CN111596332B - Traffic accident handling method and device, electronic equipment and readable storage medium - Google Patents

Traffic accident handling method and device, electronic equipment and readable storage medium Download PDF

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Publication number
CN111596332B
CN111596332B CN202010414611.6A CN202010414611A CN111596332B CN 111596332 B CN111596332 B CN 111596332B CN 202010414611 A CN202010414611 A CN 202010414611A CN 111596332 B CN111596332 B CN 111596332B
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positioning
accident
preset
time period
correction data
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CN111596332A (en
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刘恒进
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides a traffic accident handling method, a device, electronic equipment and a readable storage medium, wherein the method comprises the following steps: receiving an accident responsibility dividing request, wherein the accident responsibility dividing request comprises positioning information acquired by positioning equipment of an accident vehicle in a preset time period, and the preset time period comprises an accident occurrence time; when the positioning precision of the positioning equipment does not reach the preset precision level, correcting the positioning information, and acquiring the travelling path of the accident vehicle in the preset time period based on the corrected positioning information; when the positioning precision of the positioning equipment reaches a preset precision level, acquiring the travelling path of the accident vehicle in a preset time period based on the positioning information; and carrying out accident responsibility division based on the driving track to obtain an accident responsibility division result. According to the scheme, after an accident occurs, the accident vehicle does not need to stay at the accident scene, so that traffic jam of other vehicles due to traffic accidents is avoided, and the driving efficiency is ensured.

Description

Traffic accident handling method and device, electronic equipment and readable storage medium
Technical Field
The application relates to the technical field of vehicle positioning, in particular to a traffic accident handling method, a traffic accident handling device, electronic equipment and a readable storage medium.
Background
Along with the development of cities, road traffic is developed, and the handling of traffic accidents greatly influences the traveling of people. At present, when a vehicle is in a traffic accident such as a collision or a rear-end collision, in order to preserve the accident scene for facilitating responsibility division, a vehicle driver often stops the vehicle at the accident scene to wait for traffic law enforcement personnel to arrive, or shoots the accident scene by mobile equipment such as a mobile phone, and the traffic accident handling modes all require the driver to preserve the accident scene in a waiting or shooting mode, so that the accident vehicle needs to stay at the accident scene to cause traffic jam and influence the normal running of other vehicles.
Disclosure of Invention
The application aims to at least solve one of the technical defects, and the technical scheme provided by the embodiment of the application is as follows:
in a first aspect, an embodiment of the present application provides a traffic accident handling method, including:
Receiving an accident responsibility dividing request, wherein the accident responsibility dividing request comprises positioning information acquired by positioning equipment of an accident vehicle in a preset time period, and the preset time period comprises an accident occurrence time;
When the positioning precision of the positioning equipment does not reach the preset precision level, correcting the positioning information, and acquiring the travelling path of the accident vehicle in the preset time period based on the corrected positioning information; when the positioning precision of the positioning equipment reaches a preset precision level, acquiring the travelling path of the accident vehicle in a preset time period based on the positioning information;
And carrying out accident responsibility division based on the driving track to obtain an accident responsibility division result.
In an optional embodiment of the present application, when the positioning accuracy of the positioning device does not reach the preset accuracy level, the positioning information is global navigation satellite system GNSS measurement data and a corresponding timestamp of each preset positioning point in a preset time period, and the accident responsibility division request further includes a position where the accident vehicle is located at the moment of the accident, and the method further includes:
Transmitting a correction data acquisition request to a correction data server, wherein the correction data acquisition request comprises a preset time period and a position, so that the correction data server acquires correction data corresponding to the preset position and the preset time period, and each correction data corresponds to each GNSS measurement data in the correction data effective time period;
The receiving correction data server transmits correction data in response to the correction data acquisition request;
correspondingly, the positioning information is corrected, and the driving track of the accident vehicle in the preset time period is obtained based on the corrected positioning information, and the method comprises the following steps:
determining correction data corresponding to the GNSS measurement data based on the time stamp corresponding to each GNSS measurement data;
Correcting the GNSS measurement data by utilizing correction data corresponding to each GNSS measurement data, and acquiring the position coordinates of a corresponding preset positioning point based on the corrected GNSS measurement data;
and sequentially connecting the position coordinates of the corresponding preset positioning points according to the time sequence indicated by each time stamp to obtain the driving track.
In an alternative embodiment of the present application, the correction data is differential data, and based on each GNSS measurement data and the corresponding correction data, obtaining the position coordinates of the preset positioning point corresponding to the GNSS measurement data includes:
and taking each GNSS measurement data and the corresponding differential data as the input of a preset carrier phase differential RTK positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data.
In an alternative embodiment of the present application, the correction data is ephemeris data, and based on each GNSS measurement data and the corresponding correction data, obtaining the position coordinates of the preset positioning point corresponding to the GNSS measurement data includes:
And taking each GNSS measurement data and the corresponding ephemeris data as the input of a preset state space representation SSR positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data.
In an alternative embodiment of the present application, when positioning accuracy of the positioning device reaches a preset accuracy level, positioning information is an RTK positioning coordinate and a corresponding timestamp of each preset positioning point in a preset time period, and acquiring a driving track of an accident vehicle in the preset time period based on the positioning information includes:
and sequentially connecting the corresponding RTK positioning coordinates according to the time sequence indicated by the time stamps to obtain the driving track.
