CN112937572A - Method, device and system for preventing and controlling dangerous behaviors of vehicle and storage medium - Google Patents
Method, device and system for preventing and controlling dangerous behaviors of vehicle and storage medium Download PDFInfo
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- CN112937572A CN112937572A CN202110133755.9A CN202110133755A CN112937572A CN 112937572 A CN112937572 A CN 112937572A CN 202110133755 A CN202110133755 A CN 202110133755A CN 112937572 A CN112937572 A CN 112937572A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
Abstract
The invention is applicable to the technical field and provides a method, a device, a system and a storage medium for preventing and controlling dangerous behaviors of a vehicle, wherein the method comprises the following steps: the method comprises the steps of acquiring an electronic map of the position of a vehicle in real time, and determining the information of a lane where the vehicle is located according to the electronic map and the position information of the vehicle; when the lane change condition of the vehicle does not exist, detecting the distance information between the vehicle and the side lines on the two sides of the traffic lane in real time to obtain a route line of the vehicle in the corresponding traffic lane; judging whether dangerous driving behaviors exist in the vehicle according to the obtained path lines, and sending alarm information when the driving state of the vehicle is judged to be dangerous, wherein the method has the advantages that: the movement track in the vehicle lane is obtained by detecting the running state of the vehicle in the previous time period, and whether dangerous driving behaviors exist in the vehicle can be effectively judged by analyzing the tortuosity of the path line, so that the implementation mode is simple and the cost is lower.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method, a device and a system for preventing and controlling dangerous behaviors of a vehicle and a storage medium.
Background
With the rapid development of the economic level of China, the living standard of residents is continuously improved, and the number of transportation means in China is continuously increased. The driver's individual abnormal driving behaviors include unintentional behaviors such as line of sight shifting, distraction, drowsiness, dozing off, and intentional behaviors such as impulsive driving, announcing illegal violations, and the like. Particularly fatigue driving characterized by distraction, drowsiness, etc., with strong harmfulness.
Based on this, it is necessary to provide a method for preventing and controlling dangerous behaviors of vehicles.
Disclosure of Invention
Embodiments of the present invention provide a method, an apparatus, a system, and a storage medium for preventing and controlling a dangerous behavior of a vehicle, which are intended to solve the technical problems in the prior art identified in the background art.
The embodiment of the invention is realized in such a way that the method for preventing and controlling the dangerous behaviors of the vehicle comprises the following steps:
the method comprises the steps of acquiring an electronic map of the position of a vehicle in real time, and determining the information of a lane where the vehicle is located according to the electronic map and the position information of the vehicle;
when the lane change condition of the vehicle does not exist, detecting the distance information between the vehicle and the side lines on the two sides of the traffic lane in real time to obtain a route line of the vehicle in the corresponding traffic lane;
and judging whether the vehicle has dangerous driving behaviors according to the obtained path lines, and sending alarm information when the driving state of the vehicle is judged to be dangerous.
As a further scheme of the invention: the step of acquiring the electronic map of the position of the vehicle in real time and determining the information of the lane where the vehicle is located according to the electronic map and the position information of the vehicle specifically comprises the following steps:
acquiring position information of a vehicle;
and displaying the vehicle position in an electronic map to determine the traffic lane information of the vehicle.
As a still further scheme of the invention: the step of detecting the distance information between the vehicle and the sidelines on the two sides of the traffic lane in real time to obtain the route line of the vehicle in the corresponding traffic lane specifically comprises the following steps:
measuring distance information of sidelines of a traffic lane where the distances between two sides of the vehicle body are located;
calibrating the distance information on a vehicle running track containing a traffic lane sideline;
and generating a path line of the vehicle in the corresponding traffic lane according to the vehicle running track and the calibrated distance information.
As a still further scheme of the invention: the step of measuring the distance information of the sidelines of the traffic lane where the distance between the two sides of the vehicle body is located specifically comprises the following steps:
acquiring image information of two sides of a vehicle body in real time;
identifying and calibrating the position of a sideline in the image information;
and measuring the distance information between the two sides of the vehicle body and the sidelines in real time.
