CN111435567B - Control method and device for road patrol car on customs road - Google Patents
Control method and device for road patrol car on customs road Download PDFInfo
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- CN111435567B CN111435567B CN201911346049.1A CN201911346049A CN111435567B CN 111435567 B CN111435567 B CN 111435567B CN 201911346049 A CN201911346049 A CN 201911346049A CN 111435567 B CN111435567 B CN 111435567B
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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
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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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
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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
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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Abstract
The invention discloses a control method and a device for a road patrol car on a customs road, wherein the method comprises the following steps: acquiring the position of an accident occurring road section on a road, and acquiring the real-time position of a patrol vehicle on the road; determining a position point which is positioned behind the position of the accident occurring road section by a reference distance on a road according to the position of the accident occurring road section; planning a traffic flow slow-speed driving route of the patrol vehicle on the road according to the position point and the real-time position of the patrol vehicle on the road; and controlling the patrol vehicle to run according to the traffic flow slow running route. The patrol vehicle which runs according to the curve running route is arranged on the road to guide the running speed of the running vehicle behind the accident occurring road section, so that the time required by the road to recover normal running can be reduced, and the influence of the road accident on the vehicle and goods switching efficiency is reduced.
Description
Technical Field
The invention relates to the technical field of customs highway vehicle monitoring, in particular to a control method and a device of a patrol car on a customs highway.
Background
In the course of customs clearance between customs supervision places, customs supervision departments need to strictly monitor goods and vehicles in the way of the clearance through an in-transit supervision system of customs supervision vehicles, and the in-transit supervision system not only needs to ensure the requirements of the customs supervision departments on strict supervision, but also meets the requirements of enterprises on quick and efficient clearance of clearance logistics.
The current on-road supervision system for customs supervision vehicles needs to configure patrol vehicles in roads besides real-time positioning of supervision vehicles through technologies such as GPS and the like, so that on one hand, blind areas in the roads can be monitored better, and on the other hand, information of traffic accidents or sudden accidents in road supervision sections sent by the on-road supervision system can be received, and workers on the patrol vehicles can take corresponding measures in time. For example, when an alarm signal indicating a traffic accident occurring in front of a road is received, a road block is set on the road in time to prevent a vehicle behind from driving to an accident area.
However, in such a way that the barrier is set on the road by the staff on the patrol vehicle to avoid further danger, in a busy road section of a customs supervision road, a certain time is required for setting or removing the barrier, and after the barrier is set, large-scale traffic jam occurs on the following road section, so that the problems of low efficiency and influence on the efficiency of vehicle and goods customs transfer are caused.
Disclosure of Invention
In view of the above, the invention provides a control method and a control device for a road patrol car on a customed road, so as to solve the problems that the efficiency is low and the customing efficiency of vehicles and goods is influenced in a mode of manually setting and removing roadblocks on the customed road to ensure the running safety of vehicles.
In order to solve the technical problems, the technical scheme of the invention is as follows:
in a first aspect, an embodiment of the present invention provides a method for controlling a patrol car on a customway, including:
acquiring the position of an accident occurring road section on a road, and acquiring the real-time position of a patrol vehicle on the road;
determining a position point which is positioned behind the position of the accident occurring road section by a reference distance on a road according to the position of the accident occurring road section;
planning a traffic flow slow-speed driving route of the patrol vehicle on the road according to the position point and the real-time position of the patrol vehicle on the road; the traffic flow slow-speed driving route comprises a straight-line driving route and a curve driving route, wherein the starting point of the straight-line driving route is the current position of the patrol vehicle on the road, the end point of the straight-line driving route is the position point, the starting point of the curve driving route is the position point, and the end point of the curve driving route is the position of the accident occurrence section;
controlling the patrol vehicle to run according to the traffic flow slow running route; when the patrol vehicle runs along the curve running route, the running speed of the running vehicle behind the patrol vehicle on the road can be guided.
Further, the curved driving route is S-shaped and spans all lanes on the road.
Furthermore, the patrol vehicle adopts an unmanned vehicle, a vehicle-mounted driver of the unmanned vehicle is in communication connection with an on-road monitoring system, and the on-road monitoring system sends a control instruction for controlling the running track and the running speed of the unmanned vehicle to the vehicle-mounted driver of the unmanned vehicle.
Further, be equipped with loudspeaker and warning light on the patrol vehicle, work as patrol vehicle is according to when the slow route of traveling of traffic flow was gone, loudspeaker sound, the warning light is lighted in order to send the warning that the slow speed was gone to the rear vehicle.
