CN111063203A - Method and system for judging low-speed state of vehicle on highway - Google Patents
Method and system for judging low-speed state of vehicle on highway Download PDFInfo
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- CN111063203A CN111063203A CN201911402668.8A CN201911402668A CN111063203A CN 111063203 A CN111063203 A CN 111063203A CN 201911402668 A CN201911402668 A CN 201911402668A CN 111063203 A CN111063203 A CN 111063203A
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- 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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
Abstract
The application discloses a method and a system for judging a low-speed state of a vehicle on a highway, comprising the following steps: after the track data of the target vehicle is filtered, judging the vehicle state; if the vehicle state is a low-speed state, determining the position, the highway and the state starting time of the target vehicle when the low-speed state starts, and judging the road section where the vehicle is located; if the target vehicle is a vehicle which is not to be excluded, determining track data of the calculation vehicle around the target vehicle according to the position of the starting state, the highway and the starting time of the state; determining a comparison condition corresponding to the vehicle state according to the calculated trajectory data of the vehicle; and judging the low-speed state of the target vehicle according to the state of the target vehicle and the corresponding comparison condition, and giving an alarm. The implementation mode of this application can not rely on external equipment, and is with low costs, have strong real-time, can monitor the vehicle of all ranges, and help driver corrects the wrong behavior vehicle and driver provides help, reduces the potential safety hazard in the high speed.
Description
Technical Field
The present application relates to the field of vehicle monitoring, and more particularly, to a method and system for determining a low speed state of a vehicle on a highway.
Background
The existing method for judging the vehicles running at low speed on the expressway mostly depends on external equipment such as a velometer, a video recorder and a controller, has high cost and low detection density, and the judgment is only for evidence obtaining and does not provide help for the vehicles.
In summary, it is desirable to provide a method and system that is independent of external devices, low in cost, high in detection density, and capable of providing driver with help.
Disclosure of Invention
To solve the above problems, the present application proposes a method and system for determining a low speed state of a vehicle on a highway.
In one aspect, the present application provides a method for determining a low speed state of a vehicle on a highway, comprising:
after the track data of the target vehicle is filtered, judging the vehicle state;
if the vehicle state is a low-speed state, determining the position, the highway and the state starting time of the target vehicle when the low-speed state starts, and judging the road section where the vehicle is located;
if the target vehicle is a vehicle which is not to be excluded, determining the track data of the calculation vehicle around the target vehicle according to the position of the starting state, the highway and the starting time of the state;
determining a comparison condition corresponding to a vehicle state according to the calculated trajectory data of the vehicle;
and judging the low-speed state of the target vehicle according to the state of the target vehicle and the corresponding comparison condition, and giving an alarm.
Preferably, after filtering the trajectory data of the target vehicle, determining the vehicle state includes:
acquiring track data of a target vehicle in real time, and filtering the speed and the position in the track data;
determining the running speed of the target vehicle within the state judgment time according to the filtered track data;
and if the running speed does not exceed the judgment threshold range, the vehicle state of the target vehicle is a low-speed state.
Preferably, the determining trajectory data of the calculation vehicle around the target vehicle according to the position where the state starts, the highway where the state starts, and the state start time includes:
according to the position of the target vehicle when the state starts, the high speed road and the state starting time, acquiring a first section of vehicles which are in the same high speed road as the target vehicle and run in the same direction with the target vehicle within a first range of the target vehicle stopping point in the first low speed state time period of the target vehicle;
removing vehicles to be excluded from the first section of vehicles to obtain track data of the first section of calculated vehicles;
according to the position of the target vehicle when the state starts, the high speed road and the state starting time, acquiring a second section of vehicles which are in the same high speed road as the target vehicle and run in the same direction with the target vehicle within the first range of the target vehicle stopping point in the second low-speed state time period of the target vehicle;
removing vehicles to be excluded from the second section of vehicles to obtain track data of a second section of calculated vehicles;
acquiring a third section of vehicles which run in the same direction and are on the same highway as the target vehicle and have the positions within the first range of the stop point of the target vehicle in the third low-speed state time period of the target vehicle according to the position of the start of the state, the highway and the state start time;
and removing the vehicles to be excluded from the third section of vehicles to obtain the track data of the third section of calculated vehicles.
Preferably, the determining a comparison condition corresponding to a vehicle state according to the trajectory data of the calculated vehicle includes:
if the target vehicle is in a low-speed state, calculating the track data of the vehicle according to the first section, and calculating the average speed and the standard deviation of the first section of the calculated vehicle to obtain a first threshold value; calculating the average speed and the standard deviation of the vehicle calculated in the second section according to the trajectory data of the vehicle calculated in the second section to obtain a second threshold value; and calculating the track data of the vehicle according to the third section, and calculating the average speed and the standard deviation of the vehicle calculated by the third section to obtain a third threshold value.
