CN111105618B - Method and system for judging parking state of vehicle on highway - Google Patents
Method and system for judging parking state of vehicle on highway Download PDFInfo
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- CN111105618B CN111105618B CN201911404212.5A CN201911404212A CN111105618B CN 111105618 B CN111105618 B CN 111105618B CN 201911404212 A CN201911404212 A CN 201911404212A CN 111105618 B CN111105618 B CN 111105618B
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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
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
Abstract
The application discloses a method and a system for judging the parking state of a vehicle on a highway, comprising the following steps: acquiring target vehicle track points in real time and judging the current state of a target vehicle; if the current state of the target vehicle is the parking state, determining the position of the target vehicle when the parking state starts, the highway where the target vehicle is located and the starting time of the parking state; determining track data of the calculation vehicle around the target vehicle according to the position of the parking state, the highway and the parking state starting time; determining a parking comparison speed according to the calculated track data of the vehicle; and if the parking comparison speeds are all lower than the judgment threshold value, judging that the target vehicle is in a first parking state. The embodiment of the application can judge the parking state of the vehicle with high accuracy, replace the parking area information acquired in real time, reduce the misjudgment rate and the missing judgment rate, alarm the vehicle parked in a violation manner on the highway, reduce the accident risk and guarantee the traffic safety of the highway.
Description
Technical Field
The present application relates to the field of vehicle monitoring, and more particularly, to a method and system for determining a parking status of a vehicle on a highway.
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, the arrival of the automobile era is promoted, the road traffic mileage of China is increased by more than 20% every year in recent years, particularly, the urban road and the highway are updated at a very high speed, and meanwhile, the illegal parking is more and more common and is more and more headache due to the blowout development of the private car market.
In the prior art, the information of the parking areas of the expressway is mostly obtained by establishing a geographical mathematical model, and the situations of misjudgment and missed judgment inevitably exist.
In view of the foregoing, it is desirable to provide a method and system capable of determining a parking state of a vehicle with high accuracy.
Disclosure of Invention
To solve the above problems, the present application proposes a method and system for determining a parking state of a vehicle on a highway.
In one aspect, the present application provides a method for determining a parking state of a vehicle on a highway, including:
acquiring target vehicle track points in real time and judging the current state of a target vehicle;
if the current state of the target vehicle is the parking state, determining the position, the highway and the parking state starting time of the target vehicle when the parking state starts;
determining track data of the calculation vehicles around the target vehicle according to the position of the parking state, the highway and the parking state starting time;
determining a parking comparison speed according to the calculated track data of the vehicle;
and if the parking comparison speeds are all lower than the judgment threshold value, judging that the target vehicle is in a first parking state.
Preferably, the obtaining of the target vehicle track points in real time and the judgment of the current state of the target vehicle include:
and if the accumulated displacement of the target vehicle is smaller than the judgment displacement within the judgment time, judging that the parking state of the target vehicle starts.
Preferably, the determining trajectory data of the vehicle around the target vehicle according to the position where the parking state starts, the highway where the parking state exists, and the starting time of the parking state 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, the determining a parking comparison speed according to the calculated trajectory data of the vehicle includes:
calculating the average speed of the vehicle calculated by the front section according to the trajectory data of the vehicle calculated by the front section to obtain a first parking comparison speed;
and calculating the track data of the vehicle according to the rear section, and calculating the average speed of the vehicle calculated by the rear section to obtain a second parking comparison speed.
Preferably, before the removing the vehicle to be excluded from the front-end vehicle and the rear-end vehicle, the method further comprises:
and if the track data of the front section vehicle and the rear section vehicle are not obtained, judging that the target vehicle is in a first parking state.
Preferably, after the determining the parking comparison speed, the method further comprises:
if the target vehicle is in a parking state, and the first parking comparison speed and the second parking comparison speed are not both lower than a judgment threshold value, judging that the target vehicle is in a second parking state;
and continuously alarming the driver of the target vehicle in the second parking state until the parking state of the target vehicle is finished.
Preferably, the method for determining the end of the parked state of the target vehicle includes:
acquiring track data of the target vehicle in real time and determining the current position;
and if the distance between the current position of the target vehicle and the position of the target vehicle when the parking state starts is larger than the parking judgment distance, ending the parking state of the target vehicle.
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 a parking state of a vehicle on a highway, comprising:
the state judgment module is used for acquiring the track points of the target vehicle in real time and judging the current state of the target vehicle;
the processing and judging module is used for determining the position, the highway and the parking state starting time of the target vehicle when the parking state of the target vehicle is started; determining track data of the calculation vehicles around the target vehicle according to the position of the parking state, the highway and the parking state starting time; determining a parking comparison speed according to the calculated track data of the vehicle; and if the parking comparison speeds are all lower than the judgment threshold value, judging that the target vehicle is in a first parking state.
Preferably, the vehicle monitoring system further comprises an alarm prompting module, which is used for continuously alarming a driver of the target vehicle when the target vehicle is in the non-first parking state until the parking state of the target vehicle is finished.
