CN113380038A - Vehicle dangerous behavior detection method, device and system - Google Patents
Vehicle dangerous behavior detection method, device and system Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
The invention provides a method, a device and a system for detecting dangerous behaviors of a vehicle, and relates to the technical field of intelligent vehicles. The invention discloses a vehicle dangerous behavior detection method, which comprises the following steps: identifying a road center line and a calibration vehicle of a calibration area through roadside sensing equipment; identifying a driving direction angle of the calibrated vehicle, determining the driving direction angle as an abnormal direction angle when an included angle between the driving direction angle and the road center line is larger than a preset angle, and determining the driving state of the calibrated vehicle according to the abnormal direction angle determined for multiple times; and when the calibrated vehicle is in an abnormal running state, sending warning information to the calibrated vehicle and/or other vehicles. According to the technical scheme, the driving state of the vehicle is determined according to the abnormal direction angles determined for multiple times, so that when the vehicle is in the abnormal driving state, the warning information is sent to the calibrated vehicle and/or other vehicles, the vehicles with snake-shaped and other dangerous behaviors are identified in advance, and the driving safety is effectively improved.
Description
Technical Field
The invention relates to the technical field of intelligent vehicles, in particular to a method, a device and a system for detecting dangerous behaviors of a vehicle.
Background
At present, the following methods are mainly used for identifying dangerous behaviors of vehicles: recognizing dangerous behaviors of the vehicle: judging whether the vehicle snakes or not according to vehicle data such as a vehicle steering wheel, a wheel corner and the like; recognizing dangerous behaviors of the front vehicle: according to the vehicle-mounted camera, dangerous behaviors such as snaking, rapid deceleration, too short distance and the like of a front vehicle are identified. The prior art mainly has the following defects: the method is characterized in that a vehicle-mounted sensor is relied on, only dangerous behaviors of a front vehicle can be identified, and dangerous behavior vehicles on a long driving route in front cannot be identified; and the blind area problem exists, for example, when the intersection is turned, the dangerous behavior of the vehicle behind the corner can not be identified by only carrying a sensor on the vehicle for the physical shielding of the road side.
Disclosure of Invention
The problem solved by the invention is how to accurately identify dangerous behaviors of the vehicle.
In order to solve the above problem, the present invention provides a method for detecting a dangerous behavior of a vehicle, including: identifying a road center line and a calibration vehicle of a calibration area through roadside sensing equipment; identifying a driving direction angle of the calibrated vehicle, determining the driving direction angle as an abnormal direction angle when an included angle between the driving direction angle and the road center line is larger than a preset angle, and determining the driving state of the calibrated vehicle according to the abnormal direction angle determined for multiple times; and when the calibrated vehicle is in an abnormal running state, sending warning information to the calibrated vehicle and/or other vehicles.
According to the vehicle dangerous behavior detection method, the abnormal direction angle is determined by comparing the driving direction angle identified by the road side sensing equipment with the included angle of the road center line, the driving state of the vehicle is determined according to the abnormal direction angle determined for multiple times, and when the vehicle is in the abnormal driving state, the warning information is sent to the calibrated vehicle and/or other vehicles, so that the vehicles with the snake-shaped dangerous behaviors and the like are identified in advance, and the driving safety is effectively improved.
Optionally, the identifying, by the roadside sensing device, the road center line of the calibration area and the calibration vehicle includes: and acquiring a three-dimensional coordinate graph of the calibration area through the roadside sensing equipment, converting the three-dimensional coordinate graph into a two-dimensional plane graph, and identifying the road center line and the calibration vehicle in the two-dimensional plane graph.
According to the vehicle dangerous behavior detection method, the three-dimensional coordinate graph is converted into the two-dimensional plane graph, the road center line and the calibrated vehicle are identified in the two-dimensional plane graph, the road center line and the calibrated vehicle are accurately identified, and further the vehicles with snake-shaped dangerous behaviors and the like can be identified in advance.
