CN111292556B - Vehicle early warning system and method based on roadside double-flash-lamp recognition - Google Patents
Vehicle early warning system and method based on roadside double-flash-lamp recognition Download PDFInfo
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- CN111292556B CN111292556B CN202010075162.7A CN202010075162A CN111292556B CN 111292556 B CN111292556 B CN 111292556B CN 202010075162 A CN202010075162 A CN 202010075162A CN 111292556 B CN111292556 B CN 111292556B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/091—Traffic information broadcasting
Abstract
The invention discloses a vehicle early warning system and a method based on roadside double-flash lamp identification, wherein the system comprises the following components: the system comprises an integrated monitoring device, an early warning display, an early warning broadcaster and a control center; the integrated monitoring devices are arranged at intervals at the road side and integrated with millimeter-wave radars and cameras, and the millimeter-wave radars are used for acquiring the speed and position information of each vehicle on the road and transmitting the speed and position information to the control center; the camera is used for acquiring road condition information on a road and transmitting the road condition information to the control center; the invention can detect the vehicle which is braked and decelerated in an emergency and starts the double-flashing lamp in time due to the emergency accident in the road, and can early warn the rear vehicle through the road side LED information board and the voice broadcasting device, thereby avoiding the rear driver from causing the rear-end collision accident due to the fact that the sight line of the front vehicle is shielded or the driver is distracted and can not brake and respond in time.
Description
Technical Field
The invention belongs to the technical field of traffic safety, and particularly relates to a vehicle early warning system and method based on roadside double-flash lamp identification.
Background
The driver is influenced by factors such as the overall dimension of the front vehicle or self distraction, and is difficult to find the emergency braking of the front vehicle in time in the driving process, and the self vehicle cannot brake in time, so that the rear-end collision accident of the vehicle is caused, and the rear vehicle generates a large-scale chain rear-end collision accident under the same condition more seriously. Therefore, if the sensor can be used for identifying the dangerous position in time and giving an early warning to the rear vehicle in time, the accident can be effectively avoided.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a vehicle early warning system and a vehicle early warning method based on roadside double-flash-lamp recognition, which can detect vehicles which are braked and decelerated emergently and start double-flash-lamps due to emergency accidents in roads in time, and can warn rear vehicles through a roadside LED information board and a voice broadcasting device, so that the situation that the rear drivers cannot brake and respond timely due to the fact that the sight of the front vehicles is shielded or distracted to cause rear-end collision accidents is avoided.
In order to achieve the above object, the present invention adopts the following technical solutions.
(one) vehicle early warning system based on two flashing light discernments of roadside includes: the system comprises an integrated monitoring device, an early warning display, an early warning broadcaster and a control center; the integrated monitoring devices are arranged at intervals at the road side and integrated with millimeter wave radars and cameras, and the millimeter wave radars are used for acquiring the speed and position information of each vehicle on the road and transmitting the speed and position information to the control center; the camera is used for acquiring road condition information on a road and transmitting the road condition information to the control center;
the control center is used for identifying whether the vehicle turns on the double-flashing light according to the acquired road condition information, the vehicle speed and the position information, determining the danger level of the current road condition, and respectively sending corresponding early warning information to the early warning display and the early warning broadcaster when the danger early warning is determined to be needed;
the early warning displays are arranged on the road side at intervals and used for displaying early warning information and reminding a driver of danger of a road condition in front;
the early warning broadcaster is equidistantly arranged on the road side and used for broadcasting early warning information and reminding a driver of danger of the road condition in front.
Further, the early warning display is an LED information board.
Further, the early warning broadcast device is loudspeaker.
Further, the setting interval of the integrated monitoring device is 100 m.