As a still further scheme of the invention: the step of judging whether the vehicle has dangerous driving behaviors according to the obtained path lines, and sending alarm information when the driving state of the vehicle is judged to be dangerous, specifically comprises the following steps:
determining a reference line, wherein the reference line is parallel to the center line of a traffic lane where a vehicle is located;
selecting a plurality of vector points at equal intervals on the path line, wherein the direction of the vector points is parallel to the tangential direction of the corresponding position of the path line;
and judging an included angle between the vector point and the reference line, judging the vector point to be a dangerous behavior point when the included angle exceeds a set threshold, judging the vehicle to have dangerous driving behavior when the ratio of the dangerous behavior point to the vector point exceeds the set threshold, and sending alarm information.
As a still further scheme of the invention: the step of sending out alarm information specifically comprises the following steps:
the method comprises the following steps of (1) lighting double flashing lamps of a vehicle, and simultaneously sending voice or image information to prompt a driver of dangerous driving behaviors;
and when the dangerous driving behavior of the vehicle continuously exceeds the set time, pushing information that the dangerous driving behavior of the vehicle exists to a contact person bound with the vehicle.
As a still further scheme of the invention: when the vehicle has lane change information, executing the following steps:
determining the lane change times of the vehicle in a set time period;
when the lane change times of the vehicle in a set time period exceed a set threshold value, judging whether the vehicle has steering action;
and when the vehicle has no steering action, determining that dangerous driving behaviors exist in the vehicle.
Another object of an embodiment of the present invention is to provide a vehicle dangerous behavior prevention and control apparatus, including:
the lane confirmation module is used for acquiring an electronic map of the position of the vehicle in real time and determining the information of the lane where the vehicle is located according to the electronic map and the position information of the vehicle;
the route line generation module is used for detecting the distance information between the vehicle and the side lines on the two sides of the traffic lane in real time when the vehicle does not have a lane change condition so as to obtain the route line of the vehicle in the corresponding traffic lane; and
and the judging module is used for judging whether the vehicle has dangerous driving behaviors according to the obtained path lines, and sending alarm information when the driving state of the vehicle is judged to be dangerous.
It is another object of an embodiment of the present invention to provide a system for preventing and controlling a dangerous behavior of a vehicle, including a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the steps of the method for preventing and controlling a dangerous behavior of a vehicle.
It is a further object of an embodiment of the present invention to provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to execute the steps of the method for prevention and control of a dangerous behavior of a vehicle.
Compared with the prior art, the invention has the beneficial effects that: the movement track in the vehicle lane is obtained by detecting the running state of the vehicle in the previous time period, and whether dangerous driving behaviors exist in the vehicle can be effectively judged by analyzing the tortuosity of the path line, so that the implementation mode is simple and the cost is lower.
Drawings
Fig. 1 is a flowchart of a method for preventing and controlling a dangerous behavior of a vehicle.
Fig. 2 is a flow chart of determining lane information in which a vehicle is located.
Fig. 3 is a flowchart for obtaining the route line of the vehicle in the corresponding traffic lane.
Fig. 4 is a flowchart of measuring distance information of a borderline of a traffic lane where a distance between both sides of a vehicle body is located.
Fig. 5 is a flowchart for determining whether a dangerous driving behavior exists in the vehicle.
FIG. 6 is a flowchart illustrating a method for determining whether a dangerous driving behavior exists in a vehicle according to yet another embodiment.
Fig. 7 is a flow chart of sending alarm information.
Fig. 8 is a flowchart when lane change information exists for the vehicle.
Fig. 9 is a schematic structural view of a vehicle dangerous behavior prevention and control apparatus.
Fig. 10 is a schematic structural diagram of a computer device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1, a flowchart of a method for preventing and controlling a dangerous behavior of a vehicle according to an embodiment of the present invention includes the following steps:
s200, acquiring an electronic map of the position of the vehicle in real time, and determining the information of the lane where the vehicle is located according to the electronic map and the position information of the vehicle.
In the embodiment of the present invention, the requirement on the accuracy of the electronic map is relatively high, at least the lane information of the road needs to be displayed, the electronic map may be a map carried by the vehicle itself, or a map pushed by a server or other devices, and the like.
