CN113611107A - Non-networked intersection traffic reminding method - Google Patents
Non-networked intersection traffic reminding method Download PDFInfo
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- CN113611107A CN113611107A CN202110802883.8A CN202110802883A CN113611107A CN 113611107 A CN113611107 A CN 113611107A CN 202110802883 A CN202110802883 A CN 202110802883A CN 113611107 A CN113611107 A CN 113611107A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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Abstract
The invention relates to a non-networking intersection traffic reminding method which comprises the steps of acquiring terminal track data, extracting intersection coordinates and building intersection early warning capacity, wherein the effective early warning of an intersection can be realized only through real-time GPS positioning information of a vehicle in the actual running process on the premise of not depending on navigation situations, latest accurate road network data or third-party network services by analyzing historical running tracks of the vehicle, the attention of drivers to the intersection in the logistics process is improved, and the great improvement of the running safety of the vehicle is realized at lower cost.
Description
Technical Field
The invention relates to the technical field of freight vehicle auxiliary navigation, in particular to a non-networked intersection traffic reminding method.
Background
More than half of accidents in the field of logistics occur near intersections. For freight drivers, particularly for long-distance drivers, the drivers are not sensitive to the road junction in practice because the drivers do not have the information of the road junction and because the drivers are tired in driving for a long time, and the drivers are not reminded of the road junction although the drivers are aware of the road junction.
In the prior art, for scene prompt triggered when a user actively navigates, in other scenes, even if a mobile terminal map is opened, the user cannot sense the existence of an intersection in advance without looking at the map; the construction of road network data can be completed with high precision only by investing huge financial resources, and meanwhile, the data quality can be ensured only by continuously updating; the vehicle-mounted equipment intervened by the cloud is used for prompting, the service and data quality of a third-party service provider are seriously depended on, if the third-party service provider has a problem, the abnormal problem of intersection early warning service is possibly generated, and therefore the safety of a driver when the driver passes through an intersection is seriously influenced. Meanwhile, the construction of road network and intersection data usually consumes a large amount of capital and labor cost of the graph businessman, and continuous investment is required every year.
The prior art cannot provide complete intersection early warning service under the condition of no road network scene and no known road junction.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a non-networked intersection traffic reminding method, which can realize effective early warning of an intersection only through real-time GPS positioning information of the actual running process of a vehicle on the premise of not depending on navigation scenes, latest accurate road network data or third-party network services by analyzing historical running tracks of the vehicle, improve the attention of drivers to the intersection in the logistics process and realize great improvement of the running safety of the vehicle at lower cost.
In order to achieve the above purpose, the technical scheme adopted by the invention comprises the following steps:
a non-networked intersection traffic reminding method is characterized by comprising the following steps:
s1, acquiring terminal track data;
s2, extracting coordinates of the intersection;
s3, building early warning capacity of the intersection;
wherein, step S1 further includes the following substeps:
s11, collecting track data uploaded by the vehicle-mounted terminal;
s12, cleaning the collected track data to generate target data;
step S2 further includes the following substeps:
s21, generating a track topology according to the target data;
s22, connecting adjacent points in the track topology to generate road network data containing a plurality of linear tracks;
s23, judging intersection coordinates according to the intersecting linear track in the road network data;
step S3 further includes the following substeps:
s31, setting a detection distance threshold value of vehicle intersection early warning;
s32, setting a prompting distance threshold value of vehicle intersection early warning, wherein the prompting distance threshold value is smaller than a detection distance threshold value;
s33, in the process of vehicle moving, detecting whether an intersection coordinate exists in the range according to the detection distance threshold;
and S34, when the distance from the vehicle to the intersection coordinate is within the prompting distance threshold range, giving an intersection early warning to the vehicle.
Further, the cleaning operation comprises one or more of the following data processing combinations:
removing the stop points, wherein the removing of the stop points comprises removing the track points or smoothing the track points to corresponding adjacent track points when the stop time in the track points exceeds a preset threshold time;
removing the fluctuation points, wherein the fluctuation point removing process comprises the steps of judging whether the distance between two adjacent track points is greater than a preset threshold distance, and selecting one of the adjacent track points as a fluctuation point to remove if the distance is greater than the preset threshold distance;
smoothing, wherein the smoothing comprises smoothing of track points by using a moving average or SG filtering;
and combining and de-duplicating the tracks, wherein the combining and de-duplicating of the tracks comprises dividing the track points by using a geohash grid with preset precision, and combining and de-duplicating a plurality of track points in the same grid.
Further, the determining intersection coordinates according to the intersecting linear trajectory in the road network data includes:
judging possible intersection positions through included angles between the concentric extended linear tracks;
and counting the linear track data related to the possible intersection positions to further judge whether the positions are intersection coordinates.
Further, the determining the possible intersection positions by the included angle between the concentric extended linear tracks comprises:
and acquiring an included angle of two non-coincident linear tracks extending from the same coordinate center, and judging the coordinate to be a possible intersection position if the included angle is less than 150 degrees.