In an optional embodiment of the present application, the positioning information further includes a solution state corresponding to each preset positioning point, where the solution state is divided into a floating solution and a fixed solution, and the solution state is sequentially connected to corresponding RTK positioning coordinates according to a time sequence indicated by each timestamp, to obtain a driving track, and the method includes:
And screening out the RTK positioning coordinates with the solution state of a floating solution and the corresponding time stamps in the RTK positioning coordinates, and sequentially connecting the RTK positioning coordinates with the corresponding solution state of a fixed solution according to the time sequence indicated by the remaining time stamps to obtain the travelling path.
In an alternative embodiment of the present application, accident responsibility division based on a track includes:
and projecting the driving track onto an electronic map with road-level precision, and dividing accident responsibility based on the projection result and a preset traffic rule.
In a second aspect, an embodiment of the present application provides a traffic accident handling apparatus, including:
The accident responsibility dividing request receiving module is used for receiving an accident responsibility dividing request, wherein the accident responsibility dividing request comprises positioning information acquired by positioning equipment of an accident vehicle in a preset time period, and the preset time period comprises an accident occurrence time;
The vehicle track acquisition module is used for correcting the positioning information when the positioning precision of the positioning equipment does not reach the preset precision level, and acquiring the vehicle track of the accident vehicle in the preset time period based on the corrected positioning information; when the positioning precision of the positioning equipment reaches a preset precision level, acquiring the travelling path of the accident vehicle in a preset time period based on the positioning information;
the accident responsibility dividing module is used for dividing accident responsibility based on the driving track and obtaining an accident responsibility dividing result.
In an alternative embodiment of the present application, when the positioning accuracy of the positioning device does not reach the preset accuracy level, the positioning information is global navigation satellite system GNSS measurement data and a corresponding timestamp of each preset positioning point in a preset time period, and the accident responsibility division request further includes a position where the accident vehicle is located at the moment of the accident, and the apparatus further includes a correction data acquisition module, configured to:
Transmitting a correction data acquisition request to a correction data server, wherein the correction data acquisition request comprises a preset time period and a position, so that the correction data server acquires correction data corresponding to the preset position and the preset time period, and each correction data corresponds to each GNSS measurement data in the correction data effective time period;
The receiving correction data server transmits correction data in response to the correction data acquisition request;
Correspondingly, the driving track acquisition module is specifically used for:
determining correction data corresponding to the GNSS measurement data based on the time stamp corresponding to each GNSS measurement data;
Correcting the GNSS measurement data by utilizing correction data corresponding to each GNSS measurement data, and acquiring the position coordinates of a corresponding preset positioning point based on the corrected GNSS measurement data;
and sequentially connecting the position coordinates of the corresponding preset positioning points according to the time sequence indicated by each time stamp to obtain the driving track.
In an optional embodiment of the present application, the correction data is differential data, and the driving track obtaining module is specifically configured to further:
and taking each GNSS measurement data and the corresponding differential data as the input of a preset carrier phase differential RTK positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data.
In an optional embodiment of the present application, the correction data is ephemeris data, and the driving track obtaining module is specifically configured to further:
And taking each GNSS measurement data and the corresponding ephemeris data as the input of a preset state space representation SSR positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data.
In an optional embodiment of the present application, when the positioning accuracy of the positioning device reaches a preset accuracy level, the positioning information is an RTK positioning coordinate and a corresponding timestamp of each preset positioning point in a preset time period, and the driving track acquisition module is specifically configured to:
and sequentially connecting the corresponding RTK positioning coordinates according to the time sequence indicated by the time stamps to obtain the driving track.
In an optional embodiment of the present application, the positioning information further includes a solution state corresponding to each preset positioning point, where the solution state is divided into a floating solution and a fixed solution, and the driving track obtaining module is further configured to:
And screening out the RTK positioning coordinates with the solution state of a floating solution and the corresponding time stamps in the RTK positioning coordinates, and sequentially connecting the RTK positioning coordinates with the corresponding solution state of a fixed solution according to the time sequence indicated by the remaining time stamps to obtain the travelling path.
In an alternative embodiment of the present application, the accident responsibility dividing module is specifically configured to:
and projecting the driving track onto an electronic map with road-level precision, and dividing accident responsibility based on the projection result and a preset traffic rule.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory and a processor;
a memory having a computer program stored therein;
a processor for executing a computer program to implement the method provided in the first aspect embodiment or any of the alternative embodiments of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, which when executed by a processor implements the method provided in the embodiment of the first aspect or any of the alternative embodiments of the first aspect.
