CN110444017B - Method for removing influence of road alignment on sharp turning of vehicle - Google Patents
Method for removing influence of road alignment on sharp turning of vehicle Download PDFInfo
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- CN110444017B CN110444017B CN201910688963.8A CN201910688963A CN110444017B CN 110444017 B CN110444017 B CN 110444017B CN 201910688963 A CN201910688963 A CN 201910688963A CN 110444017 B CN110444017 B CN 110444017B
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- 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
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- G—PHYSICS
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- 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
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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Abstract
Aiming at the problem that the linear influence of the road is not considered in the conventional sharp turn judgment, the invention provides a method for removing the influence of the road linear on the sharp turn judgment of a vehicle by combining track data and map data, which comprises the following specific steps of: and (3) data processing, namely matching the track data with a digital map, judging the type of sharp turn, determining the value of a turn angle, and removing the linear influence of the road. The invention realizes the accurate monitoring of the driving behavior of the driver, reduces traffic accidents and traffic jam and ensures the traffic safety.
Description
Abstract
Aiming at the problem that the linear influence of the road is not considered in the conventional sharp turn judgment, the invention provides a method for removing the influence of the road linear on the sharp turn judgment of a vehicle by combining track data and map data, which comprises the following specific steps of: and (3) data processing, namely matching the track data with a digital map, judging the type of sharp turn, determining the value of a turning angle alpha, and removing the linear influence of the road. The invention realizes the accurate monitoring of the driving behavior of the driver, reduces traffic accidents and traffic jam and ensures the traffic safety.
Technical Field
The invention relates to the field of traffic safety monitoring, in particular to a method for removing influence of road alignment on vehicle sharp turn judgment based on track data and map data.
Background
A large number of accident case analyses show that the most of traffic accident factors are human factors, abnormal or dangerous driving behaviors of a driver are the inducement of some serious traffic accidents, and sudden turning is an important part of dangerous driving, so that the vehicle can recognize the sudden turning and remind the driver to reduce the traffic accidents and traffic jam, and the traffic safety is guaranteed. The existing identification technology for the sharp turning of the vehicle is mainly divided into two types: firstly, based on detecting instrument: the 'sharp turn detection system and method' applied by Li David utilize a vehicle speed detection module, a rotation rate detection module and a processing module to judge that the vehicle makes a sharp turn; the other type is that the sharp turning is judged based on the positioning data of GPS, Beidou and the like, for example, Chenjiangbo applies for 'a method, a device and a system for identifying sharp turning of a vehicle', Yaokujun applies for 'a method and a system for monitoring bad driving behaviors based on GPS-applied public', which are all based on GPS data to analyze driving behaviors such as sharp turning.
At present, the method for judging the sharp turn almost does not consider the influence of the road line shape, for example, when a vehicle runs to the sharp turn of the road (the road line shape is a circular curve with larger curvature), the vehicle must make the sharp turn, and the method has no relation with the driving behavior and the driving habit of a driver. How to remove the influence of the road alignment on the turning angle when judging that the vehicle makes a sharp turn is the difficulty of sharp turn judgment?
The rapid development of the internet, big data and electronic map technologies brings a new opportunity for solving the problems. With the continuous improvement of the precision of the basic electronic point diagram and the improvement of the information technology, navigation and positioning are indispensable choices of most vehicle drivers, but the utilization rate of massive map information (road length, line shape, road width, intersection and the like) is very low. The invention aims to combine the track data and the map data to solve the influence of the road alignment on the sharp turning of the vehicle.
Disclosure of Invention
The invention aims to solve the problem that the linear influence of a road is not considered in the conventional sharp turn judgment, and provides a method for removing the influence of the road linear on the sharp turn judgment of a vehicle by combining track data and map data, so that the driving behavior of a driver is accurately monitored, traffic accidents and traffic jam are reduced, and the traffic safety is guaranteed.
