CN110281926B - Method and system for curve information identification and driving safety early warning of mountain highway - Google Patents

Method and system for curve information identification and driving safety early warning of mountain highway Download PDF

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CN110281926B
CN110281926B CN201910570920.XA CN201910570920A CN110281926B CN 110281926 B CN110281926 B CN 110281926B CN 201910570920 A CN201910570920 A CN 201910570920A CN 110281926 B CN110281926 B CN 110281926B
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CN110281926A (en
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常绿
颜瑨
索明何
费孝涛
施海凤
刘晓艳
刘朋
刘硕
朱思达
胡晓明
戴建国
张载梅
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Zhejiang Binge Software Co ltd
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Huaiyin Institute of Technology
Huaian Vocational College of Information Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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Abstract

The invention discloses a method and a system for curve information identification and driving safety early warning of a mountain road, and belongs to the technical field of road traffic safety. The method comprises the steps that a road in front of a vehicle is shot in real time through an arranged vehicle-mounted unmanned aerial vehicle, whether the vehicle runs on a front curve road section or not is judged based on an image processing technology, the running direction of the vehicle is judged, a real-time recommended vehicle speed curve is given according to a fitted curve radius curve of the front curve road section, and whether the front road section is sharply curved or not is judged; and calculating the forced vehicle distance between the vehicle and the emerging vehicle, the recommended vehicle speed of the curve and the forced vehicle distance of the sharp curve according to the acquired data, and carrying out real-time early warning on the driving direction information of the emerging vehicle, the forced vehicle distance between the vehicle and the emerging vehicle, the recommended vehicle speed of the curve and the forced vehicle distance of the sharp curve. Therefore, the identification of the information of the curve road section on the driving route of the vehicle is completed, the early warning is timely carried out, and the road traffic safety is improved.

Description

Method and system for curve information identification and driving safety early warning of mountain highway
Technical Field
The invention belongs to the technical field of road traffic safety, and particularly relates to a method and a system for curve information identification and driving safety early warning of a mountain road.
Background
The mountain road is a bidirectional two-lane road and has the characteristics of multiple curves and multiple sharp curves. The sharp curve road section refers to a curve road section with a smaller turning radius, the smaller turning radius is not beneficial to the safe driving of a vehicle on the curve road section, and the road section is a high-speed road section with serious safety accidents.
The Chinese patent with the application number of 201720916624.7 discloses a safety early warning vehicle-mounted device for a multi-bend road section in a mountainous area, and the method is used for early warning vehicles passing through the bend road section in advance according to the actual condition of the bend road section and the condition of the vehicles running on the bend. However, the method can only identify the information of a certain curve, the information identification of the continuous curve road section in the mountainous area is difficult to realize, the method does not give the calculation of the real-time recommended vehicle speed when the curve is over, and the safety hazard exists when the curve is subjected to continuous sharp curves.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects of the prior art, the invention discloses a method for curve information identification and driving safety early warning of a mountain road, which can identify continuous curve section information of the mountain road in real time and guarantee traffic safety.
The invention also aims to provide a system corresponding to the method for identifying curve information and early warning driving safety of the mountain highway.
The technical scheme is as follows: the invention relates to a method for identifying curve information and early warning driving safety of a mountain road, which comprises the following steps:
(1) releasing and controlling the vehicle-mounted unmanned aerial vehicle to fly at a preset speed in front of the vehicle according to a planned driving route of the vehicle, and shooting a real-time image of a road below the unmanned aerial vehicle;
(2) identifying whether a vehicle contour feature point exists in the image, if so, judging the driving direction of a vehicle appearing on a front road section in the shooting area according to the fact that the vehicle contour feature point is located on the left side or the right side of the lane line, and calculating the vehicle forcing distance between the vehicle and the appearing vehicle;
(3) meanwhile, fitting a corresponding curve radius change curve according to a lane line of a curve in the image, fitting a real-time recommended speed curve according to the curve radius change curve, judging whether a sharp bend exists in the curve in the shooting area, and if so, calculating a sharp bend and vehicle-approaching distance;
(4) and carrying out real-time early warning on the driving direction information of the emerging vehicles, the vehicle-approaching distance between the vehicle and the emerging vehicles, the recommended speed of the curve and the vehicle-approaching distance of sharp curves.
Specifically, in the step (2), a calculation formula of the forced vehicle distance between the vehicle and the emerging vehicle is as follows:
S1＝V1·t-L
in the formula, S1The forced distance, V, between the vehicle and the emerging vehicle1For unmanned aerial vehicle's the flight speed of predetermineeing, t is unmanned aerial vehicle flight time, and L is the distance of traveling of this car in the t time.