(II) a vehicle early warning method based on roadside double-flash lamp identification, comprising the following steps:
step 1, acquiring road condition information on a highway in real time, and extracting an image of each vehicle; acquiring the speed of each vehicle;
the method comprises the following steps that road condition information and the speed of each vehicle are obtained through cameras and millimeter wave radars which are arranged on the roadside of the highway at intervals;
step 2, selecting a candidate area in the image of each vehicle by adopting image gray level analysis; dividing the candidate region by using a maximum inter-class variance method, and performing morphological transformation to obtain a candidate car light region;
step 3, judging whether the candidate car light area is 2, if so, geometrically pairing the candidate car light area, determining the car tail light and turning to the step 4; otherwise, judging that the steering lamp is turned on, and turning to the step 1 to obtain the vehicle image again;
step 4, tracking each pair of tail lamps by adopting a vehicle tracking algorithm, and recording the turn-on and turn-off time of each pair of tail lamps;
step 5, judging whether the turn-on duration time of each pair of tail lamps is greater than a fog lamp threshold value, if so, judging that the fog lamps are turned on; if not, further judging whether the starting duration time of the tail lamp meets the double-flash-lamp starting judgment condition, if so, confirming that the double-flash lamp is started, otherwise, judging that the brake lamp is started;
and 6, tracking the vehicle with the double flashing lamps turned on, acquiring the acceleration of the vehicle with the double flashing lamps turned on, determining the state risk level of the vehicle according to the acceleration of the vehicle, counting the number of high-risk-level vehicles in the risk range, and performing corresponding early warning according to the number.
Compared with the prior art, the invention has the beneficial effects that: the method can detect the vehicle which is braked and decelerated emergently due to the emergency accident in the road and starts the double-flashing lamp in time, and pre-warns the rear vehicle through the road side LED information board and the voice broadcasting device. The rear-end collision accident caused by the fact that a rear driver cannot brake and respond in time due to the fact that the sight of a front vehicle is shielded or distracted is avoided.
Drawings
The invention is described in further detail below with reference to the figures and specific embodiments.
FIG. 1 is a schematic flow chart of an implementation of the early warning method of the present invention;
FIG. 2 is a schematic diagram of an early warning system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a candidate headlight region determination process according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a vehicle lateral distance determination process according to an embodiment of the invention.
Detailed Description
The embodiments and effects of the present invention will be described in further detail below with reference to the accompanying drawings.
Example 1
Referring to fig. 2, the vehicle early warning system based on roadside double-flash lamp identification of the present invention includes: the system comprises an integrated monitoring device, an early warning display, an early warning broadcaster and a control center; the integrated monitoring devices are arranged at intervals at the road side and integrated with millimeter wave radars and cameras, and the millimeter wave radars are used for acquiring the speed and position information of each vehicle on the road and transmitting the speed and position information to the control center; the camera is used for acquiring road condition information on a road and transmitting the road condition information to the control center;
the control center is used for identifying whether the vehicle turns on the double-flashing light according to the acquired road condition information, the vehicle speed and the position information, determining the danger level of the current road condition, and respectively sending corresponding early warning information to the early warning display and the early warning broadcaster when the danger early warning is determined to be needed;
the early warning displays are arranged on the road side at intervals and used for displaying early warning information and reminding a driver of danger of a road condition in front;
the early warning broadcaster is equidistantly arranged on the road side and used for broadcasting early warning information and reminding a driver of danger of the road condition in front.
In the embodiment of the invention, the early warning display is an LED information board. The early warning broadcast device is a high pitch horn. The setting interval of the integrated monitoring device is 100 m.
Example 2
Referring to fig. 1, a vehicle early warning method based on roadside double-flash identification includes the following steps:
step 1, acquiring road condition information on a highway in real time, and extracting an image of each vehicle; acquiring the speed of each vehicle;
the method comprises the following steps that road condition information and the speed of each vehicle are obtained through cameras and millimeter wave radars which are arranged on the roadside of the highway at intervals;
step 2, selecting a candidate area in the image of each vehicle by adopting image gray level analysis; dividing the candidate region by using a maximum inter-class variance method, and performing morphological transformation to obtain a candidate car light region;
the method is implemented according to the following steps:
(2.1) performing threshold filtering by adopting an HSV color space to obtain a corresponding binary image of the candidate vehicle tail lamp area;
wherein the threshold value in the threshold value filtration is 342 degrees < H <360 degrees and 0.45< S <1.0 or 0 degrees < H <30 degrees and 0.45< S < 1.0; h is hue, S is saturation;
(2.2) carrying out Gaussian transformation on the binary image of the candidate vehicle tail lamp area to obtain a corresponding gray value of the dispersion point;
(2.3) normalizing the gray value of each scattered point to be used as a weighting proportion coefficient; converting the original vehicle image from RGB space to a corresponding grayscale map; and multiplying each weighting proportion coefficient by the gray value of each corresponding point in the RGB space corresponding gray image to determine the corresponding candidate area.
The normalized formula is:
in the formula, I (I, j) represents the gray value of the scattering point, and N (I, j) represents the normalized value of the gray value of the scattering point; min and max represent the minimum and maximum gray values, respectively, of the gray values of all scatter points.