Preferably, the determining the low speed state of the target vehicle according to the state of the target vehicle and the corresponding comparison condition includes:
judging whether the vehicle speed of the target vehicle in each low-speed state time period is smaller than a first threshold, a second threshold and a third threshold corresponding to the time period;
and if the speed is less than the first speed, the target vehicle is in a first low-speed state.
Preferably, if the trajectory data of the first segment of vehicle, the second segment of vehicle and the third segment of vehicle cannot be acquired, the target vehicle is in the first low-speed state.
Preferably, the alarm includes:
and continuously alarming the driver of the target vehicle in the first low-speed state until the speed of the target vehicle exceeds an abnormal threshold value and the duration exceeds the abnormal judgment time.
Preferably, the method for determining the first threshold, the second threshold and the third threshold includes:
the average speed of the vehicle over the same time period is subtracted from twice the standard deviation.
Preferably, the method for determining vehicles to be excluded includes:
and determining vehicles parked in a second range of the service area of the expressway and/or vehicles in a retarding area according to the current calculated position of the target vehicle and the corresponding time period, so as to obtain the vehicles to be excluded.
In a second aspect, the present application provides a system for determining a low speed state of a vehicle on a highway, comprising:
the state judgment module is used for judging the vehicle state after filtering the track data of the target vehicle;
the data processing module is used for determining the position, the highway and the state starting time of the target vehicle when the low-speed state of the target vehicle starts and judging the road section where the vehicle is located when the vehicle state is the low-speed state; if the target vehicle is a vehicle which is not to be excluded, determining the track data of the calculation vehicle around the target vehicle according to the position of the starting state, the highway and the starting time of the state; determining a comparison condition corresponding to a vehicle state according to the calculated trajectory data of the vehicle;
the low-speed state judging module is used for judging the low-speed state of the target vehicle according to the state of the target vehicle and the corresponding comparison condition;
and the alarm prompt module is used for giving an alarm.
The application has the advantages that: filtering the track data of the target vehicle and judging the vehicle state; if the vehicle state is a low-speed state, determining track data of the calculation vehicles around the target vehicle according to the position of the state when the state starts, the highway where the state starts and the state starting time, determining comparison conditions corresponding to the vehicle state, judging the low-speed state of the target vehicle, giving an alarm, being independent of external equipment, low in cost, high in detection density and capable of providing help for a driver.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to denote like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic illustration of the steps of a method for determining a low speed condition of a vehicle on a highway provided by the present application;
FIG. 2 is a schematic flow chart of a method for determining a low speed condition of a vehicle on a highway provided herein;
FIG. 3 is a schematic diagram of a system for determining a low speed condition of a vehicle on a highway provided by the present application.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
According to an embodiment of the present application, there is provided a method for determining a low speed state of a vehicle on a highway, as shown in fig. 1, including:
s101, after track data of a target vehicle are filtered, judging the vehicle state;
s102, if the vehicle state is a low-speed state, determining the position, the highway and the state starting time of the target vehicle when the low-speed state starts, and judging the road section where the vehicle is located;
s103, if the target vehicle is a vehicle which is not to be excluded, determining the track data of the calculation vehicle around the target vehicle according to the position of the start of the state, the highway and the start time of the state;
s104, determining a comparison condition corresponding to the vehicle state according to the calculated track data of the vehicle;
and S105, judging the low-speed state of the target vehicle according to the state of the target vehicle and the corresponding comparison condition, and giving an alarm.
After the track data of the target vehicle is filtered, the vehicle state is judged, and the method comprises the following steps:
acquiring track data of a target vehicle in real time, and filtering the speed and the position in the track data;
determining the running speed of the target vehicle within the state judgment time according to the filtered track data;
and if the running speed does not exceed the judgment threshold range, the vehicle state of the target vehicle is a low-speed state.
