CN110299027A - It is a kind of based on the vehicle lane change of track data and map datum monitoring and safe early warning method - Google Patents
It is a kind of based on the vehicle lane change of track data and map datum monitoring and safe early warning method Download PDFInfo
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- CN110299027A CN110299027A CN201910633065.2A CN201910633065A CN110299027A CN 110299027 A CN110299027 A CN 110299027A CN 201910633065 A CN201910633065 A CN 201910633065A CN 110299027 A CN110299027 A CN 110299027A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
Automobile of the present invention suitable for traffic safety monitors field, it provides a kind of based on the monitoring of the vehicle lane change of track data and map datum and safe early warning method, matched by monitoring vehicle driving trace with numerical map, calculate mark road ratio and maximum length travel, abnormal lane change behavior is carried out to determine, congestion in road, traffic accident are evaded in time and early warning, it compensates for most video capture system now and exists only in other location blind area phenomenons caused by crossing and black spot, safeguard road safety more fully hereinafter.
Description
Technical field
The present invention relates to a kind of field of traffic safety, are a kind of by track of vehicle data and map datum phase specifically
In conjunction with the method for monitoring vehicle lane change behavior (single lane change, continuous lane change, frequent lane change) and traffic safety early warning.
Background technique
It is shown according to Public Security Department, Ministry of Public Security publication statistical data, motor vehicle 31,720,000 is registered in national new registration in 2018
, vehicle guaranteeding organic quantity is up to 3.27 hundred million, and vehicle driver is up to 4.09 hundred million people.The text however, automobile civilization is especially driven
It is bright to make slow progress, traffic congestion is exacerbated to a certain extent, induces a large amount of road traffic accidents, especially random lane change etc.
Bad steering habit.Lane-change behavior will affect the volume of traffic, speed and the density of road, and many traffic behaviors are all along with lane-change
Occur and occurs, such as: road congestion, vehicle queue and spilling squeeze oneself into a croweded bus, overtake other vehicles, meeting.Vehicle is random on urban road
Lane change overtakes other vehicles and is not according to regulations etc. the main inducing for causing traffic accident to take place frequently.It is counted according to traffic police department, 50%
Above fender-bender is all related with illegal lane change, and 30% or more rear-end collision is all as caused by illegal lane change.Cause
How this, effectively monitor illegal lane change behavior, carries out safe early warning to the driver of random lane change, frequent lane change, is to reduce
With prevention traffic accident, guarantee traffic safety urgent problem.
The monitoring of vehicle lane change at present is to be mainly distributed on intersection, go out at a high speed based on based on video capture system
The key areas such as entrance, the lane change monitoring accuracy based on video is higher, but in the place of not video monitoring, just cannot achieve pair
The monitoring of lane change behavior.With the rapid development of Internet technology, vehicle-mounted Beidou, GPS, mobile phone positioning universal and basic map
The continuous improvement of precision (Baidu, Gao De), the correlative study based on track data analysis traffic safety is more and more, such as
Based on the dangerous and abnormal driving behavior such as Beidou or GPS data analysis car speed, anxious acceleration, anxious deceleration and zig zag, but
It is less to the monitoring of vehicle lane change.Currently based on Beidou, GPS data analysis in, underutilization for track is especially tied
The analysis for closing map is seldom.
In the research of current track data, in addition to GPS point matching with other than the matching of map, to the utilization of electronic map compared with
It is few, the abundant, POI (Point of Interest) without the sufficiently basic informations such as simple, road network of excavation electronic map distance calculating
Point such as contains much information at the advantages；Track data and map datum be combined be future development trend.
Summary of the invention
It is pre- based on the monitoring of the vehicle lane change of track data and map datum and safety that the purpose of the present invention is to provide a kind of
Alarm method monitors the section for not installing monitoring capturing system in real time, detects the abnormal driving behavior of vehicle, especially suddenly
The problems such as fast lane change and frequent lane change, reduces traffic blind area, safeguards road safety more fully hereinafter.It is asked to solve above-mentioned technology
Topic, the invention is realized by the following technical scheme:
Realization of the invention is by a kind of based on the monitoring of the vehicle lane change of track data and map datum and safe early warning side
Method, comprising the following steps:
A. the matching of track data and numerical map: obtaining the Beidou of a certain vehicle or the track data of GPS, quickly by it
It is matched on numerical map, track data is associated with numerical map, determine section when vehicle driving；
B. cutting, i.e., since the starting point of track, vehicle driving section trajectory segment: are carried out to the length in the section
Impartial cutting is carried out automatically along the linear distance of the road of vehicle heading, and cutting zone distance is b, and the length range of b is
It is 50~200 meters, long with road-center line computation road when road is bent；
C. " mark road ratio " α: the mark road ratio is calculated are as follows:Wherein a is the length of vehicle driving trace, and unit is