The characteristic that the coefficient is larger in the tail lamp area detected by the HSV color threshold value and the coefficient values of other areas are smaller is utilized to carry out rough extraction on the tail lamp area.
(2.4) the dividing the candidate region by using the maximum inter-class variance method specifically comprises the following steps:
dividing the candidate region into two regions by traversing 0-255 as a segmentation threshold, respectively calculating the variance of the two regions corresponding to each segmentation threshold, and taking the two regions corresponding to the maximum variance as a final segmentation result.
(2.5) the morphological transformation is performed by performing an erosion operation and then performing an expansion operation.
And eliminating the inner hole of the tail lamp area in the image by using morphological transformation so as to obtain the outline of the tail lamp. Generally, the dilation operation in the morphological transformation expands the original target area and may cause the holes in the target to be reduced, while the erosion operation may reduce the original target area but simultaneously enlarge the internal holes. Therefore, in order to eliminate the regions with smaller areas or isolated regions in the binary image, firstly, the image is subjected to erosion operation, and then the eroded binary image is subjected to expansion operation, so that the original adjacent regions are connected again.
Step 3, judging whether the candidate car light area is 2, if so, geometrically pairing the candidate car light area, determining the car tail light and turning to the step 4; otherwise, turning to the step 1 to obtain the vehicle image again;
referring to fig. 3, the method specifically comprises the following steps:
(3.1) setting the areas of the two candidate vehicle lamp regions to be A, B respectively and S1 and S2 respectively;
(3.2) judging whether the areas of the two candidate car light areas are close to each other:
|S1-S2|＜K*minS
wherein K is an area proportion coefficient, | | is an absolute value operation, and minS is the smaller value of S1 and S2;
(3.3) judging the central positions of the two candidate car light areas, and judging the distance y of the central positions of the two candidate car light areas in the vertical directiondistanceWhether the horizontal pairing threshold is met:
ydistance＜G*minHeight
wherein minHeight represents the smaller value of the height of the area A and the height of the area B, and G is a height proportion coefficient;
(3.4) judging the distance x of the two candidate car light areas in the horizontal directiondistanceWhether the space constraint condition of the tail lamp is met:
M*minWidth＜xdistance＜N*minWidth
m, N are width proportionality coefficients respectively, and minWidth is the smaller value of the width of the area A and the width of the area B;
and (4) if the candidate car light region meets the steps (3.2) - (3.4), the geometric matching is successful, and the candidate car light region is determined to be the car tail light.
In this step, if the number of candidate headlight regions is 1, it is determined as a turn signal. The scaling coefficients in the above process need to be set according to prior knowledge, and the prior values used in the embodiment of the present invention are K-1.5, G-3, M-3, and N-10, respectively.
Step 4, tracking each pair of tail lamps by adopting a vehicle tracking algorithm, and recording the turn-on and turn-off time of each pair of tail lamps;
the method comprises the following specific steps:
firstly, the position information of each vehicle at the current moment is obtained, and the speed v of each vehicle at the current momentiAnd a length of the corresponding car body of liThe time interval of adjacent moments is t;
secondly, determining R, G, B component values of all pixel points of each vehicle picture at the current moment by using the RGB color space; judging whether the vehicle images at adjacent moments meet the same vehicle judgment condition, if so, judging the vehicle to be the same vehicle, namely, the vehicle tracking is successful;
referring to fig. 4, the adjacent time determines that the same vehicle must satisfy the following conditions at the same time:
(a) the same vehicle is positioned in the same lane in two adjacent frames of images; namely:
firstly, the distance d from the vehicle to the millimeter wave radar is obtained according to the vehicle position informationiThe included angle theta between the connecting line of the vehicle and the millimeter wave radar and the horizontal direction is obtained, and then the vehicle is obtainedDistance d from millimeter wave radar in horizontal directioni′；
Wherein, the horizontal direction is the direction vertical to the vehicle running direction in the horizontal plane;
then, according to the distance d of the vehicle from the millimeter wave radar in the horizontal directioniDetermining the lane position of the vehicle according to the lane width;
for example, for a common three-lane high speed, when 0 < di' < 3.75, judging that the vehicle is in a slow lane; when d is more than 3.75i' < 7.5, judging that the vehicle is in the middle lane; when d is more than 7.5i' < 11.25, the vehicle is judged to be in the motorway.
