CN114120660A - Early warning method, system, equipment and storage medium for expressway ramp exit - Google Patents

Early warning method, system, equipment and storage medium for expressway ramp exit Download PDF

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Publication number
CN114120660A
CN114120660A CN202111471145.6A CN202111471145A CN114120660A CN 114120660 A CN114120660 A CN 114120660A CN 202111471145 A CN202111471145 A CN 202111471145A CN 114120660 A CN114120660 A CN 114120660A
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vehicle
information
exit
ramp
early warning
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CN114120660B (en
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汪贵平
李瑾
李立
朱进玉
李光泽
王占硕
吴晓强
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Changan University
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/24—Reminder alarms, e.g. anti-loss alarms
    • 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
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • 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
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

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  • General Physics & Mathematics (AREA)
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Abstract

The invention discloses an early warning method, a system, equipment and a storage medium at an exit of a ramp of a highway, which are used for acquiring position information and speed information of a vehicle at the current moment in a detection area and a plurality of pieces of position information of the vehicle in a set time period before the current moment; comparing the speed of the vehicle at the current moment with a preset speed threshold, and sending early warning information if the speed of the vehicle at the current moment is less than the preset speed threshold; the method comprises the steps of fitting the driving trend of a vehicle according to the position information of the vehicle at the current moment and a plurality of pieces of position information of the vehicle in a set time period before the current moment, judging the driving state of the vehicle at the current moment according to the driving trend of the vehicle, and sending early warning information if the driving state of the vehicle at the current moment is parking or backing. The invention can monitor dangerous behaviors such as backing at the ramp exit and the like under the scene of the ramp exit of the expressway, reduce traffic accidents at the ramp exit, reduce casualties and property loss of drivers and improve traffic operation efficiency.

Description

Early warning method, system, equipment and storage medium for expressway ramp exit
Technical Field
The invention belongs to the technical field of intelligent traffic, and particularly relates to an early warning method, an early warning system, early warning equipment and a storage medium for an exit of a ramp of a highway.
Background
The vehicle-road cooperative system adopts advanced network communication, parallel computation and other technologies to link all traffic main bodies including traffic participants (people), vehicles (vehicles) and traffic infrastructures (roads), and implements intelligent cooperation and cooperation between vehicles and between vehicles and roads in all directions, thereby ensuring traffic safety, improving traffic efficiency, forming a safe, efficient and environment-friendly road traffic system and achieving the aim of relieving traffic congestion.
With the increase of highway mileage in China, traffic accidents on the highway are also growing continuously, and particularly the traffic accidents at the exit of a ramp of the highway are typical. Vehicles traveling on the expressway are all faster, and the ramp exit of the expressway is the main position for changing the direction and changing lanes of the vehicles, and therefore is also a high-rise place for traffic conflicts. Dangerous driving behaviors at the exit of the ramp of the expressway are very complex, sometimes, a driver can suddenly change lanes or strongly drive into the ramp due to fatigue driving, call receiving or information sending missing the exit of the ramp, two vehicles can collide when a following vehicle does not have time to make a braking response, and traffic accidents at the exit of the ramp of the expressway are frequent, so that the problems of casualties and property loss of the driver are serious.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an early warning method, a system, equipment and a storage medium at an exit of a ramp of an expressway, which are used for monitoring dangerous behaviors such as backing up at the exit of the ramp and the like under the scene of the exit of the ramp of the expressway with frequent accidents, reducing traffic accidents at the exit of the ramp, reducing casualties and property loss of drivers and improving traffic operation efficiency.
In order to solve the technical problems, the invention is realized by the following technical scheme:
an early warning method at an exit of a ramp of a highway comprises the following steps:
acquiring position information and speed information of a vehicle at the current moment in a detection area and a plurality of position information of the vehicle in a set time period before the current moment; the detection area comprises a set section of main highway road, one end of the set section of main highway road is positioned in front of a diversion strip at an exit of a ramp of the highway, and the other end of the set section of main highway road is positioned behind the diversion strip at the exit of the ramp of the highway;
comparing the speed of the vehicle at the current moment with a preset speed threshold, and if the speed of the vehicle at the current moment is smaller than the preset speed threshold, sending early warning information;
and fitting the driving trend of the vehicle according to the position information of the vehicle at the current moment and the position information of the vehicle in a set time period before the current moment, judging the driving state of the vehicle at the current moment according to the driving trend of the vehicle, and sending early warning information if the driving state of the vehicle at the current moment is parking or backing.
