CN111081030A - Method and system for judging traffic jam on expressway - Google Patents
Method and system for judging traffic jam on expressway Download PDFInfo
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- CN111081030A CN111081030A CN201911402672.4A CN201911402672A CN111081030A CN 111081030 A CN111081030 A CN 111081030A CN 201911402672 A CN201911402672 A CN 201911402672A CN 111081030 A CN111081030 A CN 111081030A
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- G08—SIGNALLING
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- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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Abstract
The application discloses a method and a system for judging traffic jam on an expressway, comprising the following steps: judging the vehicle state according to the track data of the target vehicle; determining the position, the highway and the state starting time of the target vehicle when the parking state or the low-speed state of the target vehicle starts according to the parking state or the low-speed state of the target vehicle; determining track data of the calculation vehicles around the target vehicle according to the position of the state starting time, the highway and the state starting time; determining a comparison condition corresponding to the vehicle state according to the calculated trajectory data of the vehicle; and judging whether the expressway is blocked according to the state of the target vehicle and the corresponding comparison condition. The track data of the target vehicle is monitored in real time, the vehicle state is judged according to the track data, and the track data of the calculation vehicle around the target vehicle is determined; and determining a comparison condition corresponding to the vehicle state according to the calculated track data of the vehicle, judging whether the expressway is blocked, and judging whether the expressway is blocked without depending on external equipment.
Description
Technical Field
The application relates to the field of road traffic detection, in particular to a method and a system for judging traffic jam of an expressway.
Background
Along with the progress of society and the high-speed development of economy, the living standard of people is increasingly improved, industrialization and urbanization are accelerated to promote the arrival of the automobile era, the road traffic mileage of China is increased by more than 20% every year in recent years, especially, the urban roads and the expressways are updated at a very high speed, meanwhile, the problem that traffic jam is more and more common and more people are headache due to the blowout type development of the private car market is solved, and particularly, the traffic jam of the expressways becomes a common problem during the legal festival and holiday.
In the prior art, data are collected mostly by external equipment, and real-time road conditions are usually obtained by arranging a flow monitoring device at each intersection or embedding a ground coil under the road surface. The method needs to lay a large number of hardware devices, and has the advantages of large engineering quantity, long consumed time, high cost and low density. When a certain road section is considered to be incapable of being laid in time due to new development or other reasons, traffic jam monitoring on the road section is easy to be paralyzed, namely, the traffic jam condition of the road section cannot be effectively mastered in time. Thus, a method and system for efficient monitoring is provided.
In view of the foregoing, it is desirable to provide a method and a system for determining traffic jam on a highway without depending on external devices such as a traffic monitoring device and a ground coil at an intersection.
Disclosure of Invention
In order to solve the problems, the application provides a method and a system for judging traffic jam on an expressway.
On one hand, the application provides a method for judging traffic jam on an expressway, which comprises the following steps:
judging the vehicle state according to the track data of the target vehicle;
determining the position, the highway and the state starting time of the target vehicle when the parking state or the low-speed state of the target vehicle starts according to the parking state or the low-speed state of the target vehicle;
determining the track data of the calculation vehicles around the target vehicle according to the position of the state starting time, the highway and the state starting time;
determining a comparison condition corresponding to a vehicle state according to the calculated trajectory data of the vehicle;
and judging whether the expressway is traffic jam or not according to the target vehicle state and the corresponding comparison condition.
Preferably, the determining the vehicle state according to the trajectory data of the target vehicle includes:
if the accumulated displacement of the target vehicle is smaller than the judgment displacement within the first judgment time, judging that the target vehicle is in a parking state;
and if the speed of the target vehicle is always kept in the low-speed interval within the second judgment time, judging that the target vehicle is in 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:
if the state is a parking state, determining track data of a front-section calculation vehicle and a rear-section calculation vehicle in the vehicles around the target vehicle according to the position where the state starts, the highway where the state starts and the state starting time;
and if the state is a low-speed state, determining the track data of the calculation vehicle around the target vehicle according to the positions, the highway and the corresponding time periods of the plurality of time segments after the start and the start of the state.