Rice；
D. safe early warning: as α > 1.1, safe early warning is carried out.
A further technical scheme of the invention is that it is described based on the vehicle lane change of track data and map datum monitoring with
Safe early warning method, further comprising the steps of:
E. calculate the maximum length travel β of vehicle: the every lane change of vehicle is primary, and vehicle generates maximum in road vertical direction
The vertical maximum distance of single length travel c, i.e. tracing point apart from vehicle track primary trace direction, maximum length travel β's obtains
It takes in two kinds of situation:
1. one direction lane change or one direction 2 times or more continuous lane change, β take the sum of c；
2. two-way lane change back and forth, β is the sum of the absolute value of c；
F. safe early warning: as β > 7.5, safe early warning is carried out.
A further technical scheme of the invention is that it is described based on the vehicle lane change of track data and map datum monitoring with
Safe early warning method, which is characterized in that further comprising the steps of:
G. lane change behavior determines: when mark road ratio α > 1.05, and when maximum length travel β > 3.5, determining that lane change occurs in vehicle
Behavior；
H. frequent lane change behavior determines: within the scope of 10 continuous cutting zone distances, n times or more occurs and is determined
When for lane change behavior, that is, it is determined as frequent lane change, wherein n >=2；
I. safe early warning: when being judged as frequent lane change, safe early warning is carried out.
A further technical scheme of the invention is that it is described based on the vehicle lane change of track data and map datum monitoring with
Safe early warning method, which is characterized in that further comprising the steps of:
J. calculate security risk coefficients R: R=2.2 α+γ, wherein γ is length travel coefficient,
K. the security risk of vehicle lane change security risk assessment: is divided into 5 grades:
A further technical scheme of the invention is that it is described based on the vehicle lane change of track data and map datum monitoring with
Safe early warning method, step A further include step, using between tracing point empty accessibility and road network to track data and match into
Row correction.
The beneficial effects of the present invention are:
Using the monitoring random lane change of vehicle, real time monitoring vehicle rolling line traveling, the repeatedly unlawful practices such as frequent lane change, in time
Congestion in road, traffic accident are evaded and early warning.Map datum track data is taken full advantage of, view mostly is compensated for now
Frequency capturing system exists only in other location blind area phenomenons caused by crossing and black spot, safeguards more fully hereinafter
Road safety.
Detailed description of the invention
Fig. 1 is the technology of the present invention flow chart
Fig. 2 is 1 vehicle lane change schematic diagram of the embodiment of the present invention
Fig. 3 is 2 vehicle lane change schematic diagram of the embodiment of the present invention
Fig. 4 is 3 vehicle lane change schematic diagram of the embodiment of the present invention
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution of the present invention is further elaborated.
Embodiment 1
As shown in Fig. 2, realization process of the invention is, it is a kind of to be monitored based on the vehicle lane change of track data and map datum
With safe early warning method, comprising the following steps:
The matching of step S1, track data and numerical map: obtaining the Beidou of a certain vehicle or the track data of GPS, will
It is on its Rapid matching to numerical map, track data is associated with numerical map, it determines section when vehicle driving, utilizes rail
Empty accessibility and road network between mark point are corrected track data and matching；
Step S2, trajectory segment: to a certain vehicle urban road when driving belonging to section length carry out cutting, i.e., from
The starting point of track starts, and vehicle driving section carries out impartial cutting along the linear distance of the road of vehicle heading automatically, cuts
By stages distance is 150 meters；
Step S3, calculate " mark road ratio " α: vehicle lane change operating range in a certain cutting zone distance is 180 meters,
Mark road ratioI.e. 1.2；
Step S4 carries out safe early warning.
Embodiment 2
As shown in figure 3, realization process of the invention is, it is a kind of to be monitored based on the vehicle lane change of track data and map datum
With safe early warning method, comprising the following steps:
The matching of step S1, track data and numerical map: obtaining the Beidou of a certain vehicle or the track data of GPS, will
It is on its Rapid matching to numerical map, track data is associated with numerical map, it determines section when vehicle driving, utilizes rail
Empty accessibility and road network between mark point are corrected track data and matching；
Step S2, trajectory segment: the length in affiliated section carries out cutting when to vehicle driving, i.e., opens from the starting point of track
Begin, vehicle driving section carries out impartial cutting along the linear distance of the road of vehicle heading automatically, and cutting zone distance is
100 meters；
Step S3, the maximum length travel β: the vehicle for calculating vehicle become in a certain cutting zone distance to same direction
Twice, maximum single length travel c is respectively 3.5 meters and 3 meters in road, and β takes sum of the two, i.e., 6.5 meters；
Step S4, safe early warning: due to β < 7.5, so will be without safe early warning.