The invention discloses a method for removing sharp turns of a vehicle by road alignment based on track data and map data, which comprises the following steps:
A. data processing: carrying out data cleaning and reconstruction on the received GPS or Beidou positioning data, and removing abnormal data and redundant data;
B. matching of trajectory data to a digital map: b, quickly matching Beidou or GPS data of the vehicle processed in the step A to a digital map, associating vehicle track data in the digital map with the digital map, and determining a road section to which the vehicle belongs;
C. judging sharp turns: sampling is carried out every time T seconds after the sampling interval, wherein T is more than or equal to 1 and less than or equal to 10, the sampling speed is v, and when the following two conditions are met, the vehicle is subjected to sharp turn judgment:
C1. the instantaneous speeds v2 and v1 at the next sampling moment and the last sampling moment are both greater than 30 km/h;
C2. absolute value of azimuth change at next sampling time and last sampling time
Difference from turning angle alpha
C3. Judging the type of sharp turning: when in use
And then, starting the judgment of the sharp turning type, wherein the values of alpha in the judgment mode and the corresponding state are as follows:
C3.1. when the distance between the sharp turning point and the nearest road intersection is not less than s meters, sampling is carried out for n times within a period of time t, and the sum of the changes of the azimuth angles is obtained
When the vehicle is judged to turn around, the influence of the road alignment is not needed to be considered, and alpha is set to be 0, wherein s is more than or equal to 10 and less than or equal to 80, t is more than or equal to 30 and less than or equal to 150, and the unit of t is second; sum of variation of azimuth
When the vehicle is judged to be lane-changing, the influence of the road line shape is not required to be considered;
C3.2. when the distance between the sharp turn and the nearest road intersection is less than s m, calling the road center line of the road to which the sharp turn vehicle belongs, and acquiring the angle gamma of the road center line of the nearest intersection of the road section to which the vehicle belongs:
if gamma is more than or equal to 80 degrees and less than or equal to 100 degrees:
a. the direction of the track line varying
Determining that the vehicle changes the lane, setting alpha to 0 without considering the influence of the road alignment, and determining that the vehicle turns sharply;
b. change of direction of track line
Determining that the vehicle turns around, setting alpha to be 0 without considering the influence of the road alignment, and determining that the vehicle turns sharply;
c. change of direction of track line
Judging that the vehicle turns left or right, and considering linear influence;
② if gamma is less than 80 degrees or gamma is more than 100 degrees: the influence of line shape needs to be considered;
C3.3. the value of α when linear influence is considered:
turning corner
Wherein Y is the vehicle length, and R is the turning radius of the center line of the road;
according to the further technical scheme, in the taxi parking monitoring and early warning method based on the GPS track data and the map data, the track data in the step B comprises fields such as vehicle ID, timestamp, longitude, latitude, instantaneous speed, azimuth angle and the like;
the invention further adopts the technical scheme that the taxi parking monitoring and early warning method based on the GPS track data and the map data further comprises the following steps:
B1. correcting the track data and the matching by using a track and a road network;
the invention has the beneficial effects that: aiming at the problem that the linear influence of a road is not considered in the conventional sharp turn judgment, the method for removing the influence of the road linear on the vehicle sharp turn judgment by combining the track data and the map data is provided, so that the driving behavior of a driver can be accurately monitored, traffic accidents and traffic jam are reduced, the traffic safety is guaranteed, the fusion application of the track data, the map data and the like can be promoted, and a new direction is provided for solving the traffic problem.
Drawings
FIG. 1 shows the shape of the center line of a road and the sharp curve of a vehicle
Detailed Description
The technical solution of the present invention will be further described below with reference to the embodiments of the present invention and the accompanying drawings.