Optionally, the identifying, by the roadside sensing device, the road center line of the calibration area and the calibration vehicle further includes: and assigning unique corresponding identification numbers to all the calibration vehicles in the calibration area, wherein the vehicles comprise intelligent vehicles and non-intelligent vehicles.
According to the vehicle dangerous behavior detection method, the unique corresponding identity identification numbers are given to all the calibrated vehicles in the calibration area, so that the identification of all the calibrated vehicles in the calibration area is effectively ensured, and when the calibrated vehicles have dangerous driving behaviors, the warning information is sent to the calibrated vehicles and/or other vehicles, so that the driving safety can be effectively improved.
Optionally, when an included angle between the driving direction angle and the road center line is greater than a preset angle, determining that the driving direction angle is an abnormal direction angle, and determining the driving state of the calibrated vehicle according to the abnormal direction angle determined for multiple times includes: and generating an included angle sequence according to the abnormal direction angles determined for multiple times and the corresponding identification moments, and determining that the vehicle is in the abnormal driving state when the abnormal direction angles corresponding to three continuous identification moments show a positive-negative-positive or negative-positive-negative change trend within a preset time period, wherein the included angles corresponding to the positive direction and the included angles corresponding to the negative direction are respectively positioned on two sides of the central line of the road.
According to the vehicle dangerous behavior detection method, when the abnormal direction angles corresponding to the three continuous identification moments show a positive-negative-positive or negative-positive-negative change trend, the calibrated vehicle is determined to be in an abnormal driving state, and the snake-shaped dangerous driving behaviors and the like are accurately identified.
Optionally, the vehicle dangerous behavior detection method further includes: and when the included angle between the driving direction angle and the road center line is larger than a preset angle, sending the direction information of the calibrated vehicle to a cloud platform so as to determine the driving state of the calibrated vehicle through the cloud platform, wherein the direction information comprises the identity identification number, the abnormal direction angle and the corresponding identification time.
According to the vehicle dangerous behavior detection method, the driving state of the calibrated vehicle is determined in an auxiliary mode through the cloud platform, the vehicle dangerous behavior such as snake-shaped behavior can be recognized in advance, and the driving safety is effectively improved.
Optionally, the vehicle dangerous behavior detection method further includes: and sending the direction information of the calibrated vehicle identified by the roadside sensing devices to the cloud platform so as to determine the running state of the calibrated vehicle according to a preset rule through the cloud platform, wherein the calibrated vehicle is suitable for being identified by the roadside sensing devices.
According to the vehicle dangerous behavior detection method, the driving state of the calibrated vehicle is determined in an auxiliary mode through the cloud platform, the vehicle dangerous behavior such as snake-shaped behavior can be recognized in advance, and the driving safety is effectively improved.
Optionally, the determining, by the cloud platform, the driving state of the calibrated vehicle according to a preset rule includes: and selecting the direction information received firstly or the direction information identified by the roadside sensing equipment positioned in the direction opposite to the running direction of the calibrated vehicle from the plurality of direction information through the cloud platform, and determining the running state of the calibrated vehicle according to the selected direction information.
According to the vehicle dangerous behavior detection method, the cloud platform is arranged to select the direction information according to the preset rule so as to determine the running state of the calibrated vehicle, so that the vehicle can be recognized in advance by dangerous behaviors such as snakes, and the running safety is effectively improved.
The present invention also provides a vehicle dangerous behavior detection apparatus, including: the identification module is used for identifying a road center line of the calibration area and a calibration vehicle through the road side sensing equipment; the state module is used for identifying the running direction angle of the calibrated vehicle, determining the running direction angle as an abnormal direction angle when the included angle between the running direction angle and the road center line is larger than a preset angle, and determining the running state of the calibrated vehicle according to the abnormal direction angle determined for multiple times; and the warning module is used for sending warning information to the calibrated vehicle and/or other vehicles when the calibrated vehicle is in an abnormal running state. Compared with the prior art, the vehicle dangerous behavior detection device and the vehicle dangerous behavior detection method have the same advantages, and are not repeated herein.
