CN111341120A - Vehicle reverse running detection method and system and vehicle - Google Patents
Vehicle reverse running detection method and system and vehicle Download PDFInfo
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- CN111341120A CN111341120A CN201911224410.3A CN201911224410A CN111341120A CN 111341120 A CN111341120 A CN 111341120A CN 201911224410 A CN201911224410 A CN 201911224410A CN 111341120 A CN111341120 A CN 111341120A
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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
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
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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
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
Abstract
A vehicle reverse running detection method, a system and a vehicle are provided, wherein the method comprises the following steps: acquiring a current running track of a vehicle through a GPS positioning module on the vehicle; the method comprises the steps of obtaining a current driving track point, a previous driving track point and a next driving track point of a vehicle from a current driving track, selecting a plurality of line segments which are closest to the current driving track point, the previous driving track point and the next driving track point from pre-stored road network information, and obtaining intersection of the plurality of line segments to obtain road section information which is closest to the current driving track; obtaining a road section vector by obtaining a starting point and an end point in the road section information, and obtaining a driving vector of the vehicle through the current driving track point; the method, the system and the vehicle for detecting the vehicle reverse running do not need to be provided with a large number of cameras, do not need to consider the installation position requirement of the cameras, and have low cost; moreover, the invention is based on software automatic detection, and has high accuracy and high real-time performance.
Description
Technical Field
The invention relates to the field of safe driving of vehicles, in particular to a vehicle retrograde motion detection method and system and a vehicle.
Background
With the continuous improvement of the living standard of people, more and more families buy vehicles, and therefore, more and more vehicles are arranged on the road. With the increase of the traffic flow, the vehicles are required to run orderly, safely and normally. Particularly, on urban roads, the vehicles need to go in and out according to strict regulations and requirements, otherwise the order is disordered, and even potential safety hazards are brought. However, many drivers still go backwards on the one-way road for their own convenience, which not only causes disorder of the traffic order, but also may cause traffic accidents.
In order to prevent a driver from running backwards, a device for detecting the running backwards is available at present, however, the device mainly takes images and detects the running backwards based on image processing, namely a large number of cameras are required to be installed, and the cost is high; and the backward movement of the dead zone of the camera cannot be detected.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides the vehicle retrograde motion detection method, the system and the vehicle, which have the advantages of automatic detection, high accuracy and low cost.
In order to achieve the above object, the present invention provides a vehicle reverse driving detection method, including:
acquiring a current running track of a vehicle through a GPS positioning module on the vehicle;
the method comprises the steps of obtaining a current driving track point, a previous driving track point and a next driving track point of a vehicle from a current driving track, selecting a plurality of line segments nearest to the current driving track point, the previous driving track point and the next driving track point from pre-stored road network information, and obtaining intersection of the plurality of line segments to obtain road section information nearest to the current driving track;
obtaining a road section vector by obtaining a starting point and an end point in the road section information, and obtaining a driving vector of the vehicle through the current driving track point; and judging whether the vehicle is in a reverse driving state at present according to the included angle between the road section vector and the driving vector.
As a further preferable aspect of the present invention, the determining whether the vehicle is currently in a reverse driving state according to an included angle between the link vector and the driving vector specifically includes:
judging whether the road where the vehicle is located is a one-way road or not;
when the road is a one-way road and the angle is more than-90 degrees and b-a is more than 90 degrees, the vehicle runs in the reverse direction;
when the road is a non-one-way road and the angle is more than 360 degrees and b-a is more than or equal to 270 degrees, the vehicle runs in the reverse direction;
wherein a is a driving vector, b is a road section vector, and b-a is an included angle between the road section vector and the driving vector.
As a further preferable aspect of the present invention, it is determined whether the road on which the vehicle is located is a one-way road by:
inputting road network information of a city where vehicles are located;
and acquiring whether the road is a one-way road from the road network information according to the road where the vehicle is located.
