CN114530040A - Method and system for handling and rescuing vehicle accidents on driverless road - Google Patents
Method and system for handling and rescuing vehicle accidents on driverless road Download PDFInfo
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G—PHYSICS
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- 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
- G08G1/0133—Traffic data processing for classifying traffic situation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses an accident handling and rescuing method for an unmanned special road vehicle, which comprises the steps of collecting various traffic accidents or faults and corresponding solutions, proposing an accident handling scheme library, carrying out accident grading according to the influence degree of the various traffic accidents or faults on the unmanned special road and the handling time of the corresponding accident or fault schemes, and sending the influence of an event on traffic to the unmanned vehicle planned to pass through the road section in the event handling process when the accident or fault occurs so as to re-plan a route and reduce the influence on the travel efficiency to the maximum extent. The invention also provides an accident handling and rescuing system for the driverless road vehicle. The invention improves the utilization rate of rescue resources, can timely send the influence of the event on traffic to the unmanned vehicle planned to pass through the road section, and improves the traveling efficiency of other unmanned vehicles.
Description
Technical Field
The invention belongs to the field of intelligent traffic, and particularly relates to an accident handling and rescuing method and system for an unmanned special road vehicle.
Background
In future traffic systems there will be more and more networked and autonomous vehicles, and even professional roads will appear which only allow unmanned vehicles to travel. One of the purposes of use of the road is to improve the traffic rate of the dedicated road. There are many factors that affect the road traffic rate, with accidents or malfunctions of vehicles being the most common influencing factors. The way to eliminate this influence factor is rescue.
The existing accident handling and rescuing method for the unmanned special road vehicle usually makes a solution corresponding to the accident once every accident or fault happens, which causes waste of various rescuing resources. And the existing accident handling and rescuing method cannot timely send the influence of the incident on the traffic to the unmanned vehicle planned to pass through the current road section, so that the traveling efficiency of other unmanned vehicles is influenced.
Disclosure of Invention
The invention aims to provide an accident handling and rescuing method and system for an unmanned special road vehicle, which do not need to make a solution once every accident or fault occurs, improve the utilization rate of rescuing resources, and can timely send the influence of the accident on traffic to the unmanned vehicle planning to pass through the road section, thereby improving the traveling efficiency of other unmanned vehicles.
The technical scheme adopted by the invention is as follows:
an accident handling and rescuing method for unmanned special road vehicles includes collecting various traffic accidents or faults and corresponding solutions, suggesting an accident handling scheme library, carrying out accident classification according to influence degree of various traffic accidents or faults on the unmanned special road and handling time of corresponding schemes of the accidents or faults, and sending influence of an event on traffic to the unmanned vehicles planned to pass through the road section in the event handling process when the accident or fault occurs so as to plan a route again and reduce influence on travel efficiency to the maximum extent.
The method specifically comprises the following steps:
s1, establishing an accident handling scheme library;
s2, monitoring and identifying the vehicle, and judging whether the vehicle is allowed to enter the unmanned special road;
s3, when an accident or fault occurs in the driving process of the vehicle, transmitting accident or fault information to a management terminal through the client terminal, collecting field environment information of the accident or fault point through the server terminal, and sending the field environment information to the management terminal; event grading is carried out through a management terminal, and a specific processing scheme is selected from an accident processing scheme library;
s4, the influence of the event on the traffic is sent to the unmanned vehicles planning to pass through the current road section in the event processing process in real time through the management terminal, each vehicle judges whether the event has influence on the driving state of the vehicle, and the vehicle with the influence replans the driving state and the driving track; updating a vehicle information collection through a management terminal;
s5, sending the information of the processed events to a management terminal through the server terminal, and sending the information of the processed events to vehicles on the vehicle information collection and unmanned vehicles which are planned to pass through the road section through the management terminal;
and S6, when the vehicle leaves the exit of the unmanned exclusive road, judging whether the vehicle is allowed to drive away from the unmanned exclusive road.