Determining trajectory data of the calculation vehicle around the target vehicle according to the position where the state starts, the highway where the state starts and the state start time, wherein the trajectory data comprises:
according to the position of the target vehicle when the state starts, the high-speed road and the state starting time, acquiring a first section of vehicles which are in the same high-speed road as the target vehicle and run in the same direction with the target vehicle within a first range of the stop point of the target vehicle in the first low-speed state time period of the target vehicle;
removing vehicles to be excluded from the first section of vehicles to obtain track data of the first section of calculated vehicles;
according to the position of the target vehicle when the state starts, the high-speed road and the state starting time, acquiring a second section of vehicles which are in the same high-speed road as the target vehicle and run in the same direction with the target vehicle within the first range of the target vehicle stop point in the second low-speed state time period of the target vehicle;
removing vehicles to be excluded from the second section of vehicles to obtain track data of the second section of calculated vehicles;
according to the position of the target vehicle when the state starts, the high speed road and the state starting time, acquiring a third section of vehicles which are in the same high speed road as the target vehicle and run in the same direction with the target vehicle within the first range of the target vehicle stopping point in the third low-speed state time period of the target vehicle;
and removing the vehicles to be excluded from the third section of vehicles to obtain the track data of the third section of calculated vehicles.
Determining a comparison condition corresponding to a vehicle state according to the calculated trajectory data of the vehicle, including:
if the target vehicle is in a low-speed state, calculating the track data of the vehicle according to the first section, and calculating the average speed and the standard deviation of the vehicle calculated in the first section to obtain a first threshold value; calculating the track data of the vehicle according to the second section, and calculating the average speed and the standard deviation of the vehicle calculated in the second section to obtain a second threshold value; and calculating the track data of the vehicle according to the third section, calculating the average speed and the standard deviation of the vehicle calculated by the third section, and obtaining a third threshold value.
Judging the low-speed state of the target vehicle according to the state of the target vehicle and the corresponding comparison condition, comprising:
judging whether the speed of the target vehicle in each low-speed state time period is smaller than a first threshold, a second threshold and a third threshold corresponding to the time period;
if both are smaller, the target vehicle is in the first low speed (violation low speed) state.
If the track data of the first section of vehicle, the second section of vehicle and the third section of vehicle cannot be acquired, the target vehicle is in a first low-speed state.
An alarm, comprising:
and continuously alarming the driver of the target vehicle in the first low-speed state until the speed of the target vehicle exceeds an abnormal threshold value and the duration exceeds the abnormal judgment time.
The method for determining the first threshold, the second threshold and the third threshold comprises the following steps:
the average speed of the vehicle over the same time period is subtracted from twice the standard deviation.
The method for determining the vehicle to be excluded comprises the following steps:
and determining vehicles parked in a second range of the service area of the expressway and/or vehicles in a retarding area according to the current calculated position of the target vehicle and the corresponding time period, so as to obtain the vehicles to be excluded.
The method comprises the steps of obtaining a target vehicle on a highway according to the fact that track data of the target vehicle are matched with a road, specifically, obtaining track data of a period of time before the stop state or the low-speed state of the target vehicle starts, matching the track data with the road, judging whether the target vehicle runs on the highway, and if yes, carrying out the following steps.
The target vehicle represents each monitored vehicle that performs trajectory data acquisition and processing.
The vehicles to be excluded are vehicles which are reasonably parked and in a retarding area.
The retarding section includes: continuous curves and climbing road sections at high speed, and the like.
Next, the present embodiment will be further explained by taking a truck as an example, as shown in fig. 2.
And acquiring the track data of the target vehicle in real time, preferably, monitoring the running state of the truck through a real-time calculation engine, and acquiring terminal information of the truck every 30 seconds. The speed and position are filtered. And filtering the track information with the speed of more than 160km/h or abnormal positioning, and reserving normal track data. And judging whether the state of the truck is a low-speed state (low-speed running state) or not according to the speed in the normal track data. And if the speed of the truck is always kept in a range of more than 5km/h and less than or equal to 48km/h within 10 continuous minutes, judging that the truck is in low-speed running and entering a low-speed state.
And if the truck is judged to be in a low-speed state, matching the track data and the road data within 10 minutes of low-speed running, and filtering out the trucks which do not run at the high speed.
And screening out vehicles which run at the illegal low speed (abnormal low-speed state) on the expressway by judging the reasonable low-speed running rule of the expressway.
And (3) combining map data to manufacture a retarding area electronic fence for a certain range of areas of a continuous curve and a climbing road section at a high speed, wherein low-speed driving in the retarding area belongs to reasonable low-speed driving and is a vehicle to be excluded.
And, vehicles within the second range of the service area are parked rationally. And (3) combining map data, and making an electronic fence by taking a second range (assumed to be 500 meters) with service areas such as all gas stations, toll stations, service stations and the like at a high speed as a circle center as a radius, wherein the second range is used for filtering reasonable high-speed stop, and vehicles in the area are vehicles to be excluded.
If the truck is not in the second range of the buffer zone and/or the service zone, the following steps are performed.