As a further preferable scheme of the present invention, selecting a plurality of line segments nearest to the current driving track point, the previous driving track point, and the next driving track point from the pre-stored road network information specifically includes:
dividing the whole city into a plurality of regions, dividing each road section into the regions, and establishing a binary tree;
and calculating the shortest region and sub-node region of the current driving track point according to the distance between the point and the line and the midpoint of the region by adopting a binary tree structure algorithm, and finally obtaining a plurality of line segments closest to the point.
As a further preferable aspect of the present invention, the method further comprises:
and when the vehicles continuously appear the reverse driving state for the preset times on the same road, judging that the vehicles belong to the reverse driving.
The invention also provides a vehicle retrograde motion detection system, comprising:
the current running track acquiring module is used for acquiring the current running track of the vehicle through a GPS positioning module on the vehicle;
the system comprises a nearest road section information acquisition module, a road section information acquisition module and a road section information acquisition module, wherein the nearest road section information acquisition module is used for acquiring a current driving track point, a previous driving track point and a next driving track point of a vehicle from a current driving track, selecting a plurality of line sections nearest to the current driving track point, the previous driving track point and the next driving track point from pre-stored road network information, and acquiring an intersection of the plurality of line sections to obtain road section information nearest to the current driving track;
the judging module is used for obtaining the road section vector by obtaining a starting point and an end point in the road section information and obtaining the driving vector of the vehicle through the current driving track point; and judging whether the vehicle is in a reverse driving state at present according to the included angle between the road section vector and the driving vector.
As a further preferable aspect of the present invention, the judging module includes:
the one-way road judging unit is used for judging whether the road where the vehicle is located is a one-way road or not;
the one-way road retrograde motion judging unit is used for judging that the vehicle belongs to a retrograde motion state when the road is a one-way road and-90 & gtb-a & gt 90 DEG; and
the non-one-way road retrograde judging unit is used for judging that the vehicle belongs to a retrograde motion state when the road is a non-one-way road and the angle is more than 360 degrees and b-a is more than or equal to 270 degrees;
wherein a is a driving vector, b is a road section vector, and b-a is an included angle between the road section vector and the driving vector.
As a further preferable aspect of the present invention, the one-way reverse judging unit includes:
the recording subunit is used for recording road network information of a city where the vehicle is located;
and the acquisition subunit is used for acquiring whether the road is a one-way road from the road network information according to the road where the vehicle is located.
As a further preferable aspect of the present invention, the system further includes:
and the vehicle retrograde motion judging module is used for judging that the vehicle drives in the retrograde motion mode when the vehicle continuously generates a preset number of retrograde motion states on the same road.
The invention further provides a vehicle comprising the vehicle retrograde motion detection system.
The vehicle retrograde motion detection method, the system and the vehicle can achieve the following beneficial effects:
the invention provides a vehicle reverse running detection method, which comprises the following steps: acquiring a current running track of a vehicle through a GPS positioning module on the vehicle; the method comprises the steps of obtaining a current driving track point, a previous driving track point and a next driving track point of a vehicle from a current driving track, selecting a plurality of line segments nearest to the current driving track point, the previous driving track point and the next driving track point from pre-stored road network information, and obtaining intersection of the plurality of line segments to obtain road section information nearest to the current driving track; obtaining a road section vector by obtaining a starting point and an end point in the road section information, and obtaining a driving vector of the vehicle through the current driving track point; whether the vehicle is in a reverse driving state or not is judged according to the included angle between the road section vector and the driving vector, so that the current driving track of the vehicle is obtained through a GPS positioning module on the vehicle, and the whole detection method does not need to be provided with a large number of cameras and does not consider the requirement of the installation positions of the cameras, namely the cost is low; moreover, the detection method is based on software automatic detection, and has high accuracy and high real-time performance.
