CN112885144B - Early warning method and system for vehicle crash event in construction operation area - Google Patents
Early warning method and system for vehicle crash event in construction operation area Download PDFInfo
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- CN112885144B CN112885144B CN202110073739.5A CN202110073739A CN112885144B CN 112885144 B CN112885144 B CN 112885144B CN 202110073739 A CN202110073739 A CN 202110073739A CN 112885144 B CN112885144 B CN 112885144B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
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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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
Abstract
The invention relates to a construction operation area vehicle crash event early warning method and a system, wherein the method comprises the following steps: 1) acquiring millimeter wave radar reflection data of a vehicle; 2) acquiring real-time running state data of the vehicle by using millimeter wave radar reflection data of the vehicle; 3) judging whether the vehicle has abnormal driving behaviors or not based on the real-time running state data of the vehicle; 4) and 3) sending an early warning signal to an alarm device of the construction area for the abnormal driving behavior of the vehicle judged in the step 3). Compared with the prior art, the early warning system can provide early warning of rear vehicle crash events for construction area operators, realizes active protection of life safety of the construction area operators, reduces accident rate of the construction area and improves operation safety level of roads in the construction area.
Description
Technical Field
The invention relates to the technical field of traffic big data application, in particular to a construction operation area vehicle crash event early warning method and system.
Background
Millimeter wave radar has gained rapid development in the traffic field as a traffic data acquisition means, is applied to a great deal of aspects such as vehicle anticollision detection, traffic information collection, unmanned environmental perception gradually, and is more popular in the aspect of vehicle-mounted obstacle detection and road traffic information collection at present, but is relatively less applied in the aspect of vehicle high risk behavior early warning. Because the radar detector has the advantages of convenience in installation, no influence of weather, no damage to a road surface, strong anti-interference capability in a complex environment, convenience in later maintenance and the like, the radar detector has good application potential in the aspects of road data acquisition in a construction area and early warning of abnormal behaviors of vehicles, and is gradually paid attention to researchers in recent years. The traffic data collected by the millimeter wave radar is a series of track records generated based on the moving target, the running state of the vehicle can be monitored in real time through analysis of the track data, and abnormal driving behavior recognition can be realized by the aid of an abnormal driving behavior recognition algorithm.
The traditional road construction zone protection measures mainly adopt a method of arranging a warning information board, a warning lamp and a road enclosure facility at the upstream of a construction zone, only can carry out early warning on passing vehicles, cannot meet the requirement of active early warning on construction zone operators, cannot monitor abnormal behaviors of the vehicles, and early warns the construction zone operators in real time to pay attention to the risks that the vehicles collide into the construction zone.
The existing road vehicle collision early warning system in a construction operation area mainly has two problems, one is that a video monitoring method is mainly adopted in a data acquisition mode, and the video monitoring method is influenced by an image processing algorithm, has low identification precision and is greatly influenced by environmental factors; secondly, some early warning systems adopting radar have single functions, and generally only carry out early warning on the most basic abnormal behaviors such as illegal parking or overspeed, but actually, because a construction area occupies a lane, illegal lane changing behaviors are easy to happen at the upstream, and the early warning systems aiming at various abnormal driving behaviors need to be developed urgently.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a method and a system for early warning of vehicle crash events in a construction operation area.
The purpose of the invention can be realized by the following technical scheme:
a construction operation area vehicle collision event early warning method comprises the following steps:
s1: acquiring millimeter wave radar reflection data of vehicles near a construction operation area; the millimeter wave radar reflection data comprise vehicle longitude and latitude, vehicle real-time running speed, vehicle real-time acceleration, reflection time, longitudinal acceleration and longitudinal deceleration.
S2: acquiring real-time running state data of the vehicle by using millimeter wave radar reflection data of the vehicle; the method specifically comprises the following steps:
representing a position state of the vehicle using the vehicle longitude and latitude data;
the running state of the vehicle is represented by the real-time running speed and the real-time acceleration of the vehicle;
the time stamp of the data is recorded using the time information.
S3: and judging whether the vehicle has abnormal driving behaviors or not based on the real-time running state data of the vehicle. The abnormal driving behaviors of the vehicle comprise vehicle collision into a construction area, illegal parking, sudden acceleration/deceleration, overspeed, snake-shaped lane change and dangerous lane change.
S4: and transmitting an early warning signal to an alarm device in the construction area for the abnormal driving behavior of the vehicle determined in the step S3.