Further, still include:
if the speed information of the vehicle at the current moment cannot be acquired, calculating the speed information of the vehicle according to the position information of the vehicle at the current moment, the position information of the vehicle at the last moment at the current moment and the time interval between the current moment and the last moment, comparing the calculated speed of the vehicle with a preset speed threshold value, and if the calculated speed of the vehicle is smaller than the preset speed threshold value, sending early warning information.
Further, still include:
the detection area also comprises a diversion belt at the exit of the ramp of the expressway;
acquiring state information on a diversion strip at the exit of the expressway ramp;
and judging the state information on the flow guide belt at the exit of the ramp of the expressway, and sending early warning information if vehicles enter the flow guide belt at the exit of the ramp of the expressway.
Further, still include:
acquiring license plate information of vehicles in a detection area;
the early warning information comprises the license plate information.
An early warning system at an exit of a ramp of an expressway comprises a processing module, roadside communication equipment, an early warning module and millimeter wave radar and camera fusion equipment arranged on a main road at the upstream of a detection area, wherein the early warning module comprises a vehicle-mounted early warning unit arranged in a vehicle;
the millimeter wave radar and camera fusion equipment is used for acquiring position information and speed information of a vehicle at the current moment in the detection area and a plurality of position information of the vehicle in a set time period before the current moment; the detection area comprises a set section of main highway road, one end of the set section of main highway road is positioned in front of a diversion strip at an exit of a ramp of the highway, and the other end of the set section of main highway road is positioned behind the diversion strip at the exit of the ramp of the highway;
the processing module is used for comparing the speed of the vehicle at the current moment with a preset speed threshold value, and if the speed of the vehicle at the current moment is smaller than the preset speed threshold value, sending early warning information to the early warning module through the roadside communication equipment; the system is also used for fitting the driving trend of the vehicle according to the position information of the vehicle at the current moment and the position information of the vehicle in the set time period before the current moment, judging the driving state of the vehicle at the current moment according to the driving trend of the vehicle, and sending early warning information to the early warning module through the roadside communication equipment if the driving state of the vehicle at the current moment is parking or reversing.
Further, if the speed information of the vehicle at the current time cannot be acquired, the processing module is further configured to calculate speed information of the vehicle according to the position information of the vehicle at the current time, the position information of the vehicle at the previous time at the current time, and a time interval between the current time and the previous time, compare the calculated speed of the vehicle with the preset speed threshold, and send early warning information to the early warning module through the roadside communication device if the calculated speed of the vehicle is less than the preset speed threshold.
Further, the detection area also comprises a diversion strip at the exit of the ramp of the expressway;
the millimeter wave radar and camera fusion equipment is also used for acquiring state information on a diversion strip at the exit of the expressway ramp;
the processing module is further used for judging state information on the diversion strip at the exit of the ramp of the expressway, and sending early warning information to the early warning module through the roadside communication equipment if a vehicle enters the diversion strip at the exit of the ramp of the expressway.
Further, the early warning module also comprises variable intelligence boards arranged at the upstream and downstream of the detection area.
An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method for pre-warning at an exit of a motorway ramp when executing the computer program.
A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of a method of pre-warning at an exit of a ramp of a highway.
Compared with the prior art, the invention has at least the following beneficial effects: after a detection area is set at the position of the expressway ramp exit, firstly, acquiring position information and speed information of a vehicle at the current moment in the detection area and a plurality of position information of the vehicle in a set time period before the current moment; and then comparing the speed of the vehicle at the current moment with a preset speed threshold, and if the speed of the vehicle at the current moment is less than the preset speed threshold, sending early warning information so as to perform timely early warning on the vehicle close to the ramp exit of the expressway and prevent rear-end collision accidents. In addition, the driving trend of the vehicle is fitted according to the position information of the vehicle at the current moment and a plurality of position information of the vehicle in a set time period before the current moment, the driving state of the vehicle at the current moment is judged according to the driving trend of the vehicle, and if the driving state of the vehicle at the current moment is parking or backing, early warning information is sent to timely early warn the vehicle close to the ramp exit of the expressway, so that monitoring of dangerous behaviors such as backing at the ramp exit is completed, traffic accidents at the ramp exit are reduced, casualties and property loss of drivers are reduced, and traffic operation efficiency is improved.