The vehicle reverse running detection system of the present invention includes: the current running track acquiring module is used for acquiring the current running track of the vehicle through a GPS positioning module on the vehicle; the system comprises a nearest road section information acquisition module, a road section information acquisition module and a road section information acquisition module, wherein the nearest road section information acquisition module is used for acquiring a current driving track point, a previous driving track point and a next driving track point of a vehicle from a current driving track, selecting a plurality of line sections nearest to the current driving track point, the previous driving track point and the next driving track point from pre-stored road network information, and acquiring an intersection of the plurality of line sections to obtain road section information nearest to the current driving track; the judging module is used for obtaining the road section vector by obtaining a starting point and an end point in the road section information and obtaining the driving vector of the vehicle through the current driving track point; whether the vehicle is in a reverse driving state or not is judged according to the included angle between the road section vector and the driving vector, so that the current driving track of the vehicle is obtained through a GPS positioning module on the vehicle, and the whole detection method does not need to be provided with a large number of cameras and does not consider the requirement of the installation positions of the cameras, namely the cost is low; moreover, the detection method is based on software automatic detection, and has high accuracy and high real-time performance.
According to the vehicle, the vehicle reverse driving detection system is included, so that the current driving track of the vehicle is obtained through the GPS positioning module on the vehicle, the whole detection method does not need to be provided with a large number of cameras, and the requirement of the installation positions of the cameras does not need to be considered, namely the cost is low; moreover, the detection method is based on software automatic detection, and has high accuracy and high real-time performance.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a flowchart of a method for detecting a vehicle in a reverse direction according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an angle between a road segment vector and a driving vector according to the present invention;
FIG. 3 is a diagram illustrating a driving state of a vehicle at a certain time according to the present invention;
fig. 4 is a block diagram of a vehicle reverse driving detection system according to an embodiment of the present invention.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Before the technical scheme of the invention is specifically explained, the following definitions are made for key terms in the technical field:
vehicle: comprises an electric vehicle, namely a two-wheeled or three-wheeled battery car.
A GPS positioning module: based on the basic positioning data of the Beidou satellite system (compatible with GPS, GLONASS and Galileo), big data operation is carried out through the internet technology, and the positioning information accurate to centimeter level is obtained
Road network information: urban road information is collected through big data of historical driving tracks of the electric vehicle. Is composed of roads.
Road: the cells in the waypoint information are formed of links.
Road section: the unit in the route point information is composed of a start point and an end point. The starting point and the end point are respectively stored in a form of longitude and latitude coordinates.
kd-Tree: a kd-tree (short for k-dimensional tree) is a data structure that partitions a k-dimensional data space. The method is mainly applied to searching of multidimensional space key data (such as range searching and nearest neighbor searching).
As shown in fig. 1, a vehicle reverse driving detection method includes:
in step 11, the running track is regularly reported and acquired by the GPS positioning module, and specifically, the current GPS information may be recorded and reported every 5 seconds. The GPS information contains longitude and latitude information and a heading angle of the point. The running track is a line formed by connecting continuous points in time, track points are sorted according to recorded time, and front and rear track points refer to front and rear points of a current point after being sorted according to time, namely the current running track refers to a track which is obtained at the current moment and is formed by GPS information reported by a GPS positioning module at fixed time;
the step 12 of selecting a plurality of segments nearest to the current driving track point, the previous driving track point and the next driving track point from the pre-stored road network information specifically includes:
dividing the whole city into a plurality of regions, dividing each road section into the regions, and establishing a binary tree;
and calculating the shortest region and sub-node region of the current driving track point according to the distance between the point and the line and the midpoint of the region by adopting a binary tree structure algorithm, and finally obtaining a plurality of line segments closest to the point.
All road sections can record the width (unit meter) of the current road section, the distance between a point and the road section must be smaller than the width of the road section, otherwise, the distance is recorded as being outside the road section, and the distance does not participate in calculation.
In step 13, as shown in fig. 2, AB is a road center line, and C is a current driving track point. The information of the point C comprises the longitude and latitude of the point C, the heading of the vehicle at the point C and the recording time. The information is reported to a server by a GPS positioning module through a network, namely, the included angle between the AB and the AC is a road section vector and a driving vector.
