CN110956809A - System and method for monitoring vehicle passing intersection - Google Patents
System and method for monitoring vehicle passing intersection Download PDFInfo
- Publication number
- CN110956809A CN110956809A CN201811136486.6A CN201811136486A CN110956809A CN 110956809 A CN110956809 A CN 110956809A CN 201811136486 A CN201811136486 A CN 201811136486A CN 110956809 A CN110956809 A CN 110956809A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- precision
- position information
- client
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
Abstract
The invention provides a system and a method for monitoring vehicles passing an intersection, wherein the system comprises a client and a cloud server, the client receives differential data to calculate high-precision position information and corrects the high-precision position information by fusing sensor data, and the client uploads the corrected high-precision position information and vehicle information to the cloud server; the cloud server dynamically divides the electronic fence for the intersection, collects the corrected high-precision position information and the vehicle information, judges whether the vehicle enters the electronic fence or not by combining a high-precision map, judges whether the vehicle behavior is abnormal or not for the vehicle entering the electronic fence, and generates warning information for the vehicle with the abnormal behavior and sends the warning information to the client side for storage. The invention has real-time interaction capability and can train good travel habits of drivers.
Description
Technical Field
The invention relates to the technical field of vehicle monitoring, in particular to a system and a method for monitoring vehicles passing through an intersection.
Background
The existing traffic management system mainly utilizes equipment such as a video monitoring probe, a velocimeter and the like to record and monitor some illegal behaviors of vehicles passing through intersections, and the outstanding defects of the existing scheme are five:
(1) the video monitoring probe and the velocimeter have higher installation and maintenance cost and cannot cover all intersections;
(2) due to the fixed installation of the monitoring equipment, the monitoring area of the monitoring equipment is fixed and relatively limited;
(3) the difficulty in monitoring the vehicle violation is high in the face of adverse factors such as night, severe weather and serious mutual shielding of vehicles;
(4) the velocimeter can monitor the dangerous behaviors that the vehicle passes through the intersection at an overspeed but does not decelerate and the like;
(5) for the illegal vehicles, the current punishment scheme adopts post notice punishment, which is not beneficial to reducing traffic accidents.
Disclosure of Invention
The invention mainly aims at the problems that the existing traffic management System utilizes equipment such as a video monitoring probe, a velocimeter and the like to record and monitor some illegal behaviors of vehicles passing through an intersection, and utilizes a Global Navigation Satellite System (GNSS) to integrate a high-precision positioning technology, a high-precision map matching technology and a cloud big data processing technology of a multi-sensor to construct a comprehensive scheme for monitoring the driving behaviors of the vehicles passing through the intersection, thereby solving the problems that the prior art has high cost of laying and maintaining equipment, fixed and limited monitoring area, and has great difficulty in monitoring the illegal behaviors of the vehicles facing adverse factors such as night, severe weather and serious mutual shielding of the vehicles.
The technical scheme of the invention is divided into a client and a cloud server (server). The client is a vehicle-integrated high-precision positioning SDK (Software Development Kit), has positioning capability of combining multiple sensors to resolve higher precision and higher real-time performance, and has a network communication module for interacting with the server. A server side: the method comprises the steps of providing a high-precision map for dynamically dividing electronic fences at the road junctions; the system has big data processing capacity, and judges and monitors abnormal behaviors of the vehicle according to a decision algorithm; the method has the capacity of storing big data; the method has the capability of interacting information with the high-precision positioning SDK through the network. The high-precision SDK uploads the ID of the vehicle and the high-precision position information resolved by fusion including a positioning result zone bit, the vehicle speed, lane information and the like to the cloud server at regular time through the network module. The cloud server is matched with the high-precision map to check whether the vehicle enters the electronic fence or not, once the vehicle enters the fence, whether violation behaviors exist in the vehicle or not is judged by applying a specific decision algorithm according to the collected information, all information of the vehicle is stored in the data center when the violation vehicle is detected, and meanwhile the cloud server can generate specific warning information in real time and send the warning information to the high-precision positioning SDK.