The application has the advantages that: judging whether the target vehicle enters a parking state or not by acquiring the target vehicle track points in real time; determining track data of a calculation vehicle around the target vehicle, and determining a parking comparison speed; if the parking comparison speeds are all lower than the judgment threshold value, the target vehicle is judged to be in the first parking state, the parking state of the vehicle can be judged, and the accuracy is high.
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 illustration of the steps of a method for determining a parked state of a vehicle on a highway provided by the present application;
FIG. 2 is a schematic flow chart of a method for determining a parked state of a vehicle on a highway provided herein;
fig. 3 is a schematic diagram of a system for determining a parking state 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 parking state of a vehicle on a highway, as shown in fig. 1, including:
s101, acquiring track points of a target vehicle in real time, and judging the current state of the target vehicle;
s102, if the current state of the target vehicle is the parking state, determining the position, the highway and the starting time of the parking state of the target vehicle when the parking state starts;
s103, determining track data of the calculation vehicles around the target vehicle according to the position of the parking state, the highway and the parking state starting time;
s104, determining a parking comparison speed according to the calculated track data of the vehicle;
and S105, if the parking comparison speeds are all lower than the judgment threshold value, judging that the target vehicle is in a first parking state.
The method comprises the following steps of acquiring track points of a target vehicle in real time and judging the current state of the target vehicle, wherein the method comprises the following steps:
and if the accumulated displacement of the target vehicle is smaller than the judgment displacement within the judgment time, judging that the parking state of the target vehicle starts.
Determining the track data of the calculation vehicle around the target vehicle according to the position of the parking state, the highway and the parking 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.
Determining a parking comparison speed based on the calculated trajectory data of the vehicle, comprising:
calculating the track data of the vehicle according to the front section, and calculating the average speed of the vehicle calculated by the front section to obtain a first parking comparison speed;
and calculating the track data of the vehicle according to the rear section, and calculating the average speed of the vehicle calculated by the rear section to obtain a second parking comparison speed.
Before removing the vehicle to be excluded from the front-end vehicle and the rear-end vehicle, the method further comprises the following steps:
and if the track data of the front section vehicle and the rear section vehicle are not obtained, judging that the target vehicle is in a first parking state.
After determining the parking comparison speed, further comprising:
if the target vehicle is in the parking state, and the first parking comparison speed and the second parking comparison speed are not both lower than the judgment threshold, judging that the target vehicle is in the second parking state;
and continuously alarming the driver of the target vehicle in the second parking state until the parking state of the target vehicle is finished.
The method for judging the end of the parking state of the target vehicle comprises the following steps:
acquiring track data of a target vehicle in real time and determining the current position;
and if the distance between the current position of the target vehicle and the position where the parking state starts is greater than the parking judgment distance, ending the parking state of the target vehicle.
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 that a high-speed road where a target vehicle is located is obtained by matching track data of the target vehicle with the high-speed road, specifically, the track data is matched with the high-speed road by obtaining track data of a period of time before the stop state or the low-speed state of the target vehicle starts, whether the target vehicle runs on the high-speed road is judged, and if yes, the next step is carried out.
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 whether the truck stops or not according to the track data. And if the accumulated displacement of the truck is smaller than the judgment displacement (assumed to be 15 meters) within the judgment time (assumed to be 5 minutes), judging that the truck parking state is started.
If the truck is judged to be in the parking state, track data 2 minutes before the start of the parking state of the truck is retrieved, the track data is matched with the highway data to obtain highway information, and the truck which runs at a high speed before parking and finally stops at a high speed is screened out.
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 parked within the service area, the following steps are continued.
The front-end vehicle and the rear-end vehicle are obtained by retrieving trajectory data of other trucks traveling in the same direction within a first range (assumed to be 500 meters) near the parking position 5 minutes before (first time period) and 5 minutes after (second time period) the parking start time. Removing vehicles to be excluded from the front section of vehicles and the rear section of vehicles to obtain a front section of calculation vehicles and a rear section of calculation vehicles, calculating the average speed of the front section of calculation vehicles to obtain a first parking comparison speed which is recorded as S1; calculating the average speed of the vehicle at the rear stopping section to obtain a second stopping comparison speed which is recorded as S2; when both S1 and S2 are smaller than a judgment threshold (20 km/h is assumed), judging that the expressway is traffic jam, and judging that the expressway is parked reasonably (a first parking state); if track points of other trucks are not called, the trucks can directly judge to stop reasonably because enough information cannot be obtained for judgment. If the two judgment rules are not met, the vehicle is considered to be illegal parking of the highway (second parking state).
For the target vehicle determined to be in the first parked state, the cause of the non-alarm also needs to be recorded.
And for the truck judged to be in the second parking state, the cloud platform gives an alarm to a truck driver through the truck terminal, so that the driver is prompted to leave quickly.
Preferably, the warning is every 5 minutes until the driver leaves the vehicle and the second parked state is ended.
Preferably, the second stop state is determined to be ended if the distance from the position in the current trajectory data to the stop position is greater than 50 meters.