S400, when the lane change condition of the vehicle does not exist, detecting the distance information between the vehicle and the side lines on the two sides of the traffic lane in real time to obtain the route line of the vehicle in the corresponding traffic lane.
In the embodiment of the invention, when the vehicle does not have a lane change condition, namely the vehicle does not change lanes in a certain time period before the current time, namely the vehicle is in a relatively stable state, the distance information between the vehicle and the side lines on the two sides of the traffic lane is detected in real time in the time period, and the distance information between the vehicle and the side lines on the two sides can effectively reflect the motion track of the vehicle in the traffic lane, namely the route line, because the width of the traffic lane is generally constant.
S600, judging whether the vehicle has dangerous driving behaviors according to the obtained path lines, and sending alarm information when the driving state of the vehicle is judged to be dangerous.
In the embodiment of the invention, because the path lines can effectively reflect the motion track of the vehicle in the traffic lane, whether dangerous driving behaviors exist in the vehicle can be effectively judged by analyzing the tortuosity of the path lines, generally speaking, a normal path line is a line which is basically parallel to a side line and is slightly bent, and a path line corresponding to the dangerous driving behaviors is a line with more bent parts, and whether dangerous driving behaviors exist in the vehicle can be effectively judged by analyzing and judging the path lines.
As shown in fig. 2, as a preferred embodiment of the present invention, the step of obtaining an electronic map of a location of a vehicle in real time and determining lane information of the vehicle according to the electronic map and the location information of the vehicle specifically includes:
s201, position information of the vehicle is acquired.
In the embodiment of the present invention, the position information of the vehicle may be acquired by a GPS or the like provided in the vehicle itself, or may be acquired in other manners, which is not specifically limited herein.
S203, displaying the vehicle position in an electronic map to determine the information of the lane where the vehicle is located.
In the embodiment of the present invention, based on the electronic map and the positioning information of the vehicle, the information of the lane where the vehicle is currently located may be determined, for example, it may be determined whether the current vehicle is in a middle lane or a left-turn lane, and the like.
As shown in fig. 3, as another preferred embodiment of the present invention, the step of detecting distance information between the vehicle and two side lines of the traffic lane in real time to obtain a route line of the vehicle in the corresponding traffic lane specifically includes:
s401, measuring distance information of sidelines of a traffic lane where the distances between the two sides of the vehicle body are located.
In the embodiment of the invention, the width of the vehicle body is constant, and the distance between the sidelines is also determined, so that the obtained distance information of the vehicle body and the sidelines can reflect the position information of the vehicle body on the traffic lane.
And S403, calibrating the distance information on a vehicle running track containing a traffic lane borderline.
S405, generating a path line of the vehicle in the corresponding traffic lane according to the vehicle running track and the calibrated distance information.
In the embodiment of the invention, the vehicle running track is generated by the change of the positioning information of the vehicle, and after the distance information between the vehicle body and the sideline is calibrated, the route line of the vehicle in the corresponding lane can be obtained, and the route line can definitely reflect the running track of the vehicle and the corresponding relation/or the distance change state of the sideline of the lane.
As shown in fig. 4, as another preferred embodiment of the present invention, the step of measuring distance information of borderlines of a traffic lane where distances between two sides of a vehicle body are located specifically includes:
and S4011, acquiring image information of two sides of a vehicle body in real time.
In the embodiment of the present invention, the manner of acquiring the image information may be implemented by cameras installed at the bottoms of the two sides of the vehicle body, and may of course be implemented by other manners, which is not specifically limited herein.
And S4013, identifying and calibrating the position of the edge line in the image information.
In practical application, the sideline position can be identified because the sideline color of the traffic lane and the like are greatly different from the road surface.
And S4015, measuring distance information of distance sidelines on two sides of the vehicle body in real time.
In the embodiment of the invention, the distance information can be measured by measuring the distance between the camera and the sideline, which is more convenient, the distance scale can be previously fixed in the camera, and the distance information between the vehicle body and the sideline can be obtained by detecting the position of the sideline on the scale.