Further, the step of establishing the accident handling scheme library comprises the following steps:
s1, establishing an accident handling scheme library;
s2, collecting and uploading environmental information of the vehicle at the position where the traffic accident or the fault occurs;
s3, inquiring whether the same event case exists in the initial accident handling scheme library;
s4, if the same event case exists, judging whether the processing scheme has a change;
s5, if the processing scheme is changed, judging whether the same accident level exists;
and S6, if the accident grades are the same, accident classification is carried out, and the accident handling scheme library is updated.
The further proposal is that whether the same event case exists or not is inquired in the initial accident handling scheme library; if the same event case does not exist, the administrator gives a corresponding processing scheme according to experience, adds the scheme into an accident processing scheme library and classifies the scheme;
judging whether the same accident grade exists or not; and if the accident grades are the same, accident classification is carried out, and the accident handling scheme library is updated.
The further proposal is that whether the same accident grade exists is judged; and if the accident grades are not the same, increasing the accident grades and updating the accident handling scheme library.
There are many kinds of vehicle accidents or faults (events for short), and the degree of influence of the differences of the accidents or faults on the traffic roads and the corresponding processing time are different. For example: the vehicle can not continue to run due to tire burst or hub damage in the lane changing process, the accident can cause that two special lanes can not normally pass, and the vehicle needs to be consigned, so that the traffic efficiency is damaged for a long time; if a fault alarm suddenly occurs in the running process of the vehicle, the vehicle needs to be restarted after being simply checked for deceleration and parking, and the influence degree of the accident on the traffic efficiency is relatively small. According to the influence degree of the accident or the fault on the traffic road and the damage time, accident grading is carried out, x is the event grade, the function T (x) is the event processing time, if the driverless special road is a bidirectional six-lane road, and the function G (x) is {1, 2, 3} the road damage condition (1 lane can not pass, 2 lanes can not pass or 3 lanes can not pass).
The method comprises the following steps of:
when the vehicle normally runs into the entrance of the driverless special lane, the characteristic information of the vehicle is uploaded to the server side through the client side, and the server side carries out vehicle monitoring and identification to judge whether the vehicle is allowed to enter; when the access is allowed, the client access request is forwarded to the management end through the server end, and the management end issues a unique number m to the client; uploading the vehicle information aggregate to a management terminal through a client for unified management; the vehicle normally travels into the driverless dedicated lane. If the vehicle does not meet the entering requirement, the system can be forcibly driven to the temporary parking area, so that the influence of the vehicle on the entering of the subsequent vehicle is avoided.
Further, when the vehicle leaves the exit of the driverless dedicated road, the step of determining whether to allow the vehicle to leave the driverless dedicated road comprises:
when the vehicle leaves the exit of the unmanned special road, the driving information is transmitted to the server side through the client side; the driving-away information is forwarded to the management end through the server end; the unique code of the client is recycled through the management end, and a command allowing the client to leave is issued to the server for execution; and deleting the information of the client in the vehicle information collection through the management terminal, and updating the vehicle information collection.
The further scheme is that when an accident or a fault occurs in the driving process of the vehicle, accident or fault information is transmitted to the management terminal through the client terminal; obtaining the specific position of the event vehicle through a management terminal, and screening out a service terminal closest to the vehicle; sending the unmanned aerial vehicle to the event vehicle location through the server side for accident troubleshooting; feeding back the site environment information to the server through the unmanned aerial vehicle; and the information is forwarded to the management terminal through the server terminal.