In step S3, the concrete content of determining whether the vehicle has collided into the construction area based on the real-time operation state data of the vehicle is:
establishing a three-dimensional coordinate system in a plane range of a road surface, adding 1 to a coordinate point where a track of a vehicle passing through the three-dimensional coordinate system passes for vehicles going upwards on the road, and subtracting 1 from the coordinate point where the track of the vehicle passing through the three-dimensional coordinate system passes for vehicles going downwards on the road; and accumulating a period of time, calculating positive and negative areas in the plane range of the road on the Z coordinate axis, wherein the positive area represents the uplink area of the road, the negative area represents the downlink area of the road, and if the vehicles are judged to be present in the area without data accumulation, judging that the vehicles collide into the construction area.
The specific content of judging whether the vehicle parks illegally based on the real-time running state data of the vehicle is as follows:
and judging whether the longitude and latitude data of the vehicle in the continuous frames in the millimeter wave radar reflection data are unchanged, and judging whether the real-time speed and the real-time acceleration data of the vehicle are unchanged, if so, judging that the vehicle is illegally parked.
The specific content of judging whether the vehicle has sudden acceleration/deceleration based on the real-time running state data of the vehicle is as follows:
and judging whether the absolute values of the longitudinal acceleration and the longitudinal deceleration of the vehicle exceed a high risk threshold, and if so, judging that the vehicle has sudden acceleration/deceleration abnormal behavior.
The specific content of judging whether the vehicle has the snake-shaped lane change or not based on the real-time running state data of the vehicle is as follows:
the method comprises the steps of analyzing longitude and latitude data of a vehicle, judging the running direction of the vehicle according to the continuous motion direction of track points of an initial frame of a vehicle entering a construction operation area, calculating the distance between the longitude and latitude data of the vehicle and the running direction in real time, namely a transverse deviation value, judging that the vehicle has lane change for one time when the transverse deviation value is larger than the width of a lane, taking longitude and latitude coordinates of the frame as a new starting point of the running direction of the vehicle at the moment, and judging that the vehicle has snake-shaped lane change abnormal behavior if the vehicle has lane change for at least two times within a detection range of a millimeter wave radar.
The invention also discloses a construction operation area vehicle crash event early warning system, which comprises:
the vehicle radar reflection data acquisition module is used for acquiring radar reflection data of vehicles on lanes near a construction area, and the acquired radar reflection data of the vehicles comprise vehicle longitude and latitude, vehicle real-time running speed, vehicle real-time acceleration and reflection time;
the abnormal behavior identification module is used for identifying whether abnormal driving behaviors of the vehicle occur near a construction area or not according to the real-time running state data of the vehicle;
the early warning module is set in a construction area and gives out different color alarms to the alarm lamps according to the content of the early warning signals;
and the signal transmission module is used for transmitting the millimeter wave radar reflection data acquired by the vehicle millimeter wave radar reflection data acquisition module to the abnormal behavior recognition module for judgment and transmitting the abnormal driving behavior result of the vehicle recognized by the abnormal behavior recognition module to the early warning module.
Further, the early warning module includes one or more in alarm lamp, bee calling organ, wearable voice broadcast equipment, the construction area alarm bell.
Compared with the prior art, the invention forms the vehicle state variable according to the longitude and latitude, the real-time speed, the real-time acceleration, the time and the like of the vehicle in the acquired millimeter wave radar reflection data, represents the current state of the vehicle in real time, simultaneously identifies the abnormal driving event of the vehicle, and gives an early warning to the workers in the construction operation area, thereby realizing the daily monitoring of the road in the construction operation area and the active protection of the workers in the operation area, and the operation safety of the workers can be obviously improved by effectively utilizing the data of the millimeter wave radar.
Drawings
Fig. 1 is a schematic flow chart of a construction work area vehicle crash event early warning method according to an embodiment of the present invention;
fig. 2 is a schematic layout diagram of a millimeter wave radar unit according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a construction area identification algorithm provided in the embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
Examples
The invention relates to a construction operation area vehicle crash event early warning method, which can be suitable for the situation of early warning of abnormal driving behaviors near a construction area, and can also be executed by a matched data acquisition, processing and early warning device, wherein the early warning device can be realized by a software and hardware mode, and can be integrated in hardware equipment convenient to manufacture and design. As shown in fig. 1, the method specifically includes the following steps:
step 1, millimeter wave radar reflection data of a vehicle and track data of the vehicle are obtained.