Further, the number of the patrol vehicles is two, and the curved driving routes of the two patrol vehicles are symmetrically arranged along the center line of the road.
In a second aspect, an embodiment of the present invention provides a control device for a patrol car on a transit road, for controlling the patrol car on the road, including:
the positioning unit is used for acquiring the position information of an accident occurring road section on the road and the real-time position information of the patrol vehicle on the road;
the position point selection unit is used for determining a position point which is positioned behind the position of the accident occurring road section by a reference distance on a road according to the position information of the accident occurring road section;
the vehicle running route planning unit is used for planning a traffic flow slow running route of the patrol vehicle on the road according to the position point and the real-time position information of the patrol vehicle on the road; the traffic flow slow-speed driving route comprises a straight-line driving route and a curve driving route, wherein the starting point of the straight-line driving route is the current position of the patrol vehicle on the road, the end point of the straight-line driving route is the position point, the starting point of the curve driving route is the position point, and the end point of the curve driving route is the position of the accident occurrence section;
and the communication unit is used for sending a control signal for driving according to the traffic flow slow speed driving route to the patrol vehicle according to the traffic flow slow speed driving route.
In a third aspect, an embodiment of the present invention provides a control system for a patrol car on a transit road, which is used for controlling the patrol car on the road, and comprises a display device, a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor implements the control method for the patrol car on the transit road when executing the computer program, and the display device displays the position of an accident section and the real-time position of the patrol car on the road on a map.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the control method of a road patrol car on a transit road as described above.
The technical scheme of the invention has the following advantages:
1. the invention provides a control method of a road patrol car on a customs road, which comprises the steps of determining a position point which is positioned behind the position of an accident occurring road section on the road by acquiring the position of the accident occurring road section on the road, and planning a traffic flow slow-speed driving route of the patrol car on the road by acquiring the real-time position and the position point of the patrol car on the road, wherein the traffic flow slow-speed driving route comprises a straight line driving route and a curve driving route, and the curve driving route takes the position point as a starting point and the position of the accident occurring road section as an end point; finally, controlling the patrol vehicle to run according to the traffic flow slow running route according to the planned traffic flow slow running route; according to the control method of the road patrol car, when the patrol car runs along a curve running route, the speed reduction and slow running of the rear running car can be controlled due to the running blocking effect of the patrol car on the rear running car; when an accident or other abnormal conditions occur on the road, the speed of the traffic flow on the road behind the accident occurring section can be automatically controlled, the length of the reference distance and the traffic flow guiding speed of the patrol vehicle are set according to the predicted elimination time of the accident on the accident occurring section, and the road can be quickly recovered to normal operation after the accident on the accident occurring section is eliminated; on one hand, the problem that the time consumption for manually setting and removing roadblocks before and after road accident elimination influences the normal running time of the road is solved, and the phenomenon that the road is frequently blocked due to accidents on a large scale is reduced; on the other hand, when an accident occurs on the road, the running vehicles only need to decelerate under the guidance of the patrol vehicles without stopping on the road completely, so that the average passing time of each vehicle can be shortened for a large batch of busy traffic flows, and the influence of the road accident on the vehicle and goods switching efficiency is reduced.
2. The control method of the patrol car on the customs road is S-shaped and spans the curve driving route of all lanes on the road, can guide the speed of the rear vehicles on all lanes, and has better effect of controlling the speed of the vehicle on the road.
3. According to the control method of the patrol car on the customs road, provided by the invention, as the driving route control of the unmanned car can not be influenced by human factors, the unmanned car is used as the patrol car, so that on one hand, the patrol car can be better controlled to drive according to the specified driving route; on the other hand, the labor cost for patrolling the road vehicles is reduced, and possible safety accidents caused by manually driving the patrol vehicles are avoided.
4. According to the control method of the patrol car on the customed road, provided by the invention, the horn and the warning lamp on the patrol car can remind the driver on the rear car to slowly drive according to the guiding speed by the guiding of the patrol car.