The invention also provides a system for processing and rescuing the accidents of the driverless special road vehicle, which adopts the method for processing and rescuing the accidents of the driverless special road vehicle and comprises a client, a server and a management end;
the client is an unmanned vehicle end and is communicated with the management end through a Uu port of a cellular network; the clients communicate with each other through an air interface of the PC 5;
the server side is a roadside monitoring management intelligent side which is pre-provided with road real-time condition monitoring equipment and is communicated with the client side through a PC5 air interface;
the management end is a cloud control management system and is electrically connected with the server end through a hard line;
the client is used for transmitting accident or fault information to the management terminal; when the vehicle normally runs into the entrance of the driverless special lane, uploading the characteristic information of the vehicle to a server side, and sending an access permission request; when the vehicle leaves the exit of the unmanned special road, the driving information is transmitted to the server; uploading the vehicle information aggregate to a management end for unified management;
the server is used for collecting the field environment information of the accident or fault point and sending the field environment information to the management terminal; sending the information of the event processing to a management terminal; when the vehicle normally runs into the entrance of the driverless special lane, the vehicle is monitored and identified, whether the vehicle is allowed to enter is judged, and a client entering request is forwarded to the management terminal; when the vehicle leaves the exit of the unmanned special road, the driving information is forwarded to the management end; sending the unmanned aerial vehicle to the vehicle location of the event for accident investigation; receiving field environment information transmitted by the unmanned aerial vehicle, and forwarding the field environment information to a management terminal;
the management terminal is used for establishing and updating an accident handling scheme library; grading events and selecting a specific processing scheme from an accident processing scheme library; the influence of the event on the traffic is sent to the unmanned vehicle planned to pass through the current road section in the event processing process in real time; updating the vehicle information collection; obtaining the specific position of the event vehicle, and screening out the service end closest to the vehicle; issuing the information of event processing to vehicles on the vehicle information collection and unmanned vehicles which plan to pass through the road section; when the vehicle is allowed to enter, issuing a unique number m to the client; uniformly managing the received vehicle information aggregate; when the vehicle leaves the exit of the unmanned special road, the unique code of the client is recovered, the command allowing the vehicle to leave is issued to the server for execution, the information of the client is deleted from the vehicle information collection, and the vehicle information collection is updated.
The management terminal collects the state information of each vehicle on the unmanned special lane and the state information of each lane, and obtains an information aggregate of the current time t and the driving state of the vehicle in the unmanned special lane (hereinafter referred to as a vehicle information aggregate) B (t) and an information aggregate of the special lane state information (hereinafter referred to as a lane information aggregate) D (t), wherein the information of each vehicle is represented by b (m) { m, g (m), h (m), P (m) } B (t), m is the vehicle number on the unmanned special lane, g (m) is the current time vehicle position coordinate, h (m) is the planned driving track of the vehicle on the unmanned special lane, and P (m) is the time period for the vehicle to drive on each special lane. The information of each lane is represented as d (n) { n, f (n), z (n), q (n) } e d (t), n is the serial number of each driverless special lane, f (n) is an event section which cannot be driven by the driverless special lanes temporarily, z (n) is the event grade of each event section, and q (n) is the normal use time point of each accident section.
The invention has the beneficial effects that:
the invention solves the problems that vehicles on the future driverless special road fail to normally run when in fault, and the occupied lane influences the normal running of other driverless vehicles, so that the traffic rate is reduced, and even the running safety of the vehicles is influenced.
The influence of the event on the traffic is sent to the unmanned vehicle which is planned to pass through the road section in the event processing process, so that the unmanned vehicle can be planned in advance to avoid the accident, the influence on the trip efficiency is reduced to the maximum extent, and the traffic efficiency is improved.
The influence of vehicle accidents or faults on the road traffic rate and traffic safety on the unmanned special lane in the future can be reduced.