Wherein the width of one lane is 3.75 m.
And if the judgment results of the two adjacent frames of images are the same, the requirement is met.
(b) Body length l of the same vehicleiThe change in the two adjacent images is not more than 1%;
(c) calculating the running distance s of the vehicles at adjacent momentsi＝viX t, in siSearching vehicles for the radius, wherein the vehicles are required to be in the searching range at the next moment;
(d) and respectively calculating the average values corresponding to R, G, B components of all pixel points in the vehicle image at the current moment, wherein the changes of the R component average value, the G component average value and the B component average value of the same vehicle at adjacent moments are respectively not more than 5%.
Step 5, judging whether the turn-on duration time of each pair of tail lamps is greater than a fog lamp threshold value, if so, judging that the fog lamps are turned on; if not, further judging whether the starting duration time of the tail lamp meets the double-flash-lamp starting judgment condition, if so, confirming that the double-flash lamp is started, otherwise, judging that the brake lamp is started;
wherein, the double flashing light turn-on judging condition is that the following conditions are simultaneously met: the turn-on duration of the tail lamp is less than 3s, more than 3 turn-on and turn-off processes exist, the standard deviation between the turn-on durations of the tail lamp of the previous 3 times is not more than 0.5, and the time interval between the turn-on moments of the tail lamps of the two adjacent times is not more than 1 s.
The fog lamp threshold value of this example is 10 s.
And 6, tracking the vehicle with the double flashing lamps turned on, acquiring the acceleration of the vehicle with the double flashing lamps turned on, determining the state risk level of the vehicle according to the acceleration of the vehicle, counting the number of high-risk-level vehicles in the risk range, and performing corresponding early warning according to the number.
The method specifically comprises the following steps: after detecting that the vehicle starts the double flashing lamps, obtaining the speed of the target vehicle from the radar by adopting a vehicle tracking algorithm to obtain the acceleration of the vehicle, and formulating a vehicle state risk level scale according to the acceleration, wherein the vehicle state risk level scale comprises the following steps:
the acceleration of the vehicle is between-7.5 and-5.5 m/s2The interval is set to be 1 grade, which indicates that the vehicle is braked at the limit; the deceleration of the vehicle is between-5.5 and-4 m/s2The section is set to be 2-level, which indicates that the vehicle is braked emergently; the deceleration of the vehicle is between-4 and-2.5 m/s2The interval is set to 3 levels, which indicates that the vehicle is in conventional braking; the deceleration of the vehicle is between-2.5 and-1.5 m/s2The section is set to 4 levels, which indicates that the vehicle keeps the speed; the deceleration of the vehicle is set to-1.5 to 0m/s2The interval is set to 5 stages, indicating that the vehicle is traveling normally.
When the number of vehicles of which the vehicle state risk level detected by any one integrated monitoring device reaches level 2 or level 1 reaches 5, a road section from the position of the last vehicle with double flashing lamps turned on in the driving direction detected by the integrated monitoring device as a starting point to 500 meters ahead is set as a risk statistical road section, the number of the vehicles with double flashing lamps turned on is counted, and a road section operation risk level table is formulated accordingly.
And (3) carrying out road section risk grade division by taking the number of vehicles with vehicle state risk grade reaching grade 2 or grade 1 in the risk statistical road section as a division basis:
when the number of the vehicles is 0-5, corresponding to a safe road section;
when the number of vehicles is 6-10, corresponding to the risk road sections;
when the number of vehicles reaches more than 11, corresponding to the dangerous road sections.
