotates by a certain angle below in horizontal and vertical position to unrecognized
Vehicle, the rotation angle is it is known that and can calculate water of the unmanned plane away from unrecognized vehicle according to the rangefinder on unmanned plane
Flat distance and vertical range, and the GPS coordinate of horizontal position and upright position rotation angle and unmanned plane is combined, it can calculate
The location information of unrecognized vehicle out, so that the location information and license board information that will be unable to the vehicle of identification are as vehicle
Information demarcates vehicle.
It can be realized by above two method and the vehicle for not installing V2X equipment is demarcated, so as to be enclosed to electronics
All vehicles in column and accident point periphery are identified and are demarcated, to all vehicle identifications after, electronics can be obtained and enclosed
Vehicle condition in column corresponding dredges instruction so as to obtain to understand the jam situation at location of accident point.
Submodule is dredged also to connect with communication unit 24, for by communication unit 24 will dredge instruction be sent to it is corresponding
Car-mounted terminal；Communication unit 24 establishes communication connection by V2R network and corresponding vehicle, by V2R network by vasodilator effect
And/or it dredges instruction and is sent to corresponding vehicle；And/or
It dredges submodule to connect with loudspeaker, for passing through loudspeaker voice broadcast vasodilator effect.Preferably, dredging submodule
The vasodilator effect that block is formed carries out voice broadcast by the four-way loudspeaker 25 on unmanned plane at location of accident point.
Vasodilator effect of the invention can be transmitted directly to mobile unit, be shown by the display equipment on mobile unit
Show, so that guiding vehicle sails out of incident area；Guidance electricity can be can be realized directly to play out in the form of voice broadcast service
The forbidden fence of vehicle outside sub- fence, the vehicle in fence, which does accident point, to be evaded and sails out of incident area.
Evade preferably, dredging the vasodilator effect of submodule and carrying out accident point for realizing vehicle in guidance fence, thus
Incident area is sailed out of according to vasodilator effect.Submodule is dredged according to the identification situation of accident point nearby vehicle, analyzes fence
It is interior to whether there is traffic space, it when there are traffic space, forms driving and dredges path, and path is dredged into driving and is sent to pair
The vehicle answered sails out of incident area with guiding vehicle.And it is larger in accident impact region and the case where planning driving path can not be formed
Under, it selects neighbouring fork in the road as path is dredged, the vehicle in fence is commanded to sail out of emergency area from neighbouring fork in the road
Domain.
Submodule is dredged when transmitting vasodilator effect, not only the vehicle into fence is sent, and is also enclosed to electronics
The vehicle on marge periphery is sent, to guide the vehicle outside fence to avoid accident impact region.Submodule is dredged to dredge
While leading or after the completion of dredging, calls ambulance and engineering truck to location of accident point is supported, after being disposed,
Unmanned plane makes a return voyage.
As shown in figure 3, flight control unit 22 and blade driving unit 26 are additionally provided on unmanned plane 20, flight control unit
22 connect with the control of blade driving unit 26, for controlling the flight of unmanned plane 20.Onboard control module 21 on unmanned plane 20
It controls and connects with flight control unit 22.When assigning unmanned plane to accident point, accident warning information is sent to airborne control
Accident warning information is sent to flight control unit 22 by module 21, onboard control module 21, and flight control unit 22 is according to connecing
The accident warning information control unmanned plane 20 of receipts flies to the top of corresponding location of accident point；Preferably, in accident warning information
It include location of accident information, so that flight control unit 22 can control unmanned plane during flying to accident according to location of accident information
The top of location point.
The sensor 27 of unmanned plane 20 can realize high-precision GPS positioning and ranging, can detect that by sensor 27
The location information of unmanned plane 20 itself can also measure distance of the unmanned plane away from vehicle to be identified.Unmanned plane 20 is additionally provided with electricity
Pond administrative unit 28 is managed for the electricity to unmanned plane, and information about power is sent to onboard control module 21.
