CN110379156A - A kind of accident lane discriminating method based on vehicle-mounted camera fusion GPS flow velocity - Google Patents
A kind of accident lane discriminating method based on vehicle-mounted camera fusion GPS flow velocity Download PDFInfo
- Publication number
- CN110379156A CN110379156A CN201910389474.2A CN201910389474A CN110379156A CN 110379156 A CN110379156 A CN 110379156A CN 201910389474 A CN201910389474 A CN 201910389474A CN 110379156 A CN110379156 A CN 110379156A
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- Prior art keywords
- lane
- accident
- vehicle
- module
- flow velocity
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
Abstract
The invention discloses a kind of accident lane discriminating methods based on vehicle-mounted camera fusion GPS flow velocity.The invention firstly uses three kinds of accident lane discriminating methods to judge that the lane information occupied after the accident (detects real-time road using vehicle-mounted front camera, and unimpeded lane and accident lane are judged using lane dynamic floating-point GPS flow velocity), these information are then passed into early warning and are put down.After manual examination and verification, according to the GPS position information that vehicle-mounted APP is transmitted, early warning platform carries out prompting service by calculating, to the later vehicle in 100m ~ 2000m road section scope after accident generation point.The prompting carrier of information is vehicle-mounted APP, and the timely phonetic warning of front vehicle APP gives front vehicle driver prompting, it is made to have sufficient time change lane.It largely improves traffic safety, avoid traffic congestion and secondary accident.
Description
Technical field
Invention belongs to intelligent transportation, unmanned field, relates generally to a kind of based on vehicle-mounted camera fusion GPS flow velocity
Accident lane discriminating method.
Background technique
Current technology means are able to detect the traffic status in section, can tell whether section occurs in front of user in advance
Congestion avoids the consumption of time, but the high speed for cannot arbitrarily convert route is public so that user replaces planning driving path in advance
Road there is no technological means to tell driver's congestion ahead section which specific lane congestion at present, which lane is unimpeded, driver
It often travels to accident and a point just discovery congestion occurs, but changing Lane becomes abnormal difficulty and danger at this time, and causes
Accident section more congestion.
Due to there is no at present technological means inform accident section front vehicle in front of lane situation, rear car because cannot and
When avoid this lane and cause traveling danger coefficient skyrocket, while to front truck driver be arranged car accident early warning indicate cause pole
The earth danger and difficulty.
For following automatic driving vehicle, road ahead traffic information is predicted in advance, can give vehicle control system
The sufficient time goes to plan new planning driving path, while accident information can be transferred to platform, platform management personnel can and
When make solution.
Summary of the invention
The purpose of the present invention: secondary to avoid when the present invention is to solve to occur on highway traffic accident
Back car is timely informed, after making by vehicle-mounted APP phonetic warning in congestion ahead lane by disaster and heavy congestion situation
Side, which carrys out vehicle, has the sufficient time to remove changing Lane, it is not necessary to which the change lane just urgent until driving to spot causes to gather around
Stifled and secondary disaster.
It is a kind of based on vehicle-mounted camera fusion GPS flow velocity accident lane discriminating method include two kinds be based on front camera
Accident lane discriminating method, one kind for prove is precisely calculated dynamic floating-point GPS flow velocity method.
Sentenced based on accident vehicle itself (if the accident that accident vehicle occurs is not serious, remaining to transmission information) front camera
Disconnected accident lane.
Based on front vehicle front camera, by judging the triangle warning plate of front vehicles driver setting and acutely hitting
Rear fragment residue is hit to differentiate accident lane.
Early warning platform blocks lane to accident come accurate unimpeded vehicle using dynamic floating-point GPS flow velocity, before reaching evidence
The testing result for stating two methods keeps it more accurate.
Detailed description of the invention
Three detection methods that Fig. 1 includes by accident lane discrimination module of the invention.
Fig. 2 is early warning platform feature principle of the invention.
Fig. 3 is accident lane decision flow chart of the invention.
Specific embodiment
Step 1: as Fig. 3 starts quasi- when backstage occurs crowded by dynamic floating-point GPS flow rate detection a road section
The standby related traffic information for collecting scene.
Step 2: such as Fig. 1, collecting traffic information mainly from three modules, first by accident vehicle itself (if accident
Vehicle occur accident it is not serious, remain to transmission information) carry sensor (such as tyre pressure sensor, engine crankshaft rotating speed pass
The sensors such as sensor, acceleration) failure, the accident information that vehicle occurs are detected, different sensor detection projects is different
Sample, therefore accurate accident information can be obtained, while using the front camera of accident vehicle, thing is judged after image procossing
Therefore lane (if being not in congestion if Emergency Vehicle Lane) locating for vehicle itself, using vehicle-mounted APP by the GPS location of accident vehicle
Information and locating lane information pass to early warning platform.