In the step (3), the method for judging whether the shooting area has a sharp bend is as follows: collecting a minimum vehicle speed V in a real-time recommended vehicle speed curve, and comparing the minimum vehicle speed V with a sharp-turn speed limiting threshold K; when V is larger than K, judging that no sharp bend exists in the shooting area; when V is less than or equal to K, a sharp bend exists in the shooting area; wherein the sharp bend speed limiting threshold K is determined by the safe vehicle speed when the vehicle passes through a sharp bend.
Further, in the step (3), a calculation formula of the curve real-time recommended vehicle speed is as follows:
Figure BDA0002109456620000021
in the formula, V2And recommending the speed of the automobile for the curve in real time, wherein b is the wheel track of the automobile, R is the radius of the curve, h is the gravity center height of the automobile, and g is the gravity acceleration.
In the step (3), the calculation formula of the sharp curve vehicle-forcing distance is as follows:
S2＝V1·t-L
in the formula, S2The distance between the vehicle and the vehicle is the sharp curve and the vehicle-forcing distance.
Corresponding to the method, the technical scheme adopted by the mountainous road curve information identification and driving safety early warning system is as follows:
the system comprises a vehicle-mounted unmanned aerial vehicle and a vehicle-mounted processing system, wherein an unmanned aerial vehicle control system is arranged on the vehicle-mounted unmanned aerial vehicle, receives a command of the vehicle-mounted processing system, controls the vehicle-mounted unmanned aerial vehicle to fly in front of a vehicle at a preset speed according to a planned driving route of the vehicle, shoots a real-time image of a road below the unmanned aerial vehicle, and transmits data to the vehicle-mounted processing system; the vehicle-mounted processing system sends a command to the unmanned aerial vehicle control system to control the unmanned aerial vehicle to release and recover, receives data of the unmanned aerial vehicle control system, identifies whether a vehicle contour characteristic point exists in an image according to a road real-time image, if so, judges the driving direction of a vehicle appearing on a front road section in a shooting area according to the fact that the vehicle contour characteristic point is located on the left side or the right side of a lane line, and calculates the vehicle forcing distance between the vehicle and the appearing vehicle; meanwhile, fitting a corresponding curve radius change curve according to a lane line of a curve in the image, fitting a real-time recommended speed curve according to the curve radius change curve, judging whether a sharp bend exists in the curve in the shooting area, and if so, calculating a sharp bend and vehicle-approaching distance; and carrying out real-time early warning on the driving direction information of the emerging vehicles, the vehicle-approaching distance between the vehicle and the emerging vehicles, the recommended speed of the curve and the vehicle-approaching distance of sharp curves.
Specifically, the unmanned aerial vehicle control system comprises an airborne central control module, a real-time shooting module, a propulsion timing module and a GPS navigation module; the onboard central control module receives a command transmitted by the vehicle-mounted processing system and controls each module in the unmanned aerial vehicle control system to work; and transmitting the received data of each module in the unmanned aerial vehicle control system to a vehicle-mounted processing system; the real-time shooting module shoots a real-time image of a road below the unmanned aerial vehicle and transmits image data to the airborne central control module; the propulsion timing module controls the unmanned aerial vehicle to fly, records the flight time of the unmanned aerial vehicle and transmits data to the airborne central control module; and the GPS navigation module sets the working air route of the unmanned aerial vehicle according to the planned driving route of the vehicle.
Further, unmanned aerial vehicle control system still includes atmospheric pressure sensing module, atmospheric pressure sensing module sets up in on-vehicle unmanned aerial vehicle's the fuselage, atmospheric pressure sensing module is according to the height that preset atmospheric pressure parameter and atmospheric pressure change adjustment unmanned aerial vehicle fly.