The technical scheme provided by the application has the beneficial effects that:
After an accident occurs, the remote accident handling center obtains the high-precision driving track of the accident vehicle based on the received positioning information of the accident vehicle, and determines the accident responsibility dividing result based on the high-precision driving track of the accident vehicle and the road condition information, so that the accident vehicle does not need to stay at the accident scene after the accident occurs, the traffic accident congestion of other vehicles is avoided, and the driving efficiency is ensured.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required to be used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic structural diagram of a remote traffic accident handling platform according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a traffic accident handling method according to an embodiment of the present application;
FIG. 3 is an interaction diagram of a scheme in an embodiment of the present application when positioning accuracy of a positioning device does not reach a preset accuracy level;
FIG. 4 is an interaction diagram of a scheme when positioning accuracy of a positioning device reaches a preset accuracy level according to an embodiment of the present application;
Fig. 5 is a schematic structural diagram of another remote traffic accident handling platform according to an embodiment of the present application;
fig. 6 is a block diagram of a traffic accident handling apparatus according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
The traffic accident handling method provided by the embodiment of the application is realized on the basis of a remote traffic accident handling platform shown in fig. 1, wherein the traffic remote traffic accident handling platform comprises a vehicle-mounted positioning device 101 and a remote accident handling center 102. The positioning device 101 includes a positioning chip, a storage module and a communication module, the positioning chip collects positioning information of a vehicle in a running process of the vehicle and stores the positioning information in the positioning module, and the positioning device 101 can communicate with the remote accident handling center 102 through the communication module, so that information receiving and transmitting between the positioning device 101 and the accident handling center 102 are realized. The remote accident handling center 102 may be understood as a remote server, and after receiving the positioning information sent by the positioning device 101, it may acquire the track of the corresponding accident vehicle based on the positioning information, so as to perform accident responsibility division. It should be noted that, the positioning device 101 and the remote accident handling center 102 may be a cellular network communication technology provided by a telecom operator in a communication manner, or may be a vehicle wireless communication technology (vehicle to everything, V2X) or the like.
In addition, the positioning device can also communicate with various terminals, for example, can communicate with a mobile terminal (such as a mobile phone), and the mobile terminal can be further provided with a corresponding Application program (APP), that is, the positioning device can receive positioning information collected by the positioning device through the APP, send an accident responsibility division request to the remote accident handling center 102 through the APP, and also receive an accident responsibility division result issued by the remote accident handling center 102 through the APP.
Fig. 2 is a flow chart of a traffic accident handling method provided by an embodiment of the present application, where an execution subject of the method is a remote accident handling center, as shown in fig. 2, the method may include:
Step S201, an accident responsibility division request is received, wherein the accident responsibility division request contains positioning information acquired by positioning equipment of an accident vehicle in a preset time period, and the preset time period comprises an accident occurrence time.
The accident responsibility dividing request is generally sent to the remote accident handling center by a traffic accident handling participant such as a vehicle driver or a traffic law enforcement participant, for example, the vehicle driver may send the accident responsibility dividing request to the remote accident handling center through an external interaction device (button, touch screen, etc.) corresponding to the positioning device, and the vehicle driver may also send the accident responsibility dividing request to the remote accident handling center through the APP described above. Meanwhile, the accident vehicle can automatically trigger the positioning device to send an accident responsibility dividing request to the remote accident handling center when an accident occurs, for example, a collision sensor of the accident vehicle feeds back a triggering signal corresponding to the positioning device when triggered in the collision accident, and the positioning device automatically sends the accident responsibility dividing request to the remote accident handling center. It will be appreciated that traffic accident liability divisions will typically involve at least two accident vehicles, and that after an accident liability has occurred, the remote accident handling centre needs to receive location information for all accident vehicles.
The positioning information may be position coordinates of each point on the vehicle track of the accident vehicle, or may be related data for determining position coordinates of each point on the vehicle track.
In order to divide accident responsibility, the remote accident handling center needs to restore the track of the accident vehicle before and after the accident, especially before the moment of sending the accident, so that the remote center receives the positioning information of the vehicle in a preset time period, and the preset time period includes the moment of accident. It is understood that the preset time period may be set according to actual requirements.
For example, when a collision accident occurs in the vehicle a and the vehicle B, the accident responsibility is divided by using the scheme of the application, after the accident occurs, the vehicle a and the vehicle B can directly leave the accident scene, and the driver of the vehicle a and the driver of the vehicle B report the positioning information of the vehicle to a remote accident handling center through the APP corresponding to the positioning device respectively.
Step S202, when the positioning precision of the positioning equipment does not reach a preset precision level, correcting the positioning information, and acquiring the travelling path of the accident vehicle in a preset time period based on the corrected positioning information; and when the positioning precision of the positioning equipment reaches a preset precision level, acquiring the track of the accident vehicle in a preset time period based on the positioning information.
Specifically, after receiving positioning information of the accident vehicle, the remote accident handling center needs to acquire a track of the accident vehicle within a preset time period according to the positioning information, so as to be used for subsequent accident responsibility division. Because the positioning accuracy of the positioning equipment of different vehicles is different, the accuracy of the acquired positioning information is also different, and the accuracy of the vehicle track finally acquired based on the positioning information is also different. In order to ensure that the precision of the driving track acquired by the remote control center can be used for accident responsibility division, for positioning equipment with positioning precision which does not reach a preset precision level, the remote accident handling center needs to correct the positioning information acquired by the positioning equipment and then acquire the driving track. The preset precision level can be set according to actual requirements, and can be generally set to be a centimeter level.
For example, some positioning devices of vehicles have positioning accuracy of 5-10 meters, the collected positioning information is only used for navigation, and the remote processing center cannot directly obtain the corresponding driving track by adopting the received positioning information. For a vehicle with an automatic driving function, the positioning precision of the positioning equipment can reach the centimeter level, and the remote accident handling center can directly acquire the corresponding driving track by adopting the received positioning information.
Step S203, accident responsibility division is carried out based on the driving tracks, and an accident responsibility division result is obtained.
Specifically, after the remote accident handling center obtains the driving track of the accident vehicle, the driving track of the accident vehicle can be combined with road condition information to determine the behaviors of the accident vehicle before and after the accident, so as to determine the accident responsibility. And the remote accident handling center transmits the obtained accident responsibility dividing result, the driving track and other related information to the positioning equipment or the APP corresponding to the positioning equipment.