The invention also provides a vehicle dangerous behavior detection system, which comprises a computer readable storage medium and a processor, wherein the computer readable storage medium is used for storing a computer program, and the computer program is read by the processor and runs to realize the vehicle dangerous behavior detection method. Compared with the prior art, the vehicle dangerous behavior detection system and the vehicle dangerous behavior detection method have the same advantages, and are not repeated herein.
The present invention also provides a computer-readable storage medium storing a computer program which, when read and executed by a processor, implements the vehicle dangerous behavior detection method as described above. The advantages of the computer readable storage medium and the vehicle dangerous behavior detection method over the prior art are the same, and are not described herein again.
Drawings
FIG. 1 is a schematic flow chart of a method for detecting dangerous behavior of a vehicle according to an embodiment of the present invention;
FIG. 2 is a three-dimensional graph of a roadway according to an embodiment of the present invention;
FIG. 3 is a two-dimensional plan view of a roadway according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an abnormal direction of the vehicle according to the embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1, an embodiment of the present invention provides a method for detecting a dangerous behavior of a vehicle, including: identifying a road center line and a calibration vehicle of a calibration area through roadside sensing equipment; identifying a driving direction angle of the calibrated vehicle, determining the driving direction angle as an abnormal direction angle when an included angle between the driving direction angle and the road center line is larger than a preset angle, and determining the driving state of the calibrated vehicle according to the abnormal direction angle determined for multiple times; and when the calibrated vehicle is in an abnormal running state, sending warning information to the calibrated vehicle and/or other vehicles.
Specifically, in the present embodiment, the vehicle dangerous behavior detection method includes: the method comprises the following steps of identifying a road center line and a calibrated vehicle of a calibration area (also called an identification area) through road side sensing equipment, wherein the road side sensing equipment (also called a road side sensing system) comprises a camera, a laser radar, an all-in-one machine and the like; identifying and calibrating a driving direction angle of a vehicle, when an included angle between the driving direction angle and a road center line is larger than a preset angle, indicating that the driving direction of the calibrated vehicle is abnormal, and determining that the driving direction angle is an abnormal direction angle, but the abnormal direction angle can be caused only by lane changing, avoiding or other driving conditions once, and dangerous driving behaviors such as snake shape and the like are not necessarily indicated, so that the driving state of the calibrated vehicle is determined according to the abnormal direction angle determined for many times; and when the calibrated vehicle is in an abnormal running state, sending alarm information to other calibrated vehicles. The abnormal direction angle is determined by comparing the driving direction angle identified by the roadside sensing equipment with the included angle of the road center line, the driving state of the calibrated vehicle is determined according to the abnormal direction angles determined for multiple times, and when the calibrated vehicle is in the abnormal driving state, warning information is sent to the calibrated vehicle and/or other vehicles, so that the vehicles with dangerous behaviors such as snakes are identified in advance, and the driving safety is effectively improved.
The roadside sensing equipment is adopted to break through the problems of sight distance, blind areas and the like of the traditional vehicle-mounted system.
The interaction between the vehicle and the road side system (including the road side sensing equipment and the road side communication equipment) is realized through vehicle-mounted communication equipment (including a vehicle-end CPE and a vehicle-mounted unit) and road side communication equipment (including a 5G-CPE and a Road Side Unit (RSU)).
Wherein, the preset angle can be 15 degrees, and can be adaptively adjusted according to the actual condition.
In the embodiment, the abnormal direction angle is determined by comparing the driving direction angle identified by the roadside sensing equipment with the included angle of the road center line, and the driving state of the vehicle is determined according to the abnormal direction angle determined for multiple times so as to send warning information to the calibrated vehicle and/or other vehicles when the vehicle is in the abnormal driving state, so that the vehicles with dangerous behaviors such as snakes are identified in advance, and the driving safety is effectively improved.