5. According to the control method of the patrol cars on the customs road, provided by the invention, two patrol cars respectively drive according to the S-shaped curve driving route, so that the traffic flow speed of the rear car can be controlled in a slow flow manner.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of a patrol vehicle guiding the running speed of a vehicle running behind on a road according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a state in which a patrol vehicle travels according to a traffic flow slowdown traveling route according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating an implementation of a method for controlling a patrol car on a customs road according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control device of a patrol car on a customs road according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of hardware equipment of a control device for a road patrol car on a customs road according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
A control method of a patrol car on a customs road as shown in fig. 1 to 3 includes the steps of:
in step S10, the position of the accident occurrence section 2 on the road is acquired, and the real-time position of the patrol vehicle 1 on the road is acquired.
Specifically, the on-road monitoring system acquires the real-time position of the patrol vehicle 1 on the road and the specific position of the accident occurrence section 2 on the road in a GPS (global positioning system) positioning mode.
And step S20, according to the position of the accident occurrence section 2, determining a position point 4 which is positioned behind the position of the accident occurrence section 2 by a reference distance on the road.
Specifically, a reference distance value between the accident occurrence section 2 and the position point 4 is set according to the type of the accident occurrence on the road and the specific time required for excluding the corresponding type of accident prediction.
And step S30, planning the traffic flow slow-speed driving route 5 of the patrol vehicle 1 on the road according to the position point 4 and the real-time position of the patrol vehicle 1 on the road.
Specifically, the traffic buffer travel route 5 includes a straight travel route 51 and a curved travel route 52, the starting point of the straight travel route 51 is the current position of the patrol vehicle 1 on the road, the ending point of the straight travel route 51 is the position point 4, the starting point of the curved travel route 52 is the position point 4, and the ending point of the curved travel route 52 is the position of the accident occurrence section 2.
And step S40, controlling the patrol vehicle 1 to run according to the traffic flow slow speed running route 5.
Specifically, after the on-road monitoring system receives the position signals of the accident occurrence and accident occurrence sections 2 on the road, the traffic flow slow-speed driving route 5 is planned according to the current position of the patrol vehicle 1 on the road. After receiving the control instruction sent by the in-transit monitoring system, the patrol vehicle 1 accelerates to the position point 4 along the straight-line travel route 51, and then travels along the curved-line travel route 52 after reaching the position point 4. When the patrol vehicle 1 runs along the curve running route 52, the plurality of lanes 3 on the road are continuously changed during the running process of the patrol vehicle 1, and the running speed of the running vehicle behind the patrol vehicle 1 on the road can be guided, so that the traffic flow speed behind the accident occurring road section 2 can be controlled.
According to the control method of the patrol car on the road on the turn-off road, when the patrol car 1 runs along the curve running route 52, the rear running car can be controlled to slow down and run slowly due to the running blocking effect of the patrol car 1 on the rear running car; when an accident or other abnormal conditions occur on the road, the speed of the traffic flow on the road behind the accident occurring section 2 can be automatically controlled, the length of the reference distance and the traffic flow guiding speed of the patrol vehicle 1 are set according to the predicted elimination time of the accident on the accident occurring section 2, and the road can be quickly recovered to normal operation after the accident on the accident occurring section 2 is eliminated; on one hand, the problem that the time consumption for manually setting and removing roadblocks before and after road accident elimination influences the normal running time of the road is solved, and the phenomenon that the road is frequently blocked due to accidents on a large scale is reduced; on the other hand, when an accident occurs on the road, the running vehicles only need to decelerate under the guidance of the patrol vehicle 1 without stopping on the road completely, so that for a large batch of busy traffic flows, the average passing time of each vehicle can be shortened, and the influence of the road accident on the vehicle and goods switching efficiency is reduced.
In the present embodiment, as shown in fig. 1, the curved travel path 52 is S-shaped and spans all four lanes 3 on the road in order to allow the vehicle speed guidance of the rear vehicles 6 on all the lanes 3. The curved driving route 52 which is S-shaped and spans all the lanes 3 on the road has better effect on controlling the speed of the vehicle on the road, and prevents the vehicle on the individual lane 3 from exceeding the patrol vehicle 1.
In this embodiment, the patrol vehicle 1 is specifically an unmanned vehicle, a vehicle-mounted driver of the unmanned vehicle is in communication connection with the on-road monitoring system, and the on-road monitoring system sends a control instruction for controlling the running track and the running speed of the unmanned vehicle to the vehicle-mounted driver of the unmanned vehicle. Since the driving route control of the unmanned automobile can not be influenced by human factors, the unmanned automobile is used as the patrol vehicle 1, on one hand, the patrol vehicle 1 can be better controlled to drive according to the specified driving route; on the other hand, the labor cost for patrolling the road vehicle is reduced, and possible safety accidents caused by manually driving the patrol vehicle 1 are avoided.