Control centre and unmanned plane as another better embodiment of the invention, in traffic surveillance and control system of the invention
It is connected by wireless communication networks telecommunication, which can support 3G, 4G and 5G including LTE network
Network.As shown in Figure 1, the control centre is traffic control center 13, traffic control center 13 passes through signal tower 12 and unmanned plane
20 establish communication connection, and traffic control center 13 realizes that telecommunication connects by wireless communication networks, utilizes wireless telecommunications skill
Art can realize that infinity is transmitted；The monitoring and image information transmission at location of accident point for being shot unmanned plane by wireless telecommunications
It can be switched if necessary the case where viewing at location of accident point in real time for traffic control center 13 to traffic control center 13
To manual control mode.Preferably, the communication unit 24 of unmanned plane 20 further includes the second communication module group, second communication module group is logical
It crosses wireless telecommunications and traffic control center 13 communicates to connect, realize the transmitting-receiving of data information.
Onboard control module 21 realizes the communication between vehicle and traffic control center 13 by communication unit 24.Communication
Unit 24 includes the first communication module group and the second communication module group, by realizing communication link between the first communication module group and vehicle
It connects, the first communication module group can send to vehicle and dredge instruction and shared picture commands, and vehicle can send vehicle to the first communication module group
Position, direction, velocity information and shared picture.The audio and video data streams of monitoring are sent to traffic by the second communication module group
The remote monitoring at traffic supporting center 13 can also be instructed and send onboard control module to by command centre 13, the second communication module group
21。
Onboard control module 21 and the control of Double-shaft rotary camera connect, and control for sending to Double-shaft rotary camera
Information processed, the video data stream that Double-shaft rotary camera forms this machine monitoring is to onboard control module 21.
Onboard control module 21 receives the accident warning information that traffic control center 13 is sent, and wraps in the accident warning information
Location of accident point information is included, location of accident point information is sent to flight control unit 22, flight control by onboard control module 21
Unit 22 drives the operation of blade driving unit 26 to fly to control unmanned plane 20 to location of accident point according to location of accident point information.
The workflow of traffic surveillance and control system of the invention is illustrated below.
Receiving accident warning information, top and hovering of the unmanned plane 20 to location of accident point；Then to location of accident point
Shooting image is carried out, and image information is identified, determines that shape is then marked in accident impact region on the electronic map
At fence；Then the vehicle on accident point periphery is demarcated and is identified, the way of calibration is sent by receiving vehicle
Information of vehicles vehicle is demarcated, the way of identification is the top view that pans to the vehicle on accident point periphery, to panorama
All vehicles in top view are seriatim identified, when there is the vehicle not being calibrated on panorama top view, can pass through neighbour
Close vehicle carries out it to identify that calibration can also directly be shot acquisition information of vehicles by unmanned plane and carry out identification calibration, demarcates
After the completion, in conjunction with electronic map comprehensive analysis and vasodilator effect is formed, the formulation of vasodilator effect is as follows: the vehicle guidance outside fence
Its forbidden fence, the vehicle in fence, which does accident point, to be evaded.Corresponding vehicle can be sent to by V2R network after forming vasodilator effect
, voice broadcast can also be directly carried out by loudspeaker.In entire treatment process, the prison of the video camera shooting on unmanned plane
Control and image information by wireless communication networks send traffic control center 13 to, and traffic control center 13 may be selected to switch to people
Work mode is dredged by traffic control center 13 according to monitoring and image information.
Traffic monitoring method provided by the invention is illustrated below.
A kind of traffic monitoring method provided by the invention, includes the following steps:
As shown in figure 4, executing step S41, send unmanned plane to accident point；Then step S42 is executed；
Step S42 is executed, acquires accident point information, and fence is divided based on accident point information；Then step is executed
S43；
Step S43 is executed, the information of vehicles on accident point periphery is acquired；Then step S44 is executed；
Step S44 is executed, sends vasodilator effect to vehicle.