It can be understood that by the scheme of the application, after an accident occurs, the accident site is not required to be reserved, the accident vehicle can continue to run or move out of the traffic lane, and the normal traffic of other vehicles on the traffic lane is ensured.
According to the scheme provided by the application, after an accident occurs, the remote accident handling center acquires the high-precision driving track of the accident vehicle based on the received positioning information of the accident vehicle, and determines the accident responsibility dividing result based on the high-precision driving track of the accident vehicle and the road condition information, so that the accident vehicle does not need to stay on the accident scene after the accident occurs, traffic jam of other vehicles due to traffic accidents is avoided, and driving efficiency is ensured.
In an optional embodiment of the present application, when the positioning accuracy of the positioning device does not reach the preset accuracy level, the positioning information is global navigation satellite system GNSS measurement data and a corresponding timestamp of each preset positioning point in a preset time period, and the accident responsibility division request further includes a position where the accident vehicle is located at the moment of the accident, and the method may further include:
Transmitting a correction data acquisition request to a correction data server, wherein the correction data acquisition request comprises a preset time period and a position, so that the correction data server acquires correction data corresponding to the preset position and the preset time period, and each correction data corresponds to each GNSS measurement data in the correction data effective time period;
the receiving correction data server transmits correction data in response to the correction data acquisition request.
For the positioning device with the adopted positioning chip being the GNSS positioning chip, the positioning accuracy of the acquired positioning information is usually only 5-10 meters, namely the positioning accuracy of the positioning device can not reach the preset accuracy level. Then, before the remote accident handling center acquires the driving track, the received positioning information needs to be corrected so that the positioning accuracy of the corrected positioning information reaches a preset accuracy level. Therefore, the remote accident handling center needs to acquire correction data corresponding to each positioning information.
The accuracy of the positioning coordinates directly calculated according to the GNSS measurement data collected by the positioning device cannot reach the required accuracy, so that the positioning information sent to the remote accident handling center is the GNSS measurement data of each preset positioning point in a preset time period and a corresponding timestamp, and the position of the accident vehicle at the moment of the accident. The preset positioning points are positioning points corresponding to positioning time determined by the positioning equipment according to the positioning period, and the corresponding time stamp is the time for acquiring the GNSS measurement data, namely the positioning time corresponding to each preset positioning point.
Specifically, in general, the correction data of the GNSS measurement data may be corresponding differential data and ephemeris data. The two types of correction data have respective corresponding effective time periods and effective areas, and then when the remote accident handling center requests the corresponding correction data from the correction data server, the remote accident handling center needs to send the preset time period and the position of the accident vehicle when the accident happens so that the correction data server can determine the correction data corresponding to the GNSS measurement data. Specifically, the correction data server determines a set of correction data according to the position of the accident vehicle when the accident occurs, and then screens out the correction data in the set of correction data within a preset time period as correction data corresponding to the GNSS measurement data.
For example, if the preset time period is 10:00-10:10, and the accident vehicle is at the C position at the moment of the accident occurrence, the correction data server first acquires all the correction data of the C position, marks the correction data as a first correction data set, then screens out the correction data in the effective time period of 10:00-10:10 in the first correction data set, marks the correction data as a second correction data set, and the correction data in the second correction data set is the correction data corresponding to the GNSS measurement data. Furthermore, if the effective time period of a certain correction data is 10:00-10:05, then the correction data corresponding to all the GNSS measurement data in the time period of 10:00-10:05 is the correction data, in other words, the correction data may be used to correct all the GNSS measurement data in the time period of 10:00-10:05.
It should be noted that the effective time periods of the two types of correction data are different according to the types of the two types of correction data, and meanwhile, the effective area of the two types of correction data is generally more than 10km, so that the two types of correction data can be considered to cover the driving area of the accident vehicle in the preset time period, namely, the two types of correction data can correspond to all the GNSS measurement data in the preset time period.
Further, there are various ways to obtain the position of the accident vehicle when the accident occurs, and it can be known from the foregoing description that the effective area of the correction data is enough to cover the driving area of the accident vehicle in the preset time period, so that the position can be determined directly by using the GNSS measurement data of the moment of the accident, or can be determined according to the cell corresponding to the number of the communication base station connected to the positioning device.
Correspondingly, the positioning information is corrected, and the driving track of the accident vehicle in the preset time period is obtained based on the corrected positioning information, and the method comprises the following steps:
determining correction data corresponding to the GNSS measurement data based on the time stamp corresponding to each GNSS measurement data;
Correcting the GNSS measurement data by utilizing correction data corresponding to each GNSS measurement data, and acquiring the position coordinates of a corresponding preset positioning point based on the corrected GNSS measurement data;
and sequentially connecting the position coordinates of the corresponding preset positioning points according to the time sequence indicated by each time stamp to obtain the driving track.
Specifically, it may be determined which correction data is within the valid period of time according to the timestamp corresponding to the GNSS measurement data, i.e. the correction data corresponding to the GNSS measurement data may be determined. And then correcting the corresponding GNSS measurement data by utilizing the correction data to enable the corresponding GNSS measurement data to reach the required precision level, and further obtaining the position coordinates of each preset positioning point. And finally, sequentially connecting the position coordinates according to the time sequence to obtain the driving track of the accident vehicle.