And the scheme library is dynamically updated in real time, so that accidents are solved more and more quickly, and the influence on traffic is lower and lower.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a logic diagram of an unmanned dedicated road vehicle accident handling and rescue method;
FIG. 2 is a flow chart of the creation of an event handling scenario database;
FIG. 3 is a schematic diagram of the architecture of the unmanned dedicated road vehicle accident handling and rescue system;
fig. 4 is a schematic diagram of management of a client by a management side.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
Referring to fig. 1, an accident handling and rescuing method for an unmanned dedicated road vehicle includes collecting various traffic accidents or faults and corresponding solutions, suggesting an accident handling scheme library, performing accident classification according to the influence degree of the various traffic accidents or faults on the unmanned dedicated road and the handling time of the corresponding schemes of the accidents or faults, and when an accident or fault occurs, sending the influence of the accident on traffic to an unmanned vehicle planning to pass through the road section in the event handling process so as to re-plan a route and reduce the influence on the traveling efficiency to the maximum extent. The method specifically comprises the following steps:
s1, establishing an accident handling scheme library;
s2, monitoring and identifying the vehicle, and judging whether the vehicle is allowed to enter the unmanned special road;
when the vehicle normally runs into the entrance of the driverless special lane, the characteristic information of the vehicle is uploaded to the server side through the client side, and the server side carries out vehicle monitoring and identification to judge whether the vehicle is allowed to enter; when the access is allowed, the client access request is forwarded to the management end through the server end, and the management end issues a unique number m to the client; uploading the vehicle information aggregate to a management terminal through a client for unified management; the vehicle normally runs into the driverless special lane;
s3, when an accident or fault occurs in the driving process of the vehicle, transmitting accident or fault information to a management terminal through the client terminal; obtaining the specific position of the event vehicle through a management terminal, and screening out a service terminal closest to the vehicle; sending the unmanned aerial vehicle to the event vehicle location through the server side for accident troubleshooting; feeding back the site environment information to the server through the unmanned aerial vehicle; the information is forwarded to a management end through a server end; event grading is carried out through a management terminal, and a specific processing scheme is selected from an accident processing scheme library;
s4, updating data of a lane information total set D (t) through a management end (the updating comprises the influence of the event on traffic), and then issuing the updated lane information data total set D (t) to unmanned vehicles planned to pass through the road section in the event processing process in real time, wherein each vehicle judges whether the event has influence on the driving state of the vehicle, and the vehicle with the influence replans the driving state and the driving track; updating the vehicle information b (m), uploading the updated vehicle information aggregate to a management end, and updating the vehicle information aggregate B (t) through the management end;
s5, sending the information of the processed events to a management terminal through the server terminal, and sending the information of the processed events to the vehicles on the vehicle information collection D (t) and the unmanned vehicles which are planned to pass through the road section through the management terminal; vehicles whose driving state and driving route are changed can choose to re-plan their driving state or driving route;
s6, when the vehicle leaves the exit of the unmanned special road, judging whether the vehicle is allowed to drive away from the unmanned special road;
when the vehicle leaves the exit of the unmanned special road, the driving information is transmitted to the server side through the client side; the driving information is forwarded to the management terminal through the server terminal; the unique code of the client is recycled through the management end, and a command allowing the client to leave is issued to the server for execution; and deleting the information of the client in the vehicle information collection through the management terminal, and updating the vehicle information collection.
Referring to fig. 2, the steps of establishing the accident handling scenario library are as follows:
s1, establishing an accident handling scheme library;
s2, collecting and uploading environmental information of the vehicle at the position where the traffic accident or the fault occurs;
s3, inquiring whether the same event case exists in the initial accident handling scheme library;
s4, if there is the same case, judging whether there is change in the processing scheme; if the same event case does not exist, the administrator gives a corresponding processing scheme according to experience, adds the scheme into an accident processing scheme library and classifies the scheme;
s5, if the processing scheme is changed, judging whether the same accident level exists;
s6, if the accident grades are the same, accident classification is carried out, and an accident handling scheme library is updated; and if the accident grades are not the same, increasing the accident grades and updating the accident handling scheme library.
There are many kinds of vehicle accidents or faults (events for short), and the degree of influence of the differences of the accidents or faults on the traffic roads and the corresponding processing time are different. For example: the vehicle can not continue to run due to tire burst or hub damage in the lane changing process, the accident can cause that two special lanes can not normally pass, and the vehicle needs to be consigned, so that the traffic efficiency is damaged for a long time; if a fault alarm suddenly occurs in the running process of the vehicle, the vehicle needs to be restarted after being simply checked for deceleration and parking, and the influence degree of the accident on the traffic efficiency is relatively small. According to the influence degree of the accident or the fault on the traffic road and the damage time, accident grading is carried out, x is the event grade, the function T (x) is the event processing time, if the driverless special road is a bidirectional six-lane road, and the function G (x) is {1, 2, 3} the road damage condition (1 lane can not pass, 2 lanes can not pass or 3 lanes can not pass).
