CN114461743A - System for automatically simulating and restoring highway events through high-precision map - Google Patents
System for automatically simulating and restoring highway events through high-precision map Download PDFInfo
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- CN114461743A CN114461743A CN202210382366.4A CN202210382366A CN114461743A CN 114461743 A CN114461743 A CN 114461743A CN 202210382366 A CN202210382366 A CN 202210382366A CN 114461743 A CN114461743 A CN 114461743A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q50/10—Services
- G06Q50/26—Government or public services
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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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
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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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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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
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Y02A10/40—Controlling or monitoring, e.g. of flood or hurricane; Forecasting, e.g. risk assessment or mapping
Abstract
The invention relates to the technical field of video analysis, in particular to a system for automatically simulating and restoring highway events through a high-precision map. The road accident simulation system comprises a monitoring camera unit, wherein the output end of the monitoring camera unit is connected with an accident area positioning unit, the output end of the accident area positioning unit is connected with an accident road map extraction unit and an accident vehicle identification unit, and the output end of the accident vehicle identification unit is connected with a u3d accident simulation unit. According to the invention, the accident occurrence place is positioned through the accident area positioning unit, the positioning information is transmitted to the accident-related road section map extraction unit, the map information precision extraction is carried out on the accident road section through the accident-related road section map extraction unit, meanwhile, the accident-related vehicle information is identified through the accident-related vehicle unit, the identification information is transmitted to the u3d accident simulation unit, the vehicle driving track and the real position are simulated through the u3d accident simulation unit, the whole process of the accident is restored, and the accident reason can be conveniently determined by the traffic control personnel.
Description
Technical Field
The invention relates to the technical field of video analysis, in particular to a system for automatically simulating and restoring highway events through a high-precision map.
Background
The traffic accident refers to an event that a person is injured or killed or property loss is caused by a vehicle on a road due to mistake or accident, the traffic accident is not only caused by that unspecified personnel violate road traffic safety regulations, but also caused by irresistible natural disasters such as earthquake, typhoon, mountain torrents, lightning stroke and the like, the recorded video is mainly stored and analyzed for the current traffic accident, the accident is mainly restored and analyzed or modeled based on a manual mode, the time is long, and the accident process is difficult to dynamically show in time.
Disclosure of Invention
The invention aims to provide a system for automatically simulating and restoring an expressway event through a high-precision map so as to solve the problems in the background technology.
In order to achieve the above purpose, a system for automatically simulating and restoring highway events through a high-precision map is provided, which comprises a monitoring camera unit, wherein the monitoring camera unit is used for performing camera monitoring on vehicles running on a road section, and is characterized in that: the output end of the monitoring camera unit is connected with an accident area positioning unit which is used for positioning the position information generated by the accident, the output end of the accident area positioning unit is connected with an accident-related road section map extraction unit which is used for carrying out map information precision extraction on an accident road section, the output end of the accident area positioning unit is also connected with an accident-related vehicle identification unit, the output end of the accident-related vehicle identification unit is connected with a u3d accident simulation unit, the input end of the u3d accident simulation unit is connected with the output end of the road-involved section map extraction unit, the u3d accident simulation unit is used for simulating the whole process of vehicle accident generation by combining the information of the accident-related map and the information of the accident-related vehicle, the output end of the u3d accident simulation unit is connected with a data storage unit, and the output end of the data storage unit is connected with an accident reason analysis unit.
As a further improvement of the technical solution, the monitoring camera unit and the accident area positioning unit are connected in a bidirectional manner.
As a further improvement of the technical scheme, the accident-related road section map extraction unit comprises an accident road section area determination module, the output end of the accident road section area determination module is connected with an accident road section obstacle identification module, and the output end of the accident road section obstacle identification module is connected with an accident vehicle moving position measurement module.
As a further improvement of the technical scheme, the accident-related vehicle identification unit comprises an accident generation vehicle counting module, the accident generation vehicle counting module is used for counting the vehicles generated by the accident, the output end of the accident generation vehicle counting module is connected with a vehicle running direction identification module, and the output end of the vehicle running direction identification module is connected with a vehicle running speed determination module.
As a further improvement of the technical solution, the vehicle driving speed measuring module adopts a camera shooting speed measuring algorithm, and the algorithm is as follows:
wherein
To be the size of the accident vehicle in real space,
which is the size of the accident vehicle in the imaging plane, d is the distance between the object and the camera device,
is the distance between the accident vehicle in the image and the edge of the image, f is the focal length of the camera,
is the translation distance in the two frame images,
the distance between the lane lines is set as the interval,
the grain size of the grain is 3.5 meters,
is the length of the lane interval in the image,
in order to determine the actual movement distance of the accident vehicle,
for accidentsThe motion speed in the actual space of the vehicle, u, is the frame rate of the imaging device.