The vehicle-mounted processing system comprises a vehicle-mounted central control module, a curve radius identification module, a road vehicle judgment module, a driving mileage recording module and a sharp curve data processing module; the vehicle-mounted central control module sends a command to the airborne central control module, controls the vehicle-mounted unmanned aerial vehicle to release and recover, receives data transmitted by the airborne central control module, the curve radius identification module, the road section vehicle judgment module and the mileage recording module, and transmits the received data to the sharp curve data processing module; the curve radius identification module identifies a lane line of a curve in the image, fits a corresponding curve radius change curve, fits a real-time recommended vehicle speed curve according to the curve radius change curve, judges whether a sharp curve exists in the shooting area according to the minimum value of the real-time recommended vehicle speed curve, and transmits the recommended vehicle speed to the vehicle-mounted central control module if the sharp curve exists in the shooting area; the road vehicle judging module identifies the vehicle outline characteristic points in the image, if the characteristic points exist, the lane line of a curve in the image is identified, the driving direction of the vehicle appearing on the front road section in the shooting area is judged according to the fact that the characteristic points are located on the left side or the right side of the lane line, the forced vehicle distance between the vehicle and the appearing vehicle is calculated, and the result is transmitted to the vehicle-mounted central control module; the driving mileage recording module records the driving distance of the vehicle after the unmanned aerial vehicle starts flying, and transmits data to the vehicle-mounted central control module in real time; and the sharp curve data processing module calculates the sharp curve vehicle-forcing distance according to the received data.
Further, the vehicle-mounted processing system further comprises a vehicle-mounted early warning module, and the vehicle-mounted early warning module receives data transmitted by the vehicle-mounted central control module and carries out real-time early warning on the driving direction information of the emerging vehicle, the vehicle-to-vehicle forced distance between the emerging vehicle and the vehicle, the recommended speed of the curve and the sharp curve forced distance.
Has the advantages that: according to the method and the system for identifying the curve information of the mountain highway and early warning the driving safety, the road in front of a vehicle is shot in real time through the arranged vehicle-mounted unmanned aerial vehicle, whether the vehicle drives on the curve section in front is judged based on an image processing technology, the driving direction of the vehicle is judged, a real-time recommended speed curve is given according to the fitted curve radius curve of the curve section in front, and whether the curve section in front is sharply bent is judged; and calculating the forced vehicle distance between the vehicle and the emerging vehicle, the recommended vehicle speed of the curve and the forced vehicle distance of the sharp curve according to the acquired data, and carrying out real-time early warning on the driving direction information of the emerging vehicle, the forced vehicle distance between the vehicle and the emerging vehicle, the recommended vehicle speed of the curve and the forced vehicle distance of the sharp curve. Therefore, the identification of the information of the curve road section on the driving route of the vehicle is completed, the early warning is timely carried out, and the road traffic safety is improved.
Drawings
FIG. 1 is a flow chart of a mountain road curve information identification and driving safety early warning method.
Detailed Description
As shown in fig. 1, the embodiment discloses a method for identifying curve information and early warning driving safety of a mountain road, which is further described with reference to a system for implementing the method.
The system comprises an on-vehicle unmanned aerial vehicle and an on-vehicle processing system, an unmanned aerial vehicle control system is arranged on the on-vehicle unmanned aerial vehicle, the unmanned aerial vehicle control system receives an on-vehicle processing system command, the on-vehicle unmanned aerial vehicle is controlled to fly in the front of a vehicle according to a vehicle planning running route at preset speed, road real-time images below the unmanned aerial vehicle are shot, and data are transmitted to the on-vehicle processing system.
Specifically, this unmanned aerial vehicle control system includes airborne central control module, shoots module, propulsion timing module, GPS navigation module and atmospheric pressure sensing module in real time. The airborne central control module receives a command transmitted by the vehicle-mounted processing system and controls each module in the unmanned aerial vehicle control system to work; and transmitting the received data of each module in the unmanned aerial vehicle control system to the vehicle-mounted processing system. The real-time shooting module shoots real-time images of roads below the unmanned aerial vehicle and transmits the image data to the airborne central control module. The propulsion timing module controls the unmanned aerial vehicle to fly, records the flight time of the unmanned aerial vehicle, and transmits data to the airborne central control module. The GPS navigation module sets the working air route of the unmanned aerial vehicle according to the planned driving route of the vehicle. The air pressure sensing module is arranged in the body of the vehicle-mounted unmanned aerial vehicle, and the air pressure sensing module adjusts the flying height of the unmanned aerial vehicle according to preset air pressure parameters and air pressure changes.
The vehicle-mounted processing system sends commands to the unmanned aerial vehicle control system to control the unmanned aerial vehicle to release and recover, receives data of the unmanned aerial vehicle control system, identifies whether a vehicle contour characteristic point exists in an image according to a road real-time image, if so, judges the driving direction of a vehicle appearing on a front road section in a shooting area according to the fact that the vehicle contour characteristic point is located on the left side or the right side of a lane line, and calculates the vehicle forcing distance between the vehicle and the vehicle appearing. Meanwhile, according to the lane line of the curve in the image, fitting a corresponding curve radius change curve, fitting a real-time recommended speed curve according to the curve radius change curve, judging whether a sharp bend exists in the curve in the shooting area, and if so, calculating the sharp bend and vehicle-approaching distance. And carrying out real-time early warning on the driving direction information of the emerging vehicles, the vehicle-approaching distance between the vehicle and the emerging vehicles, the recommended speed of the curve and the vehicle-approaching distance of sharp curves.