The millimeter wave radar unit installed on the traffic road is used for sensing vehicles moving on the traffic road near the construction area, and the acquired millimeter wave radar reflection data of the vehicles comprise vehicle longitude and latitude, vehicle real-time running speed, vehicle real-time acceleration, time, longitudinal acceleration, longitudinal deceleration and the like. And obtaining the time stamp of the frame data through the acquisition time. The frames are defined by the time taken, each time corresponding to a time stamp, i.e. a frame.
And 2, forming a vehicle state variable by using the millimeter wave radar reflection data as vehicle real-time running state data. The method comprises the following steps:
representing a position state of the vehicle using the vehicle longitude and latitude data;
the running state of the vehicle is represented by the real-time running speed and the real-time acceleration of the vehicle;
the time stamp of the data is recorded using the time information.
And 3, analyzing the real-time running state data of the vehicle, and judging whether the vehicle has abnormal driving behaviors. The abnormal driving behavior includes: vehicle crash into construction area, illegal vehicle parking, sudden acceleration/deceleration, overspeed, snake lane change and dangerous lane change.
The invention judges whether the vehicle is collided into the construction area according to the real-time state of the vehicle, as shown in figure 3, specifically: establishing a three-dimensional coordinate system in a plane range of a road surface, and adding 1 to a coordinate point where a track of a vehicle running on the road passes; for a vehicle descending the road, 1 is subtracted at the coordinate point through which its trajectory passes. After a period of time accumulation, areas with positive values and negative values in the road plane range can be calculated on the Z coordinate axis, and the areas respectively represent the driving ranges of the ascending and descending roads. If the vehicle appears in the area without data accumulation suddenly, the intrusion behavior of the vehicle to the construction area is judged to occur.
The method for judging the illegal parking event of the vehicle comprises the following steps: and judging the state of the vehicle continuous time sequence, wherein the state comprises whether the vehicle longitude and latitude data in the continuous frames in the millimeter wave radar reflection data are unchanged and whether the real-time speed and the real-time acceleration data are unchanged, namely whether the position state and the running state of the vehicle are kept unchanged under the continuous timestamp, and if the position state and the running state of the vehicle are kept unchanged, judging that the vehicle has an illegal parking event.
The method for judging whether the vehicle has sudden acceleration/deceleration comprises the following steps: and judging the real-time state of the vehicle, and if the absolute values of the longitudinal acceleration and the longitudinal deceleration of the vehicle exceed a high risk threshold, judging that the vehicle has sudden acceleration/deceleration abnormal behavior. This high risk threshold is set according to the vehicle acceleration code requirements of the current lane. Optionally, for example, if the longitudinal acceleration of the vehicle is greater than 0.35g and the longitudinal deceleration of the vehicle is greater than 0.45g, it is determined that the vehicle has an abrupt acceleration/deceleration abnormal behavior according to the difference of roads in the construction area.
The method for judging whether the vehicle has overspeed comprises the following steps: and judging the real-time running state of the vehicle, and if the running speed of the vehicle exceeds the speed limit of the road section, judging that the vehicle has overspeed abnormal behavior.
The method for judging whether the vehicle has the snake-shaped lane change comprises the following steps: the method comprises the steps of analyzing longitude and latitude data of a vehicle, judging the running trend of the vehicle according to the continuous motion direction of track points of an initial frame of a vehicle entering a construction operation area, calculating the distance between the longitude and latitude data of the vehicle and the trend in real time, namely a transverse deviation value, considering that lane change occurs once when the transverse deviation value is larger than the width of a lane, taking longitude and latitude coordinates of the frame as a new starting point of the running trend of the vehicle at the moment, and considering that the vehicle has snake-shaped lane change abnormal behavior if the lane change occurs not less than twice in a radar detection range.
The method for judging whether the vehicle has illegal lane change (dangerous lane change) comprises the following steps: and judging the real-time state of the vehicle, and if the transverse acceleration of the vehicle exceeds a high risk threshold, judging that the vehicle has dangerous lane-changing abnormal behavior. This high risk threshold is set according to the vehicle acceleration code requirements of the current lane. Optionally, depending on the road on which the construction zone is located, the lateral acceleration of the vehicle may be greater than 2.7m/s, for example2And judging that the vehicle has the abnormal behavior of dangerous lane change.
And 4, sending different early warning signals to the warning device according to the different abnormal vehicle behaviors identified in the step 3, and sending the different early warning signals to the working personnel in the construction area.