Preferably, if the state is a parking state, determining trajectory data of a front-segment calculation vehicle and a rear-segment calculation vehicle in the vehicles around the target vehicle according to the position where the state starts, the highway where the state starts, and the state start time, includes:
if the target vehicle is a vehicle which is not to be excluded, acquiring front-section vehicles which are on the same highway as the target vehicle and are in the same-direction running in a first time period before the starting time of the parking state of the target vehicle and are positioned in a first range of a parking point of the target vehicle;
acquiring a rear-section vehicle which runs in the same direction and is positioned in the first range of the target vehicle stop point on the same highway as the target vehicle in a second time period after the start time of the target vehicle stop state;
and removing the vehicles to be excluded from the front section vehicle and the rear section vehicle to obtain a front section calculation vehicle and a rear section calculation vehicle.
Preferably, if the state is a low speed state, determining trajectory data of the calculation vehicle around the target vehicle according to the position, the highway and the corresponding time period of the plurality of time segments after the start and the start of the state, including:
acquiring a first section of vehicles which run in the same direction and are positioned in a first range of a target vehicle stop point on the same highway as the target vehicle in a 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;
acquiring a second section of vehicles which run in the same direction on the same highway as the target vehicle and are positioned in a first range of a stop point of the target vehicle in a 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 on the same highway as the target vehicle and are positioned in a first range of a stop point of the target vehicle in a 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.
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 parking state, calculating the track data of the vehicle according to the front section, calculating the average speed of all front sections of the calculated vehicle in a first time period before the starting time of the parking state of the target vehicle to obtain a first speed, calculating the track data of the vehicle according to the rear section, and calculating the average speed of all rear sections of the calculated vehicle in a second time period after the starting time of the parking state of the target vehicle to obtain a second speed;
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 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 to obtain a second threshold value; and calculating the trajectory data of the vehicle according to the third section, and calculating the average speed and the standard deviation to obtain a third threshold value.
Preferably, the determining whether an expressway is blocked according to the target vehicle state and the corresponding comparison condition includes:
if the target vehicle is in a parking state, comparing whether the first speed and the second speed are both smaller than a speed judgment threshold value, if so, determining that the highway is traffic jam, otherwise, determining that the highway is non-traffic jam;
if the target vehicle is in a low-speed state, 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 so, judging that the target vehicle is in an abnormal low speed and a highway is not traffic jam, otherwise, judging that the highway is traffic jam.
Preferably, the method for determining the first threshold, the second threshold and the third threshold includes:
the average speed of the vehicle is calculated using the same segment and 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 according to the current calculated position of the target vehicle and the corresponding time period to obtain the vehicles to be excluded.
In a second aspect, the present application provides a system for determining traffic congestion on an expressway, including:
the state judgment module is used for judging the vehicle state according to 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 parking state or the low-speed state of the target vehicle starts according to the parking state or the low-speed state of the target vehicle; determining the track data of the calculation vehicles around the target vehicle according to the position of the state starting time, the highway and the state starting time; determining a comparison condition corresponding to a vehicle state according to the calculated trajectory data of the vehicle;
and the road judging module is used for judging whether the expressway is traffic jam or not according to the target vehicle state and the corresponding comparison condition.
The application has the advantages that: judging the vehicle state through the track data of the target vehicle, and 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; according to the calculated vehicle track data, a comparison condition corresponding to the vehicle state is determined, whether the highway is traffic jam or not is judged, and the traffic jam of the highway can be judged without depending on external equipment such as a traffic monitoring device, a ground coil and the like of the intersection.
Drawings
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 step diagram of a method for determining traffic jam on an expressway provided by the present application;
fig. 2 is a schematic flow chart of a method for determining traffic jam on an expressway provided by the present application;
fig. 3 is a schematic diagram of a system for determining traffic jam on an expressway 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, a method for determining traffic congestion on an expressway is provided, as shown in fig. 1, including:
s101, judging the vehicle state according to the track data of the target vehicle;
s102, determining the position, the highway and the state starting time of the target vehicle when the parking state or the low-speed state of the target vehicle starts according to the parking state or the low-speed state of the target vehicle;
s103, determining track data of the calculation vehicles around the target vehicle according to the position of the state starting time, the highway and the state starting time;
s104, determining a comparison condition corresponding to the vehicle state according to the calculated track data of the vehicle;
and S105, judging whether the expressway is traffic-locked or not according to the state of the target vehicle and the corresponding comparison condition.
Judging the vehicle state according to the track data of the target vehicle, comprising the following steps:
if the accumulated displacement of the target vehicle is smaller than the judgment displacement within the first judgment time, judging that the target vehicle is in a parking state;
and if the speed of the target vehicle is always kept in the low-speed interval within the second judgment time, judging that the target vehicle is in a low-speed state.