Further, the counting the linear track data related to the possible intersection positions to further determine whether the position is an intersection coordinate includes:
counting the linear track direction corresponding to the coordinates of the possible intersection positions, if the number of the linear tracks pointing to the coordinates and far from the coordinates is less than 3, judging the coordinates to be road inflection point coordinates, and if the number of the linear tracks pointing to the coordinates and far from the coordinates is more than or equal to 3 and the number of the linear tracks far from the coordinates is more than or equal to 2, judging the coordinates to be intersection coordinates.
Further, the step S3 further includes:
s35, acquiring the traveling speed of the vehicle;
and S36, calculating the required time that the distance from the vehicle to the intersection coordinate is within the range of the prompting distance threshold according to the vehicle travelling speed, and carrying out the intersection early warning after the vehicle continuously travels for the required time.
Further, the step S3 further includes:
and S37, updating the required time according to the speed change of the vehicle.
The invention also relates to a computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the above-mentioned method.
The invention also relates to an electronic device, characterized in that it comprises a processor and a memory;
the memory is used for storing terminal track data and intersection coordinates;
the processor is used for executing the method by calling the terminal track data and the intersection coordinates.
The invention has the beneficial effects that:
by adopting the non-networked intersection traffic reminding method, the historical driving track of the vehicle is analyzed, and on the premise of not depending on navigation scenes, latest accurate road network data or third-party network services, effective early warning of the intersection can be realized only through real-time GPS positioning information in the actual driving process of the vehicle, the attention of drivers to the intersection in the logistics process is improved, and the great improvement of the driving safety of the vehicle is realized at lower cost.
Drawings
Fig. 1 is a flow chart of a non-networked intersection traffic reminding method of the invention.
Detailed Description
For a clearer understanding of the contents of the present invention, reference will be made to the accompanying drawings and examples.
The invention relates to a non-networking intersection traffic reminding method with a flow shown in figure 1, which comprises the following steps:
s1, acquiring terminal track data;
s2, extracting coordinates of the intersection;
and S3, building early warning capacity of the intersection.
Wherein, step S1 specifically includes:
s11, collecting track data uploaded by the vehicle-mounted terminal;
s12, performing a cleaning operation on the collected track data to generate target data, wherein the cleaning operation comprises one or more of the following data processing: removing the stop points, wherein the removing of the stop points comprises removing the track points or smoothing the track points to corresponding adjacent track points when the stop time in the track points exceeds a preset threshold time; removing the fluctuation points, wherein the fluctuation point removing process comprises the steps of judging whether the distance between two adjacent track points is greater than a preset threshold distance, and selecting one of the adjacent track points as a fluctuation point to remove if the distance is greater than the preset threshold distance; smoothing, wherein the smoothing comprises smoothing of track points by using a moving average or SG filtering; and combining and de-duplicating the tracks, wherein the combining and de-duplicating of the tracks comprises dividing the track points by using a geohash grid with preset precision, and combining and de-duplicating a plurality of track points in the same grid.
Step S2 specifically includes:
s21, generating a track topology according to the target data;
s22, connecting adjacent points in the track topology to generate road network data containing a plurality of linear tracks;
s23, judging possible intersection positions through an included angle between the concentric extended linear tracks, acquiring an included angle between two non-coincident linear tracks extended from the same coordinate center, and judging the coordinate to be a possible intersection position if the included angle is less than 150 degrees; the method comprises the steps of counting linear track data related to possible intersection positions to further judge whether the positions are intersection coordinates or not, counting linear track directions corresponding to the coordinates of the possible intersection positions, judging that the coordinates are road inflection point coordinates if the number of linear tracks far away from the coordinates and the number of linear tracks far away from the coordinates are less than 3, and judging that the coordinates are intersection coordinates if the number of linear tracks far away from the coordinates and the number of linear tracks far away from the coordinates are more than or equal to 3 and more than or equal to 2.
Step S3 specifically includes:
s31, setting a detection distance threshold value of vehicle intersection early warning;
s32, setting a prompting distance threshold value of vehicle intersection early warning, wherein the prompting distance threshold value is smaller than a detection distance threshold value;
s33, in the process of vehicle moving, detecting whether an intersection coordinate exists in the range according to the detection distance threshold;
s34, when the distance from the vehicle to the intersection coordinate is within the range of the prompting distance threshold, giving an intersection early warning to the vehicle;
s35, acquiring the traveling speed of the vehicle;
s36, calculating the required time that the distance from the vehicle to the intersection coordinate is within the range of the prompting distance threshold according to the vehicle travelling speed, and carrying out intersection early warning after the vehicle continues to travel for the required time;
and S37, updating the required time according to the speed change of the vehicle.