And 5, sending alarm signals of different display modes to different abnormal behaviors of the vehicle by an alarm in the alarm device. For example, different abnormal behaviors are warned by emitting light with different colors; or/and sending out a buzzing alarm through a buzzer, or/and sending out an alarm signal to an operator through a wearable receiving terminal (such as voice broadcasting equipment like an interphone or terminal equipment with a display screen) and a construction area alarm bell.
Fig. 2 is a schematic diagram of a detection range of a millimeter wave radar in the embodiment, and the millimeter wave radar is installed on a rod member with a certain height and is properly inclined to detect and sense the position of a vehicle within a certain distance range. The detection range of the millimeter wave is included in the construction area. In the present embodiment, the sensing range of the millimeter wave radar sensing unit is 250 m.
In another aspect, the present embodiment further provides a construction work area vehicle crash event early warning system, which includes:
and the vehicle millimeter wave radar reflection data acquisition module is used for acquiring millimeter wave radar reflection data of vehicles on lanes near the construction area, wherein the acquired vehicle millimeter wave radar reflection data comprise vehicle longitude and latitude, vehicle real-time running speed, vehicle real-time acceleration and reflection time.
And the abnormal behavior identification module is used for identifying whether abnormal driving behaviors of the vehicle occur near the construction area or not according to the real-time running state data of the vehicle. In terms of hardware structure, the abnormal behavior recognition module can be uploaded to a front-end processor according to millimeter wave radar reflection data to realize the abnormal behavior recognition.
The early warning module is set in the construction area and used for giving out different color alarms to the alarm lamps according to the content of the early warning signals; as preferred scheme, the early warning module can adopt one or more in alarm lamp, bee calling organ, the wearable voice broadcast equipment to carry out the alarm and remind.
And the signal transmission module is used for transmitting the millimeter wave radar reflection data acquired by the vehicle millimeter wave radar reflection data acquisition module to the abnormal behavior recognition module for judgment and transmitting the vehicle abnormal driving behavior result recognized by the abnormal behavior recognition module to the early warning module.
According to the invention, vehicle state variables are formed according to the longitude and latitude, real-time speed, real-time acceleration, time and the like of the vehicle in the acquired millimeter wave radar reflection data, the current state of the vehicle is represented in real time, abnormal driving events of the vehicle are identified at the same time, early warning is carried out on workers in a construction operation area, daily monitoring of roads in the construction operation area and active protection of the workers in the operation area are realized, and the operation safety of the workers can be obviously improved by effectively utilizing the data of the millimeter wave radar.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A construction operation area vehicle collision event early warning method is characterized by comprising the following steps:
1) acquiring millimeter wave radar reflection data of vehicles near a construction operation area;
2) acquiring real-time running state data of the vehicle by using millimeter wave radar reflection data of the vehicle;
3) judging whether the vehicle has abnormal driving behaviors or not based on the real-time running state data of the vehicle;
4) sending an early warning signal to an alarm device of the construction area for the abnormal driving behavior of the vehicle judged in the step 3);
the millimeter wave radar reflection data comprise vehicle longitude and latitude, vehicle real-time running speed, vehicle real-time acceleration, reflection time, longitudinal acceleration and longitudinal deceleration;
the specific content of the method for acquiring the real-time running state data of the vehicle by using the millimeter wave radar reflection data of the vehicle comprises the following steps:
representing a position state of the vehicle using the vehicle longitude and latitude data;
the running state of the vehicle is represented by the real-time running speed and the real-time acceleration of the vehicle;
recording a time stamp of the data using the time information;
the abnormal driving behaviors of the vehicle comprise vehicle collision into a construction area, illegal parking, sudden acceleration/deceleration, overspeed, snake-shaped lane change and dangerous lane change;
the concrete content of judging whether the vehicle is collided into the construction area or not based on the real-time running state data of the vehicle is as follows:
establishing a three-dimensional coordinate system in a plane range of a road surface, adding 1 to a coordinate point where a track of a vehicle passing through the three-dimensional coordinate system passes for vehicles going upwards on the road, and subtracting 1 from the coordinate point where the track of the vehicle passing through the three-dimensional coordinate system passes for vehicles going downwards on the road; and accumulating a period of time, calculating positive and negative areas in the plane range of the road on the Z coordinate axis, wherein the positive area represents the uplink area of the road, the negative area represents the downlink area of the road, and if the vehicles are judged to be present in the area without data accumulation, judging that the vehicles collide into the construction area.