Determining trajectory data of the calculation vehicle around the target vehicle according to the position of the state start time, the highway and the state start time, wherein the trajectory data comprises the following steps:
if the state is the parking state, determining the track data of a front section calculation vehicle and a rear section calculation vehicle in the vehicles around the target vehicle according to the position where the state starts, the highway where the state starts and the state starting time;
and if the state is a low-speed state, determining the track data of the calculation vehicle around the target vehicle according to the positions, the highways and the corresponding time periods of the plurality of time segments after the start and the start of the state.
If the state is the parking state, determining the track data of the front section calculation vehicle and the rear section calculation vehicle in the vehicles around the target vehicle according to the position where the state starts, the highway where the state starts and the state starting time, wherein the track data comprises the following steps:
if the target vehicle is a vehicle which is not to be excluded, acquiring front-section vehicles which are on the same highway as the target vehicle and are in the same-direction running in a first time period before the starting time of the parking state of the target vehicle and are positioned in a first range of a parking point of the target vehicle;
acquiring a rear-section vehicle which runs in the same direction and is positioned in the first range of the target vehicle stop point on the same highway as the target vehicle in a second time period after the start time of the target vehicle stop state;
and removing the vehicles to be excluded from the front section of vehicles and the rear section of vehicles to obtain front section calculation vehicles and rear section calculation vehicles.
If the state is a low-speed state, determining the track data of the calculation vehicle around the target vehicle according to the positions, the highways and the corresponding time periods of the plurality of time segments after the start and the beginning of the state, wherein the track data comprises the following steps:
acquiring a first section of vehicles which run in the same direction and are positioned in a first range of a target vehicle stop point on the same highway as the target vehicle in a 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;
acquiring a second section of vehicles which run in the same direction on the same highway as the target vehicle and are positioned in a first range of a stop point of the target vehicle in a 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;
acquiring a third section of vehicles which run in the same direction on the same highway as the target vehicle and are positioned in a first range of a stop point of the target vehicle in a 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 parking state, calculating the track data of the vehicle according to the front section, calculating the average speed of all front section calculation vehicles in a first time period before the starting time of the parking state of the target vehicle to obtain the first speed, calculating the track data of the vehicle according to the rear section, and calculating the average speed of all rear section calculation vehicles in a second time period after the starting time of the parking state of the target vehicle to obtain the second speed;
if the target vehicle is in a low-speed state, calculating the trajectory data of the vehicle according to the first section, and calculating the average speed and the standard deviation 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 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 to obtain a third threshold value.
According to the target vehicle state and the corresponding comparison condition, whether the expressway is traffic jam is judged, which comprises the following steps:
if the target vehicle is in a parking state, comparing whether the first speed and the second speed are both smaller than a speed judgment threshold value, if so, determining that the highway is traffic jam, otherwise, determining that the highway is non-traffic jam;
if the target vehicle is in a low-speed state, 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 so, judging that the target vehicle is in an abnormal low speed and the highway is not traffic jam, otherwise, judging that the highway is traffic jam.
The method for determining the first threshold, the second threshold and the third threshold comprises the following steps:
the average speed of the vehicle is calculated using the same segment and 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 according to the current calculated position of the target vehicle and the corresponding time period 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.
Next, the present embodiment will be further explained by taking a truck as an example, as shown in fig. 2.
And monitoring the track of the truck in real time, and judging the state of the truck according to track point data.
Judging rules of the parking state: and if the truck is within the first judgment time, assuming that the time is 5 minutes, the accumulated displacement is smaller than the judgment displacement, and assuming that the accumulated displacement is 15 meters, judging that the parking state of the truck is started.
Judgment rule of low speed state: if the speed of the truck is always kept in the low-speed section within the second judgment time, assuming that the speed is 10 minutes, and assuming that the speed is more than 5km/h and less than or equal to 48km/h, the truck is judged to be in the low-speed driving state.
And if the truck is judged to be in a parking state or a low-speed state, judging whether the highway is traffic jam or not.
It is first necessary to determine whether the target vehicle is on the highway.
And acquiring track data 2 minutes before the start of the stop state or the low-speed state of the target vehicle, matching the track data with the road, judging whether the target vehicle runs on the highway or not, and if so, performing the following steps.
Second, the vehicle to be excluded is determined.
And (3) transferring track data 2 minutes before the start of the stop state or the low-speed state of the truck, matching the track data with the road data, and screening the truck which runs at a high speed before stopping and finally stops at a high speed.