As a further improvement of the technical solution, the output end of the vehicle identification unit related to the accident is further connected with a vehicle running tracking unit, and the input end of the vehicle running tracking unit is connected with the output end of the monitoring camera unit.
As a further improvement of the technical scheme, the vehicle driving tracking unit comprises a vehicle license plate recognition module, the output end of the vehicle license plate recognition module is connected with a vehicle damage information marking module, and the output end of the vehicle damage information marking module is connected with a vehicle driving road section identification module.
As a further improvement of the present solution, the vehicle driving tracking unit output is connected to the data storage unit input.
As a further improvement of the technical solution, the u3D accident simulation unit includes a vehicle 3D model building module, an input end of the vehicle 3D model building module is connected to an output end of the accident occurrence vehicle counting module, an output end of the vehicle 3D model building module is connected to an accident road section 3D model building module, an input end of the accident road section 3D model building module is connected to an output end of the accident road section obstacle identification module, an output end of the accident road section 3D model building module is connected to a vehicle accident trajectory simulation module, and an input end of the vehicle accident trajectory simulation module is connected to an output end of the vehicle driving speed measurement module.
As a further improvement of the technical scheme, the input end of the data storage unit is connected with the output end of the accident-related road section map extraction unit.
Compared with the prior art, the invention has the beneficial effects that:
1. in the system for automatically simulating and restoring the highway events through the high-precision map, the accident occurrence place is positioned through the accident area positioning unit, the positioning information is transmitted to the accident-related road section map extraction unit, the map information precision extraction is carried out on the accident road section through the accident-related road section map extraction unit, meanwhile, the accident-related vehicle information is identified through the accident-related vehicle unit, the identification information is transmitted to the u3d accident simulation unit, the vehicle driving track and the real position are simulated and simulated through the u3d accident simulation unit, the whole process of the accident is restored, and the traffic management personnel can conveniently determine the accident reason.
2. In the system for automatically simulating and restoring the highway events through the high-precision map, the accident area is positioned according to the site timely information shot by the monitoring camera unit, the accident site is positioned, the accident site is judged, meanwhile, the accident area positioning unit reversely transmits the accident positioning information to the monitoring camera unit, a more accurate accident occurrence point is provided for the monitoring camera unit, the monitoring camera unit moves the monitoring point near the accident site at the moment, information monitoring is carried out on the road sections near the accident site, the shooting range is limited when monitoring is avoided, the full view of the accident occurrence point cannot be shot, the later-stage accident judgment is caused to be deviated, and the accident reason analysis is influenced.
3. In this system to the automatic emulation of highway incident through high accuracy map reduction, the vehicle counting module that the accident produced counts the vehicle that the accident produced to with count information transmission to vehicle travel direction identification module, vehicle travel direction identification module carries out the travel direction identification to the accident vehicle, and with identification information transmission to vehicle travel speed survey module, survey the vehicle travel speed through vehicle travel speed survey module.
4. In the system for automatically simulating and restoring the highway events through the high-precision map, according to road section monitoring information provided by the monitoring camera unit, the vehicle license plate recognition module carries out license plate recognition on accident vehicles escaping from a scene, the information of persons belonging to the vehicle and the information of drivers are judged, meanwhile, the license plate recognition information is transmitted to the vehicle damage information marking module, the damage judgment is carried out on the whole body of the accident vehicles escaping from the scene through the vehicle damage information marking module, so that vehicle verification is carried out by later-period traffic management personnel, the comparison efficiency is improved, meanwhile, the information of the accident vehicle escaping from the scene is marked through the vehicle driving road section marking module, after the accident reason is determined, the accident vehicle escaping position of the escaping from the scene is obtained through the marked road section information, and the accident vehicles escaping from the scene are tracked in time.