The present invention is realized using unmanned plane and is dredged traffic accident, and unmanned plane is sent quickly to fly to accident spot, and right
Accident impact region, which divide, forms fence, acquires the information of vehicles on periphery, then pass through fence and information of vehicles
Vasodilator effect is formed, commander's vehicle evades accident point, so as to complete dredging for accident, goes out without traffic police to phenomenon, can be fast
Congestion problems caused by the solution accident of speed have practicability.
Preferably, obtaining accident point information by the airborne equipment of unmanned plane, which includes GPS location letter
Breath, range information and congestion image information；Fence is divided based on those information.Specifically, as shown in figure 3, it is of the invention
Unmanned plane 20 in traffic monitoring method is equipped with sensor 27, which can realize high-precision GPS positioning and ranging,
The location information that can detect that unmanned plane 20 itself by sensor 27, can also measure unmanned plane away from vehicle to be identified away from
From.Unmanned plane 20 is additionally provided with video camera, acquires accident point image information using video camera.When dividing fence, comprising:
Accident point is shot using video camera to form accident point image information；Accident point image information is known
Not to determine accident impact region；
Mark line is drawn in corresponding to accident impact region on electronic map to form fence.
Preferably, the video camera installed on unmanned plane 20 is Double-shaft rotary camera, by the camera shooting for controlling unmanned plane
Machine to form image information to shoot.When determining accident impact region, image information is identified, as shown in Fig. 2, first identifying
Accidents happened location point 31 then determines the length in section and influenced section that it is influenced according to location of accident point 31, thus
The coordinate of the four corners in accident impact region 32 is provided, and then the coordinate according to the four corners connects to form rectangular electronics
Fence.In example shown in Fig. 2, location of accident point 31 is at T-shaped road junction, and accident impact region 32 is positioned at two roads
Two square regions of road.
As a better embodiment, unmanned plane establishes communication channel by the vehicle on V2R network and fence periphery,
Information of vehicles is acquired by the communication information and sends vasodilator effect to vehicle.
Further, traffic monitoring method of the invention further include: on the electronic map to the vehicle on accident point periphery into
The fixed step of rower, comprising:
It establishes and communicates to connect with the mobile unit of the vehicle on accident point periphery, and obtain corresponding vehicle from mobile unit
Information；Corresponding calibration is carried out on the electronic map according to acquired information of vehicles.
It is communicated to connect by the V2X equipment installed on V2R network and vehicle, and obtains information of vehicles from vehicle, obtained
The information of vehicles taken includes license board information, vehicle location and vehicle speed information.According to the information of vehicles obtained electronically
It is corresponding on figure to be demarcated.When being communicated with vehicle, believed by the vehicle that V2R network can receive vehicle upload from vehicle
Breath, can also issue the vasodilator effect to be formed to vehicle.
When having the target vehicle for not installing V2X equipment in accident point nearby vehicle, i.e., can not by V2R network directly from
When obtaining information of vehicles at target vehicle, unmanned plane establishes communication channel by the vehicle on V2R network and accident point periphery, passes through
Communication channel controls the mobile unit of vehicle, for obtaining the information of vehicles of proximate vehicle, i.e., unmanned plane by with target vehicle
Neighbouring vehicle establishes V2R network communication connection, carries out shared picture using mobile unit and believes to obtain the vehicle of target vehicle
Breath.
When near target vehicle without the vehicle for installing V2X equipment, unmanned plane flies to the vehicle on accident point periphery, passes through
Video camera obtains information of vehicles, i.e. unmanned plane is directly flown near the target vehicle, directly acquires target carriage using video camera
Information of vehicles.
Preferably, monitoring method of the invention further include: overlooked using the panorama that video camera obtains accident point nearby vehicle
Image；According to information of vehicles calibrated on electronic map, all vehicles on panorama overhead view image are seriatim identified；
When vehicle can not identify, search whether that there are neighbouring identified vehicles, and if it exists, then utilize neighbouring identified vehicle
Car-mounted terminal obtain the information of the unrecognized vehicle and demarcated on the electronic map；If it does not exist, then it controls
Unmanned plane flies to the unrecognized vehicle, and the information and on the electronic map of unrecognized vehicle is obtained by video camera
It is demarcated.