In order to ensure the efficiency and accuracy of the whole system execution mechanism, an event processing scheme database (hereinafter referred to as a scheme library) is established according to the event level and the event processing scheme, and the scheme library is dynamically changed. With the collection of various events and corresponding processing schemes, the processing schemes for various events are more mature, various vehicle accidents or faults are solved more quickly, and the influence degree on traffic is smaller and smaller. The reason for the real-time dynamic updating of the scheme library is that new traffic events and processing methods for the same events are mature continuously along with the continuous progress of various social technologies, accidents are solved more and more quickly, and the influence on traffic is reduced.
The management end collects the state information of each vehicle and the state information of each lane on the unmanned special lane, and obtains an information aggregate (hereinafter referred to as a vehicle information aggregate) B (t) of the current time t and the driving state of the vehicle in the unmanned special lane and an information aggregate (hereinafter referred to as a lane information aggregate) D (t), wherein the information of each vehicle is represented by b (m) { m, g (m), h (m), P (m) } B (t), m is the vehicle number on the unmanned special lane, g (m) is the current time vehicle position coordinate, h (m) is the planned driving track of the vehicle on the unmanned special lane, and P (m) is the time period for the vehicle to drive on each special lane. The information of each lane is represented as d (n) { n, f (n), z (n), q (n) } e d (t), n is the serial number of each driverless special lane, f (n) is an event section which cannot be driven by the driverless special lanes temporarily, z (n) is the event grade of each event section, and q (n) is the normal use time point of each accident section.
Example 2
Referring to fig. 3 and 4, an accident handling and rescuing system for a driverless dedicated road vehicle, which adopts the above-mentioned driverless dedicated road vehicle accident handling and rescuing method, includes a client, a server, and a management end;
the client is an unmanned vehicle end and is communicated with the management end through a Uu port of a cellular network; the clients communicate with each other through an air interface of the PC 5;
the server side is a roadside monitoring management intelligent side which is pre-provided with road real-time condition monitoring equipment and is communicated with the client side through a PC5 air interface;
the management end is a cloud control management system and is electrically connected with the server end through a hard line;
the client is used for transmitting the accident or fault information to the management terminal; when the vehicle normally runs into the entrance of the unmanned special lane, the characteristic information of the vehicle is uploaded to a server side, and an access permission request is sent; when the vehicle leaves the exit of the unmanned special road, the driving information is transmitted to the server; uploading the vehicle information aggregate to a management end for unified management;
the server is used for collecting the field environment information of the accident or fault point and sending the field environment information to the management terminal; sending the information of the event processing to a management terminal; when the vehicle normally runs into the entrance of the driverless special lane, the vehicle is monitored and identified, whether the vehicle is allowed to enter is judged, and a client entering request is forwarded to the management terminal; when the vehicle leaves the exit of the unmanned special road, the driving information is forwarded to the management end; sending the unmanned aerial vehicle to the vehicle location of the event for accident investigation; receiving field environment information transmitted by the unmanned aerial vehicle, and forwarding the field environment information to a management terminal;
the management terminal is used for establishing and updating an accident handling scheme library; grading events and selecting a specific processing scheme from an accident processing scheme library; the influence of the event on the traffic is sent to the unmanned vehicle planned to pass through the current road section in the event processing process in real time; updating the vehicle information collection; obtaining the specific position of the event vehicle, and screening out the service end closest to the vehicle; issuing the information of event processing to vehicles on the vehicle information collection and unmanned vehicles which plan to pass through the road section; when the vehicle is allowed to enter, issuing a unique number m to the client; uniformly managing the received vehicle information aggregate; when the vehicle leaves the exit of the unmanned special road, the unique code of the client is recovered, the command allowing the vehicle to leave is issued to the server for execution, the information of the client is deleted from the vehicle information collection, and the vehicle information collection is updated.
It will be appreciated that modifications and variations are possible to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the scope of the appended claims.
Claims (10)
1. An accident handling and rescuing method for driverless road vehicles is characterized in that: the method comprises the steps of collecting various traffic accidents or faults and corresponding solutions, proposing an accident handling scheme library, carrying out accident grading on the influence degree of the unmanned special road and the handling time of the corresponding accident or fault handling scheme according to the various traffic accidents or faults, and sending the influence of the accident on traffic to an unmanned vehicle which plans to pass through the road section in the event handling process when the accident or fault occurs so as to plan the route again and reduce the influence on the travel efficiency to the maximum extent.