Drawings
FIG. 1 is a schematic overall flow chart of example 1 of the present invention;
fig. 2 is a flowchart of an incident road section map extraction unit according to embodiment 1 of the present invention;
FIG. 3 is a flowchart of an identification unit of a vehicle involved in an accident according to embodiment 1 of the present invention;
FIG. 4 is a flowchart of a vehicle travel tracking unit according to embodiment 1 of the present invention;
fig. 5 is a flow chart of the u3d accident simulation unit according to embodiment 1 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Example 1
Referring to fig. 1-5, a system for automatically simulating and restoring highway events through a high-precision map is provided, which includes a monitoring camera unit for monitoring vehicles driving on a road, an accident area locating unit connected to an output end of the monitoring camera unit for locating position information generated by an accident, an accident-related road map extracting unit connected to an output end of the accident area locating unit for extracting map information precision of the accident road, an accident-related vehicle identifying unit connected to an output end of the accident area locating unit, a U3D accident simulation unit connected to an output end of the accident-related vehicle identifying unit, U3D is named Universal 3D, intel, boeing, Adobe, microsoft and 30 sumac company jointly declares a Universal 3D graphic format standard named U3D in spanish barona in 2004, the input end of the u3d accident simulation unit is connected with the output end of the road map extraction unit related to accidents, the u3d accident simulation unit is used for carrying out simulation on the whole process of vehicle accidents by combining information of the road map related to accidents and information of vehicles related to accidents, the output end of the u3d accident simulation unit is connected with the data storage unit, and the output end of the data storage unit is connected with the accident reason analysis unit.
When the vehicle accident simulation system is used, the monitoring camera unit carries out camera monitoring on vehicles driving on road sections, when an accident happens to the vehicle, the monitoring camera unit transmits accident monitoring information to the accident area positioning unit, the accident area positioning unit carries out positioning processing on the position of the accident, and transmits the position positioning information to the accident-related road section map extracting unit and the accident-related vehicle identification information, the accident-related road section map extracting unit carries out map information precision extraction on the accident road sections, such as information of the bending degree of the accident road section, the length of the accident road section and the road section building of the accident occurrence region, the accident-related road section map extracting unit transmits the map precision information to the u3d accident simulation unit, the accident-related vehicle identification information carries out information identification on vehicles generated by the accident and transmits the identification information to the u3d accident simulation unit, the u3d accident simulation unit carries out simulation on the whole process of the vehicle accident by combining the accident-related map information and the accident-related vehicle information, and generating a 3d model to simulate the whole accident generation process, transmitting the simulation information to a data storage unit for information storage, simultaneously transmitting the simulation information to an accident reason analysis unit by the data storage unit, and analyzing and judging the accident information by the accident reason analysis unit to obtain the accident generation reason.
In addition, the monitoring camera unit is in bidirectional connection with the accident area positioning unit. When the monitoring camera unit is used specifically, when monitoring accidents occur in a monitoring road section, monitoring information can be transmitted to the accident area positioning unit, the accident area is positioned by on-site timely information shot by the monitoring camera unit, the accident occurring place is positioned, the accident occurring place is judged, meanwhile, the accident area positioning unit reversely transmits the accident positioning information to the monitoring camera unit, more accurate accident occurring points are provided for the monitoring camera unit, the monitoring camera unit moves monitoring points near the accident occurring place at the moment, information monitoring is performed on the road section near the accident occurring place, the shooting range is limited when monitoring is avoided, the full view of the accident occurring points cannot be shot, the later-stage accident judgment is caused to be deviated, and accident reason analysis is influenced.
Furthermore, the accident-related road section map extraction unit comprises an accident road section area determination module, the output end of the accident road section area determination module is connected with an accident road section obstacle identification module, and the output end of the accident road section obstacle identification module is connected with an accident vehicle moving position measurement module. When the device is used specifically, the length and the road surface width of an accident area road section are extracted and measured by an accident road section area measuring terminal, the area of an accident occurrence area is obtained, measuring information is transmitted to an accident road section obstacle recognition module, the accident road section obstacle recognition module recognizes obstacles existing in the area, a contrast effect is formed simultaneously, the change condition of the obstacles in the area after the accident occurs is observed, the obstacle recognition module transmits the recognized obstacle information to an accident vehicle moving position measuring module, the accident vehicle moving position measuring module changes the vehicle position distance and the collision condition with the obstacles according to the obstacle change condition and the previous position of the vehicle, and the accident occurrence condition of the vehicle is obtained.
Still further, the vehicle identification unit that participates in an accident includes that the accident produces vehicle counting module, and the vehicle counting module that the accident produced is used for counting the vehicle that the accident produced, and the vehicle counting module output that the accident produced is connected with vehicle direction of travel and discerns the module, and vehicle direction of travel discerns the module output and is connected with vehicle speed of travel survey module. When specifically using, the vehicle counting module that the accident produced counts the vehicle that the accident produced to with the transmission of count information to vehicle travel direction identification module, vehicle travel direction identification module carries out the travel direction to the accident vehicle and discerns, and with identification information transmission to vehicle travel speed survey module, survey the vehicle travel speed through vehicle travel speed survey module.