Furthermore, when the speed information of the vehicle at the current moment cannot be acquired, the invention also designs that the speed information of the vehicle is calculated according to the position information of the vehicle at the current moment, the position information of the vehicle at the last moment at the current moment and the time interval between the current moment and the last moment, the calculated speed of the vehicle is compared with a preset speed threshold value, and if the calculated speed of the vehicle is smaller than the preset speed threshold value, the early warning information is sent, so that the early warning reliability is improved.
Further, the method also obtains the state information on the flow guide belt at the exit of the ramp of the expressway, judges the state information on the flow guide belt at the exit of the ramp of the expressway, sends early warning information if vehicles enter the flow guide belt at the exit of the ramp of the expressway, and effectively warns surrounding vehicles if vehicles entering the flow guide belt in violation of rules, so as to prevent accidents.
Furthermore, the invention also obtains the license plate information of the vehicles in the detection area, and the sent early warning information comprises the license plate information, thereby being convenient for punishing the illegal vehicles.
According to the early warning system at the ramp exit of the expressway, vehicle-mounted equipment, roadside communication equipment, a variable information board, millimeter wave radar and camera fusion equipment and a processing module are combined under the condition of the ramp exit of the expressway with frequent accidents, so that the accurate capture and timely reminding of violation information can be realized, a driver can drive more normally, the monitoring of dangerous behaviors such as backing up at the ramp exit can be completed, the traffic accidents at the exit ramp are reduced, the casualties and property loss of the driver are reduced, the traffic operation efficiency is improved, and the early warning system is not required to be arranged in a high computing platform.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the equipment erection in an early warning system at an exit of a ramp of a highway according to the present invention;
FIG. 2 is a diagram illustrating pre-warning criterion parameters according to the present invention.
In the figure: 1-a processing module; 2-roadside communication equipment; 3-early warning module; 4-millimeter wave radar and camera fusion equipment; 5-detection zone.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As a specific embodiment of the present invention, with reference to fig. 1 and fig. 2, a method for performing an early warning at an exit of a ramp on a highway includes:
s1, acquiring the position information and the speed information of the vehicle at the current moment in the detection area, and a plurality of position information of the vehicle in a set time period before the current moment; the detection area comprises a set section of main highway road, one end of the set section of main highway road is positioned in front of a diversion strip at an exit of a ramp of the highway, and the other end of the set section of main highway road is positioned behind the diversion strip at the exit of the ramp of the highway.
And S2, comparing the speed of the vehicle at the current moment with a preset speed threshold, wherein the speed threshold in the invention is the lowest speed limit of the main highway road where the vehicle is located at present, and sending early warning information if the speed of the vehicle at the current moment is less than the preset speed threshold. Specifically, as shown in fig. 2, the warning judgment logic in this case is as follows:
Figure BDA0003392304430000061
wherein, the vehicle status represents a vehicle state; threshold represents the lowest speed limit of the lane where the vehicle is currently located; normal is indicated by normal; earlyWarning means warning.
As a preferred embodiment, if the speed information of the vehicle at the current time cannot be obtained, the speed information of the vehicle is calculated according to the position information of the vehicle at the current time, the position information of the vehicle at the previous time at the current time, and the time interval between the current time and the previous time, the calculated speed of the vehicle is compared with a preset speed threshold, and if the calculated speed of the vehicle is less than the preset speed threshold, the warning information is sent. Specifically, as shown in fig. 2, the formula for calculating the speed of the vehicle is as follows:
Figure BDA0003392304430000062
wherein speed represents the current frame speed of the vehicle; position YiAnd position Yi-1Respectively representing the longitudinal positions of the vehicles of the i-th frame and the i-1-th frame (namely the position information of the vehicle at the current moment and the position information of the vehicle at the previous moment at the current moment); datetimeiIndicating the time of the ith frame (i.e., the time interval between the current time and the last time).