2. The construction work area vehicle crash event early warning method according to claim 1, wherein the specific contents for judging whether the vehicle is illegally parked based on the real-time running state data of the vehicle are as follows:
and judging whether the longitude and latitude data of the vehicle in the continuous frames in the millimeter wave radar reflection data are unchanged, and judging whether the real-time speed and the real-time acceleration data of the vehicle are unchanged, if so, judging that the vehicle is illegally parked.
3. The construction work area vehicle crash event early warning method according to claim 1, wherein the specific content of judging whether the vehicle has sudden acceleration/deceleration based on the real-time running state data of the vehicle is as follows:
and judging whether the absolute values of the longitudinal acceleration and the longitudinal deceleration of the vehicle exceed a high risk threshold, and if so, judging that the vehicle has sudden acceleration/deceleration abnormal behaviors.
4. The construction work area vehicle crash event early warning method according to claim 1, wherein the specific content of judging whether the vehicle has a snake-shaped lane change based on the real-time running state data of the vehicle is as follows:
the method comprises the steps of analyzing longitude and latitude data of a vehicle, judging the running direction of the vehicle according to the continuous motion direction of track points of an initial frame of a vehicle entering a construction operation area, calculating the distance between the longitude and latitude data of the vehicle and the running direction in real time, namely a transverse deviation value, judging that the vehicle has lane change for one time when the transverse deviation value is larger than the width of a lane, taking longitude and latitude coordinates of the frame as a new starting point of the running direction of the vehicle at the moment, and judging that the vehicle has snake-shaped lane change abnormal behavior if the vehicle has lane change for at least two times within a detection range of a millimeter wave radar.
5. A construction work area vehicle crash event early warning system is characterized by comprising:
the vehicle radar reflection data acquisition module is used for acquiring radar reflection data of vehicles on lanes near a construction area, and the acquired radar reflection data of the vehicles comprise vehicle longitude and latitude, vehicle real-time running speed, vehicle real-time acceleration and reflection time;
the abnormal behavior identification module is used for identifying whether abnormal driving behaviors of the vehicle occur near a construction area or not according to the real-time running state data of the vehicle;
the early warning module is set in a construction area and gives out different color alarms to the alarm lamps according to the content of the early warning signals;
and the signal transmission module is used for transmitting the millimeter wave radar reflection data acquired by the vehicle millimeter wave radar reflection data acquisition module to the abnormal behavior recognition module for judgment and transmitting the vehicle abnormal driving behavior result recognized by the abnormal behavior recognition module to the early warning module.
6. The construction work area vehicle crash event early warning system of claim 5, wherein the early warning module comprises one or more of an alarm light, a buzzer, a wearable voice broadcast device, a construction area alarm bell.
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| CN202110073739.5A CN112885144B (en) | 2021-01-20 | 2021-01-20 | Early warning method and system for vehicle crash event in construction operation area |
| ZA2022/00887A ZA202200887B (en) | 2021-01-20 | 2022-01-19 | Method and system for early warning of vehicle intrusion event in construction operation area |
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| CN113238294A (en) * | 2021-06-21 | 2021-08-10 | 北京宏锐星通科技有限公司 | Millimeter wave based non-contact type vehicle door anti-pinch detection method and system |
| CN113256983B (en) * | 2021-06-21 | 2021-10-08 | 陕西易合交通科技有限公司 | Road anti-intrusion early warning method and system based on millimeter wave radar |
| CN113436434B (en) * | 2021-06-25 | 2022-05-27 | 中科路恒工程设计有限公司 | Mountain trunk highway high-risk road section early warning system and method |
| CN113524198B (en) * | 2021-09-07 | 2021-12-14 | 广东新粤交通投资有限公司 | Road construction initiative intelligence anticollision early warning robot |
| CN114973713B (en) * | 2022-05-23 | 2023-11-14 | 交通运输部科学研究院 | Anti-false-running intelligent early warning system and method for highway reconstruction and expansion engineering |
| CN115063967B (en) * | 2022-05-31 | 2024-01-26 | 河南越秀尉许高速公路有限公司 | Early warning system and early warning method for ACC vehicle running down along with vehicle |
| CN115240421B (en) * | 2022-07-20 | 2024-02-09 | 安徽远航交通科技有限公司 | Accident efficient reporting method based on operation area |
| CN115497288A (en) * | 2022-09-06 | 2022-12-20 | 玺大建设工程有限公司 | Intelligent management early warning method, device and system for highway maintenance construction |
| CN116564111B (en) * | 2023-07-10 | 2023-09-29 | 中国电建集团昆明勘测设计研究院有限公司 | Vehicle early warning method, device and equipment for intersection and storage medium |
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