Optionally, the identifying, by the roadside sensing device, the road center line of the calibration area and the calibration vehicle includes: and acquiring a three-dimensional coordinate graph of the calibration area through the roadside sensing equipment, converting the three-dimensional coordinate graph into a two-dimensional plane graph, and identifying the road center line and the calibration vehicle in the two-dimensional plane graph.
Specifically, in this embodiment, as shown in fig. 2 and fig. 3, the identifying the road center line of the calibration area and the calibration vehicle by the roadside sensing device includes: and acquiring a three-dimensional coordinate graph of the calibration area through roadside sensing equipment, converting the three-dimensional coordinate graph into a two-dimensional plane graph, and identifying a road center line and calibrating the vehicle in the two-dimensional plane graph. The road side sensing equipment identifies images of a calibration vehicle in a three-dimensional space, and the images need to be converted into a two-dimensional plane diagram, namely a top view, so that the center line of a road can be accurately identified. The three-dimensional coordinate graph is converted into the two-dimensional plane graph, the road center line and the calibrated vehicle are identified in the two-dimensional plane graph, the road center line and the calibrated vehicle are accurately identified, and therefore vehicles with snake-shaped and other dangerous behaviors can be identified in advance.
In the embodiment, the three-dimensional coordinate graph is converted into the two-dimensional plane graph, the road center line and the calibrated vehicle are identified in the two-dimensional plane graph, the road center line and the calibrated vehicle are accurately identified, and therefore early identification of vehicles with snake-shaped dangerous behaviors and the like can be achieved.
Optionally, the identifying, by the roadside sensing device, the road center line of the calibration area and the calibration vehicle further includes: and assigning unique corresponding identification numbers to all the calibration vehicles in the calibration area, wherein the vehicles comprise intelligent vehicles and non-intelligent vehicles.
Specifically, in this embodiment, identifying the road center line of the calibration area and the calibration vehicle by the roadside sensing device further includes: all calibration vehicles located in the calibration area are assigned unique corresponding identification numbers (such as IDs: 001001, 002002, 002001 and the like shown in FIG. 3), wherein the calibration vehicles comprise intelligent vehicles and non-intelligent vehicles. Generally speaking, when a roadside sensing device identifies a calibrated vehicle, all calibrated vehicles in a calibration area are identified, the calibrated vehicles comprise intelligent vehicles capable of interacting with a roadside system and non-intelligent vehicles, unique corresponding identity identification numbers are given to all the calibrated vehicles, so that identification of all the calibrated vehicles on a road is effectively ensured, and when the calibrated vehicles have dangerous driving behaviors, warning information is sent to the calibrated vehicles and/or other vehicles, so that driving safety can be effectively improved.
In the embodiment, the unique corresponding identification numbers are given to all the calibration vehicles in the calibration area, so that the identification of all the calibration vehicles in the calibration area is effectively ensured, and when dangerous driving behaviors occur to the calibration vehicles, warning information is sent to the calibration vehicles and/or other vehicles, and further the driving safety can be effectively improved.
Optionally, when an included angle between the driving direction angle and the road center line is greater than a preset angle, determining that the driving direction angle is an abnormal direction angle, and determining the driving state of the calibrated vehicle according to the abnormal direction angle determined for multiple times includes: and generating an included angle sequence according to the abnormal direction angles determined for multiple times and the corresponding identification moments, and determining that the vehicle is in the abnormal driving state when the abnormal direction angles corresponding to three continuous identification moments show a positive-negative-positive or negative-positive-negative change trend within a preset time period, wherein the included angles corresponding to the positive direction and the included angles corresponding to the negative direction are respectively positioned on two sides of the central line of the road.