Specifically, as shown in figure 5, executing step S430, vehicle is demarcated on the electronic map；Then step S431 is executed；
Step S431 is executed, panorama overhead view image is obtained, shoots accident point nearby vehicle using the video camera of unmanned plane
Panorama overhead view image；Then step S432 is executed；
Step S432 is executed, the vehicle on panorama overhead view image is identified one by one, to all vehicles on panorama overhead view image
Carry out traversal identification；Then step S433 is executed；
Step S433 is executed, judges whether vehicle can not identify, i.e., according to a selected vehicle, searches electronic map subscript
Determine the information of vehicle, if showing to identify with the presence of consistent information of vehicles, then executes step S438；If not depositing
In consistent information of vehicles, then show not can recognize, then executes step S434；
Step S434 is executed, has searched whether that neighbouring judgement is the row to install on vehicle adjacent to vehicle has been identified
In the coverage of vehicle recorder and camera, adjacent vehicle thens follow the steps S435 if it exists, and adjacent vehicle is then if it does not exist
Only need step S439；
Step S435 is executed, has identified that vehicle passes down shared picture commands to neighbouring, has then executed step S436；
Execute step S436, obtain the information of unidentified vehicle, at this time by identified automobile data recorder on vehicle or
Person's camera shoots unidentified vehicle to acquire information of vehicles；Then step S437 is executed；
Step S437 is executed, vehicle is demarcated on the electronic map, vehicle is demarcated according to the information of vehicles of acquisition；It connects
Execution step S438；
Step S438 is executed, judges that whether all identification finishes vehicle, if then terminating, thens follow the steps S432 if not；
Step S439 is executed, arrives in the vehicle Observable position by plane, information of vehicles is obtained using video camera, then executes step
S437。
When being communicated with the automobile data recorder of adjacent vehicle or camera, shared picture commands are issued by V2R network,
To which adjacent vehicle uploads the picture that automobile data recorder or camera are shot for the information of the unidentified vehicle of acquisition.
When the video camera using unmanned plane obtains the information of unidentified vehicle, the photo of unidentified vehicle is shot, is analyzed
Photo is to obtain the license board information of unidentified vehicle；When taking pictures to unidentified vehicle, the camera of video camera horizontal and
It is rotated by a certain angle at vertical two positions towards unidentified vehicle, the rotation angle is it is found that according on unmanned plane
Rangefinder can measure horizontal distance and vertical range of the unmanned plane away from unidentified vehicle, in conjunction with horizontal position and upright position
The GPS coordinate for rotating angle and unmanned plane, can be calculated the location information of unrecognized vehicle, to will be unable to identify
Vehicle location information and license board information vehicle is demarcated as the information of vehicle.
As another better embodiment of the invention, the step of vasodilator effect is sent to corresponding vehicle, comprising:
Vasodilator effect is sent to vehicle by V2R network；And/or
Vasodilator effect is played using voice.
Unmanned plane is communicated to connect by the V2X equipment installed on V2R network and vehicle, issues vasodilator effect to vehicle.Language
Sound, which is played, carries out voice broadcast service by the four-way loudspeaker on unmanned plane, and the corresponding regional scope of fence is carried out voice and is broadcast
Report, so that the vehicle below unmanned plane knows accident situation, so that the vehicle outside fence be guided to avoid fence, the vehicle in fence
Evade accident point.
During dredging or after dredging, calls ambulance and engineering truck is supported, transport accident vehicle, withdraw nobody
Machine.
Monitoring method of the invention further includes communicating to connect with traffic control center 13, preferably by radio communication network
The connection of network telecommunication is, it can be achieved that infinity is transmitted.The accident situation of lower section is clapped in real time using the video camera of unmanned plane
It takes the photograph, sends the monitoring of shooting formation and image information to traffic control center 13, traffic control center 13 is according to monitoring and figure
As information is judged, artificial mode can switch to when needed, i.e. the scene of disconnection unmanned plane is dredged, by traffic control center
Manually dredged.