Judging whether the vehicle is in a reverse driving state at present according to the included angle between the road section vector and the driving vector specifically comprises the following steps:
judging whether the road where the vehicle is located is a one-way road or not;
when the road is a one-way road and the angle is more than-90 degrees and b-a is more than 90 degrees, the vehicle runs in the reverse direction;
when the road is a non-one-way road and the angle is more than 360 degrees and b-a is more than or equal to 270 degrees, the vehicle runs in the reverse direction;
wherein a is a driving vector, b is a road section vector, and b-a is an included angle between the road section vector and the driving vector.
Specifically, whether the road on which the vehicle is located is a one-way road can be judged in the following ways:
inputting road network information of a city where vehicles are located;
and acquiring whether the road is a one-way road from the road network information according to the road where the vehicle is located.
In order to make those skilled in the art better understand and implement the technical solution of the present invention, the working principle of the present invention is specifically illustrated in fig. 3 as an example below:
1. case of one-way road
As shown in fig. 3, if the direction is AB, the angle between the heading angle of the segment AB and the heading of the point C is taken, and if the angle is between-90 degrees and 90 degrees, the direction is the same, otherwise, the direction is the reverse. There is usually a small error, and in an implementation, a threshold (e.g., ± 1 degree) may be set to reduce false positives. In FIG. 3, the included angle is about-45 degrees, i.e., the heading of the vehicle is in the same direction as the road.
2. Non-one-way lane case
Firstly, the position relation between a track point and a road is obtained.
Assuming that the direction is AB, the AC course angle-AB course angle >0, the point C is on the right side of the AB line, <0 on the left side of the AB line, and 0 on the AB line.
If the vehicle is on the right side, the reverse driving is calculated by taking the AB as the direction, the calculation mode is the same as that of the AB one-way road, and whether the vehicle is in the same direction with the AB, namely the vehicle is driven on the right side of the road in the same direction, and if the vehicle is in the reverse direction, the vehicle is driven on the left side of the road in the BA direction and is driven in the reverse direction.
If the direction is on the left side, the reverse direction is calculated by taking BA as the direction, and the calculation mode is the same as the above, and the BA direction is taken as a one-way track. Due to the existence of the error, the condition that C is absolutely on AB usually does not occur, and if the C is absolutely on AB, the reverse running is directly considered.
As a further preferable aspect of the present invention, in order to avoid the result being inaccurate due to the determination error, and therefore, in order to further improve the detection accuracy, the method further includes:
and when the vehicle continuously has a reverse driving state for a preset number of times on the same road, judging that the vehicle belongs to the reverse driving, otherwise, judging that the vehicle does not belong to the reverse driving. The preset number of times can be 5 times, and of course, the preset number of times can also be other specific values according to actual requirements. If the preset times is 5, when the vehicle continuously appears 5 times of reverse driving on the same road, the vehicle is judged to belong to the reverse driving, otherwise, for example, if the vehicle continuously appears 2 times, 3 times or 4 times, the vehicle does not belong to the reverse driving.
As shown in fig. 4, the present invention also provides a vehicle reverse detection system, including:
a current driving track obtaining module 41, configured to obtain a current driving track of the vehicle through a GPS positioning module on the vehicle;
in the module 41 for acquiring the current running track, the running track is periodically reported and acquired by the GPS positioning module, and specifically, the current GPS information can be recorded and reported every 5 seconds. The GPS information contains longitude and latitude information and a heading angle of the point. The running track is a line formed by connecting continuous points in time, track points are sorted according to recorded time, and front and rear track points refer to front and rear points of a current point after being sorted according to time, namely the current running track refers to a track which is obtained at the current moment and is formed by GPS information reported by a GPS positioning module at fixed time;
the nearest road section information obtaining module 42 is used for obtaining a current driving track point, a previous driving track point and a next driving track point of the vehicle from the current driving track, selecting a plurality of line sections nearest to the current driving track point, the previous driving track point and the next driving track point from pre-stored road network information, and obtaining intersection of the plurality of line sections to obtain road section information nearest to the current driving track;
in the module 42 for obtaining the nearest road section information, selecting a plurality of line segments nearest to the current driving track point, the previous driving track point and the next driving track point from the pre-stored road network information specifically includes:
dividing the whole city into a plurality of regions, dividing each road section into the regions, and establishing a binary tree;
and calculating the shortest region and sub-node region of the current driving track point according to the distance between the point and the line and the midpoint of the region by adopting a binary tree structure algorithm, and finally obtaining a plurality of line segments closest to the point.