Specifically, in the present embodiment, as shown in fig. 4, when the included angle between the driving direction angle and the road center line is greater than a preset angle (threshold θ degrees), determining that the driving direction angle is an abnormal direction angle, and determining the driving state of the calibration vehicle according to the abnormal direction angles determined multiple times includes: generating an included angle sequence [ t ] according to the abnormal direction angle determined for multiple times and the corresponding identification timea，θa；tb，θb；tc，θc；…；tn，θn](available t)i，θiRepresenting any included angle sequence), and when abnormal direction angles corresponding to three consecutive identification moments present a change trend of positive direction-negative direction-positive direction or negative direction-positive direction-negative direction (it can be defined that a driving direction angle of a vehicle towards one side of a road center line is positive, and a driving direction angle towards the other side is negative, that is, an included angle corresponding to the positive direction and an included angle corresponding to the negative direction are respectively located at two sides of the road center line) within a preset time period (Δ t, for example, 15 seconds), determining that the calibrated vehicle is in an abnormal driving state. Since the occurrence of an abnormal direction angle may also be caused only by lane change, avoidance or other driving conditions, and it is not necessarily said that dangerous driving behaviors such as snakes occur, in this embodiment, when the abnormal direction angles corresponding to three consecutive recognition moments exhibit a positive-negative-positive or negative-positive-negative change trend, it is determined that the calibrated vehicle is in an abnormal driving state, and accurate recognition of dangerous driving behaviors such as snakes is achieved.
In this embodiment, when the abnormal direction angles corresponding to three consecutive identification moments present a positive-negative-positive or negative-positive-negative trend, it is determined that the calibrated vehicle is in an abnormal driving state, so that the snake-like dangerous driving behaviors and the like are accurately identified.
Optionally, the vehicle dangerous behavior detection method further includes: and when the included angle between the driving direction angle and the road center line is larger than a preset angle, sending the direction information of the calibrated vehicle to a cloud platform so as to determine the driving state of the calibrated vehicle through the cloud platform, wherein the direction information comprises the identity identification number, the abnormal direction angle and the corresponding identification time.
Specifically, in this embodiment, the vehicle dangerous behavior detection method further includes: when the included angle between the driving direction angle and the road center line is larger than a preset angle, the direction information of the calibrated vehicle is sent to the cloud platform so as to determine the driving state of the calibrated vehicle through the cloud platform, wherein the direction information comprises an identity identification number, an abnormal direction angle and a corresponding recognition moment. The roadside sensing equipment records the identity identification number, the driving direction angle and the corresponding identification time of the calibrated vehicle in the roadside data storage and analysis equipment, and when the roadside sensing equipment identifies that the included angle between the driving direction angle and the road center line is larger than a preset angle, the roadside data storage and analysis equipment sends the direction information to the cloud platform, and the driving state of the calibrated vehicle is determined through the cloud platform. The driving state of the calibrated vehicle is determined in an auxiliary mode through the cloud platform, so that the vehicles with snake-shaped and other dangerous behaviors can be recognized in advance, and the driving safety is effectively improved.
In the embodiment, the running state of the calibrated vehicle is determined by the aid of the cloud platform, so that the vehicle can be recognized in advance by dangerous behaviors such as snakes, and the running safety is effectively improved.
Optionally, the vehicle dangerous behavior detection method further includes: and sending the direction information of the calibrated vehicle identified by the roadside sensing devices to the cloud platform so as to determine the running state of the calibrated vehicle according to a preset rule through the cloud platform, wherein the calibrated vehicle is suitable for being identified by the roadside sensing devices.
Specifically, in this embodiment, the calibration vehicle is located in the identification areas of the multiple roadside sensing devices, and the vehicle dangerous behavior detection method further includes: and sending the direction information of the calibrated vehicle identified by the road side sensing devices to the cloud platform so as to determine the running state of the calibrated vehicle according to a preset rule through the cloud platform. The general vehicle can be in the identification region of a plurality of roadside perception devices, and when the cloud platform receives the direction information of the same vehicle sent by the roadside perception devices, one of the vehicle can be screened out according to a preset rule, and the specific situation can be determined. The driving state of the vehicle is determined by the aid of the cloud platform, so that the vehicle can be recognized in advance by dangerous behaviors such as snakes, and the driving safety is effectively improved.