The technical scheme of the invention is as follows:
a system for monitoring vehicles passing through an intersection comprises a client and a cloud server, wherein the client receives differential data to calculate high-precision position information; the cloud server dynamically divides the electronic fence at the intersection, collects high-precision position information and vehicle information, judges whether the vehicle enters the electronic fence or not by combining a high-precision map, and judges whether the vehicle behavior is abnormal or not for the vehicle entering the electronic fence.
Further, the client uploads the calculated high-precision position information and vehicle identification information to a cloud server, wherein the vehicle identification information comprises a vehicle ID or a license plate number.
Further, the cloud server generates violation and/or warning information for the vehicle with the abnormal behavior and sends the violation and/or warning information to the client.
Further, the client is a vehicle integrated high-precision positioning SDK.
Furthermore, the high-precision positioning SDK includes a client network management module, configured to receive the difference data, connect to the cloud server, and receive the warning information sent by the server.
Further, the high-precision positioning SDK further includes:
the data management module is used for providing the differential data to the SDK integrating party, receiving the high-precision position information and the sensor data injected by the SDK integrating party, transmitting the high-precision position information and the sensor data to the high-precision fusion positioning module, and outputting the corrected high-precision position information and the warning information issued by the server to the SDK integrating party;
and the high-precision fusion module is used for fusing the sensor data to correct the high-precision position information to obtain the corrected high-precision position information and transmitting the corrected high-precision position information to the data management module.
Furthermore, the high-precision positioning SDK further comprises an external interface service module, and the data management module performs information transmission with the SDK integration party through the external interface service module.
Further, the client receives the differential data through the high-precision SDK, and injects the differential data into a chip supporting differential calculation or an algorithm to calculate the high-precision position information.
Further, the sensor data includes inertial sensor data, steering wheel angle sensor data, and four-wheel sensor data.
Further, the high-precision fusion module corrects the high-precision position information by fusing inertial sensor data at a sampling frequency of 200Hz, steering wheel angle sensor data at a sampling frequency of 20Hz, and four-wheel speed sensor data at a sampling frequency of 20 Hz.
Furthermore, on the basis of the high-precision position obtained by differential calculation, integrating correction is carried out on the high-precision position by fusing data of multiple types of sensors, and position information with higher precision is obtained.
Further, the cloud server comprises:
the cloud network management module is used for being connected with the client, issuing differential data of the area where the vehicle is located, collecting vehicle information and issuing warning information to the client;
the data processing module is used for collecting the corrected high-precision position information uploaded by the client, judging whether the vehicle enters the electronic fence or not by combining a high-precision map, generating warning information for the vehicle with abnormal behavior, issuing the warning information to the client and transmitting the information of the vehicle with abnormal behavior to the data storage module;
the differential data broadcasting module is used for acquiring the corrected high-precision position information from the data processing module and sending differential data to the client through the cloud network management module;
the data storage module is used for storing information of the vehicle with abnormal behavior;
and the high-precision map module is used for storing a high-precision map.
The invention also provides a method for monitoring the vehicle passing through the intersection, wherein the client receives the differential data to calculate high-precision position information, corrects the high-precision position information by fusing sensor data, and uploads the corrected high-precision position information and the vehicle information to the cloud server; the cloud server dynamically divides the electronic fence for the intersection, collects the corrected high-precision position information and the vehicle information, judges whether the vehicle enters the electronic fence or not by combining a high-precision map, judges whether the vehicle behavior is abnormal or not for the vehicle entering the electronic fence, and generates violation and/or warning information for the vehicle with the abnormal behavior and sends the violation and/or warning information to the client side for storage.
Furthermore, the generated violation and/or warning information is issued to the high-precision SDK of the client in real time, and the SDK integrator can push the violation and/or warning information to a vehicle driver in real time, so that the effect of real-time reminding can be achieved once violation occurs.
Further, the cloud server stores information of vehicles entering the electronic fence and judged to have the violation behaviors, wherein the information includes vehicle identification information, vehicle longitude and latitude information and vehicle speed, and the stored information of the vehicles is used for follow-up tracking and vehicle violation behavior inquiry.