S3, fitting the driving trend of the vehicle according to the position information of the vehicle at the current time and a plurality of position information of the vehicle in a set time period before the current time, judging the driving state of the vehicle at the current time according to the driving trend of the vehicle, and sending early warning information if the driving state of the vehicle at the current time is parking or backing. Specifically, as shown in fig. 2, the determination of illegal parking and illegal backing is realized by comparing the longitudinal positions of different frames of the same vehicle, which is specifically as follows:
Figure BDA0003392304430000071
wherein, the vehicle status represents a vehicle state; position YiAnd position Yi-1Respectively representing the longitudinal position of the vehicle in the ith and i-1 st frames; parkingrepresents a parking state; reversing represents a reversing state; normal indicates a normal driving state.
As a preferred embodiment of the invention, the detection area of the invention further comprises a diversion strip at the exit of the ramp of the expressway; the early warning method of the invention also comprises the following steps:
acquiring state information on a diversion strip at an exit of a ramp of the expressway;
and judging the state information on the flow guide belt at the exit of the ramp of the expressway, and sending early warning information if vehicles enter the flow guide belt at the exit of the ramp of the expressway. Specifically, as shown in fig. 2, the logic for determining the state information on the diversion strip at the exit of the ramp of the expressway is as follows:
Figure BDA0003392304430000072
wherein, the vehicle status represents a vehicle state; position y represents the longitudinal position of the vehicle; position x represents a lateral position of the vehicle; the vision represents a vehicle violation condition; the division Y represents the vertical coordinate of the starting point of the flow guide belt; and division X represents the abscissa of the starting point of the guide belt.
As a more preferred embodiment, the present invention further comprises:
acquiring license plate information of vehicles in a detection area;
the early warning information comprises license plate information and violation information, and in the embodiment, the obtained violation information is stored by using an SQL Server for later violation judgment and evidence storage and data playback.
As a specific embodiment of the present invention, as shown in fig. 1, the present invention provides an early warning system at an exit of a ramp of an expressway, which is used for implementing the early warning method of the present invention, and specifically includes a processing module 1, roadside communication equipment 2, an early warning module 3, and a millimeter wave radar and camera fusion device 4 disposed in a main road upstream of a detection area 5, where the early warning module includes a vehicle-mounted early warning unit disposed in a vehicle, and a vehicle-mounted device is disposed in the vehicle, and the vehicle-mounted early warning unit is a part of the vehicle-mounted device, and in this embodiment, the vehicle-mounted early warning unit is a flat panel display of the vehicle.
Preferably, the early warning module further comprises variable intelligence boards disposed upstream and downstream of the detection zone.
The millimeter wave radar and camera fusion equipment is used for acquiring position information and speed information of a vehicle at the current moment in the detection area and a plurality of position information of the vehicle in a set time period before the current moment; the detection area comprises a set section of main highway road, one end of the set section of main highway road is positioned in front of the diversion belt at the exit of the ramp of the highway, and the other end of the set section of main highway road is positioned behind the diversion belt at the exit of the ramp of the highway.
The processing module is used for comparing the speed of the vehicle at the current moment with a preset speed threshold value, and sending early warning information to the early warning module through the roadside communication equipment if the speed of the vehicle at the current moment is smaller than the preset speed threshold value; the system is also used for fitting the driving trend of the vehicle according to the position information of the vehicle at the current moment and a plurality of position information of the vehicle in a set time period before the current moment, judging the driving state of the vehicle at the current moment according to the driving trend of the vehicle, and sending early warning information to the early warning module through roadside communication equipment if the driving state of the vehicle at the current moment is parking or reversing.