Specifically, the vehicle running speed measuring module adopts a camera shooting speed measuring algorithm, and the algorithm is as follows:
wherein
To be the size of the accident vehicle in real space,
which is the size of the accident vehicle in the imaging plane, d is the distance between the object and the camera device,
is the distance between the accident vehicle in the image and the edge of the image, f is the focal length of the camera,
is the translation distance in the two frame images,
the distance between the lane lines is set as the interval,
the grain size of the grain is 3.5 meters,
is the length of the lane interval in the image,
in order to determine the actual movement distance of the accident vehicle,
u is the frame rate of the camera, which is the speed of motion in the actual space of the accident vehicle.
In addition, the output end of the trouble-related vehicle identification unit is also connected with a vehicle running tracking unit, and the input end of the vehicle running tracking unit is connected with the output end of the monitoring camera unit. When the vehicle driving tracking unit is used specifically, after the vehicle has the escape phenomenon after an accident, the vehicle driving tracking unit is combined with vehicle information provided by the accident-related vehicle and tracks the accident-related vehicle in real time according to the road section monitoring information provided by the monitoring and shooting unit, so that later traffic management personnel can timely track the position information of the accident vehicle after obtaining the accident reason, and the accident handling efficiency is improved.
Further, the vehicle driving tracking unit comprises a vehicle license plate recognition module, the output end of the vehicle license plate recognition module is connected with a vehicle damage information marking module, and the output end of the vehicle damage information marking module is connected with a vehicle driving road section identification module. When the vehicle license plate recognition system is used specifically, license plate recognition is carried out on accident vehicles escaping from a scene by the vehicle license plate recognition module according to road section monitoring information provided by the monitoring camera unit, information of persons belonging to the vehicle and driver information are judged, meanwhile, the license plate recognition information is transmitted to the vehicle damage information marking module, damage judgment is carried out on the whole body of the accident vehicles escaping from the scene by the vehicle damage information marking module, so that vehicle verification is carried out by later-period traffic management personnel, the comparison efficiency is improved, meanwhile, the accident vehicle escaping road section information escaping from the scene is marked by the vehicle driving road section marking module, after the accident reason is determined, the accident vehicle escaping position of the escaping from the scene is obtained by marking the road section information, and the accident vehicles escaping from the scene are tracked in time.
Still further, the vehicle travel tracking unit output is connected to the data storage unit input. During the specific use, the vehicle driving tracking unit transmits accident vehicle information of escaping from a scene to the data storage unit, stores violation information of the vehicle through the data storage unit, identifies the violation information, reminds a driver of the vehicle of driving the vehicle to be normal, and reduces the incidence rate of accidents.
In addition, the u3D accident simulation unit comprises a vehicle 3D model building module, the input end of the vehicle 3D model building module is connected with the output end of an accident generation vehicle counting module, the output end of the vehicle 3D model building module is connected with an accident road section 3D model building module, the input end of the accident road section 3D model building module is connected with the output end of an accident road section obstacle identification module, the output end of the accident road section 3D model building module is connected with a vehicle accident track simulation module, and the input end of the vehicle accident track simulation module is connected with the output end of a vehicle running speed determination module. When in specific use, the vehicle 3D model building module combines the vehicle information provided by the accident generation vehicle counting module, the method comprises the steps of making a corresponding vehicle 3D model according to equal-proportion scaling, transmitting vehicle 3D model information to an accident road section 3D model building module, combining barrier transformation conditions before and after an accident on the accident road section provided by an accident road section barrier identification module to make an accident road section 3D model, transmitting the accident road section 3D model information to a vehicle accident track simulation module by the accident road section 3D model building module, combining the vehicle accident track simulation module with the vehicle speed change conditions before and after the accident measured by a vehicle running speed measuring module, the driving track of the vehicle after the accident occurs is simulated, so that the whole accident occurrence process can be accurately obtained, and the accuracy of the later-stage judgment of the accident reason is further improved.