Step 3: if the collection of Fig. 1, traffic information can use the front camera of front vehicle also to provide, working as front
There is contingency in vehicle, closely follows and the front vehicle that arrives can be sentenced by triangle warning plate that front vehicles driver is arranged
Disconnected accident lane (front accident vehicle accident is not serious) also can detecte multiple vehicles that fragment residue after hard hit is scattering into
Road (severe traffic accidents, multiple lanes are obstructed), also with vehicle-mounted APP by the GPS position information and accident vehicle of this vehicle
Locating lane information passes to early warning platform (location information that platform substantially estimates accident vehicle according to current vehicle speed).
Step 4: as Fig. 3, such as Fig. 1, judges mould using the lane GPS flow velocity after the substantially accident vehicle track data being collected into
The accurate positioning of GPS in block calculates still smooth lane and the lane (front and back of accident generation point of blank GPS point occurs
Two sections of distances are because the GPS signal that the evacuation of other vehicles must not have vehicle occurs).
The Data Integration that three kinds of detection methods detect is transferred to early warning platform together.
Step 5: early warning platform passes through the location information that APP is transmitted and lane information and accident information, while also
Platform is using the unimpeded lane accurately calculated GPS and blank GPS road section information, then is sent back by manual examination and verification scene
Accident photograph, extremely accurately judge unimpeded vehicle and congestion lane, it is finally decided whether transmit corresponding warning information to
Accident vehicle front vehicle.
Step 6: once it is determined that needing to carry out the transmitting of warning information, early warning platform can be docked by information vehicle and accident vehicle
Carrying out distance in real time calculates, back car within the scope of 100m ~ 2000m carry out warning information transmission (when being less than 100m,
Driver oneself can judge road conditions, and the vehicle more than 2000m need not shift to an earlier date changing Lane).
Step 7: corresponding information is passed to the vehicle-mounted APP terminal of front vehicle by early warning platform, APP by gained information into
Row voice broadcast and distance (distance apart from accident vehicle) are reminded；In addition, early warning platform also can be by corresponding warning information in height
Broadcasting is shown on the information display screen of fast highway, to remind those to be fitted without corresponding vehicle-mounted APP driver, simultaneously will
Corresponding accident information timely passes to relevant traffic management department, timely rushes for in-situ processing convenient for traffic-police,
Even if dredging road.
Claims (2)
1. a kind of accident lane discriminating method based on vehicle-mounted camera fusion GPS flow velocity, it is characterised in that: accident lane discriminating
The method mutually merged between module and each method of discrimination；
According to claim 1, accident lane discrimination module, feature include: to judge accident lane by accident vehicle itself
Module judges accident lane module, the lane GPS flow velocity judgment module by back car；
1) described that accident lane module is judged by accident vehicle itself and judges that accident lane module is special by back car
Sign is: judging the method in lane shared by accident vehicle through image procossing using front camera；
2) it is described using the lane GPS flow velocity judgment module it is characterized by: other two kinds of judgment methods according to claim 2 obtain
The data arrived calculate average speed and the GPS blank spot lane in unimpeded lane further according to algorithm.
2. the method mutually merged between each discrimination module according to claim 1, it is characterised in that: obtained by various discrimination modules
The mutual fusion calculation of data；
The fusion calculation method, the system of essentially consisting in can be according to data (accident vehicles, rear vehicle that different vehicle is sent back
) substantially calculate unimpeded lane and block lane and above-mentioned number is proved according to the lane GPS flow velocity judgment module on this basis
According to reliability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910389474.2A CN110379156A (en) | 2019-05-10 | 2019-05-10 | A kind of accident lane discriminating method based on vehicle-mounted camera fusion GPS flow velocity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910389474.2A CN110379156A (en) | 2019-05-10 | 2019-05-10 | A kind of accident lane discriminating method based on vehicle-mounted camera fusion GPS flow velocity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110379156A true CN110379156A (en) | 2019-10-25 |
Family
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|---|---|---|---|
| CN201910389474.2A Pending CN110379156A (en) | 2019-05-10 | 2019-05-10 | A kind of accident lane discriminating method based on vehicle-mounted camera fusion GPS flow velocity |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111915883A (en) * | 2020-06-17 | 2020-11-10 | 西安交通大学 | Road traffic condition detection method based on vehicle-mounted camera shooting |
| CN112950997A (en) * | 2021-01-29 | 2021-06-11 | 长城汽车股份有限公司 | Emergency linkage method and system |
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| CN112950997A (en) * | 2021-01-29 | 2021-06-11 | 长城汽车股份有限公司 | Emergency linkage method and system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191025 |
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| RJ01 | Rejection of invention patent application after publication |