In the embodiment, the running state of the calibrated vehicle is determined by the aid of the cloud platform, so that the vehicle can be recognized in advance by dangerous behaviors such as snakes, and the running safety is effectively improved.
Optionally, the determining, by the cloud platform, the driving state of the calibrated vehicle according to a preset rule includes: and selecting the direction information received firstly or the direction information identified by the roadside sensing equipment positioned in the direction opposite to the running direction of the calibrated vehicle from the plurality of direction information through the cloud platform, and determining the running state of the calibrated vehicle according to the selected direction information.
Specifically, in this embodiment, determining, by the cloud platform and according to a preset rule, the driving state of the calibrated vehicle includes: and selecting the direction information received firstly or the direction information identified by the roadside sensing equipment positioned in the opposite direction of the driving direction of the calibrated vehicle from the plurality of direction information through the cloud platform, and determining the driving state of the calibrated vehicle according to the selected direction information. The general vehicle can be located in the identification area of a plurality of roadside sensing devices, when the cloud platform receives the direction information of the same vehicle sent by the roadside sensing devices, one of the vehicle can be screened out according to a preset rule, the direction information received firstly is generally selected, and the direction information of the roadside sensing devices in the direction opposite to the driving direction of the vehicle can also be selected, wherein the selection can be determined according to specific conditions. The running state of the calibrated vehicle is determined by selecting the direction information according to the preset rule through the cloud platform, so that the vehicles with snake-shaped and other dangerous behaviors can be recognized in advance, and the running safety is effectively improved.
In the embodiment, the running state of the calibrated vehicle is determined by setting the cloud platform to select the direction information according to the preset rule, so that the vehicles with snake-shaped and other dangerous behaviors can be recognized in advance, and the running safety is effectively improved.
Another embodiment of the present invention provides a vehicle dangerous behavior detecting apparatus, including: the identification module is used for identifying a road center line of the calibration area and a calibration vehicle through the road side sensing equipment; the state module is used for identifying the running direction angle of the calibrated vehicle, determining the running direction angle as an abnormal direction angle when the included angle between the running direction angle and the road center line is larger than a preset angle, and determining the running state of the calibrated vehicle according to the abnormal direction angle determined for multiple times; and the warning module is used for sending warning information to the calibrated vehicle and/or other vehicles when the calibrated vehicle is in an abnormal running state.
Another embodiment of the present invention provides a vehicle dangerous behavior detection system, which includes a computer-readable storage medium storing a computer program and a processor, wherein the computer program is read by the processor and when executed, implements the vehicle dangerous behavior detection method as described above.
Another embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, which, when read and executed by a processor, implements the vehicle dangerous behavior detection method as described above.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A vehicle dangerous behavior detection method, characterized by comprising:
identifying a road center line and a calibration vehicle of a calibration area through roadside sensing equipment;
identifying a driving direction angle of the calibrated vehicle, determining the driving direction angle as an abnormal direction angle when an included angle between the driving direction angle and the road center line is larger than a preset angle, and determining the driving state of the calibrated vehicle according to the abnormal direction angle determined for multiple times;
and when the calibrated vehicle is in an abnormal running state, sending warning information to the calibrated vehicle and/or other vehicles.
2. The method according to claim 1, wherein the identifying the road center line of the calibration area and the calibration vehicle by the roadside sensing device includes:
and acquiring a three-dimensional coordinate graph of the calibration area through the roadside sensing equipment, converting the three-dimensional coordinate graph into a two-dimensional plane graph, and identifying the road center line and the calibration vehicle in the two-dimensional plane graph.