And judging the low-speed state of the truck by using a mean standard deviation method. For example, the first low speed state period is 5 minutes before and after the low speed state start time, the second low speed state period is 5 minutes before and after 5 minutes after the low speed state start, and the third low speed state period is 5 minutes before and after 10 minutes after the low speed state start. That is, assuming that the start time of the low speed state is 10: 45 minutes, the first low speed state period is 10: 40-50 minutes, the second low speed state period is 10: 45-55 minutes, and the third low speed state period is 10: 50-11 minutes.
And acquiring other trucks running in the same direction in a first range (assumed to be 500 meters) of the first low-speed state time period to obtain a first-stage vehicle. And removing the vehicles to be excluded in the second range of the retarding area and/or the service area in the first section of vehicles to obtain the first section of vehicles. The mean (average _ speed0) and standard deviation (speed _ std0) of the speed of the first segment of the vehicle are calculated. If the target vehicle speed sp0 satisfies sp0 smaller than the first threshold, the target vehicle speed is considered to be an abnormally low speed state. The determination method of the first threshold is average _ speed0-2 speed _ std 0.
Similarly, the method is applied to the second low-speed state time period and the third low-speed state time period, and if the speed is judged to be the abnormal low-speed state by the rule for three times, the target truck is judged to belong to the first low-speed state. Otherwise, judging that the region is traffic jam, and enabling the target truck to belong to a second low-speed state. If the tracks of other trucks cannot be called, the target truck is directly judged to belong to the first low-speed state (illegal low speed).
For the target vehicle (target truck) determined to be in the second low-speed state, it is also necessary to record the cause of the non-alarm.
And for the truck judged to be running on the expressway in the first low-speed state, the cloud platform gives an alarm to a truck driver through the truck terminal, so that the driver is prompted to recover the normal speed as soon as possible or find the nearest service area to rest and stop.
Preferably, the warning is stopped every 5 minutes until the driver's speed returns above 48km/h for 5 minutes or leaves the high speed.
In a second aspect, according to an embodiment of the present application, there is also provided a system for determining a low speed state of a vehicle on a highway, as shown in fig. 3, including:
the state judgment module 101 is configured to judge a vehicle state after filtering the trajectory data of the target vehicle;
the data processing module 102 is configured to determine, when the vehicle state is a low-speed state, a location where the low-speed state of the target vehicle starts, a highway where the low-speed state of the target vehicle starts, and a state starting time, and determine a road section and an area where the vehicle is located; if the target vehicle is a vehicle which is not to be excluded, determining track data of the calculation vehicle around the target vehicle according to the position of the starting state, the highway and the starting time of the state; determining a comparison condition corresponding to the vehicle state according to the calculated trajectory data of the vehicle;
the low-speed state judging module 103 is used for judging the low-speed state of the target vehicle according to the state of the target vehicle and the corresponding comparison condition;
and the alarm prompting module 104 is used for alarming. And for the truck judged to be running on the expressway in the first low-speed state, the cloud platform gives an alarm to a truck driver through the truck terminal, so that the driver is prompted to recover the normal speed as soon as possible or find the nearest service area to rest and stop.
Preferably, the warning is stopped every 5 minutes until the driver's speed returns above 48km/h for 5 minutes or leaves the high speed.
Assuming that a truck starts to run on the expressway at a low speed of 07:42:02, the truck is continuously monitored, the low speed running is carried out for 10 minutes, data processing and judgment are carried out on the truck, finally, the truck is judged to be in a first low speed state, an alarm is issued, and a driver immediately restores the speed to a normal level.
According to the method, the track data of the target vehicle are filtered, and the vehicle state is judged; if the vehicle state is a low-speed state, determining track data of the calculation vehicles around the target vehicle according to the position of the vehicle when the state starts, the highway where the vehicle is located and the state starting time, determining comparison conditions corresponding to the vehicle state, judging the low-speed state of the target vehicle, giving an alarm, being independent of external equipment, low in cost, strong in real-time performance, capable of monitoring vehicles in all ranges, large in detection density, wide in range, capable of giving real-time reminding to the truck which is judged to run at the first low speed, helping a driver to correct misbehaving vehicles and help the driver, and reducing potential safety hazards at high speed.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for determining a low speed state of a vehicle on a highway, comprising:
after the track data of the target vehicle is filtered, judging the vehicle state;
if the vehicle state is a low-speed state, determining the position, the highway and the state starting time of the target vehicle when the low-speed state starts, and judging the road section where the vehicle is located;
if the target vehicle is a vehicle which is not to be excluded, determining the track data of the calculation vehicle around the target vehicle according to the position of the starting state, the highway and the starting time of the state;
determining a comparison condition corresponding to a vehicle state according to the calculated trajectory data of the vehicle;
and judging the low-speed state of the target vehicle according to the state of the target vehicle and the corresponding comparison condition, and giving an alarm.