Specifically, the patrol vehicle 1 is provided with a horn and a warning lamp, when the patrol vehicle 1 runs according to the traffic flow slow running route 5, the horn makes a sound, and the warning lamp is turned on to remind the rear vehicle 6 of running at a slow speed. The horn and the warning lamp on the patrol vehicle 1 can remind a driver on the vehicle 6 behind to slowly run at the guiding speed according to the guiding of the patrol vehicle 1.
In a specific embodiment of the embodiment, the number of the patrol vehicles 1 is two, and the curved traveling routes 52 of the two patrol vehicles 1 are symmetrically arranged along the center line of the road. Specifically, two patrol vehicles 1 travel in tandem on respective curved travel paths 52. The two patrol vehicles 1 travel along the S-shaped curved travel route 52, respectively, and thus the flow speed of the rear vehicle 6 can be controlled to be more gradually.
Example two
As shown in fig. 4, a second embodiment of the present invention provides a control device for a patrol car on a transit road, including:
the positioning unit 10 is used for acquiring position information of an accident occurring road section on a road and real-time position information of a patrol vehicle on the road;
a location point selecting unit 20, configured to determine, on a road, a location point located behind a location of the accident occurrence section by a reference distance according to the location information of the accident occurrence section;
the vehicle driving route planning unit 30 is used for planning a traffic flow slow-speed driving route of the patrol vehicle on the road according to the position point and the real-time position information of the patrol vehicle on the road; the traffic flow slow-speed driving route comprises a straight-line driving route and a curve driving route, wherein the starting point of the straight-line driving route is the current position of the patrol vehicle on the road, the end point of the straight-line driving route is the position point, the starting point of the curve driving route is the position point, and the end point of the curve driving route is the position of the accident occurrence section;
and the communication unit 40 is used for sending a control signal for driving according to the traffic flow slow speed driving route to the patrol vehicle according to the traffic flow slow speed driving route.
The control device of the patrol car on the road of the customs clearance comprises a positioning unit 10, a position point selection unit 20 and a control unit, wherein the positioning unit 10 is used for acquiring the position of an accident occurring road section on the road and the real-time position of the patrol car on the road, and the position point selection unit is used for determining a position point which is positioned behind the position of the accident occurring road section and has a reference distance on the road according to the position of the accident occurring road section; then, the vehicle driving route planning unit 30 plans a traffic flow slow-speed driving route of the patrol vehicle on the road according to the acquired current position and position point of the patrol vehicle on the road; finally, the communication unit 40 sends a control signal to the patrol vehicles on the road to control the patrol vehicles to run on the control device of the road patrol vehicle on the transit road according to the traffic flow slow running route, and when the patrol vehicles run according to the curve running route, the rear running vehicles can be controlled to slow down and slow down due to the running blocking effect of the patrol vehicles on the rear running vehicles; when an accident or other abnormal conditions occur on the road, the speed of the traffic flow on the road behind the accident occurring section can be automatically controlled, the length of the reference distance and the traffic flow guiding speed of the patrol vehicle are set according to the predicted elimination time of the accident on the accident occurring section, and the road can be quickly recovered to normal operation after the accident on the accident occurring section is eliminated; on one hand, the problem that the time consumption for manually setting and removing roadblocks before and after road accident elimination influences the normal running time of the road is solved, and the phenomenon that the road is frequently blocked due to accidents on a large scale is reduced; on the other hand, when an accident occurs on the road, the running vehicles only need to decelerate under the guidance of the patrol vehicles without stopping on the road completely, so that the average passing time of each vehicle can be shortened for a large batch of busy traffic flows, and the influence of the road accident on the vehicle and goods switching efficiency is reduced.
As shown in fig. 5, the embodiment of the present invention further provides a control system for a road patrol car on a transit highway, which includes, but is not limited to, a display device, a memory 72, a processor 71, and a computer program stored in the memory 72 and operable on the processor 71. It will be appreciated by those skilled in the art that fig. 4 is merely an example of a control system for a patrol car on a customhouse road and does not constitute a limitation of a control system for a patrol car on a customhouse road, and may include more or less components than those shown, or some components in combination, or different components, for example, the control system for a patrol car on a customhouse road may also include input and output devices, network access devices, buses, etc. The processor 71, when executing the computer program, implements the control method of turning off the patrol car on the road as described above, and the display device displays the position of the accident occurring section and the real-time position of the patrol car on the road on the map.