3. The method according to claim 2, wherein the identifying the road center line of the calibration area and the calibration vehicle by the roadside sensing device further comprises:
and assigning unique corresponding identification numbers to all the calibrated vehicles in the calibration area.
4. The method for detecting dangerous behaviors of vehicles according to claim 1, wherein when an included angle between the driving direction angle and the road center line is larger than a preset angle, determining the driving direction angle as an abnormal direction angle, and determining the driving state of the calibration vehicle according to the abnormal direction angle determined multiple times comprises:
and generating an included angle sequence according to the abnormal direction angles determined for multiple times and the corresponding identification moments, and determining that the vehicle is in the abnormal driving state when the abnormal direction angles corresponding to three continuous identification moments show a positive-negative-positive or negative-positive-negative change trend within a preset time period, wherein the included angles corresponding to the positive direction and the included angles corresponding to the negative direction are respectively positioned on two sides of the central line of the road.
5. The vehicle dangerous behavior detection method according to claim 3, further comprising:
and when the included angle between the driving direction angle and the road center line is larger than a preset angle, sending the direction information of the calibrated vehicle to a cloud platform so as to determine the driving state of the calibrated vehicle through the cloud platform, wherein the direction information comprises the identity identification number, the abnormal direction angle and the corresponding identification time.
6. The vehicle dangerous behavior detection method according to claim 5, further comprising:
and sending the direction information of the calibrated vehicle identified by the roadside sensing devices to the cloud platform so as to determine the running state of the calibrated vehicle according to a preset rule through the cloud platform, wherein the calibrated vehicle is suitable for being identified by the roadside sensing devices.
7. The vehicle dangerous behavior detection method according to claim 6, wherein the determining, by the cloud platform, the driving state of the calibration vehicle according to the preset rule comprises:
and selecting the direction information received firstly or the direction information identified by the roadside sensing equipment positioned in the direction opposite to the running direction of the calibrated vehicle from the plurality of direction information through the cloud platform, and determining the running state of the calibrated vehicle according to the selected direction information.
8. A vehicle dangerous behavior detecting apparatus, characterized by comprising:
the identification module is used for identifying a road center line of the calibration area and a calibration vehicle through the road side sensing equipment;
the state module is used for identifying the running direction angle of the calibrated vehicle, determining the running direction angle as an abnormal direction angle when the included angle between the running direction angle and the road center line is larger than a preset angle, and determining the running state of the calibrated vehicle according to the abnormal direction angle determined for multiple times;
and the warning module is used for sending warning information to the calibrated vehicle and/or other vehicles when the calibrated vehicle is in an abnormal running state.
9. A vehicle dangerous behavior detection system comprising a computer-readable storage medium storing a computer program and a processor, the computer program being read by the processor and being executed to implement the vehicle dangerous behavior detection method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when read and executed by a processor, implements the vehicle dangerous behavior detection method according to any of claims 1 to 7.
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| CN111597970A (en) * | 2020-05-14 | 2020-08-28 | 中国银行股份有限公司 | Abnormal behavior identification method and device |
| CN111710128A (en) * | 2020-08-19 | 2020-09-25 | 李斯特技术中心（上海）有限公司 | Early warning method and device for abnormal driving of vehicle, electronic equipment and storage medium |
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| CN113763750A (en) * | 2021-09-29 | 2021-12-07 | 中智行(上海)交通科技有限公司 | Intelligent vehicle-road cooperation system and method based on 5G |
| CN114898325A (en) * | 2022-07-12 | 2022-08-12 | 深圳市城市交通规划设计研究中心股份有限公司 | Vehicle dangerous lane change detection method and device and electronic equipment |
| CN114898325B (en) * | 2022-07-12 | 2022-11-25 | 深圳市城市交通规划设计研究中心股份有限公司 | Vehicle dangerous lane change detection method and device and electronic equipment |
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