All road sections can record the width (unit meter) of the current road section, the distance between a point and the road section must be smaller than the width of the road section, otherwise, the distance is recorded as being outside the road section, and the distance does not participate in calculation.
The judging module 43 is configured to obtain the road segment vector by obtaining a starting point and an end point in the road segment information, and obtain a driving vector of the vehicle by obtaining a current driving track point; and judging whether the vehicle is in a reverse driving state at present according to the included angle between the road section vector and the driving vector.
The judging module 43 includes:
the one-way road judging unit is used for judging whether the road where the vehicle is located is a one-way road or not;
the one-way road retrograde motion judging unit is used for judging that the vehicle belongs to a retrograde motion state when the road is a one-way road and-90 & gtb-a & gt 90 DEG; and
the non-one-way road retrograde judging unit is used for judging that the vehicle belongs to a retrograde motion state when the road is a non-one-way road and the angle is more than 360 degrees and b-a is more than or equal to 270 degrees;
wherein a is a driving vector, b is a road section vector, and b-a is an included angle between the road section vector and the driving vector.
In one embodiment, the one-way reverse judging unit includes:
the recording subunit is used for recording road network information of a city where the vehicle is located;
and the acquisition subunit is used for acquiring whether the road is a one-way road from the road network information according to the road where the vehicle is located.
As a further preferable aspect of the present invention, in order to avoid the result being inaccurate due to the determination error, and therefore, in order to further improve the detection accuracy, the system further includes:
and the vehicle retrograde motion judging module is used for judging that the vehicle drives in the retrograde motion mode when the vehicle continuously generates a preset number of retrograde motion states on the same road. The preset number of times can be 5 times, and of course, the preset number of times can also be other specific values according to actual requirements. If the preset times is 5, when the vehicle continuously appears 5 times of reverse driving on the same road, the vehicle is judged to belong to the reverse driving, otherwise, for example, if the vehicle continuously appears 2 times, 3 times or 4 times, the vehicle does not belong to the reverse driving.
The invention further provides a vehicle which comprises the vehicle reverse running detection system in any one of the embodiments.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these are merely examples and that many variations or modifications may be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims.
Claims (10)
1. A vehicle reverse running detection method is characterized by comprising the following steps:
acquiring a current running track of a vehicle through a GPS positioning module on the vehicle;
the method comprises the steps of obtaining a current driving track point, a previous driving track point and a next driving track point of a vehicle from a current driving track, selecting a plurality of line segments nearest to the current driving track point, the previous driving track point and the next driving track point from pre-stored road network information, and obtaining intersection of the plurality of line segments to obtain road section information nearest to the current driving track;
obtaining a road section vector by obtaining a starting point and an end point in the road section information, and obtaining a driving vector of the vehicle through the current driving track point; and judging whether the vehicle is in a reverse driving state at present according to the included angle between the road section vector and the driving vector.
2. The method for detecting the reverse running of the vehicle according to claim 1, wherein the step of judging whether the vehicle is in the reverse running state at present according to an included angle between the road section vector and the running vector specifically comprises the steps of:
judging whether the road where the vehicle is located is a one-way road or not;
when the road is a one-way road and the angle is more than-90 degrees and b-a is more than 90 degrees, the vehicle runs in the reverse direction;
when the road is a non-one-way road and the angle is more than 360 degrees and b-a is more than or equal to 270 degrees, the vehicle runs in the reverse direction;
wherein a is a driving vector, b is a road section vector, and b-a is an included angle between the road section vector and the driving vector.