Further, the sensor data includes inertial sensor data, steering wheel angle sensor data, and four-wheel sensor data; the client corrects the high-precision position information by fusing inertial sensor data with 200Hz sampling frequency, steering wheel corner sensor data with 20Hz sampling frequency and four-wheel speed sensor data with 20Hz sampling frequency.
The invention also provides a memory, in which a computer program is stored, the computer program performing the steps of:
the client receives the differential data to calculate high-precision position information, corrects the high-precision position information by fusing sensor data, and uploads the corrected high-precision position information and vehicle information to the cloud server;
the cloud server dynamically divides the electronic fence for the intersection, collects the corrected high-precision position information and the vehicle information, judges whether the vehicle enters the electronic fence or not by combining a high-precision map, judges whether the vehicle behavior is abnormal or not for the vehicle entering the electronic fence, and generates warning information for the vehicle with the abnormal behavior and sends the warning information to the client side for storage.
The invention has the following beneficial effects:
(1) with the development of fire heat of intelligent driving, high-precision positioning is one of the necessary capacities of intelligent driving, so that the feasibility of the scheme is high when the vehicle is preassembled, compared with the traditional scheme, the arrangement of equipment such as a camera, a velometer and the like at an intersection can be reduced, and the budget is greatly saved;
(2) the server side dynamically demarcates the fence, so that the problem that the monitoring area of the existing scheme is fixed and limited can be solved, the monitoring area of the scheme can be flexibly adjusted, and the monitoring effect is more efficient;
(3) high accuracy SDK passes through network module access difference data and can solve out GNSS high accuracy position, including SDK fuses 200Hz sampling frequency's inertial sensor data, 20Hz sampling frequency's steering wheel corner sensor data, 20Hz sampling frequency's four-wheel speed sensor data for revise the high accuracy positioning result, calculate the higher real-time fusion result of higher precision, not only on spacious road surface, all can reach centimetre level location in scenes such as city high frame, tunnel, city canyon.
(4) The high-precision SDK has real-time interaction capacity and can cultivate good travel habits of drivers. The dynamic information of the vehicle can be completely collected when the vehicle passes through the intersection without decelerating, and the vehicle is subjected to illegal lane changing and lane overtaking and jamming at the intersection, whether the vehicle is in an illegal behavior is judged and processed by utilizing the cloud big data, and for the driver who passes through the intersection without the deceleration habit, often illegally changes the lane and overtakes the lane jamming, the server end can timely send the warning information to the high-precision SDK, the information can be pushed to the driver in real time, meanwhile, the data of the server end can be provided for local traffic police, and the driver can send an electronic violation ticket and the like to the illegal vehicle according to relevant punishment regulations.
Drawings
FIG. 1 is a block diagram of a system for monitoring the passage of vehicles through an intersection in accordance with the present invention;
FIG. 2 is a diagram of a high precision SDK of the present invention;
fig. 3 is a structural diagram of the cloud server.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
The first embodiment is as follows:
fig. 1 is a structural diagram of a system for monitoring vehicle passing through an intersection according to the present invention, which includes two parts, namely a high-precision positioning SDK and a cloud server.
One, high precision positioning SDK
The high-precision positioning SDK has the positioning capacity of fusing various sensors, the high-precision position of the GNSS can be calculated by accessing differential data through a network module, the SDK fuses inertial sensor data with 200Hz sampling frequency, steering wheel corner sensor data with 20Hz sampling frequency and four-wheel speed sensor data with 20Hz sampling frequency to correct the high-precision positioning result, and the higher-precision and higher-real-time fusion result is calculated, so that the high-precision and higher-real-time positioning SDK can reach centimeter-level positioning in urban overhead, tunnel, urban canyon and other scenes; the SDK is provided with a network management module, can receive differential data to calculate high-precision positioning, can upload vehicle identification information including information such as an ID number, a license plate number, longitude and latitude, a positioning result zone bit and a vehicle speed of a vehicle to a server at regular time, and can receive vehicle violation and warning information issued by the server in real time and push the violation and warning information to a vehicle driver. The driver is informed in real time once the vehicle has the violation behavior, so that the violation behavior of the driver can be corrected in real time, and traffic accidents can be effectively reduced.