Example 1
As shown in state a of fig. 1, the implementation of the present invention is a method for removing the influence of road alignment on sharp turns of a vehicle based on trajectory data and map data, comprising the steps of:
A. data processing: carrying out data cleaning and reconstruction on the received GPS or Beidou positioning data of the vehicle A, and removing abnormal data and redundant data;
B. matching of trajectory data to a digital map: b, quickly matching the Beidou or GPS data processed in the step A to a digital map, associating vehicle track data in the digital map with the digital map, and determining a road section to which the vehicle belongs;
C. judging sharp turns:
C1. sampling once every 1 second after a sampling interval, wherein in a certain period, the vehicle continuously samples twice at a speed v 1-32 km/h and a speed v 2-32 km/h;
C2. absolute value of azimuth change at next sampling time and last sampling time
Starting sharp turning type judgment;
C3. the turning angle alpha takes the following values:
c3.1.s, taking 30 meters, and obtaining that the distance between the sharp turning point and the nearest road intersection is 10 meters;
C3.2. calling a road center line of a road to which a sharp-turning vehicle belongs, and acquiring the angle gamma of the road center line of the nearest intersection of the road section to which the vehicle belongs to be 40 degrees, wherein the influence of the line shape needs to be considered;
D. the value of α when linear influence is considered:
the turning radius R of the center line of the road is 15 m, the vehicle length Y of the vehicle A is 4.8 m,
among them, alpha is 2.250.3097-17.75 deg,
after the linear influence is removed, the vehicle is not judged to be a sharp turn;
example 2
As shown in state B of fig. 1, the implementation of the present invention is a method for removing the influence of road alignment on sharp turns of a vehicle based on trajectory data and map data, comprising the steps of:
A. data processing: carrying out data cleaning and reconstruction on the received GPS or Beidou positioning data of the vehicle B, and removing abnormal data and redundant data;
B. matching of trajectory data to a digital map: b, quickly matching the Beidou or GPS data processed in the step A to a digital map, associating vehicle track data in the digital map with the digital map, and determining a road section to which the vehicle belongs;
C. judging sharp turns:
C1. sampling once every 2 seconds after the sampling interval, wherein in a certain period, the vehicle continuously samples twice at a speed v 1-35 km/h and a speed v 2-40 km/h;
C2. absolute value of azimuth change at next sampling time and last sampling time
Starting sharp turning type judgment;
C3. the turning angle alpha takes the following values:
c3.1.s, taking 20 meters, and obtaining that the distance between the sharp turning point and the nearest road intersection is 5 meters;
C3.2. calling the road center line of the road to which the sharp-turning vehicle belongs, acquiring the angle gamma of the road center line of the intersection closest to the road section to which the vehicle belongs, wherein the angle gamma is 90 degrees, and the direction of the track line changes
Determining that the vehicle turns around, setting alpha to be 0 without considering the influence of the road alignment, and determining that the vehicle turns sharply;
example 3
As shown in state C of fig. 1, the implementation of the present invention is a method for removing the influence of road alignment on sharp turns of a vehicle based on trajectory data and map data, comprising the steps of:
A. data processing: carrying out data cleaning and reconstruction on the received GPS or Beidou positioning data of the vehicle C, and removing abnormal data and redundant data;
B. matching of trajectory data to a digital map: b, quickly matching the Beidou or GPS data processed in the step A to a digital map, associating vehicle track data in the digital map with the digital map, and determining a road section to which the vehicle belongs;
C. judging sharp turns:
C1. sampling once every 1 second after a sampling interval, wherein in a certain period, the vehicle continuously samples twice at a speed v 1-45 km/h and a speed v 2-40 km/h;
C2. absolute value of azimuth change at next sampling time and last sampling time
Starting sharp turning type judgment;
C3. the turning angle alpha takes the following values:
c3.1.s, taking 20 meters, and obtaining that the distance between the sharp turning point and the nearest road intersection is 0 meter;
C3.2. calling the road center line of the road to which the sharp-turning vehicle belongs, acquiring the angle gamma of the road center line of the intersection closest to the road section to which the vehicle belongs, wherein the angle gamma is 90 degrees, and the direction of the track line changes
Judging that the vehicle turns left or right, and considering linear influence;
D. the value of α when linear influence is considered:
where the curve of the road center lineThe radius R is 20 m, the vehicle length Y of the vehicle C is 5 m,
among them, α -0.2450-14.04 °,
after the linear influence is removed, the vehicle is not judged to be a sharp turn;
example 4
As shown in state D of fig. 1, the implementation of the present invention is a method for removing the influence of road alignment on sharp turns of a vehicle based on trajectory data and map data, comprising the steps of:
A. data processing: carrying out data cleaning and reconstruction on the received GPS or Beidou positioning data of the vehicle D, and removing abnormal data and redundant data;
B. matching of trajectory data to a digital map: b, quickly matching the Beidou or GPS data processed in the step A to a digital map, associating vehicle track data in the digital map with the digital map, and determining a road section to which the vehicle belongs;
C. judging sharp turns:
C1. sampling once every 1 second after a sampling interval, wherein in a certain period, the vehicle continuously samples twice at a speed v 1-35 km/h and at a speed v 2-35 km/h;
C2. absolute value of azimuth change at next sampling time and last sampling time
Starting sharp turning type judgment;
C3. the turning angle alpha takes the following values:
c3.1.s is 30 meters, the distance between the sharp turning point of the vehicle T and the nearest road intersection is 200 meters, sampling is carried out for 24 times in 120 seconds, and the sum of the change of the azimuth angle
The vehicle is determined to turn around, and the vehicle is determined to make a sharp turn by setting α equal to 0 without considering the influence of the road alignment.