In an optional embodiment of the present application, the correction data is differential data, and based on each GNSS measurement data and the corresponding correction data, obtaining the position coordinates of the preset positioning point corresponding to the GNSS measurement data includes:
and taking each GNSS measurement data and the corresponding differential data as the input of a preset carrier phase differential RTK positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data.
The GNSS measurement data comprises a pseudo range value, a carrier phase value and a Doppler value, and the differential data comprises pseudo range differential information, carrier phase differential information and Doppler differential information.
Specifically, a preset RTK (Real-TIME KINEMATIC, carrier phase difference) positioning algorithm is utilized to calculate the position coordinates of each preset positioning point, that is, each GNSS measurement data and corresponding differential data are used as inputs of the algorithm, that is, the position coordinates of each corresponding preset positioning point can be output, and the accuracy of the algorithm can reach the centimeter level.
In an alternative embodiment of the present application, the correction data is ephemeris data, and based on each GNSS measurement data and the corresponding correction data, obtaining the position coordinates of the preset positioning point corresponding to the GNSS measurement data includes:
And taking each GNSS measurement data and the corresponding ephemeris data as the input of a preset state space representation SSR positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data.
The GNSS measurement data comprises a pseudo-range value, a carrier phase value and a Doppler value, and the ephemeris data comprises precise satellite orbits, precise satellite constant information and precise ionosphere and flow errors.
Specifically, a preset SSR (STATE SPACE Represetion, state space representation) positioning algorithm is utilized to calculate the position coordinates of each preset positioning point, namely, each GNSS measurement data and corresponding ephemeris data are used as the input of the algorithm, namely, the position coordinates of each corresponding preset positioning point can be output, and the accuracy of the algorithm can reach the centimeter level.
As shown in fig. 3, in order to provide an interaction diagram of the scheme provided by the application when the positioning precision of the positioning device does not reach the preset precision level, the interaction diagram may include the following steps:
(1) After the accident happens, the positioning device/mobile terminal APP sends an accident responsibility division request to a remote accident handling center, wherein the accident responsibility division request comprises GNSS measurement data of each preset positioning point in a preset time period, a corresponding time stamp and the position of an accident vehicle at the moment of the accident.
(2) The remote accident handling center sends a correction data acquisition request to the correction data server, wherein the correction data acquisition request comprises a preset time period and the position of the accident vehicle at the moment of accident occurrence.
(3) The correction data server requests the remote accident handling center to send corresponding correction data in response to the correction data.
(4) The remote accident handling center corrects the corresponding GNSS measurement data based on the correction data, acquires the driving track of the accident vehicle based on the corrected GNSS measurement data, and determines the accident responsibility dividing result based on the driving track of the accident vehicle.
(5) In response to the accident responsibility division request, the remote accident handling center transmits the accident responsibility division result to the positioning device/mobile terminal APP.
In an alternative embodiment of the present application, when positioning accuracy of the positioning device reaches a preset accuracy level, positioning information is an RTK positioning coordinate and a corresponding timestamp of each preset positioning point in a preset time period, and acquiring a driving track of an accident vehicle in the preset time period based on the positioning information includes:
and sequentially connecting the corresponding RTK positioning coordinates according to the time sequence indicated by the time stamps to obtain the driving track.
The positioning device adopts the RTK high-precision positioning chip, and the positioning precision of the positioning information acquired by the positioning device can reach the centimeter level, namely the positioning precision of the positioning device reaches the preset precision level. Then, when the remote accident handling center obtains the driving track, the positioning coordinates of each preset positioning point provided by the positioning equipment can be directly adopted.
Specifically, the driving track of the accident vehicle can be obtained by sequentially connecting the RTK positioning coordinates according to the time sequence.
In an optional embodiment of the present application, the positioning information further includes a solution state corresponding to each preset positioning point, where the solution state is divided into a floating solution and a fixed solution, and the solution state is sequentially connected to corresponding RTK positioning coordinates according to a time sequence indicated by each timestamp, to obtain a driving track, and the method includes:
And screening out the RTK positioning coordinates with the solution state of a floating solution and the corresponding time stamps in the RTK positioning coordinates, and sequentially connecting the RTK positioning coordinates with the corresponding solution state of a fixed solution according to the time sequence indicated by the remaining time stamps to obtain the travelling path.
The RTK high-precision positioning chip can give a solution state when obtaining each RTK positioning coordinate, and the solution state is divided into a floating solution and a fixed solution, specifically, the floating solution indicates that the precision of the corresponding RTK positioning coordinate is unqualified, and the fixed solution indicates that the precision of the corresponding RTK positioning coordinate is qualified.
Specifically, before the remote accident center obtains the driving track of the accident vehicle according to the RTK positioning coordinates, the RTK positioning coordinates with the solution state of the RTK positioning coordinates being a floating solution are screened out, so that the accuracy of the obtained driving estimation is ensured.
As shown in fig. 4, when the positioning accuracy of the positioning device reaches a preset accuracy level, the interaction diagram of the scheme provided by the application may include the following steps:
(1) After the accident happens, the positioning equipment/mobile terminal APP sends an accident responsibility division request to a remote accident handling center, wherein the accident responsibility division request comprises RTK positioning coordinates of each preset positioning point in a preset time period and a corresponding time stamp.
(2) The remote accident handling center obtains the driving track of the accident vehicle based on the RTK positioning coordinates, and then determines the accident responsibility dividing result based on the driving track of the accident vehicle.
(3) In response to the accident responsibility division request, the remote accident handling center transmits the accident responsibility division result to the positioning device/mobile terminal APP.