The high-precision positioning SDK consists of the following 4 parts: an external interface service module, a client network management module, a data management module, and a high-precision fusion module, and a schematic diagram is shown in fig. 2.
1) External interface service module: receiving key information required by fusion high-precision positioning, wherein the key information comprises a high-precision positioning result and sensor data; and outputting fused high-precision positioning information, differential data for improving the positioning precision of the chip and violation and warning information when the vehicle behavior is abnormal. For vehicles that have violated the rule, the SDK notifies the driver of the violation; for the vehicle with abnormal behavior or bad driving behavior, the SDK informs the driver of warning information, and the warning information comprises the bad driving behaviors of prompting the driver that the vehicle passes through the intersection without speed reduction, the intersection breaks rule and changes lanes, the lane is robbed and the traffic is added.
2) A client network management module: the system is connected with a cloud server through a network, and uploads the longitude and latitude of the area to obtain corresponding differential data; uploading the information of the vehicle to a server side; and receiving information sent by the server, wherein the information comprises warning information when the vehicle behavior is abnormal.
3) A data management module: providing the difference data acquired by the network module to an integrator in a callback function mode for injecting a positioning chip supporting high-precision calculation so as to calculate a high-precision position with the precision reaching centimeter level; receiving high-precision position information and sensor data injected by an integration party, and transmitting the high-precision position information and the sensor data to a high-precision fusion module; and outputting the fused high-precision position information to the SDK integration party and the vehicle abnormity warning information issued by the server in a callback mode.
4) High-precision fusion module: for high-precision positioning information injected per second, the high-precision fusion unit is used for fusing the positioning information at a frequency of 200 Hz: 20 Hz: and continuously correcting the high-precision positioning result by using the inertial sensor data, the steering wheel angle sensor data and the four-wheel speed sensor data at 20Hz, calculating to obtain a higher-precision fusion result, and transmitting the result to the data management module.
The specific embodiment of the high-precision fusion module is as follows:
(1) acquiring high-precision positioning information subjected to differential calculation from a data management module to obtain absolute position information of the vehicle;
(2) and integrating the high-precision positioning result to calculate the relative position by integral operation according to the speed of the vehicle and the driving direction of the vehicle on the basis of differential calculation high-precision positioning.
(3) The speed of the vehicle is calculated by using the speed of the four wheels, which are transmitted by the four-wheel speed sensor, and the values of the accelerometer.
(4) And respectively calculating the course angle and the pitch angle of the vehicle according to the advancing direction of the vehicle, and fusing and calculating the information of the driving direction according to the two values. And calculating to obtain a course angle by using a value transmitted by a steering wheel angle sensor and a value of a gyroscope sensor, and calculating to obtain a pitch angle by using data of two types of sensors, namely an accelerometer and a gyroscope.
(5) And decomposing the obtained differential calculation high-precision position into an X, Y axis as an absolute position, decomposing the fusion calculation into two dimensions of an X, Y axis, integrating the relative speed in the two dimensions of an X, Y axis to obtain an X, Y axis component of the relative displacement, and fusing and calculating the position information with higher precision and higher frequency. The positive direction of the X axis is east along the latitude line, and the positive direction of the Y axis is north along the longitude line.
(6) One difference high-precision position is injected into the device every second, 20 fused and calculated relative positions are calculated every second, and 10 accelerometer sensor values, 10 gyroscope sensor values, 1 steering wheel angle sensor data and 1 four-wheel speed sensor value are used for calculation every time.
(7) The high-precision position of differential solution is used as an absolute position to continuously determine the initial coordinate of each second and correct the drift error of fusion positioning, and the data of the various sensors are fused and positioned to output position information with higher precision and higher frequency, so that the defect that the positioning result is not fine enough is compensated.