As a preferred embodiment, if the millimeter wave radar and camera fusion device cannot acquire the speed information of the vehicle at the current time, the processing module is further configured to calculate the speed information of the vehicle according to the position information of the vehicle at the current time, the position information of the vehicle at the previous time at the current time, and the time interval between the current time and the previous time, compare the calculated speed of the vehicle with a preset speed threshold, and send the warning information to the warning module through the roadside communication device if the calculated speed of the vehicle is less than the preset speed threshold.
As a more preferable embodiment, the detection area further comprises a diversion strip at the exit of the ramp of the expressway;
the millimeter wave radar and camera fusion equipment is also used for acquiring state information on a diversion strip at the exit of the ramp of the expressway;
the processing module is also used for judging the state information on the diversion strip at the exit of the ramp of the expressway, and sending early warning information to the early warning module through the roadside communication equipment if vehicles enter the diversion strip at the exit of the ramp of the expressway.
As shown in fig. 1, the vehicle-mounted early warning unit is installed in a vehicle running on a road, roadside communication equipment is installed beside the road, two variable information boards are installed in front of and behind an exit of a ramp of an expressway (namely, upstream and downstream of a detection area), the millimeter wave radar and camera fusion equipment is installed in the middle of a portal frame at the exit of the ramp of the expressway, and the processing module is installed at the roadside position of the ramp of the expressway. Wherein, L1 represents the detection blind area of the millimeter wave radar and camera fusion equipment, and L2 represents the distance between the starting position of the detection area and the rear variable information board.
Data mutual transmission can be carried out between the vehicle-mounted equipment and the roadside communication equipment through wireless communication, the roadside communication equipment transmits data to the variable information board through the wireless communication, the roadside communication equipment and the processing module carry out data mutual transmission through the wireless communication, and the data acquired and processed by the millimeter wave radar and camera fusion equipment are sent to the processing module through a network cable.
Specifically, in the present embodiment, the vehicle-mounted device includes a vehicle information positioning module, an information sending and receiving module, and a flat panel display, wherein the vehicle information positioning module is capable of acquiring position information of the vehicle itself, the information sending and receiving module is capable of sending the position information of the vehicle to the roadside communication device and receiving information sent from the roadside communication device, and the flat panel display is capable of displaying a relative position of the vehicle in the road.
Specifically, in this embodiment, the roadside communication device includes a roadside information sending and receiving module and a roadside industrial personal computer, where the roadside information sending and receiving module can receive information from the outside and can send roadside information to the vehicle-mounted device at the same time. The roadside industrial personal computer is connected with the roadside information sending and receiving module, the roadside information receiving module inputs the acquired data into the roadside industrial personal computer, the data are processed inside the industrial personal computer, and then the processed result is sent out through the roadside information sending module.
Specifically, in this embodiment, the variable information board can receive information of the roadside communication device, can display the current road condition in real time, and can provide relevant warning information for a driver about to enter or driving into an exit road section of an expressway ramp, so as to guide the driver to drive according to the standard.
Specifically, in this embodiment, the millimeter wave radar and camera fusion device includes a millimeter wave radar and a camera, which are complementary to each other. The millimeter wave radar mainly collects original dynamic vehicle information, and the camera mainly collects information of a traffic subject in a road and road static data. The millimeter wave radar can make up the situation that the camera cannot complete the detection task under poor light or severe weather.
And transmitting the violation information stored in the SQL Server to roadside communication equipment through a wireless communication technology. The variable information board receives violation information of the roadside communication equipment, and information broadcasting is carried out on the road section at the ramp exit so as to remind a driver who is driving; the vehicle-mounted equipment receives the violation vehicle information sent by the roadside communication equipment and the violation information of other vehicles at the periphery, and the violation condition and the local running track of the current vehicle at the road section are displayed on a flat panel display in the vehicle-mounted equipment.
The following describes in more detail a processing method of the processing module of the present invention with respect to the data information acquired by the millimeter wave radar and camera fusion device.
Step 1: and setting variables to receive data sent by the millimeter wave radar and camera fusion equipment. The data is transmitted in a wired mode through a network cable and comprises three parts including millimeter wave radar data, camera data and road static data (namely state information on a diversion tape at an exit of a ramp of the expressway). The data obtained by fusing the millimeter wave radar data and the camera data is stored in a json format, and the road static data is stored in a global variable.