In an alternative embodiment of the present application, accident responsibility division based on a track includes:
and projecting the driving track onto an electronic map with road-level precision, and dividing accident responsibility based on the projection result and a preset traffic rule.
Specifically, the electronic map according to the road set precision can acquire the related road information of the accident area, such as the traffic line, the speed limit value and the like, so that after the traffic track of the accident vehicle is projected onto the electronic map, the accident responsibility dividing result can be obtained by combining the related road information and the preset traffic rule.
As shown in fig. 5, a schematic structural diagram of a remote traffic accident handling platform according to an embodiment of the present application may include: a vehicle-mounted locating device 501, a remote accident handling center 502, a correction data server 503 and a user terminal device 504 (which is a mobile phone or a personal computer). Wherein, the positioning device 501 and the remote accident handling center 502 can communicate through the communication module 513 and the communication module 523, the remote accident handling center 502 and the correction data server 503 can communicate through the communication module 523 and the communication module 532, and the user terminal device 504 and the positioning device 501 and the remote accident handling center 502 can communicate through the respective communication modules.
Scene one: when the positioning accuracy of the positioning device does not reach the preset accuracy level, after the accident occurs, the interaction flow between the devices may include: (1) The positioning device 501/the user terminal device 504 sends an accident responsibility division request to the remote accident handling center 502, where the accident responsibility division request includes GNSS measurement data of each preset positioning point in a preset time period, a corresponding time stamp, and a location where the accident vehicle is located at the moment of the accident. When the accident responsibility division request is sent to the remote accident handling center through the user terminal 504, the user terminal 504 first receives the GNSS measurement data collected by the positioning chip 511 and stored in the storage module 512. (2) The remote accident handling center 502 transmits a correction data acquisition request including a preset time period and a position of the accident vehicle at the moment of the accident to the correction data server 503. (3) The correction data obtaining module 531 of the correction data server 503 obtains correction data corresponding to each GNSS measurement data based on the received preset time period and position, and sends the corresponding correction data to the remote accident handling center 502 in response to a request of the correction data from the remote accident handling center. (4) The track acquisition module 521 of the remote accident handling center 502 corrects the corresponding GNSS measurement data based on the correction data, acquires the track of the accident vehicle based on the corrected GNSS measurement data, and the accident responsibility dividing module 522 projects the track of the accident vehicle onto the electronic map with road-level accuracy, and determines the accident responsibility dividing result in combination with the preset traffic rule. (5) The remote accident handling center 502 transmits the accident responsibility division result to the positioning device 501/the user terminal device 504 in response to the accident responsibility division request, and the user views the accident responsibility division result through the positioning device 501 or the user terminal device 504.
Scene II: when the positioning accuracy of the positioning device reaches a preset accuracy level, after an accident occurs, the interaction flow between the devices may include: (1) The positioning device 501/user terminal device 504 sends an accident responsibility division request to the remote accident handling center 502, where the accident responsibility division request includes RTK positioning coordinates and corresponding time stamps of each preset positioning point in a preset time period. (2) The track acquisition module 521 of the remote accident handling center 502 acquires the track of the accident vehicle based on the RTK positioning coordinates, and the accident responsibility dividing module 522 projects the track of the accident vehicle onto the electronic map with road-level accuracy, and can determine the accident responsibility dividing result in combination with the preset traffic rules. (3) The remote accident handling center 502 transmits the accident responsibility division result to the positioning device 501/the user terminal device 504 in response to the accident responsibility division request, and the user views the accident responsibility division result through the positioning device 501 or the user terminal device 504.
It can be seen that by using the remote traffic accident handling platform to handle traffic accidents, accident vehicles do not need to stay at the accident scene, other vehicles are prevented from being influenced, and road driving efficiency is improved.
Fig. 6 is a block diagram of a traffic accident handling apparatus according to an embodiment of the present application, and as shown in fig. 6, the apparatus 600 may include: an accident responsibility dividing request receiving module 601, a driving path acquiring module 602, and an accident responsibility dividing module 603, wherein:
the accident responsibility dividing request receiving module 601 is configured to receive an accident responsibility dividing request, where the accident responsibility dividing request includes positioning information collected by a positioning device of an accident vehicle in a preset time period, and the preset time period includes an accident occurrence time;
The driving track acquisition module 602 is configured to correct the positioning information when the positioning accuracy of the positioning device does not reach a preset accuracy level, and acquire the driving track of the accident vehicle in a preset time period based on the corrected positioning information; when the positioning precision of the positioning equipment reaches a preset precision level, acquiring the travelling path of the accident vehicle in a preset time period based on the positioning information;
the accident responsibility dividing module 603 is configured to divide accident responsibility based on the driving track, and obtain an accident responsibility dividing result.
According to the scheme provided by the application, after an accident occurs, the remote accident handling center acquires the high-precision driving track of the accident vehicle based on the received positioning information of the accident vehicle, and determines the accident responsibility dividing result based on the high-precision driving track of the accident vehicle and the road condition information, so that the accident vehicle does not need to stay on the accident scene after the accident occurs, traffic jam of other vehicles due to traffic accidents is avoided, and driving efficiency is ensured.