Besides, the input end of the data storage unit is connected with the output end of the accident-related road section map extraction unit. When the traffic accidents happen repeatedly in the same section, the accident area positioning unit transmits the information of the accident road section to the data storage unit, and the data storage unit marks the accident high-speed road section in the area, so that a driver driving on the road section is reminded to pay attention to deceleration, and the occurrence rate of the traffic accidents is reduced.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a system for through high accuracy map to automatic simulation of highway incident reduction, includes the surveillance camera unit, the surveillance camera unit is used for driving the vehicle to the highway section and carries out the camera shooting control, its characterized in that: the output end of the monitoring camera unit is connected with an accident area positioning unit which is used for positioning the position information generated by the accident, the output end of the accident area positioning unit is connected with an accident-related road section map extraction unit which is used for carrying out map information precision extraction on an accident road section, the output end of the accident area positioning unit is also connected with an accident-related vehicle identification unit, the output end of the accident-related vehicle identification unit is connected with a u3d accident simulation unit, the input end of the u3d accident simulation unit is connected with the output end of the road-related section map extraction unit, the u3d accident simulation unit is used for simulating the whole process of vehicle accident generation by combining the information of the accident-related map and the information of the accident-related vehicle, the output end of the u3d accident simulation unit is connected with a data storage unit, and the output end of the data storage unit is connected with an accident reason analysis unit.
2. The system for automatically simulating the restoration of a highway event according to the high-precision map of claim 1, wherein: the monitoring camera unit is in bidirectional connection with the accident area positioning unit.
3. The system for automatically simulating the restoration of a highway event according to the high-precision map of claim 1, wherein: the accident-related road section map extraction unit comprises an accident road section area determination module, the output end of the accident road section area determination module is connected with an accident road section obstacle identification module, and the output end of the accident road section obstacle identification module is connected with an accident vehicle moving position measurement module.
4. The system for automatically simulating the restoration of a highway event according to the high-precision map of claim 1, wherein: the vehicle identification unit related to the accident comprises an accident generation vehicle counting module, the accident generation vehicle counting module is used for counting vehicles generated by the accident, the output end of the accident generation vehicle counting module is connected with a vehicle running direction identification module, and the output end of the vehicle running direction identification module is connected with a vehicle running speed determination module.
5. The system for automatically simulating restoration of a highway event according to the high-precision map of claim 4, wherein: the vehicle running speed measuring module adopts a camera shooting speed measuring algorithm, and the algorithm is as follows:
wherein
For the size of the accident vehicle in real space,
which is the size of the accident vehicle in the imaging plane, d is the distance between the object and the camera device,
is the distance between the accident vehicle in the image and the edge of the image, f is the focal length of the camera,
is the translation distance in the two frame images,
the distance between the lane lines is set as the interval,
the grain size of the grain is 3.5 meters,
is the length of the lane interval in the image,
in order to determine the actual movement distance of the accident vehicle,
u is camera device for actual space movement speed of accident vehicleThe frame rate of the device.
6. The system for automatically simulating restoration of a highway event according to the high-precision map of claim 4, wherein: the output end of the trouble vehicle identification unit is also connected with a vehicle running tracking unit, and the input end of the vehicle running tracking unit is connected with the output end of the monitoring camera unit.
7. The system for automatically simulating restoration of a highway event according to the high-precision map of claim 6, wherein: the vehicle driving tracking unit comprises a vehicle license plate recognition module, the output end of the vehicle license plate recognition module is connected with a vehicle damage information marking module, and the output end of the vehicle damage information marking module is connected with a vehicle driving road section identification module.
8. The system for automatically simulating and restoring highway events according to claim 7, wherein the system comprises: the vehicle driving tracking unit output end is connected with the data storage unit input end.
9. The system for automatically simulating restoration of a highway event according to the high-precision map of claim 4, wherein: the u3D accident simulation unit comprises a vehicle 3D model building module, wherein the input end of the vehicle 3D model building module is connected with the output end of the accident generation vehicle counting module, the output end of the vehicle 3D model building module is connected with an accident road section 3D model building module, the input end of the accident road section 3D model building module is connected with the output end of the accident road section obstacle identification module, the output end of the accident road section 3D model building module is connected with a vehicle accident track simulation module, and the input end of the vehicle accident track simulation module is connected with the output end of the vehicle running speed determination module.
10. The system for automatically simulating restoration of a highway event according to the high-precision map of claim 8, wherein: and the input end of the data storage unit is connected with the output end of the accident-related road section map extraction unit.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115394085A (en) * | 2022-10-26 | 2022-11-25 | 广州国交润万交通信息有限公司 | System for automatically simulating and restoring highway events through high-precision map |
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