Step 2: processing the data received in the step 1 after the fusion of the millimeter wave radar and the camera fusion equipment, specifically as follows:
step 2.1: and slicing each frame of data fused by the millimeter wave radar and the camera. One frame of data contains information of all traffic bodies which can be detected by the millimeter wave radar and camera fusion equipment at the current moment. The fused data is cluttered and has no standard format. In a data processing subprogram, searching the positions of a first '{' character and a last '}', slicing data by using the two positions, returning a regular json character string, then introducing a standard json class, and calling a corresponding library function to process a corresponding row;
step 2.2: based on each frame of data sliced in step 2.1, information of each frame of data is extracted in the program by using a loop, and the extracted information is inserted into the dynamic table.
And step 3: based on the data processed in the step 2, the early warning judgment standard is formulated, whether illegal vehicles with different early warning levels exist in the detection range of the program judgment device is judged, the illegal vehicles are screened out, and the information of the related illegal vehicles is obtained, wherein the method specifically comprises the following steps:
step 3.1: extracting historical data of 13 frames of the vehicle based on the data of each vehicle in each frame obtained in the step 2.2;
step 3.2: the content of the dynamic table in step 2.2 is dynamically updated. Selecting the fixed length of a dynamic table as 1000, and deleting a first item when the table length is more than 1000 until the length of the dynamic table is less than or equal to 1000;
step 3.3: based on the 13 th frame history data in step 3.1, the 1 st, 5 th, 9 th and 13 th frame history data are selected to perform early warning level judgment. Each frame of data of each vehicle comprises the number, position, speed and license plate information of the vehicle.
The present invention provides, in one embodiment, a computer device comprising a processor and a memory for storing a computer program comprising program instructions, the processor for executing the program instructions stored by the computer storage medium. The Processor may be a Central Processing Unit (CPU), or may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable gate array (FPGA) or other Programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc., which is a computing core and a control core of the terminal, and is adapted to implement one or more instructions, and is specifically adapted to load and execute one or more instructions to implement a corresponding method flow or a corresponding function; the processor provided by the embodiment of the invention can be used for operating the early warning method at the exit of the ramp of the expressway.
In one embodiment of the invention, the early warning method at the exit of the expressway ramp can be stored in a computer readable storage medium if the early warning method is realized in the form of a software functional unit and sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. Computer-readable storage media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data.
The computer storage media may be any available media or data storage device that can be accessed by a computer, including but not limited to magnetic memory (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical memory (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor memory (e.g., ROMs, EPROMs, EEPROMs, non-volatile memories (NANDFLASH), Solid State Disks (SSDs)), etc.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. An early warning method at an exit of a ramp of a highway, which is characterized by comprising the following steps:
acquiring position information and speed information of a vehicle at the current moment in a detection area and a plurality of position information of the vehicle in a set time period before the current moment; the detection area comprises a set section of main highway road, one end of the set section of main highway road is positioned in front of a diversion strip at an exit of a ramp of the highway, and the other end of the set section of main highway road is positioned behind the diversion strip at the exit of the ramp of the highway;
comparing the speed of the vehicle at the current moment with a preset speed threshold, and if the speed of the vehicle at the current moment is smaller than the preset speed threshold, sending early warning information;
and fitting the driving trend of the vehicle according to the position information of the vehicle at the current moment and the position information of the vehicle in a set time period before the current moment, judging the driving state of the vehicle at the current moment according to the driving trend of the vehicle, and sending early warning information if the driving state of the vehicle at the current moment is parking or backing.
2. The early warning method for the exit of the ramp of the expressway according to claim 1, further comprising:
if the speed information of the vehicle at the current moment cannot be acquired, calculating the speed information of the vehicle according to the position information of the vehicle at the current moment, the position information of the vehicle at the last moment at the current moment and the time interval between the current moment and the last moment, comparing the calculated speed of the vehicle with a preset speed threshold value, and if the calculated speed of the vehicle is smaller than the preset speed threshold value, sending early warning information.