And (3) combining map data, and making an electronic fence in a second range (assuming that the radius is 500 meters) with service areas such as all water stations, gas stations, toll stations and service stations at a high speed as the circle center, wherein the second range is used for filtering vehicles parked at a reasonable high speed.
And if the truck in the parking state does not belong to reasonable high-speed parking, carrying out the next step.
For the trucks in the parking state, 5 minutes (10 minutes in total) before and after the parking start time is called, the first 5 minutes is assumed to be a first time period, the second 5 minutes is assumed to be a second time period, and other trucks (front-section vehicles and rear-section vehicles) which are within 500 meters (in a first range) near the parking position and run in the same direction are removed from the trucks to be excluded, so that the track data of the front-section calculation vehicles and the rear-section calculation vehicles are obtained. Calculating the average speed of the vehicle at the front section to obtain a first speed which is recorded as S1; the average speed of the rear vehicle is calculated to obtain a second speed, denoted as S2. When the speed of S1 and S2 is less than the speed judgment threshold value, if the speed is 20km/h, the expressway is judged to be traffic jam; otherwise, judging that the traffic jam is not caused.
For a truck in a low-speed state, a mean standard deviation method is used. 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.
Acquiring other trucks running in the same direction within a first range (assumed to be 500 meters) 5 minutes before and after the starting time of the low-speed state as a first-stage vehicle, removing vehicles to be excluded from the first-stage vehicle to obtain a first-stage calculation vehicle, calculating the average value (average _ speed0) and the standard deviation (speed _ std0) of the speed of the first-stage calculation vehicle, and if the speed sp0 of the target vehicle meets sp0< a first threshold value, determining that the speed of the target vehicle is abnormally low. The first threshold is average _ speed0-2 speed _ std 0.
Similarly, if the method is applied at 5 th and 10 th minutes after the low speed state starts, and if the speed is judged to be abnormally low in all three times (low speed start, low speed 5 minutes, and low speed 10 minutes), the expressway is judged not to be traffic-blocked. Otherwise, judging that the expressway is traffic jam.
And for the expressway judged as the road traffic jam, the platform gives an early warning to the truck driver driving on the expressway through the truck terminal.
In a second aspect, according to an embodiment of the present application, there is provided a system for determining traffic jam on an expressway, as shown in fig. 3, including:
the state judgment module 101 is used for judging the vehicle state according to the track data of the target vehicle;
the data processing module 102 is configured to determine, according to the parking state or the low-speed state of the target vehicle, a location where the parking state or the low-speed state of the target vehicle starts, a highway where the parking state or the low-speed state of the target vehicle starts, and state start time; determining track data of the calculation vehicles around the target vehicle according to the position of the state starting time, the highway and the state starting time; determining a comparison condition corresponding to the vehicle state according to the calculated trajectory data of the vehicle;
a road judging module 103, configured to judge whether the expressway is congested according to the state of the target vehicle and the corresponding comparison condition
The implementation mode of the application further comprises an alarm prompting module, and the alarm prompting module is used for sending early warning information to a truck terminal of a truck driving on the highway to warn a truck driver on the highway judged to be traffic jam.
And (3) assuming that a truck starts to stop at the side of the highway at a speed of 12:15:50, continuously monitoring the truck, wherein the stopping time is 5 minutes, using a judgment system to perform data processing and judgment to obtain the number and the average speed of the surrounding trucks, assuming that the number of the surrounding trucks is 15 and the average speed is 5.1km/h, judging that the truck is blocked according to the model, and issuing early warning.
According to the method, the track data of the target vehicle is monitored in real time, the vehicle state is judged according to the track data, and the track data of the calculation vehicle around the target vehicle is determined according to the position of the start of the state, the highway and the start time of the state; according to the calculated vehicle track data, a comparison condition corresponding to the vehicle state is determined, whether the highway is traffic jam or not is judged, and the traffic jam of the highway can be judged without depending on external equipment such as a traffic monitoring device, a ground coil and the like of the intersection.
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 judging traffic jam on an expressway is characterized by comprising the following steps:
judging the vehicle state according to the track data of the target vehicle;
determining the position, the highway and the state starting time of the target vehicle when the parking state or the low-speed state of the target vehicle starts according to the parking state or the low-speed state of the target vehicle;
determining the track data of the calculation vehicles around the target vehicle according to the position of the state starting time, the highway and the state starting time;
determining a comparison condition corresponding to a vehicle state according to the calculated trajectory data of the vehicle;
and judging whether the expressway is traffic jam or not according to the target vehicle state and the corresponding comparison condition.