In an alternative embodiment of the present application, when the positioning accuracy of the positioning device does not reach the preset accuracy level, the positioning information is global navigation satellite system GNSS measurement data and a corresponding timestamp of each preset positioning point in a preset time period, and the accident responsibility division request further includes a position where the accident vehicle is located at the moment of the accident, and the apparatus further includes a correction data acquisition module, configured to:
Transmitting a correction data acquisition request to a correction data server, wherein the correction data acquisition request comprises a preset time period and a position, so that the correction data server acquires correction data corresponding to the preset position and the preset time period, and each correction data corresponds to each GNSS measurement data in the correction data effective time period;
The receiving correction data server transmits correction data in response to the correction data acquisition request;
Correspondingly, the driving track acquisition module is specifically used for:
determining correction data corresponding to the GNSS measurement data based on the time stamp corresponding to each GNSS measurement data;
Correcting the GNSS measurement data by utilizing correction data corresponding to each GNSS measurement data, and acquiring the position coordinates of a corresponding preset positioning point based on the corrected GNSS measurement data;
and sequentially connecting the position coordinates of the corresponding preset positioning points according to the time sequence indicated by each time stamp to obtain the driving track.
In an optional embodiment of the present application, the correction data is differential data, and the driving track obtaining module is specifically configured to further:
and taking each GNSS measurement data and the corresponding differential data as the input of a preset carrier phase differential RTK positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data.
In an optional embodiment of the present application, the correction data is ephemeris data, and the driving track obtaining module is specifically configured to further:
And taking each GNSS measurement data and the corresponding ephemeris data as the input of a preset state space representation SSR positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data.
In an optional embodiment of the present application, when the positioning accuracy of the positioning device reaches a preset accuracy level, the positioning information is an RTK positioning coordinate and a corresponding timestamp of each preset positioning point in a preset time period, and the driving track acquisition module is specifically configured to:
and sequentially connecting the corresponding RTK positioning coordinates according to the time sequence indicated by the time stamps to obtain the driving track.
In an optional embodiment of the present application, the positioning information further includes a solution state corresponding to each preset positioning point, where the solution state is divided into a floating solution and a fixed solution, and the driving track obtaining module is further configured to:
And screening out the RTK positioning coordinates with the solution state of a floating solution and the corresponding time stamps in the RTK positioning coordinates, and sequentially connecting the RTK positioning coordinates with the corresponding solution state of a fixed solution according to the time sequence indicated by the remaining time stamps to obtain the travelling path.
In an alternative embodiment of the present application, the accident responsibility dividing module is specifically configured to:
and projecting the driving track onto an electronic map with road-level precision, and dividing accident responsibility based on the projection result and a preset traffic rule.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory and a processor;
a memory having a computer program stored therein;
a processor for executing a computer program to implement the method provided in the first aspect embodiment or any of the alternative embodiments of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, which when executed by a processor implements the method provided in the embodiment of the first aspect or any of the alternative embodiments of the first aspect.
Based on the same principle, the embodiment of the application also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein when the processor executes the computer program, the method provided in any optional embodiment of the application can be realized, and the following specific situations can be realized:
Receiving an accident responsibility dividing request, wherein the accident responsibility dividing request comprises positioning information acquired by positioning equipment of an accident vehicle in a preset time period, and the preset time period comprises an accident occurrence time; when the positioning precision of the positioning equipment does not reach the preset precision level, correcting the positioning information, and acquiring the travelling path of the accident vehicle in the preset time period based on the corrected positioning information; when the positioning precision of the positioning equipment reaches a preset precision level, acquiring the travelling path of the accident vehicle in a preset time period based on the positioning information; and carrying out accident responsibility division based on the driving track to obtain an accident responsibility division result.
Embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a method as shown in any of the embodiments of the present application.
It is understood that the medium may store a computer program corresponding to the traffic accident handling method.
Fig. 7 is a schematic structural diagram of an electronic device to which the embodiment of the present application is applied, and as shown in fig. 7, an electronic device 700 shown in fig. 7 includes: a processor 701 and a memory 703. The processor 701 is coupled to a memory 703, such as via a bus 702. Further, the electronic device 700 may also include a transceiver 704, and the electronic device 700 may interact with other electronic devices via the transceiver 704. It should be noted that, in practical applications, the transceiver 704 is not limited to one, and the structure of the electronic device 700 is not limited to the embodiment of the present application.
The processor 701 is applied to the embodiment of the present application, and may be used to implement the functions of the traffic accident handling apparatus shown in fig. 6.
The processor 701 may be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. The processor 701 may also be a combination that performs computing functions, such as including one or more microprocessors, a combination of a DSP and a microprocessor, or the like.
Bus 702 may include a path to transfer information between the components. Bus 702 may be a PCI bus or an EISA bus, among others. Bus 702 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.
The memory 703 may be, but is not limited to, ROM or other type of static storage device, RAM or other type of dynamic storage device, which can store static information and instructions, EEPROM, CD-ROM or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disc, etc.), magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
The memory 703 is used for storing application program codes for executing the present application and is controlled by the processor 701 for execution. The processor 701 is configured to execute application code stored in the memory 703 to implement the actions of the traffic accident handling apparatus provided in the embodiment shown in fig. 6.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations should and are intended to be comprehended within the scope of the present application.