3. The early warning method for the exit of the ramp of the expressway according to claim 1, further comprising:
the detection area also comprises a diversion belt at the exit of the ramp of the expressway;
acquiring state information on a diversion strip at the exit of the expressway ramp;
and judging the state information on the flow guide belt at the exit of the ramp of the expressway, and sending early warning information if vehicles enter the flow guide belt at the exit of the ramp of the expressway.
4. The early warning method for the exit of the ramp of the expressway according to any one of claims 1 to 3, further comprising:
acquiring license plate information of vehicles in a detection area;
the early warning information comprises the license plate information.
5. An early warning system at an exit of a ramp of an expressway is characterized by comprising a processing module, roadside communication equipment, an early warning module and millimeter wave radar and camera fusion equipment arranged on a main road at the upstream of a detection area, wherein the early warning module comprises a vehicle-mounted early warning unit arranged in a vehicle;
the millimeter wave radar and camera fusion equipment is used for acquiring position information and speed information of a vehicle at the current moment in the detection area and a plurality of position information of the vehicle in a set time period before the current moment; the detection area comprises a set section of main highway road, one end of the set section of main highway road is positioned in front of a diversion strip at an exit of a ramp of the highway, and the other end of the set section of main highway road is positioned behind the diversion strip at the exit of the ramp of the highway;
the processing module is used for comparing the speed of the vehicle at the current moment with a preset speed threshold value, and if the speed of the vehicle at the current moment is smaller than the preset speed threshold value, sending early warning information to the early warning module through the roadside communication equipment; the system is also used for fitting the driving trend of the vehicle according to the position information of the vehicle at the current moment and the position information of the vehicle in the set time period before the current moment, judging the driving state of the vehicle at the current moment according to the driving trend of the vehicle, and sending early warning information to the early warning module through the roadside communication equipment if the driving state of the vehicle at the current moment is parking or reversing.
6. The system according to claim 5, wherein if the speed information of the vehicle at the current time cannot be obtained, the processing module is further configured to calculate the speed information of the vehicle according to the position information of the vehicle at the current time, the position information of the vehicle at the previous time at the current time, and a time interval between the current time and the previous time, compare the calculated speed of the vehicle with the preset speed threshold, and send the warning information to the warning module through the roadside communication device if the calculated speed of the vehicle is less than the preset speed threshold.
7. The early warning system at the exit of a highway ramp according to claim 5, wherein the detection area further comprises a diversion strip at the exit of the highway ramp;
the millimeter wave radar and camera fusion equipment is also used for acquiring state information on a diversion strip at the exit of the expressway ramp;
the processing module is further used for judging state information on the diversion strip at the exit of the ramp of the expressway, and sending early warning information to the early warning module through the roadside communication equipment if a vehicle enters the diversion strip at the exit of the ramp of the expressway.
8. The warning system at an exit of a ramp of a highway according to claim 5, wherein the warning module further comprises variable intelligence boards disposed upstream and downstream of the detection zone.
9. An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of a method of pre-warning at an exit of a motorway ramp according to any one of claims 1 to 4.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of a method for warning at an exit of a motorway ramp according to any one of claims 1 to 4.
CN202111471145.6A 2021-12-03 2021-12-03 Expressway ramp exit early warning method, system, equipment and storage medium Active CN114120660B (en)

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CN108510754A (en) * 2018-05-29 2018-09-07 杭州博达伟业公共安全技术股份有限公司 Violation driving behavior alarming device and method
CN110969837A (en) * 2018-09-30 2020-04-07 长城汽车股份有限公司 Road information fusion system and method for automatic driving vehicle
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Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101903924A (en) * 2007-12-21 2010-12-01 株式会社建伍 Road-vehicle communication system and vehicle-mounted device
US20200365031A1 (en) * 2018-01-26 2020-11-19 Shandong Provincial Communications Planning And Design Institute Intelligent traffic safety pre-warning method, cloud server, onboard-terminal and system
CN108510754A (en) * 2018-05-29 2018-09-07 杭州博达伟业公共安全技术股份有限公司 Violation driving behavior alarming device and method
CN110969837A (en) * 2018-09-30 2020-04-07 长城汽车股份有限公司 Road information fusion system and method for automatic driving vehicle

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