Second, cloud server
The cloud server is provided with a network management module, ensures real-time information interaction with the high-precision SDK, and is mainly used for issuing differential data, issuing warning information and collecting vehicle information; the method is provided with a high-precision map, and supports the dynamic division of electronic fences for each intersection on the high-precision map; the system has big data processing capacity, and after a vehicle enters a fence, the abnormal behavior of the vehicle is monitored and judged by using a specific decision algorithm according to the collected information such as the vehicle ID, the longitude and latitude, the positioning result zone bit, the vehicle speed and the like; the vehicle monitoring system is provided with a data storage module, can store a large amount of vehicle information, and stores all information of the vehicle for the monitored abnormal vehicle.
The cloud server comprises 5 parts: the system comprises a cloud network management module, a differential data broadcasting module, a data processing module, a data storage module and a high-precision map module. The structure of the cloud server is shown in fig. 3.
1) Cloud network management module: keeping network connection with the high-precision SDK, and issuing differential data of the area where the vehicle is located; collecting vehicle information; and issuing warning information when the vehicle behavior is abnormal in real time.
2) The differential data broadcasting module: and acquiring the position information of the connected high-precision positioning SDK from the data processing module, and issuing differential data to the high-precision positioning SDK through the network management module.
3) A data processing module: and collecting vehicle information uploaded by the high-precision SDK, judging whether the position information uploaded by the SDK enters the fence or not by combining a high-precision map, and judging whether the behavior of the vehicle is abnormal or not according to a specific decision algorithm for the vehicle entering the fence. And generating corresponding warning information for the vehicle with the abnormal behavior, issuing the warning information to the high-precision positioning SDK through the network management module, and pushing all information of the vehicle with the abnormal behavior to the data storage module.
4) High-precision map module: the high-precision map is stored, and an administrator can dynamically increase and adjust the electronic fence according to the high-precision map.
5) A data storage module: all the information of the vehicles with abnormal behaviors sent by the data processing module is stored for later inquiry and can also be provided for a traffic police department to correspondingly penalize and educate the owners of the abnormal vehicles according to the information according to local regulations.
Example two:
the invention also provides a method for monitoring the vehicle passing through the intersection, wherein the client receives the differential data to calculate high-precision position information, corrects the high-precision position information by fusing sensor data, and uploads the corrected high-precision position information and the vehicle information to the cloud server; the cloud server dynamically divides the electronic fence for the intersection, collects the corrected high-precision position information and the vehicle information, judges whether the vehicle enters the electronic fence or not by combining a high-precision map, judges whether the vehicle behavior is abnormal or not for the vehicle entering the electronic fence, and generates warning information for the vehicle with the abnormal behavior and sends the warning information to the client side for storage.
Preferably, the sensor data includes inertial sensor data, steering wheel angle sensor data, and four-wheel sensor data; the client corrects the high-precision position information by fusing inertial sensor data with 200Hz sampling frequency, steering wheel corner sensor data with 20Hz sampling frequency and four-wheel speed sensor data with 20Hz sampling frequency.
Example three:
the invention also provides a memory storing a computer program executed by a processor to perform the steps of:
the client receives the differential data to calculate high-precision position information, corrects the high-precision position information by fusing sensor data, and uploads the corrected high-precision position information and vehicle information to the cloud server;
the cloud server dynamically divides the electronic fence for the intersection, collects the corrected high-precision position information and the vehicle information, judges whether the vehicle enters the electronic fence or not by combining a high-precision map, judges whether the vehicle behavior is abnormal or not for the vehicle entering the electronic fence, and generates warning information for the vehicle with the abnormal behavior and sends the warning information to the client side for storage.
The high-precision SDK is preferably developed by using C language; the cloud server recommends the development by using Java language, and the cloud database preferably stores vehicle data and the like by using MongoDB.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (17)
1. A system for monitoring vehicles passing through an intersection is characterized by comprising a client and a cloud server, wherein the client receives differential data to calculate high-precision position information; the cloud server dynamically divides the electronic fence at the intersection, collects high-precision position information and vehicle information, judges whether the vehicle enters the electronic fence or not by combining a high-precision map, and judges whether the vehicle behavior is abnormal or not for the vehicle entering the electronic fence.