2. The method of claim 1, wherein the filtering the trajectory data of the target vehicle to determine the vehicle state comprises:
acquiring track data of a target vehicle in real time, and filtering the speed and the position in the track data;
determining the running speed of the target vehicle within the state judgment time according to the filtered track data;
and if the running speed does not exceed the judgment threshold range, the vehicle state of the target vehicle is a low-speed state.
3. The method of claim 1, wherein determining trajectory data of the computed vehicles around the target vehicle based on the location where the state begins, the highway where the state begins, and the state start time comprises:
according to the position of the target vehicle when the state starts, the high speed road and the state starting time, acquiring a first section of vehicles which are in the same high speed road as the target vehicle and run in the same direction with the target vehicle within a first range of the target vehicle stopping point in the first low speed state time period of the target vehicle;
removing vehicles to be excluded from the first section of vehicles to obtain track data of the first section of calculated vehicles;
according to the position of the target vehicle when the state starts, the high speed road and the state starting time, acquiring a second section of vehicles which are in the same high speed road as the target vehicle and run in the same direction with the target vehicle within the first range of the target vehicle stopping point in the second low-speed state time period of the target vehicle;
removing vehicles to be excluded from the second section of vehicles to obtain track data of a second section of calculated vehicles;
acquiring a third section of vehicles which run in the same direction and are on the same highway as the target vehicle and have the positions within the first range of the stop point of the target vehicle in the third low-speed state time period of the target vehicle according to the position of the start of the state, the highway and the state start time;
and removing the vehicles to be excluded from the third section of vehicles to obtain the track data of the third section of calculated vehicles.
4. The method of claim 3, wherein determining a comparison condition corresponding to a vehicle state from the calculated vehicle trajectory data comprises:
if the target vehicle is in a low-speed state, calculating the track data of the vehicle according to the first section, and calculating the average speed and the standard deviation of the first section of the calculated vehicle to obtain a first threshold value; calculating the average speed and the standard deviation of the vehicle calculated in the second section according to the trajectory data of the vehicle calculated in the second section to obtain a second threshold value; and calculating the track data of the vehicle according to the third section, and calculating the average speed and the standard deviation of the vehicle calculated by the third section to obtain a third threshold value.
5. The method of claim 3, wherein said determining a low speed state of the target vehicle based on the target vehicle state and the corresponding comparison condition comprises:
judging whether the vehicle speed of the target vehicle in each low-speed state time period is smaller than a first threshold, a second threshold and a third threshold corresponding to the time period;
and if the speed is less than the first speed, the target vehicle is in a first low-speed state.
6. The method of claim 3, wherein the target vehicle is in the first low speed state if trajectory data for the first segment of vehicles, the second segment of vehicles, and the third segment of vehicles is not available.
7. The method of claim 1, wherein the alerting comprises:
and continuously alarming the driver of the target vehicle in the first low-speed state until the speed of the target vehicle exceeds an abnormal threshold value and the duration exceeds the abnormal judgment time.
8. The method of claim 4, wherein the determining of the first, second, and third thresholds comprises:
the average speed of the vehicle over the same time period is subtracted from twice the standard deviation.
9. The method of claim 3, wherein the method of determining vehicles to be excluded comprises:
and determining vehicles parked in a second range of the service area of the expressway and/or vehicles in a retarding area according to the current calculated position of the target vehicle and the corresponding time period, so as to obtain the vehicles to be excluded.
10. A system for determining a low speed condition of a vehicle on a highway, comprising:
the state judgment module is used for judging the vehicle state after filtering the track data of the target vehicle;
the data processing module is used for determining the position, the highway and the state starting time of the target vehicle when the low-speed state of the target vehicle starts and judging the road section where the vehicle is located when the vehicle state is the low-speed state;
if the target vehicle is a vehicle which is not to be excluded, determining the track data of the calculation vehicle around the target vehicle according to the position of the starting state, the highway and the starting time of the state; determining a comparison condition corresponding to a vehicle state according to the calculated trajectory data of the vehicle;
the low-speed state judging module is used for judging the low-speed state of the target vehicle according to the state of the target vehicle and the corresponding comparison condition;
and the alarm prompt module is used for giving an alarm.
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| CN112885115A (en) * | 2021-01-12 | 2021-06-01 | 东南大学 | Guiding method for climbing lane road section |
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