As shown in fig. 5, as another preferred embodiment of the present invention, the step of determining whether there is a dangerous driving behavior of the vehicle according to the obtained route line, and when the driving state of the vehicle is determined to be dangerous, sending an alarm message specifically includes:
s601, determining a reference line, wherein the reference line is parallel to the center line of the traffic lane where the vehicle is located.
In the embodiment of the invention, the number of the reference lines can be set to be multiple, and only the reference lines are required to be parallel to the central line of the traffic lane, and the main setting purpose is to measure the subsequent angle.
S603, selecting a plurality of vector points at equal intervals on the path line, wherein the direction of the vector points is parallel to the tangential direction of the corresponding position of the path line.
In the embodiment of the invention, the selection rule of the vector points is that the vector points are selected at equal intervals on the path line, the selected number can be determined according to the length of the path line, the direction of the vector points is parallel to the tangential direction of the corresponding position of the path line, and the direction of the vector points can be the tangential direction of the corresponding points as the optimization.
S605, an included angle between a vector point and a reference line is judged, when the included angle exceeds a set threshold value, the vector point is judged to be a dangerous behavior point, when the ratio between the dangerous behavior point and the vector point exceeds the set threshold value, the vehicle is judged to have dangerous driving behavior, and alarm information is sent.
In the embodiment of the invention, the threshold value can be preset for determination, and in general, the larger the included angle between the vector point and the reference line is, the larger the inclination degree of the vehicle body on the traffic lane is, that is, the more unstable the state of the vehicle is, so that the threshold value can be used as a basis for determining whether dangerous driving behaviors exist in the vehicle.
As shown in fig. 6, the present embodiment further provides another manner for determining whether there is a dangerous driving behavior of the vehicle according to the obtained route line, specifically:
and S602, calculating the length of the traffic lane corresponding to the route line.
In the embodiment of the present invention, specifically, the length information of the traffic lane may be determined according to the position information of the head and the tail of the route line in the electronic map, or may be determined in other manners, and redundant description is not described here.
S604, determining inflection point information of the path line, wherein the inflection point is a turning point of the path line.
S606, calculating the ratio between the turning point and the length of the lane, judging that the vehicle has dangerous driving behaviors when the ratio exceeds a set threshold value, and sending alarm information.
In the embodiment of the present invention, the greater the number of turning points, i.e., the more frequent deflection of the vehicle in the traffic lane is illustrated, the more unstable the driving state of the vehicle is illustrated, so that it can be used as a basis for determining whether the vehicle has dangerous driving behavior, and taking the length of the traffic lane as 100 meters as an example, the number of turning points is 15 times, i.e., the vehicle has 15 directional changes in 100 times, obviously, the vehicle has dangerous driving behavior, which may be caused by drunk driving, fatigue driving, and the like of the driver, and of course, the threshold value may be determined according to experience, and this embodiment is not illustrated in more detail here.
As shown in fig. 7, as another preferred embodiment of the present invention, the step of sending out the alarm information specifically includes:
and S607, lighting the double flashing lamps of the vehicle, and simultaneously sending out voice or image information to prompt the driver of dangerous driving behaviors.
In the embodiment of the invention, when the dangerous driving behavior of the vehicle is judged, the vehicle can automatically light the double flashing lamps to indicate that the vehicle is in an emergency state to prompt the attention of nearby vehicles or pedestrians, and for a driver, the prompt can be realized by sending voice or image information.
And S609, after the dangerous driving behavior of the vehicle continuously exceeds the set time, pushing the information that the dangerous driving behavior of the vehicle exists to the contact person bound with the vehicle.
In practical application, if the driver does not manage the alarm information and the like to continue driving, after a period of time, the embodiment of the invention can send information to a contact bound with the vehicle, where the contact can be a vehicle owner or an emergency contact set by the vehicle owner, and the embodiment is not specifically limited herein.
As shown in fig. 8, as another preferred embodiment of the present invention, when there is lane change information for the vehicle, the following steps are performed:
and S1, determining the lane change times of the vehicle in the set time period.
In practical application, when the lane change of the vehicle is judged, the lane change frequency record can be triggered, the lane change judgment can be carried out by the fact that the vehicle presses the side line of a traffic lane or the traffic lane where the vehicle is located is changed, and the lane change frequency in set time (such as 15 seconds) is recorded.