2. The system for monitoring the vehicle passing through the intersection as claimed in claim 1, wherein the client uploads the calculated high-precision position information and vehicle identification information to the cloud server, and the vehicle identification information comprises a vehicle ID or a license plate number.
3. The system for monitoring the vehicle passing through the intersection as claimed in claim 2, wherein the cloud server generates violation and/or warning information for the vehicle with abnormal behavior and sends the violation and/or warning information to the client.
4. The system of claim 3, wherein the client is a vehicle-integrated high-precision positioning (SDK).
5. The system of claim 4, wherein the SDK comprises a client network management module for receiving the differential data, connecting to a cloud server, and receiving the warning information from the server.
6. The system for monitoring vehicle passage through an intersection as recited in claim 5, wherein said high precision positioning SDK further comprises:
the data management module is used for providing the differential data to the SDK integrating party, receiving the high-precision position information and the sensor data injected by the SDK integrating party, transmitting the high-precision position information and the sensor data to the high-precision fusion positioning module, and outputting the corrected high-precision position information and the warning information issued by the server to the SDK integrating party;
and the high-precision fusion module is used for fusing the sensor data to correct the high-precision position information to obtain the corrected high-precision position information and transmitting the corrected high-precision position information to the data management module.
7. The system for monitoring the vehicle passing through the intersection as claimed in claim 6, wherein the high-precision positioning SDK further comprises an external interface service module, and the data management module performs information transmission with the SDK integration party through the external interface service module.
8. The system for monitoring the vehicle passing through the intersection as claimed in claim 7, wherein the client receives the differential data through the high-precision SDK, and injects the differential data into a chip or an algorithm supporting differential solution to calculate the high-precision position information.
9. The system for monitoring the passage of a vehicle through an intersection of claim 7, wherein the sensor data comprises inertial sensor data, steering wheel angle sensor data, and four-wheel sensor data.
10. The system of claim 9, wherein the high accuracy fusion module corrects the high accuracy position information by fusing inertial sensor data at a 200Hz sampling frequency, steering wheel angle sensor data at a 20Hz sampling frequency, and four wheel speed sensor data at a 20Hz sampling frequency.
11. The system for monitoring the vehicle passing through the intersection according to claim 10, wherein on the basis of the high-precision position obtained by the differential solution, the high-precision position is subjected to integral correction by fusing multiple types of sensor data, so that position information with higher precision is obtained.
12. The system of claim 3, wherein the cloud server comprises:
the cloud network management module is used for being connected with the client, issuing differential data of the area where the vehicle is located, collecting vehicle information and issuing warning information to the client;
the data processing module is used for collecting the corrected high-precision position information uploaded by the client, judging whether the vehicle enters the electronic fence or not by combining a high-precision map, generating warning information for the vehicle with abnormal behavior, issuing the warning information to the client and transmitting the information of the vehicle with abnormal behavior to the data storage module;
the differential data broadcasting module is used for acquiring the corrected high-precision position information from the data processing module and sending differential data to the client through the cloud network management module;
the data storage module is used for storing information of the vehicle with abnormal behavior;
and the high-precision map module is used for storing a high-precision map.
13. A method for monitoring vehicles passing through an intersection is characterized in that a client receives differential data to calculate high-precision position information, the high-precision position information is corrected by fusing sensor data, and the client uploads the corrected high-precision position information and vehicle information to a cloud server; the cloud server dynamically divides the electronic fence for the intersection, collects the corrected high-precision position information and the vehicle information, judges whether the vehicle enters the electronic fence or not by combining a high-precision map, judges whether the vehicle behavior is abnormal or not for the vehicle entering the electronic fence, and generates violation and/or warning information for the vehicle with the abnormal behavior and sends the violation and/or warning information to the client side for storage.
14. The method for monitoring the vehicle passing through the intersection as claimed in claim 13, wherein the generated violation and/or warning information is issued to the high-precision SDK of the client in real time, and the SDK integrator can push the violation and/or warning information to the vehicle driver in real time, so as to achieve the effect of real-time reminding once the violation occurs.