Embodiment 3
As shown in figure 3, realization process of the invention is, it is a kind of to be monitored based on the vehicle lane change of track data and map datum
With safe early warning method, comprising the following steps:
The matching of step S1, track data and numerical map: obtaining the Beidou of a certain vehicle or the track data of GPS, will
It is on its Rapid matching to numerical map, track data is associated with numerical map, it determines section when vehicle driving, utilizes rail
Empty accessibility and road network between mark point are corrected track data and matching；
Step S2, trajectory segment: the length in affiliated section carries out cutting when to vehicle driving, i.e., opens from the starting point of track
Begin, vehicle driving section carries out impartial cutting along the linear distance of the road of vehicle heading automatically, and cutting zone distance is
100 meters；
Step S3, the maximum length travel β: the vehicle for calculating vehicle become in a certain cutting zone distance to different directions
Road twice, the sum of both maximum single length travel c is respectively 4.5 meters and -3.5 meters, and β takes absolute value, i.e., 8 meters；
Step S4 carries out safe early warning.
Claims (5)
1. a kind of based on the monitoring of the vehicle lane change of track data and map datum and safe early warning method, which is characterized in that including
Following steps:
A. the matching of track data and numerical map: obtaining the Beidou of a certain vehicle or the track data of GPS, by its Rapid matching
It is onto numerical map, track data is associated with numerical map, determine section when vehicle driving；
B. trajectory segment: cutting is carried out to the length in the section, i.e., since the starting point of track, vehicle driving section is along vehicle
The linear distance of the road of driving direction carries out impartial cutting automatically, and cutting zone distance is b, and the length range of b is 50~
It is 200 meters, long with road-center line computation road when road is bent；
C. " mark road ratio " α: the mark road ratio is calculated are as follows:Wherein a is the length of vehicle driving trace, and unit is rice；
D. safe early warning: as α > 1.1, safe early warning is carried out.
2. it is according to claim 1 based on the vehicle lane change of track data and map datum monitoring and safe early warning method,
It is characterized in that, further comprising the steps of:
E. calculate the maximum length travel β of vehicle: the every lane change of vehicle is primary, and vehicle generates maximum single in road vertical direction
The vertical maximum distance of length travel c, i.e. tracing point apart from vehicle track primary trace direction, the acquisition point of maximum length travel β
Two kinds of situations:
1. one direction lane change or one direction 2 times or more continuous lane change, β take the sum of c；
2. two-way lane change back and forth, β is the sum of the absolute value of c；
F. safe early warning: as β > 7.5, safe early warning is carried out.
3. it is according to claim 2 based on the vehicle lane change of track data and map datum monitoring and safe early warning method,
It is characterized in that, further comprising the steps of:
G. lane change behavior determines: when mark road ratio α > 1.05, and when maximum length travel β > 3.5, determining that lane change behavior occurs in vehicle；
H. frequent lane change behavior determines: within the scope of 10 continuous cutting zone distances, n times or more occurs and is judged as becoming
When road behavior, that is, it is determined as frequent lane change, wherein n >=2；
I. safe early warning: when being judged as frequent lane change, safe early warning is carried out.
4. based on the monitoring of the vehicle lane change of track data and map datum and safe early warning side according to claim 2-3
Method, which is characterized in that further comprising the steps of:
J. calculate security risk coefficients R: R=2.2 α+γ, wherein γ is length travel coefficient,
K. the security risk of vehicle lane change security risk assessment: is divided into 5 grades:
5. according to claim 1 based on the monitoring of the vehicle lane change of track data and map datum and safe early warning side described in -4
Method, which is characterized in that step A is further comprised the steps of:
A1. using between tracing point empty accessibility and road network track data and matching are corrected.
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| WO2021077760A1 (en) * | 2019-10-23 | 2021-04-29 | 江苏智通交通科技有限公司 | Abnormal driving early warning method on basis of reasonable driving range of vehicle at intersection |
| CN112885144A (en) * | 2021-01-20 | 2021-06-01 | 同济大学 | Early warning method and system for vehicle crash event in construction operation area |
| CN113160546A (en) * | 2020-01-22 | 2021-07-23 | 阿里巴巴集团控股有限公司 | Dangerous road section identification method and device |
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