2. The method of claim 1, wherein determining the vehicle state from the trajectory data of the target vehicle comprises:
if the accumulated displacement of the target vehicle is smaller than the judgment displacement within the first judgment time, judging that the target vehicle is in a parking state;
and if the speed of the target vehicle is always kept in the low-speed interval within the second judgment time, judging that the target vehicle is in 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:
if the state is a parking state, determining track data of a front-section calculation vehicle and a rear-section calculation vehicle in the vehicles around the target vehicle according to the position where the state starts, the highway where the state starts and the state starting time;
and if the state is a low-speed state, determining the track data of the calculation vehicle around the target vehicle according to the positions, the highway and the corresponding time periods of the plurality of time segments after the start and the start of the state.
4. The method according to claim 3, wherein if the state is a parked state, determining trajectory data of a front-end calculation vehicle and a rear-end calculation vehicle in the vehicles around the target vehicle according to a position where the state starts, a highway where the state starts, and a state start time, comprises:
if the target vehicle is a vehicle which is not to be excluded, acquiring front-section vehicles which are on the same highway as the target vehicle and are in the same-direction running in a first time period before the starting time of the parking state of the target vehicle and are positioned in a first range of a parking point of the target vehicle;
acquiring a rear-section vehicle which runs in the same direction and is positioned in the first range of the target vehicle stop point on the same highway as the target vehicle in a second time period after the start time of the target vehicle stop state;
and removing the vehicles to be excluded from the front section vehicle and the rear section vehicle to obtain a front section calculation vehicle and a rear section calculation vehicle.
5. The method according to claim 3, wherein if the state is a low speed state, determining trajectory data of the calculation vehicle around the target vehicle according to the position, the highway and the corresponding time period of the plurality of time segments after the start and the start of the state comprises:
acquiring a first section of vehicles which run in the same direction and are positioned in a first range of a target vehicle stop point on the same highway as the target vehicle in a 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;
acquiring a second section of vehicles which run in the same direction on the same highway as the target vehicle and are positioned in a first range of a stop point of the target vehicle in a 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 on the same highway as the target vehicle and are positioned in a first range of a stop point of the target vehicle in a 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.
6. The method of claim 4 or 5, wherein determining a comparison condition corresponding to a vehicle state from the calculated trajectory data of the vehicle comprises:
if the target vehicle is in a parking state, calculating the track data of the vehicle according to the front section, calculating the average speed of all front sections of the calculated vehicle in a first time period before the starting time of the parking state of the target vehicle to obtain a first speed, calculating the track data of the vehicle according to the rear section, and calculating the average speed of all rear sections of the calculated vehicle in a second time period after the starting time of the parking state of the target vehicle to obtain a second speed;
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 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 to obtain a second threshold value; and calculating the trajectory data of the vehicle according to the third section, and calculating the average speed and the standard deviation to obtain a third threshold value.
7. The method of claim 1, wherein said determining whether an expressway is congested based on the target vehicle state and the corresponding comparison condition comprises:
if the target vehicle is in a parking state, comparing whether the first speed and the second speed are both smaller than a speed judgment threshold value, if so, determining that the highway is traffic jam, otherwise, determining that the highway is non-traffic jam;
if the target vehicle is in a low-speed state, 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 so, judging that the target vehicle is in an abnormal low speed and a highway is not traffic jam, otherwise, judging that the highway is traffic jam.
8. The method of claim 6, wherein the determining of the first, second, and third thresholds comprises:
the average speed of the vehicle is calculated using the same segment and subtracted from twice the standard deviation.
9. The method according to claim 4 or 5, 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 according to the current calculated position of the target vehicle and the corresponding time period to obtain the vehicles to be excluded.
10. A judging system for traffic jam on an expressway is characterized by comprising:
the state judgment module is used for judging the vehicle state according to 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 parking state or the low-speed state of the target vehicle starts according to the parking state or the low-speed state of the target vehicle; determining the track data of the calculation vehicles around the target vehicle according to the position of the state starting time, the highway and the state starting time; determining a comparison condition corresponding to a vehicle state according to the calculated trajectory data of the vehicle;
and the road judging module is used for judging whether the expressway is traffic jam or not according to the target vehicle state and the corresponding comparison condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911402672.4A CN111081030B (en) | 2019-12-30 | 2019-12-30 | Method and system for judging traffic jam on expressway |
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