Preferably, further include unmanned plane during being monitored, to fence outside road vehicle clap
It takes the photograph, and analyzes the driving direction of vehicle, when judgement has vehicle to drive into towards fence direction, then by V2X to the vehicle
Phonic warning is sent a warning message or provides, to forbid the forbidden fence of the vehicle.
Preferably, traffic control center 13 sends the onboard control module 21 of accident warning information to unmanned plane 20, in thing
Therefore include location of accident information in warning information, it can control unmanned plane 20 to fly to location of accident point according to location of accident information
Place.
The present invention has been described in detail with reference to the accompanying drawings, those skilled in the art can be according to upper
It states and bright many variations example is made to the present invention.Thus, certain details in embodiment should not constitute limitation of the invention, this
Invention will be using the range that the appended claims define as protection scope of the present invention.
Claims (11)
1. a kind of traffic surveillance and control system characterized by comprising
Unmanned plane is communicated to connect for acquiring accident point information and establishing with the vehicle on accident point periphery；
Control centre establishes fence and vasodilator effect for receiving the accident point information, and based on this.
2. traffic surveillance and control system as described in claim 1, which is characterized in that the vehicle of the unmanned plane and the accident point periphery
It is connected by V2R network communication.
3. traffic surveillance and control system as claimed in claim 1 or 2, which is characterized in that the control centre is the unmanned plane
Onboard control module.
4. traffic surveillance and control system as claimed in claim 1 or 2, which is characterized in that the control centre and the unmanned plane are logical
Cross the connection of wireless communication networks telecommunication.
5. traffic surveillance and control system as described in claim 1, which is characterized in that the unmanned plane includes at least:
GPS mould group, for determining ownship position；
Rangefinder, for reading accident point distance；
Video camera, for acquiring accident point image information；
Loudspeaker, for carrying out voice broadcast；And
Onboard control module is controlled with the GPS mould group, the rangefinder, the video camera and the loudspeaker and is connected, and is used
In the accident point distance and video camera acquisition for receiving the determining ownship position of the GPS mould group, rangefinder reading
Accident point image information, and fence and vasodilator effect are established based on this, the onboard control module is also used to not build
The loudspeaker is controlled when vertical communication link, and voice broadcast is carried out to the vasodilator effect.
6. a kind of traffic monitoring method, which comprises the steps of:
Send unmanned plane to accident point；
Accident point information is acquired, and fence is divided based on the accident point information；
Acquire the information of vehicles on the accident point periphery；
Vasodilator effect is sent to the vehicle.
7. traffic monitoring method as claimed in claim 6, which is characterized in that obtain institute by the airborne equipment of the unmanned plane
Accident point information is stated, the accident point information includes at least: GPS position information, range information and congestion image information；
Fence is divided based on the accident point information.
8. traffic monitoring method as claimed in claims 6 or 7, which is characterized in that the unmanned plane by V2R network with it is described
The vehicle on accident point periphery establishes communication channel；
Information of vehicles is acquired by the communication channel.
9. traffic monitoring method as claimed in claims 6 or 7, which is characterized in that the unmanned plane by V2R network with it is described
The vehicle on accident point periphery establishes communication channel；
The mobile unit that the vehicle is controlled by the communication channel, for obtaining the information of vehicles of proximate vehicle.
10. traffic monitoring method as claimed in claims 6 or 7, which is characterized in that the unmanned plane is arrived in by plane to accident point periphery
Vehicle at, and information of vehicles is obtained by video camera.
11. traffic monitoring method as claimed in claim 6, which is characterized in that Xiang Suoshu vehicle sends the step of vasodilator effect,
Include:
Vasodilator effect is sent to the vehicle by V2R network；And/or
Vasodilator effect is played using voice.
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| CN201910333850.6A CN109949576A (en) | 2019-04-24 | 2019-04-24 | Traffic monitoring method and system |
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| CN201910333850.6A CN109949576A (en) | 2019-04-24 | 2019-04-24 | Traffic monitoring method and system |
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Application publication date: 20190628 |