And S3, when the lane change times of the vehicle in the set time period exceed the set threshold value, judging whether the vehicle has steering action.
In the embodiment of the invention, when the lane change times of the vehicle in the set time exceeds the set threshold, namely the traveling of the vehicle can be explained to have a problem at present, but in practical application, if the situation that the vehicle needs to turn and the like needs, the lane change times exceeds the set threshold to judge whether the vehicle has dangerous driving behaviors or not is too absolute, so that the vehicle needs to be judged whether the vehicle has steering or not, and the judgment of whether the steering exists or not can be carried out according to the change of the position of the vehicle in the electronic map. For example, the lane change number of the vehicle exceeds a set threshold value within a set time, but the vehicle is found to have turned to another road according to the position information on the electronic map, so the lane change number does not cause the determination of dangerous driving behavior.
And S5, when the vehicle has no steering action, determining that dangerous driving behaviors exist in the vehicle.
As shown in fig. 9, an embodiment of the present invention further provides a device for preventing and controlling a dangerous behavior of a vehicle, including a lane confirmation module 100, a route line generation module 200, and a determination module 300, where the lane confirmation module 100 is configured to obtain an electronic map of a position where the vehicle is located in real time, and determine information of a lane where the vehicle is located according to the electronic map and the position information of the vehicle; the route line generation module 200 is configured to detect, in real time, distance information between the vehicle and side lines on two sides of the traffic lane when the vehicle does not have a lane change condition, so as to obtain a route line of the vehicle in the corresponding traffic lane; the determination module 300 is configured to determine whether a dangerous driving behavior exists in the vehicle according to the obtained route line, and send out alarm information when the driving state of the vehicle is determined as dangerous.
In the embodiment of the invention, in a certain time period before the current moment, the vehicle does not change lanes, namely is in a relatively stable state, in the time period, the distance information between the vehicle and the side lines at two sides of the traffic lane is detected in real time, because the width of the traffic lane is generally constant, the distance information between the vehicle and the side lines at two sides can effectively reflect the motion track of the vehicle in the traffic lane, namely a route line, because the route line can effectively reflect the motion track of the vehicle in the traffic lane, whether dangerous driving behaviors exist in the vehicle can be effectively judged by analyzing the flexibility of the route line, generally, a normal route line is a line which is basically parallel to the side lines and is slightly bent, and a route line corresponding to the dangerous driving behaviors is a line with more bends, and through analyzing and judging the route line, whether dangerous driving behaviors exist in the vehicle can be effectively judged.
An embodiment of the present invention further provides a system for preventing and controlling a dangerous behavior of a vehicle, including a memory and a processor, where the memory stores a computer program, and when the computer program is executed by the processor, the processor executes:
s200, acquiring an electronic map of the position of the vehicle in real time, and determining the information of the lane where the vehicle is located according to the electronic map and the position information of the vehicle.
S400, when the lane change condition of the vehicle does not exist, detecting the distance information between the vehicle and the side lines on the two sides of the traffic lane in real time to obtain the route line of the vehicle in the corresponding traffic lane.
S600, judging whether the vehicle has dangerous driving behaviors according to the obtained path lines, and sending alarm information when the driving state of the vehicle is judged to be dangerous.
Another object of an embodiment of the present invention is to provide a computer-readable storage medium, as shown in fig. 10, having a computer program stored thereon, which, when executed by a processor, causes the processor to perform:
s200, acquiring an electronic map of the position of the vehicle in real time, and determining the information of the lane where the vehicle is located according to the electronic map and the position information of the vehicle.
S400, when the lane change condition of the vehicle does not exist, detecting the distance information between the vehicle and the side lines on the two sides of the traffic lane in real time to obtain the route line of the vehicle in the corresponding traffic lane.