In a second aspect, according to an embodiment of the present application, there is also provided a system for determining a parking state of a vehicle on a highway, as shown in fig. 3, including:
the state judgment module 101 is used for acquiring the track points of the target vehicle in real time and judging the current state of the target vehicle;
the processing and judging module 102 is configured to determine, when the current state of the target vehicle is a parking state, a location where the parking state of the target vehicle starts, a highway where the parking state of the target vehicle is located, and a parking state starting time; determining track data of the calculation vehicle around the target vehicle according to the position of the parking state, the highway and the parking state starting time; determining a parking comparison speed according to the calculated track data of the vehicle; and if the parking comparison speeds are all lower than the judgment threshold value, judging that the target vehicle is in a first parking state.
The implementation mode of the application further comprises an alarm prompting module, and the alarm prompting module is used for continuously giving an alarm to a driver of the target vehicle when the target vehicle is in the non-first parking state until the parking state of the target vehicle is finished.
Assuming that a truck starts to stop at the side of the expressway at a ratio of 20:17:08, the truck is continuously monitored, the stopping time is 5 minutes, data is processed and judged, finally, illegal stopping is judged, an alarm is issued, and a driver immediately drives the truck away from a parking area.
According to the method, whether the target vehicle enters a parking state or not is judged by acquiring the target vehicle track points in real time; determining track data of a calculation vehicle around the target vehicle, and determining a parking comparison speed; if the parking comparison speeds are all lower than the judgment threshold value, the target vehicle is judged to be in the first parking state, the parking state of the vehicle can be judged, and the accuracy is high. The implementation mode of this application is replaced with the parking district information that gathers in real time, and misjudgment rate and rate of missing judgments are all low, and the early warning is carried out to the violation of regulations parking of heavy spot commercial vehicle on highway, and the play is reported to the police, impels the freight train to catch up and leaves, reduces the accident risk, ensures highway traffic safety.
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 (6)
1. A method for determining a parking state of a vehicle on a highway, comprising:
acquiring target vehicle track points in real time and judging the current state of a target vehicle;
if the current state of the target vehicle is the parking state, determining the position, the highway and the parking state starting time of the target vehicle when the parking state starts;
determining track data of the calculation vehicles around the target vehicle according to the position of the parking state, the highway and the parking state starting time;
calculating the track data of the vehicle according to the front section, and calculating the average speed of the vehicle calculated by the front section to obtain a first parking comparison speed;
calculating the track data of the vehicle according to the rear section, and calculating the average speed of the vehicle calculated by the rear section to obtain a second parking comparison speed;
if the target vehicle is in a parking state, and the first parking comparison speed and the second parking comparison speed are not both lower than a judgment threshold value, judging that the target vehicle is in a second parking state;
continuously alarming the driver of the target vehicle in the second parking state until the parking state of the target vehicle is finished;
if the first parking comparison speed and the second parking comparison speed are both lower than a judgment threshold value, judging that the target vehicle is in a first parking state, wherein,
the determining the track data of the calculation vehicle around the target vehicle according to the position of the parking state, the highway and the parking state starting 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;
removing 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;
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.
2. The method of claim 1, wherein the obtaining of the target vehicle track points in real time and the determining of the current state of the target vehicle comprise:
and if the accumulated displacement of the target vehicle is smaller than the judgment displacement within the judgment time, judging that the parking state of the target vehicle starts.
3. The method of claim 2, further comprising, prior to said removing an excluded vehicle from said leading and trailing vehicles:
and if the track data of the front section vehicle and the rear section vehicle are not obtained, judging that the target vehicle is in a first parking state.
4. The method according to claim 1, wherein the method for determining the end of the parked state of the target vehicle includes:
acquiring track data of the target vehicle in real time and determining the current position;
and if the distance between the current position of the target vehicle and the position of the target vehicle when the parking state starts is larger than the parking judgment distance, ending the parking state of the target vehicle.
5. A system for determining a parking state of a vehicle on a highway for implementing the method of claim 1, comprising:
the state judgment module is used for acquiring the track points of the target vehicle in real time and judging the current state of the target vehicle;
the processing and judging module is used for determining the position, the highway and the parking state starting time of the target vehicle when the parking state of the target vehicle is started; determining track data of the calculation vehicles around the target vehicle according to the position of the parking state, the highway and the parking state starting time; determining a parking comparison speed according to the calculated track data of the vehicle; and if the parking comparison speeds are all lower than the judgment threshold value, judging that the target vehicle is in a first parking state.
6. The system of claim 5, further comprising an alert prompt module to continuously alert a driver of the target vehicle when the target vehicle is in the non-first parked state until the parked state of the target vehicle is completed.
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| CN112687125B (en) * | 2020-12-09 | 2022-07-22 | 北京中交兴路车联网科技有限公司 | Early warning method and device after illegal parking on road, storage medium and terminal |
| CN114120646B (en) * | 2021-11-26 | 2022-10-04 | 华路易云科技有限公司 | Rapid response system and method for expressway emergency accident |
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