Specifically, the vehicle-mounted processing system comprises a vehicle-mounted central control module, a curve radius identification module, a road vehicle judgment module, a driving mileage recording module, a sharp curve data processing module and a vehicle-mounted early warning module.
The vehicle-mounted central control module sends a command to the vehicle-mounted central control module, controls the vehicle-mounted unmanned aerial vehicle to release and recover, receives data transmitted by the vehicle-mounted central control module, the curve radius identification module, the road section vehicle judgment module and the driving mileage recording module, and transmits the received data to the sharp curve data processing module.
The curve radius identification module identifies a lane line of a curve in the image, fits a corresponding curve radius change curve, fits a real-time recommended speed curve according to the curve radius change curve, judges whether a sharp curve exists in the shooting area according to the minimum value of the real-time recommended speed curve, and transmits the recommended speed to the vehicle-mounted central control module if the sharp curve exists in the shooting area.
The road section vehicle judging module identifies the vehicle outline characteristic points in the image, if the characteristic points exist, the lane line of the curve in the image is identified, and the driving direction of the vehicle on the front road section in the shooting area is judged according to the fact that the characteristic points are located on the left side or the right side of the lane line, namely whether the vehicle is a front vehicle or a coming vehicle in the shooting area is judged. Specifically, there are three situations of the vehicle appearing in front, namely only the front vehicle, only the coming vehicle and both the front vehicle and the coming vehicle, and when any situation occurs, the forced vehicle distance between the vehicle and the appearing vehicle is calculated, and the result is transmitted to the vehicle-mounted central control module.
The driving mileage recording module records the driving distance of the vehicle after the unmanned aerial vehicle starts flying, and transmits data to the vehicle-mounted central control module in real time. And the sharp curve data processing module calculates the sharp curve vehicle-forcing distance according to the received data. The vehicle-mounted early warning module receives the data transmitted by the vehicle-mounted central control module and carries out real-time early warning on the driving direction information of the emerging vehicles, the vehicle-forced distance between the emerging vehicles, the recommended speed of the curve and the sharp curve vehicle-forced distance.
The steps of implementing curve information identification and driving safety early warning of mountain roads by adopting the system are as follows:
(1) by passingThe vehicle-mounted central control module sends a command to the vehicle-mounted central control module to control the vehicle-mounted unmanned aerial vehicle to release, and controls the unmanned aerial vehicle to move at a preset speed V according to a route which is planned by the GPS navigation module and is consistent with a vehicle driving route through the propulsion timing module1Flying and simultaneously recording the flight time t of the unmanned aerial vehicle;
simultaneously, the real-time image of the road under the unmanned aerial vehicle is shot through the real-time shooting module, and the flying height of the unmanned aerial vehicle is adjusted through the air pressure sensing module according to preset air pressure parameters and air pressure changes in the shooting process.
(2) Identifying whether a vehicle outline characteristic point exists in the image or not through a road vehicle judging module, if so, identifying a lane line of a curve in the image, judging whether a vehicle ahead or a vehicle ahead is identified in the shooting area according to the fact that the characteristic point is positioned on the left side or the right side of the lane line, determining the driving direction of the vehicle, and calculating the forced vehicle distance S between the vehicle and the vehicle ahead1；
Wherein, the forced distance S between the vehicle and the vehicle appearing ahead1The calculation formula of (2) is as follows:
S1＝V1·t-L
in the formula, L is the driving distance of the vehicle within the time t recorded by the driving mileage recording module.
(3) Meanwhile, a lane line of a curve in the image is identified through a curve radius identification module, a corresponding curve radius change curve is fitted according to the lane line of the curve in the image, a real-time recommended vehicle speed curve is fitted according to the curve radius change curve, the real-time recommended vehicle speed curve is transmitted to a vehicle-mounted recommended vehicle speed display screen in real time, whether sharp bends exist in the curve of a shooting area or not is judged, and if the sharp bends exist, a sharp bend and vehicle-forced distance S is calculated through a sharp bend data processing module2；
Wherein, the curve real-time recommended vehicle speed V2The calculation formula of (2) is as follows:
Figure BDA0002109456620000061
in the formula, b is the wheel track of the automobile, R is the radius of the curve, h is the height of the gravity center of the automobile, and g is the gravity acceleration.