When the vehicle is judged to be the risk road section, the LED information board and the tweeter are used for reminding the vehicle behind, and the vehicle is cautiously driven in the risk road section in front. When the dangerous road section is judged, the LED information board and the tweeter are used for reminding vehicles behind the road section, and the front part of the road section is used for slowing down and walking slowly on the dangerous road section.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (1)
1. A vehicle early warning method based on roadside double-flash lamp identification is characterized by comprising the following steps:
step 1, acquiring road condition information on a highway in real time, and extracting an image of each vehicle; acquiring the speed of each vehicle;
the method comprises the following steps that road condition information and the speed of each vehicle are obtained through cameras and millimeter wave radars which are arranged on the roadside of the highway at intervals;
step 2, selecting a candidate area in the image of each vehicle by adopting image gray level analysis; dividing the candidate region by using a maximum inter-class variance method, and performing morphological transformation to obtain a candidate car light region;
step 3, judging whether the candidate car light area is 2, if so, geometrically pairing the candidate car light area, determining the car tail light and turning to the step 4; otherwise, judging that the steering lamp is turned on, and turning to the step 1 to obtain the vehicle image again;
the method for selecting the candidate area in the image of each vehicle by adopting image gray level analysis specifically comprises the following steps:
(2.1) performing threshold filtering by adopting an HSV color space to obtain a corresponding binary image of the candidate vehicle tail lamp area;
wherein the threshold in the threshold filtering is 342 ° < H <360 ° and 0.45< S <1.0 or 0 ° < H <30 ° and 0.45< S < 1.0; h is hue, S is saturation;
(2.2) carrying out Gaussian transformation on the binary image of the candidate vehicle tail lamp area to obtain a corresponding gray value of the dispersion point;
(2.3) normalizing the gray value of each scattered point to be used as a weighting proportion coefficient; converting the original vehicle image from RGB space to a corresponding grayscale map; multiplying each weighting proportion coefficient by the gray value of each corresponding point in the RGB space corresponding gray image to determine a corresponding candidate area;
dividing the candidate region by using a maximum inter-class variance method, specifically;
dividing the candidate region into two regions by traversing 0-255 as segmentation thresholds, respectively calculating the variance of the two regions corresponding to each segmentation threshold, and taking the two regions corresponding to the maximum variance as a final segmentation result;
the geometric pairing is carried out on the candidate car lamp area, and specifically comprises the following steps:
(3.1) setting the areas of the two candidate vehicle lamp regions to be A, B respectively and S1 and S2 respectively;
(3.2) judging whether the areas of the two candidate car light areas are close to each other:
|S1-S2|＜K*minS
wherein K is an area proportion coefficient, | | is an absolute value operation, and minS is the smaller value of S1 and S2;
(3.3) judging the central positions of the two candidate car light areas, and judging the distance y of the central positions of the two candidate car light areas in the vertical directiondistanceWhether the horizontal pairing threshold is met:
ydistance＜G*minHeight
wherein minHeight represents the smaller value of the height of the area A and the height of the area B, and G is a height proportion coefficient;
(3.4) judging the distance x of the two candidate car light areas in the horizontal directiondistanceWhether the space constraint condition of the tail lamp is met:
M*minWidth＜xdistance＜N*minWidth
m, N are width proportionality coefficients respectively, and minWidth is the smaller value of the width of the area A and the width of the area B;
if the candidate car light region meets the steps (3.2) - (3.4), the geometric matching is successful, and the candidate car light region is determined to be the car tail light;
step 4, tracking each pair of tail lamps by adopting a vehicle tracking algorithm, and recording the turn-on and turn-off time of each pair of tail lamps;
tracking each pair of tail lamps by adopting a vehicle tracking algorithm, specifically comprising the following steps of;
firstly, the position information of each vehicle at the current moment is obtained, and the speed v of each vehicle at the current momentiAnd a length of the corresponding car body of liThe time interval of adjacent moments is t;
secondly, determining R, G, B component values of all pixel points of each vehicle picture at the current moment by using the RGB color space; judging whether the vehicle images at adjacent moments meet the same vehicle judgment condition, if so, judging the vehicle to be the same vehicle, namely, the vehicle tracking is successful;
the same vehicle judgment condition is specifically as follows:
(a) the same vehicle is positioned in the same lane in two adjacent frames of images;
(b) body length l of the same vehicleiThe change in the two adjacent images is not more than 1%;
(c) calculating the running distance s of the vehicles at adjacent momentsi＝viX t, in siSearching vehicles for the radius, wherein the vehicles are required to be in the searching range at the next moment;
(d) respectively calculating the average values corresponding to R, G, B components of all pixel points in the vehicle image at the current moment, wherein the changes of the R component average value, the G component average value and the B component average value of the same vehicle at adjacent moments are respectively not more than 5%;
the judgment basis that the same vehicle is positioned in the same lane in the two adjacent frames of images is as follows:
firstly, the distance d from the vehicle to the millimeter wave radar is obtained according to the vehicle position informationiThe included angle theta between the connecting line of the vehicle and the millimeter wave radar and the horizontal direction is obtained, and the distance d between the vehicle and the millimeter wave radar in the horizontal direction is further obtainedi'；
Wherein, the horizontal direction is the direction vertical to the vehicle running direction in the horizontal plane;
then, according to the distance d of the vehicle from the millimeter wave radar in the horizontal directioniDetermining the lane position of the vehicle according to the lane width;
step 5, judging whether the turn-on duration time of each pair of tail lamps is greater than a fog lamp threshold value, if so, judging that the fog lamps are turned on; if not, further judging whether the starting duration time of the tail lamp meets the double-flash-lamp starting judgment condition, if so, confirming that the double-flash lamp is started, otherwise, judging that the brake lamp is started;
wherein, the double flashing light turn-on judging condition is that the following conditions are simultaneously met: the turn-on duration time of the tail lamp is less than 3s, more than 3 turn-on and turn-off processes exist, the standard deviation between the turn-on duration times of the tail lamp of the previous 3 times is not more than 0.5, and the time interval between the turn-on moments of the tail lamps of the two adjacent times is not more than 1 s;
step 6, tracking the vehicle with the double flashing lamps turned on, acquiring the acceleration of the vehicle with the double flashing lamps turned on, determining the vehicle state risk level according to the acceleration of the vehicle, counting the number of high-risk level vehicles in the risk range, and performing corresponding early warning according to the number;
the method for determining the vehicle state risk level according to the vehicle acceleration specifically comprises the following steps: the acceleration of the vehicle is between-7.5 and-5.5 m/s2The interval is set to be 1 grade, which indicates that the vehicle is braked at the limit; the deceleration of the vehicle is between-5.5 and-4 m/s2The section is set to be 2-level, which indicates that the vehicle is braked emergently; the deceleration of the vehicle is between-4 and-2.5 m/s2The interval is set to 3 levels, which indicates that the vehicle is in conventional braking; the deceleration of the vehicle is between-2.5 and-1.5 m/s2The section is set to 4 levels, which indicates that the vehicle keeps the speed; the deceleration of the vehicle is set to-1.5 to 0m/s2The interval is set to 5 levels, which indicates that the vehicle runs normally;
the statistics of the number of high-risk level vehicles in the risk range is carried out, and corresponding early warning is carried out according to the statistics, and the statistics specifically comprises the following steps:
firstly, when the number of vehicles with the vehicle state risk level reaching 2 level or 1 level detected by any integrated monitoring device reaches 5, taking the position of the last vehicle with double flashing lamps turned on in the driving direction detected by the integrated monitoring device as a starting point and a road section 500 meters ahead as a risk statistical road section, counting the number of the vehicles with double flashing lamps turned on, and formulating a road section operation risk level table according to the number;
then, the number of vehicles with the vehicle state risk level reaching level 2 or level 1 in the risk statistical road section is used as a dividing basis to divide the road section risk level:
when the number of the vehicles is 0-5, no early warning is carried out corresponding to the safe road section;
when the number of the vehicles is 6-10, corresponding to the risk road sections, carrying out cautious driving early warning on the rear vehicles;
when the number of the vehicles reaches more than 11, corresponding to a dangerous road section, carrying out deceleration and slow running early warning on the rear vehicles;
the vehicle early warning method based on roadside double-flash lamp identification comprises the following steps: the system comprises an integrated monitoring device, an early warning display, an early warning broadcaster and a control center; the integrated monitoring devices are arranged at intervals at the road side and integrated with millimeter wave radars and cameras, and the millimeter wave radars are used for acquiring the speed and position information of each vehicle on the road and transmitting the speed and position information to the control center; the camera is used for acquiring road condition information on a road and transmitting the road condition information to the control center;
the control center is used for identifying whether the vehicle turns on the double-flashing light according to the acquired road condition information, the vehicle speed and the position information, determining the danger level of the current road condition, and respectively sending corresponding early warning information to the early warning display and the early warning broadcaster when the danger early warning is determined to be needed;
the early warning displays are arranged on the road side at intervals and used for displaying early warning information and reminding a driver of danger of a road condition in front;
the early warning broadcaster is equidistantly arranged on the road side and used for broadcasting early warning information and reminding a driver of danger of the road condition in front.
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| CN112419749B (en) * | 2020-11-10 | 2022-08-09 | 宁波海运明州高速公路有限公司 | Early warning method and device for identifying vehicles on highway |
| CN112652176B (en) * | 2020-12-09 | 2022-05-10 | 东风汽车集团有限公司 | Early warning method and system based on adjacent vehicle motion state and vehicle |
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