The processor 71 may be a Central Processing Unit (CPU). The Processor 71 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or combinations thereof.
The memory 72 is a non-transitory computer readable storage medium, and can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the control method of the patrol car on the transit highway in the embodiment of the present invention. The processor 71 executes various functional applications and data processing of the processor 71 by running the non-transitory software programs, instructions and modules stored in the memory 72, that is, the control method of the patrol car on the transit road in the above-described method embodiment is implemented.
The memory 72 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 71, and the like. Further, the memory 72 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 72 may optionally include memory 72 located remotely from the processor 71, and these remote memories 72 may be connected to the processor 71 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 72 and, when executed by the processor 71, perform a method of controlling a road patrol car on a customhouse road as in the embodiment shown in fig. 3.
The specific details of the control device for the road patrol car on the customs road can be understood by referring to the corresponding related description and effects in the embodiment shown in fig. 4, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory 72(Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also include a combination of memories 72 of the kind described above.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (8)
1. A control method for a road patrol car on a customs road is characterized by comprising the following steps:
acquiring the position of an accident occurring road section on a road, and acquiring the real-time position of a patrol vehicle on the road;
determining a position point which is positioned behind the position of the accident occurring road section by a reference distance on a road according to the position of the accident occurring road section;
planning a traffic flow slow-speed driving route of the patrol vehicle on the road according to the position point and the real-time position of the patrol vehicle on the road; the traffic flow slow-speed driving route comprises a straight-line driving route and a curve driving route, wherein the starting point of the straight-line driving route is the current position of the patrol vehicle on the road, the end point of the straight-line driving route is the position point, the starting point of the curve driving route is the position point, and the end point of the curve driving route is the position of the accident occurrence section;
controlling the patrol vehicle to run according to the traffic flow slow running route; when the patrol vehicle runs along the curve running route, the running speed of the running vehicle behind the patrol vehicle on the road can be guided.
2. A control method for a road patrol car on a customs road according to claim 1, wherein the curved driving route is S-shaped and spans all lanes on the road.
3. A control method of a patrol car on a customed road according to claim 2, wherein the patrol car is an unmanned car, a vehicle-mounted driver of the unmanned car is in communication connection with an on-road monitoring system, and the on-road monitoring system sends a control command for controlling the driving track and the driving speed of the unmanned car to the vehicle-mounted driver of the unmanned car.
4. A control method for a patrol car on a crossroads according to claim 3, wherein the patrol car is provided with a horn and a warning lamp, when the patrol car runs along the slow running route of the traffic flow, the horn makes a sound, and the warning lamp is turned on to remind a following car of slow running.
5. A control method of a patrol car on a crossroad according to claim 3, wherein the number of the patrol cars is two, and the curved traveling routes of the two patrol cars are symmetrically arranged along the center line of the road.
6. A control device for a patrol car on a transit highway, for controlling the patrol car on the road, comprising:
the positioning unit is used for acquiring the position information of an accident occurring road section on the road and the real-time position information of the patrol vehicle on the road;
the position point selection unit is used for determining a position point which is positioned behind the position of the accident occurring road section by a reference distance on a road according to the position information of the accident occurring road section;
the vehicle running route planning unit is used for planning a traffic flow slow running route of the patrol vehicle on the road according to the position point and the real-time position information of the patrol vehicle on the road; the traffic flow slow-speed driving route comprises a straight-line driving route and a curve driving route, wherein the starting point of the straight-line driving route is the current position of the patrol vehicle on the road, the end point of the straight-line driving route is the position point, the starting point of the curve driving route is the position point, and the end point of the curve driving route is the position of the accident occurrence section;
and the communication unit is used for sending a control signal for driving according to the traffic flow slow speed driving route to the patrol vehicle according to the traffic flow slow speed driving route.
7. A control system of a patrol car on a transit road for controlling a patrol car on a road, comprising a display device, a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the control method of the patrol car on a transit road according to any one of claims 1 to 5 when executing the computer program, the display device displaying on a map a position of an accident occurring section and a real-time position of the patrol car on the road.
8. A computer-readable storage medium storing computer instructions for causing a computer to execute the method of controlling a road patrol car on a transit road according to any one of claims 1 to 5.
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| CN114220283A (en) * | 2021-11-29 | 2022-03-22 | 中汽研（天津）汽车工程研究院有限公司 | Intersection smooth vehicle speed guiding method based on V2X |
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