The method for judging whether the shooting area has sharp bends comprises the following steps: collecting a minimum vehicle speed V in a real-time recommended vehicle speed curve, and comparing the minimum vehicle speed V with a sharp-turn speed limiting threshold K; when V is larger than K, judging that no sharp bend exists in the shooting area; and when V is less than or equal to K, the shooting area has sharp bend. The sharp bend speed limiting threshold value K is determined by a safe vehicle speed when the vehicle passes a sharp bend, and preferably, K is 30.
Sharp curve vehicle-forcing distance S2The calculation formula of (2) is as follows:
S2＝V1·t-L
in the formula, L is the driving distance of the vehicle within the time t recorded by the driving mileage recording module.
(4) And the vehicle-mounted early warning module carries out real-time early warning on the driving direction information of the emerging vehicle, the vehicle-forced distance between the emerging vehicle and the current vehicle, the recommended speed of the curve and the sharp curve vehicle-forced distance.

Claims (10)

1. A method for curve information identification and driving safety early warning of a mountain road is characterized by comprising the following steps:
(1) releasing and controlling the vehicle-mounted unmanned aerial vehicle to fly at a preset speed in front of the vehicle according to a planned driving route of the vehicle, and shooting a real-time image of a road below the unmanned aerial vehicle;
(2) identifying whether a vehicle contour feature point exists in the image, if so, judging the driving direction of a vehicle appearing on a front road section in the shooting area according to the fact that the vehicle contour feature point is located on the left side or the right side of the lane line, and calculating the vehicle forcing distance between the vehicle and the appearing vehicle;
(3) meanwhile, fitting a corresponding curve radius change curve according to a lane line of a curve in the image, fitting a real-time recommended speed curve according to the curve radius change curve, judging whether a sharp bend exists in the curve in the shooting area, and if so, calculating a sharp bend and vehicle-approaching distance;
(4) and carrying out real-time early warning on the driving direction information of the emerging vehicles, the vehicle-approaching distance between the vehicle and the emerging vehicles, the recommended speed of the curve and the vehicle-approaching distance of sharp curves.
2. The mountain road curve information identification and driving safety early warning method according to claim 1, wherein in the step (2), the calculation formula of the forced vehicle distance between the vehicle and the vehicle is as follows:
S1＝V1·t-L
in the formula, S1The forced distance, V, between the vehicle and the emerging vehicle1For unmanned aerial vehicle's the flight speed of predetermineeing, t is unmanned aerial vehicle flight time, and L is the distance of traveling of this car in the t time.
3. The method for curve information identification and driving safety warning on mountainous roads as claimed in claim 1, wherein in the step (3), the method for determining whether there is a sharp curve in the shooting area is as follows: collecting a minimum vehicle speed V in a real-time recommended vehicle speed curve, and comparing the minimum vehicle speed V with a sharp-turn speed limiting threshold K; when V is larger than K, judging that no sharp bend exists in the shooting area; when V is less than or equal to K, a sharp bend exists in the shooting area; wherein the sharp bend speed limiting threshold K is determined by the safe vehicle speed when the vehicle passes through a sharp bend.
4. The mountain road curve information identification and driving safety early warning method according to claim 1 or 3, wherein in the step (3), the calculation formula of the curve real-time recommended vehicle speed is as follows:
Figure FDA0002515857750000011
in the formula, V2And recommending the speed of the automobile for the curve in real time, wherein b is the wheel track of the automobile, R is the radius of the curve, h is the gravity center height of the automobile, and g is the gravity acceleration.
5. The method for curve information identification and driving safety warning on mountainous roads as claimed in claim 2, wherein in the step (3), the calculation formula of the sudden-turn and urgent-vehicle distance is as follows:
S2＝V1·t-L
in the formula, S2The distance between the vehicle and the vehicle is the sharp curve and the vehicle-forcing distance.