3. The vehicle reverse running detection method according to claim 2, characterized in that it is judged whether the road on which the vehicle is located is a one-way road by:
inputting road network information of a city where vehicles are located;
and acquiring whether the road is a one-way road from the road network information according to the road where the vehicle is located.
4. The method for detecting vehicle reverse running according to claim 1, wherein selecting a plurality of line segments nearest to a current driving track point, a previous driving track point and a next driving track point from pre-stored road network information specifically comprises:
dividing the whole city into a plurality of regions, dividing each road section into the regions, and establishing a binary tree;
and calculating the shortest region and sub-node region of the current driving track point according to the distance between the point and the line and the midpoint of the region by adopting a binary tree structure algorithm, and finally obtaining a plurality of line segments closest to the point.
5. The vehicle reverse running detection method according to any one of claims 1 to 4, characterized by further comprising:
and when the vehicles continuously appear the reverse driving state for the preset times on the same road, judging that the vehicles belong to the reverse driving.
6. A vehicle reverse travel detection system, comprising:
the current running track acquiring module is used for acquiring the current running track of the vehicle through a GPS positioning module on the vehicle;
the system comprises a nearest road section information acquisition module, a road section information acquisition module and a road section information acquisition module, wherein the nearest road section information acquisition module is used for acquiring a current driving track point, a previous driving track point and a next driving track point of a vehicle from a current driving track, selecting a plurality of line sections nearest to the current driving track point, the previous driving track point and the next driving track point from pre-stored road network information, and acquiring an intersection of the plurality of line sections to obtain road section information nearest to the current driving track;
the judging module is used for obtaining the road section vector by obtaining a starting point and an end point in the road section information and obtaining the driving vector of the vehicle through the current driving track point; and judging whether the vehicle is in a reverse driving state at present according to the included angle between the road section vector and the driving vector.
7. The vehicle reverse run detection system according to claim 6, wherein the judgment module comprises:
the one-way road judging unit is used for judging whether the road where the vehicle is located is a one-way road or not;
the single-lane reverse judging unit is used for judging that the vehicle belongs to a reverse state when the road is a single-lane road and the angle is more than-90 degrees and more than b-a and more than 90 degrees; and
the non-one-way road retrograde judging unit is used for judging that the vehicle belongs to a retrograde motion state when the road is a non-one-way road and the angle is more than 360 degrees and b-a is more than or equal to 270 degrees;
wherein a is a driving vector, b is a road section vector, and b-a is an included angle between the road section vector and the driving vector.
8. The vehicle retrograde motion detecting system according to claim 7, wherein the one-way road retrograde motion judging unit comprises:
the recording subunit is used for recording road network information of a city where the vehicle is located;
and the acquisition subunit is used for acquiring whether the road is a one-way road from the road network information according to the road where the vehicle is located.
9. The vehicle reverse run detection system according to any one of claims 6 to 8, characterized in that the system further comprises:
and the vehicle retrograde motion judging module is used for judging that the vehicle drives in the retrograde motion mode when the vehicle continuously generates a preset number of retrograde motion states on the same road.
10. A vehicle characterized by comprising the vehicle retrograde detection system of any one of claims 6 to 9.
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| CN112530170A (en) * | 2020-12-16 | 2021-03-19 | 济南博观智能科技有限公司 | Vehicle driving state detection method and device, electronic equipment and storage medium |
| CN112820115A (en) * | 2021-01-05 | 2021-05-18 | 四川铁投信息技术产业投资有限公司 | Method for identifying steering state of running vehicle |
| CN112950960A (en) * | 2021-01-26 | 2021-06-11 | 北京智能车联产业创新中心有限公司 | Method for judging reverse running of automatic driving vehicle |
| CN113619712A (en) * | 2021-08-19 | 2021-11-09 | 湖南喜宝达信息科技有限公司 | Electric bicycle and control method and storage medium for automatic power-off in reverse running of electric bicycle |
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