In actual use, based on the established intersection coordinates, intersection early warning independent of real-time accurate road network data can be provided for a vehicle in motion, and the method can be preferably realized through the following steps:
a) taking the current position of the vehicle as a reference space coordinate, and taking the driving direction of the vehicle as an angle to judge whether an intersection exists in N meters of the vehicle (for example, setting a detection distance threshold value of vehicle intersection early warning to be 800 meters);
b) if an intersection exists, assuming that the distance M meters away from the intersection (for example, setting the prompting distance threshold value of vehicle intersection early warning to be 200-300 meters) is the optimal intersection early warning position, the distance from the vehicle to the optimal intersection early warning position is N-M meters;
c) if the speed of the vehicle is V, the time required for the vehicle to reach the optimal early warning position is (N-M)/V, which indicates that the vehicle starts from the current position, and if the running speed is not changed, the road junction early warning broadcast is carried out after the time of (N-M)/V;
d) in the process of advancing of the vehicle, if position coordinates are reported, recalculation of time required for reaching the optimal intersection early warning and broadcasting position is carried out as much as possible, and intersection early warning errors caused by vehicle speed change or route change are corrected.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A non-networked intersection traffic reminding method is characterized by comprising the following steps:
s1, acquiring terminal track data;
s2, extracting coordinates of the intersection;
s3, building early warning capacity of the intersection;
wherein, step S1 further includes the following substeps:
s11, collecting track data uploaded by the vehicle-mounted terminal;
s12, cleaning the collected track data to generate target data;
step S2 further includes the following substeps:
s21, generating a track topology according to the target data;
s22, connecting adjacent points in the track topology to generate road network data containing a plurality of linear tracks;
s23, judging intersection coordinates according to the intersecting linear track in the road network data;
step S3 further includes the following substeps:
s31, setting a detection distance threshold value of vehicle intersection early warning;
s32, setting a prompting distance threshold value of vehicle intersection early warning, wherein the prompting distance threshold value is smaller than a detection distance threshold value;
s33, in the process of vehicle moving, detecting whether an intersection coordinate exists in the range according to the detection distance threshold;
and S34, when the distance from the vehicle to the intersection coordinate is within the prompting distance threshold range, giving an intersection early warning to the vehicle.
2. The method of claim 1, wherein the cleansing operation comprises one or more of the following data processing in combination:
removing the stop points, wherein the removing of the stop points comprises removing the track points or smoothing the track points to corresponding adjacent track points when the stop time in the track points exceeds a preset threshold time;
removing the fluctuation points, wherein the fluctuation point removing process comprises the steps of judging whether the distance between two adjacent track points is greater than a preset threshold distance, and selecting one of the adjacent track points as a fluctuation point to remove if the distance is greater than the preset threshold distance;
smoothing, wherein the smoothing comprises smoothing of track points by using a moving average or SG filtering;
and combining and de-duplicating the tracks, wherein the combining and de-duplicating of the tracks comprises dividing the track points by using a geohash grid with preset precision, and combining and de-duplicating a plurality of track points in the same grid.
3. The method of claim 1, wherein said determining intersection coordinates from intersecting linear trajectories in road network data comprises:
judging possible intersection positions through included angles between the concentric extended linear tracks;
and counting the linear track data related to the possible intersection positions to further judge whether the positions are intersection coordinates.
4. The method of claim 3, wherein said determining the likely intersection location by the angle between the concentrically-extending linear trajectories comprises:
and acquiring an included angle of two non-coincident linear tracks extending from the same coordinate center, and judging the coordinate to be a possible intersection position if the included angle is less than 150 degrees.
5. The method of claim 3, wherein said statistically analyzing the line-type trajectory data associated with the possible intersection location further determines whether the location is an intersection coordinate comprises:
counting the linear track direction corresponding to the coordinates of the possible intersection positions, if the number of the linear tracks pointing to the coordinates and far from the coordinates is less than 3, judging the coordinates to be road inflection point coordinates, and if the number of the linear tracks pointing to the coordinates and far from the coordinates is more than or equal to 3 and the number of the linear tracks far from the coordinates is more than or equal to 2, judging the coordinates to be intersection coordinates.
6. The method of claim 1, wherein the step S3 further comprises:
s35, acquiring the traveling speed of the vehicle;
and S36, calculating the required time that the distance from the vehicle to the intersection coordinate is within the range of the prompting distance threshold according to the vehicle travelling speed, and carrying out the intersection early warning after the vehicle continuously travels for the required time.
7. The method of claim 6, wherein the step S3 further comprises:
and S37, updating the required time according to the speed change of the vehicle.
8. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the method of any one of claims 1 to 7.
9. An electronic device comprising a processor and a memory;
the memory is used for storing terminal track data and intersection coordinates;
the processor is used for executing the method of any one of claims 1 to 7 by calling terminal track data and intersection coordinates.
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| CN202110802883.8A CN113611107A (en) | 2021-07-15 | 2021-07-15 | Non-networked intersection traffic reminding method |
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| CN202110802883.8A CN113611107A (en) | 2021-07-15 | 2021-07-15 | Non-networked intersection traffic reminding method |
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| CN114360246A (en) * | 2021-12-28 | 2022-04-15 | 北京汇通天下物联科技有限公司 | Early warning method and device for expressway exit ramp and storage medium |
| CN114419888A (en) * | 2022-01-21 | 2022-04-29 | 北京汇通天下物联科技有限公司 | Safety early warning method, device, equipment and storage medium for freight vehicle |
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