6. A system for curve information identification and traffic safety early warning of mountainous roads is characterized by comprising a vehicle-mounted unmanned aerial vehicle and a vehicle-mounted processing system,
the vehicle-mounted unmanned aerial vehicle is provided with an unmanned aerial vehicle control system, the unmanned aerial vehicle control system receives the vehicle-mounted processing system command, controls the vehicle-mounted unmanned aerial vehicle to fly in front of the vehicle according to a vehicle planned driving route at a preset speed, shoots a road real-time image below the unmanned aerial vehicle and transmits data to the vehicle-mounted processing system;
the vehicle-mounted processing system sends a command to the unmanned aerial vehicle control system to control the unmanned aerial vehicle to release and recover, receives data of the unmanned aerial vehicle control system, identifies whether a vehicle contour characteristic point exists in an image according to a road real-time image, if so, judges the driving direction of a vehicle appearing on a front road section in a shooting area according to the fact that the vehicle contour characteristic point is located on the left side or the right side of a lane line, and calculates the vehicle forcing distance between the vehicle and the appearing vehicle; meanwhile, fitting a corresponding curve radius change curve according to a lane line of a curve in the image, fitting a real-time recommended speed curve according to the curve radius change curve, judging whether a sharp bend exists in the curve in the shooting area, and if so, calculating a sharp bend and vehicle-approaching distance; and carrying out real-time early warning on the driving direction information of the emerging vehicles, the vehicle-approaching distance between the vehicle and the emerging vehicles, the recommended speed of the curve and the vehicle-approaching distance of sharp curves.
7. The mountain road curve information identification and driving safety early warning system as claimed in claim 6, wherein the unmanned aerial vehicle control system comprises an airborne central control module, a real-time shooting module, a propulsion timing module and a GPS navigation module; the onboard central control module receives a command transmitted by the vehicle-mounted processing system and controls each module in the unmanned aerial vehicle control system to work; and transmitting the received data of each module in the unmanned aerial vehicle control system to a vehicle-mounted processing system;
the real-time shooting module shoots a real-time image of a road below the unmanned aerial vehicle and transmits image data to the airborne central control module;
the propulsion timing module controls the unmanned aerial vehicle to fly, records the flight time of the unmanned aerial vehicle and transmits data to the airborne central control module;
and the GPS navigation module sets the working air route of the unmanned aerial vehicle according to the planned driving route of the vehicle.
8. The mountain road curve information identification and driving safety early warning system according to claim 7, wherein the unmanned aerial vehicle control system further comprises an air pressure sensing module, the air pressure sensing module is arranged in the body of the vehicle-mounted unmanned aerial vehicle, and the air pressure sensing module adjusts the flying height of the unmanned aerial vehicle according to preset air pressure parameters and air pressure changes.
9. The mountain road curve information identification and driving safety early warning system according to claim 7, wherein the vehicle-mounted processing system comprises a vehicle-mounted central control module, a curve radius identification module, a road section vehicle judgment module, a driving mileage recording module and a sharp curve data processing module; wherein the content of the first and second substances,
the vehicle-mounted central control module sends a command to the vehicle-mounted central control module, controls the vehicle-mounted unmanned aerial vehicle to release and recover, receives data transmitted by the vehicle-mounted central control module, the curve radius identification module, the road section vehicle judgment module and the driving mileage recording module, and transmits the received data to the sharp curve data processing module;
the curve radius identification module identifies a lane line of a curve in the image, fits a corresponding curve radius change curve, fits a real-time recommended vehicle speed curve according to the curve radius change curve, judges whether a sharp curve exists in the shooting area according to the minimum value of the real-time recommended vehicle speed curve, and transmits the recommended vehicle speed of the shooting area to the vehicle-mounted central control module if the sharp curve exists;
the road vehicle judging module identifies the vehicle outline characteristic points in the image, if the characteristic points exist, the lane line of a curve in the image is identified, the driving direction of the vehicle appearing on the front road section in the shooting area is judged according to the fact that the characteristic points are located on the left side or the right side of the lane line, the forced vehicle distance between the vehicle and the appearing vehicle is calculated, and the result is transmitted to the vehicle-mounted central control module;
the driving mileage recording module records the driving distance of the vehicle after the unmanned aerial vehicle starts flying, and transmits data to the vehicle-mounted central control module in real time;
and the sharp curve data processing module calculates the sharp curve vehicle-forcing distance according to the received data.
10. The mountain road curve information identification and driving safety early warning system according to claim 9, wherein the vehicle-mounted processing system further comprises a vehicle-mounted early warning module, the vehicle-mounted early warning module receives data transmitted by the vehicle-mounted central control module, and performs real-time early warning on the driving direction information of the emerging vehicle, the vehicle-to-vehicle forced distance between the vehicle and the emerging vehicle, the curve recommended vehicle speed and the sharp curve vehicle forced distance.
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