Claims (3)
1. A method for removing the influence of road alignment on sharp turning of a vehicle comprises the following steps:
A. data processing: carrying out data cleaning and reconstruction on the received GPS or Beidou positioning data, and removing abnormal data and redundant data;
B. matching of trajectory data to a digital map: b, quickly matching Beidou or GPS data of the vehicle processed in the step A to a digital map, associating vehicle track data in the digital map with the digital map, and determining a road section to which the vehicle belongs;
C. sampling is carried out every time T seconds after the sampling interval, wherein T is more than or equal to 1 and less than or equal to 10, the sampling speed is v, and when the following two conditions are met, the judgment of removing the linear influence of the road on the sharp turn of the vehicle is started:
C1. the instantaneous speeds v2 and v1 at the next sampling moment and the last sampling moment are both greater than 30 km/h;
C2. absolute value of azimuth change at next sampling time and last sampling time
D. A turning angle alpha is introduced in the judgment of removing the linear influence of the road during the sharp turning of the vehicle, and is defined as the difference of the azimuth angles of the vehicle at the upper moment and the lower moment when the vehicle moves along the center line of the road, and the value taking method of the alpha is as follows:
D1. when the distance between the sharp turning point and the nearest road intersection is more than or equal to s meters, sampling for n times within a period of time t,
d1.1 sum of variation of azimuth
When the vehicle is turned around, the influence of the road alignment is not required to be considered, wherein s is more than or equal to 10 and less than or equal to 80, t is more than or equal to 30 and less than or equal to 180, and the unit of t is second;
d1.2 sum of changes in azimuth
When the temperature of the water is higher than the set temperature,judging that the vehicle is lane change without considering the influence of road alignment;
D2. when the distance between the sharp turn and the nearest road intersection is less than s m, calling the road center line of the road to which the sharp turn vehicle belongs, acquiring the angle gamma of the road center line of the intersection to which the vehicle belongs and which is nearest to the road section,
d2.1 when the Gamma is more than or equal to 80 degrees and less than or equal to 100 degrees,
d2.1.1 the direction of the track line changing
Judging that the vehicle changes lanes without considering the influence of road alignment;
d2.1.2 change of direction of track line
The vehicle is judged to turn around without considering the influence of road alignment;
d2.1.3 change of direction of track line
Judging that the vehicle turns left or right, and considering linear influence;
d2.2 when gamma is less than 80 degrees or gamma is more than 100 degrees, the influence of linear shape needs to be considered;
D3. when the linear influence is not considered, α is set to 0, and when the linear influence is considered,
wherein Y is the vehicle length, and R is the turning radius of the center line of the road;
E. definition of ωcWhen ω - α, when ωcAnd judging that the vehicle is in sharp turn when the angle is more than or equal to 15 degrees.
2. The method for removing the influence of road alignment on sharp turns of a vehicle as claimed in claim 1, wherein the track data in step B comprises fields of vehicle ID, timestamp, longitude, latitude, instantaneous speed and azimuth.
3. The method for removing the influence of the road alignment on the sharp turn of the vehicle as claimed in claim 1, wherein the step B further comprises the steps of:
B1. and correcting the track data and the matching by using the track and the road network.
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| US20090024273A1 (en) * | 2007-07-17 | 2009-01-22 | Todd Follmer | System and Method for Providing a User Interface for Vehicle Monitoring System Users and Insurers |
| CN105015550A (en) * | 2015-07-24 | 2015-11-04 | 大连楼兰科技股份有限公司 | Sudden turning judgment method for vehicle, and prompt method |
| CN109035757A (en) * | 2018-05-09 | 2018-12-18 | 北京九五智驾信息技术股份有限公司 | The method for analyzing driving behavior |
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