Claims (9)

1. A traffic accident handling method, comprising:
receiving an accident responsibility division request, wherein the accident responsibility division request comprises positioning information acquired by positioning equipment of an accident vehicle in a preset time period, and the preset time period comprises an accident occurrence time;
When the positioning equipment adopts a Global Navigation Satellite System (GNSS) positioning chip, acquiring correction data of the positioning information based on the position of the accident vehicle at the accident occurrence moment and the preset time period; acquiring the position coordinates of a preset positioning point corresponding to the GNSS measurement data based on the correction data corresponding to the time stamp of each GNSS measurement data in the positioning information and the GNSS measurement data; sequentially connecting position coordinates of corresponding preset positioning points according to time sequence indicated by each time stamp to obtain a driving track of the accident vehicle in the preset time period, wherein the effective time period of the correction data is positioned in the preset time period;
When the positioning device adopts a GNSS positioning chip, the positioning information is GNSS measurement data of each preset positioning point and corresponding time stamps in the preset time period, and the accident responsibility dividing request also comprises the position of the accident vehicle at the accident occurrence time; wherein, each correction data corresponds to each GNSS measurement data within the effective time period of the correction data;
When the positioning equipment adopts a preset carrier phase difference RTK positioning chip, acquiring the travelling path of the accident vehicle in the preset time period based on the positioning information;
Carrying out accident responsibility division based on the driving track to obtain an accident responsibility division result;
The obtaining the position coordinates of the preset positioning point corresponding to the GNSS measurement data based on the correction data corresponding to the time stamp of each GNSS measurement data in the positioning information and the GNSS measurement data includes:
If the correction data are differential data, taking each GNSS measurement data and the corresponding differential data as the input of a preset carrier phase differential RTK positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data;
and if the correction data are ephemeris data, taking each GNSS measurement data and the corresponding ephemeris data as the input of a preset state space representation SSR positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data.
2. The method of claim 1, wherein when the positioning device employs a GNSS positioning chip, the obtaining the correction data of the positioning information based on the position of the accident vehicle at the accident occurrence time and the preset time period includes:
Transmitting a correction data acquisition request to a correction data server, wherein the correction data acquisition request comprises the preset time period and the position, so that the correction data server acquires the correction data corresponding to the position and the preset time period, and each correction data corresponds to each GNSS measurement data in the correction data effective time period;
the correction data server is received to send the correction data in response to the correction data acquisition request.
3. The method of claim 1, wherein when the positioning device employs an RTK positioning chip, the positioning information is an RTK positioning coordinate and a corresponding timestamp of each preset positioning point in the preset time period, and the acquiring the track of the accident vehicle in the preset time period based on the positioning information includes:
and sequentially connecting the corresponding RTK positioning coordinates according to the time sequence indicated by the time stamps to obtain the travelling path.
4. The method of claim 3, wherein the positioning information further includes a solution state corresponding to each preset positioning point, the solution state is divided into a floating solution and a fixed solution, the corresponding RTK positioning coordinates are sequentially connected according to a time sequence indicated by each timestamp, and the obtaining the driving track includes:
And screening out the RTK positioning coordinates with the solution state of a floating solution and the corresponding time stamps in the RTK positioning coordinates, and sequentially connecting the RTK positioning coordinates with the corresponding solution state of a fixed solution according to the time sequence indicated by the remaining time stamps to obtain the travelling track.
5. The method according to any one of claims 1-4, wherein the accident responsibility division based on the trajectories comprises:
And projecting the driving track onto an electronic map with road-level precision, and dividing accident responsibility based on a projection result and a preset traffic rule.
6. A traffic accident handling apparatus, comprising:
The accident responsibility dividing request receiving module is used for receiving an accident responsibility dividing request, wherein the accident responsibility dividing request comprises positioning information acquired by positioning equipment of an accident vehicle in a preset time period, and the preset time period comprises an accident occurrence time;
The vehicle track acquisition module is used for acquiring correction data of the positioning information based on the position of the accident vehicle at the accident occurrence moment and the preset time period when the positioning equipment adopts a Global Navigation Satellite System (GNSS) positioning chip; acquiring the position coordinates of a preset positioning point corresponding to the GNSS measurement data based on the correction data corresponding to the time stamp of each GNSS measurement data in the positioning information and the GNSS measurement data; sequentially connecting position coordinates of corresponding preset positioning points according to time sequence indicated by each time stamp to obtain a driving track of the accident vehicle in the preset time period, wherein the effective time period of the correction data is positioned in the preset time period;
When the positioning device adopts a GNSS positioning chip, the positioning information is GNSS measurement data of each preset positioning point and corresponding time stamps in the preset time period, and the accident responsibility dividing request also comprises the position of the accident vehicle at the accident occurrence time; wherein, each correction data corresponds to each GNSS measurement data within the effective time period of the correction data;
The driving track acquisition module is further used for acquiring the driving track of the accident vehicle in the preset time period based on the positioning information when the positioning equipment adopts a preset carrier phase difference RTK positioning chip;
the accident responsibility dividing module is used for dividing accident responsibility based on the driving tracks to obtain an accident responsibility dividing result;
the vehicle track acquisition module is specifically configured to:
If the correction data are differential data, taking each GNSS measurement data and the corresponding differential data as the input of a preset carrier phase differential RTK positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data;
And if the correction data are ephemeris data, taking each GNSS measurement data and the corresponding ephemeris data as the input of a preset state space representation SSR positioning algorithm, and outputting the position coordinates of a preset positioning point corresponding to the GNSS measurement data.
7. An electronic device comprising a memory and a processor;
the memory stores a computer program;
the processor for executing the computer program to implement the method of any one of claims 1 to 5.
8. A computer readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the method of any of claims 1 to 5.
9. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 5.
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