S600, judging whether the vehicle has dangerous driving behaviors according to the obtained path lines, and sending alarm information when the driving state of the vehicle is judged to be dangerous.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A method for preventing and controlling dangerous behaviors of a vehicle, comprising the steps of:
the method comprises the steps of acquiring an electronic map of the position of a vehicle in real time, and determining the information of a lane where the vehicle is located according to the electronic map and the position information of the vehicle;
when the lane change condition of the vehicle does not exist, detecting the distance information between the vehicle and the side lines on the two sides of the traffic lane in real time to obtain a route line of the vehicle in the corresponding traffic lane;
and judging whether the vehicle has dangerous driving behaviors according to the obtained path lines, and sending alarm information when the driving state of the vehicle is judged to be dangerous.
2. The method according to claim 1, wherein the step of obtaining the electronic map of the position of the vehicle in real time and determining the information of the lane where the vehicle is located according to the electronic map and the position information of the vehicle specifically comprises:
acquiring position information of a vehicle;
and displaying the vehicle position in an electronic map to determine the traffic lane information of the vehicle.
3. The method according to claim 1, wherein the step of detecting the distance information between the vehicle and the two side lines of the traffic lane in real time to obtain the route line of the vehicle in the corresponding traffic lane specifically comprises:
measuring distance information of sidelines of a traffic lane where the distances between two sides of the vehicle body are located;
calibrating the distance information on a vehicle running track containing a traffic lane sideline;
and generating a path line of the vehicle in the corresponding traffic lane according to the vehicle running track and the calibrated distance information.
4. The method for preventing and controlling dangerous behaviors of vehicles according to claim 3, wherein the step of measuring distance information of sidelines of a traffic lane where distances between two sides of a vehicle body are located specifically comprises:
acquiring image information of two sides of a vehicle body in real time;
identifying and calibrating the position of a sideline in the image information;
and measuring the distance information between the two sides of the vehicle body and the sidelines in real time.
5. The method according to claim 1, wherein the step of determining whether the vehicle has dangerous driving behavior according to the obtained route line and sending an alarm message when the driving state of the vehicle is determined to be dangerous includes:
determining a reference line, wherein the reference line is parallel to the center line of a traffic lane where a vehicle is located;
selecting a plurality of vector points at equal intervals on the path line, wherein the direction of the vector points is parallel to the tangential direction of the corresponding position of the path line;
and judging an included angle between the vector point and the reference line, judging the vector point to be a dangerous behavior point when the included angle exceeds a set threshold, judging the vehicle to have dangerous driving behavior when the ratio of the dangerous behavior point to the vector point exceeds the set threshold, and sending alarm information.
6. The method for preventing and controlling dangerous behaviors of vehicles according to claim 5, wherein the step of sending alarm information specifically comprises:
the method comprises the following steps of (1) lighting double flashing lamps of a vehicle, and simultaneously sending voice or image information to prompt a driver of dangerous driving behaviors;
and when the dangerous driving behavior of the vehicle continuously exceeds the set time, pushing information that the dangerous driving behavior of the vehicle exists to a contact person bound with the vehicle.
7. The method for preventing and controlling dangerous behavior of vehicle according to claim 1, wherein when there is lane change information for the vehicle, the following steps are executed:
determining the lane change times of the vehicle in a set time period;
when the lane change times of the vehicle in a set time period exceed a set threshold value, judging whether the vehicle has steering action;
and when the vehicle has no steering action, determining that dangerous driving behaviors exist in the vehicle.
8. A vehicle dangerous behavior prevention and control device, comprising:
the lane confirmation module is used for acquiring an electronic map of the position of the vehicle in real time and determining the information of the lane where the vehicle is located according to the electronic map and the position information of the vehicle;
the route line generation module is used for detecting the distance information between the vehicle and the side lines on the two sides of the traffic lane in real time when the vehicle does not have a lane change condition so as to obtain the route line of the vehicle in the corresponding traffic lane; and
and the judging module is used for judging whether the vehicle has dangerous driving behaviors according to the obtained path lines, and sending alarm information when the driving state of the vehicle is judged to be dangerous.
9. An anti-hazardous-behavior system for a vehicle, comprising a memory and a processor, the memory having stored therein a computer program, which, when executed by the processor, causes the processor to carry out the steps of the anti-hazardous-behavior method for a vehicle according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, causes the processor to carry out the steps of the method of prevention and control of dangerous behavior of a vehicle according to any of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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