15. The method as claimed in claim 13, wherein the cloud server stores information of vehicles entering the electronic fence and determined to have the violation, including vehicle identification information, vehicle latitude and longitude information, vehicle speed, and vehicle information stored for subsequent tracking and querying of the vehicle for the violation.
16. The method of monitoring vehicle passage through an intersection of claim 13, wherein the sensor data comprises inertial sensor data, steering wheel angle sensor data, and four-wheel sensor data; the client corrects the high-precision position information by fusing inertial sensor data with 200Hz sampling frequency, steering wheel corner sensor data with 20Hz sampling frequency and four-wheel speed sensor data with 20Hz sampling frequency.
17. A memory storing a computer program, the computer program performing the steps of:
the client receives the differential data to calculate high-precision position information, corrects the high-precision position information by fusing sensor data, and uploads the corrected high-precision position information and vehicle information to the cloud server;
the cloud server dynamically divides the electronic fence for the intersection, collects the corrected high-precision position information and the vehicle information, judges whether the vehicle enters the electronic fence or not by combining a high-precision map, judges whether the vehicle behavior is abnormal or not for the vehicle entering the electronic fence, and generates warning information for the vehicle with the abnormal behavior and sends the warning information to the client side for storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811136486.6A CN110956809A (en) | 2018-09-27 | 2018-09-27 | System and method for monitoring vehicle passing intersection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811136486.6A CN110956809A (en) | 2018-09-27 | 2018-09-27 | System and method for monitoring vehicle passing intersection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110956809A true CN110956809A (en) | 2020-04-03 |
Family
ID=69975320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811136486.6A Pending CN110956809A (en) | 2018-09-27 | 2018-09-27 | System and method for monitoring vehicle passing intersection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110956809A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113611131A (en) * | 2021-07-22 | 2021-11-05 | 上汽通用五菱汽车股份有限公司 | Vehicle passing method, device, equipment and computer readable storage medium |
| CN114892556A (en) * | 2021-08-16 | 2022-08-12 | 苏州工业园区科佳自动化有限公司 | Novel wisdom zebra crossing system |
| CN115985100A (en) * | 2022-12-30 | 2023-04-18 | 云控智行科技有限公司 | Method, device and equipment for generating electronic fence area of road side equipment |
| CN114892556B (en) * | 2021-08-16 | 2024-04-26 | 苏州工业园区科佳自动化有限公司 | Novel wisdom zebra stripes system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103207634A (en) * | 2013-03-20 | 2013-07-17 | 北京工业大学 | Data fusion system and method of differential GPS (Global Position System) and inertial navigation in intelligent vehicle |
| CN103473929A (en) * | 2013-09-26 | 2013-12-25 | 招商局重庆交通科研设计院有限公司 | Method, device and system for monitoring vehicle violation |
| CN106327862A (en) * | 2015-06-24 | 2017-01-11 | 宝山钢铁股份有限公司 | Factory area vehicle driving safety alarm method and system based on GPS and GIS |
| CN106920392A (en) * | 2017-03-23 | 2017-07-04 | 陈树铭 | Wisdom traffic big data method and system |
| CN107067784A (en) * | 2017-06-09 | 2017-08-18 | 南京越博动力系统股份有限公司 | A kind of urban road vehicle safety intelligence monitoring and controlling system and its monitoring method |
| CN107195186A (en) * | 2017-06-07 | 2017-09-22 | 千寻位置网络有限公司 | The method and system of Automatic Optimal crossing vehicle pass-through speed |
| CN108168544A (en) * | 2017-12-02 | 2018-06-15 | 山东大学 | Track grade positioning method of work and system and device are efficiently merged in Big Dipper enhancing inertial navigation |
-
2018
- 2018-09-27 CN CN201811136486.6A patent/CN110956809A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103207634A (en) * | 2013-03-20 | 2013-07-17 | 北京工业大学 | Data fusion system and method of differential GPS (Global Position System) and inertial navigation in intelligent vehicle |
| CN103473929A (en) * | 2013-09-26 | 2013-12-25 | 招商局重庆交通科研设计院有限公司 | Method, device and system for monitoring vehicle violation |
| CN106327862A (en) * | 2015-06-24 | 2017-01-11 | 宝山钢铁股份有限公司 | Factory area vehicle driving safety alarm method and system based on GPS and GIS |
| CN106920392A (en) * | 2017-03-23 | 2017-07-04 | 陈树铭 | Wisdom traffic big data method and system |
| CN107195186A (en) * | 2017-06-07 | 2017-09-22 | 千寻位置网络有限公司 | The method and system of Automatic Optimal crossing vehicle pass-through speed |
| CN107067784A (en) * | 2017-06-09 | 2017-08-18 | 南京越博动力系统股份有限公司 | A kind of urban road vehicle safety intelligence monitoring and controlling system and its monitoring method |
| CN108168544A (en) * | 2017-12-02 | 2018-06-15 | 山东大学 | Track grade positioning method of work and system and device are efficiently merged in Big Dipper enhancing inertial navigation |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113611131A (en) * | 2021-07-22 | 2021-11-05 | 上汽通用五菱汽车股份有限公司 | Vehicle passing method, device, equipment and computer readable storage medium |
| CN114892556A (en) * | 2021-08-16 | 2022-08-12 | 苏州工业园区科佳自动化有限公司 | Novel wisdom zebra crossing system |
| CN114892556B (en) * | 2021-08-16 | 2024-04-26 | 苏州工业园区科佳自动化有限公司 | Novel wisdom zebra stripes system |
| CN115985100A (en) * | 2022-12-30 | 2023-04-18 | 云控智行科技有限公司 | Method, device and equipment for generating electronic fence area of road side equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111524357B (en) | Method for fusing multiple data required for safe driving of vehicle | |
| CN110832474B (en) | Method for updating high-definition map | |
| CN111524362B (en) | Vehicle safety driving guarantee system and method based on multi-data fusion | |
| US11036238B2 (en) | Positioning system based on geofencing framework | |
| US20200336541A1 (en) | Vehicle Sensor Data Acquisition and Distribution | |
| CN112712717B (en) | Information fusion method, device and equipment | |
| US10713148B2 (en) | Using divergence to conduct log-based simulations | |
| US20180257660A1 (en) | Long Range Path Prediction and Target Classification Algorithm using connected vehicle data and others | |
| TWI717102B (en) | Traffic condition system for internet of vehicles based on image recognition | |
| US11170639B2 (en) | Transportation threat detection system | |
| CN108766031B (en) | Method and device for detecting lane obstacle | |
| CN113748316B (en) | System and method for vehicle telemetry | |
| US11408739B2 (en) | Location correction utilizing vehicle communication networks | |
| JP2021099793A (en) | Intelligent traffic control system and control method for the same | |
| CN113848921B (en) | Method and system for cooperative sensing of vehicles Lu Yun | |
| CN111693055B (en) | Road network change detection and local propagation of detected changes | |
| CN113997950A (en) | Vehicle control device and vehicle control method | |
| CN112829753A (en) | Millimeter-wave radar-based guardrail estimation method, vehicle-mounted equipment and storage medium | |
| CN110956809A (en) | System and method for monitoring vehicle passing intersection | |
| CN115808924A (en) | Method and system for a vehicle | |
| US20110037617A1 (en) | System and method for providing vehicular safety service | |
| CN112414416A (en) | ADAS map data system based on four-level automatic driving high precision | |
| CN112233442A (en) | Backward running early warning method and system applied to vehicle | |
| WO2023064099A1 (en) | Advanced driver-assistance systems feature activation control using digital map and on-board sensing to confirm safe vehicle operation | |
| CN104008652A (en) | Vehicle monitoring system based on integrated navigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 200438 9 / F, 10 / F, 11 / F, 12 / F, 38 Lane 1688, Guoquan North Road, Yangpu District, Shanghai Applicant after: QIANXUN SPATIAL INTELLIGENCE Inc. Address before: Room j165, 1st floor, building 64, 1436 Jungong Road, Yangpu District, Shanghai, 200433 Applicant before: QIANXUN SPATIAL INTELLIGENCE Inc. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200403 |