2. The driverless dedicated road vehicle accident handling and rescuing method as claimed in claim 1, wherein: the method comprises the following steps:
s1, establishing an accident handling scheme library;
s2, monitoring and identifying the vehicle, and judging whether the vehicle is allowed to enter the unmanned special road;
s3, when an accident or fault occurs in the driving process of the vehicle, transmitting accident or fault information to a management terminal through the client terminal, collecting field environment information of the accident or fault point through the server terminal, and sending the field environment information to the management terminal; event grading is carried out through a management terminal, and a specific processing scheme is selected from an accident processing scheme library;
s4, the influence of the event on the traffic is sent to the unmanned vehicles planning to pass through the current road section in the event processing process in real time through the management terminal, each vehicle judges whether the event has influence on the driving state of the vehicle, and the vehicle with the influence replans the driving state and the driving track; updating a vehicle information collection through a management terminal;
s5, sending the information of the processed events to a management terminal through the server terminal, and sending the information of the processed events to vehicles on the vehicle information collection and unmanned vehicles which are planned to pass through the road section through the management terminal;
and S6, when the vehicle leaves the exit of the unmanned exclusive road, judging whether the vehicle is allowed to drive away from the unmanned exclusive road.
3. The unmanned dedicated road vehicle accident handling and rescue method according to claim 2, characterized in that: the steps of establishing the accident handling scheme library are as follows:
s1, establishing an accident handling scheme library;
s2, collecting and uploading environmental information of the vehicle at the position where the traffic accident or the fault occurs;
s3, inquiring whether the same event case exists in the initial accident handling scheme library;
s4, if the same event case exists, judging whether the processing scheme has a change;
s5, if the processing scheme is changed, judging whether the same accident level exists;
and S6, if the accident grades are the same, accident classification is carried out, and the accident handling scheme library is updated.
4. The driverless dedicated road vehicle accident handling and rescuing method as claimed in claim 3, wherein:
inquiring whether the same event case exists in an initial accident handling scheme library; if the same event case does not exist, the administrator gives a corresponding processing scheme according to experience, adds the scheme into an accident processing scheme library and classifies the scheme;
judging whether the same accident grade exists or not; and if the accident grades are the same, accident classification is carried out, and the accident handling scheme library is updated.
5. The unmanned dedicated road vehicle accident handling and rescue method according to claim 3 or 4, wherein:
judging whether the same accident grade exists or not; and if the accident grades are not the same, increasing the accident grades and updating the accident handling scheme library.
6. The unmanned dedicated road vehicle accident handling and rescue method according to claim 2, characterized in that: the steps of monitoring and identifying the vehicle and judging whether the vehicle is allowed to enter the driverless special road are as follows:
when the vehicle normally runs into the entrance of the driverless special lane, the characteristic information of the vehicle is uploaded to the server side through the client side, and the server side carries out vehicle monitoring and identification to judge whether the vehicle is allowed to enter; when the access is allowed, the client access request is forwarded to the management end through the server end, and the management end issues a unique number m to the client; uploading the vehicle information aggregate to a management terminal through a client for unified management; the vehicle normally travels into the driverless dedicated lane.
7. The unmanned dedicated road vehicle accident handling and rescue method according to claim 2, characterized in that: when the vehicle leaves the exit of the unmanned special road, the step of judging whether the vehicle is allowed to drive away from the unmanned special road comprises the following steps:
when the vehicle leaves the exit of the unmanned special road, the driving information is transmitted to the server side through the client side; the driving-away information is forwarded to the management end through the server end; the unique code of the client is recycled through the management end, and a command allowing the client to leave is issued to the server for execution; and deleting the information of the client in the vehicle information collection through the management terminal, and updating the vehicle information collection.
8. The unmanned dedicated road vehicle accident handling and rescue method according to claim 2, characterized in that:
when an accident or a fault occurs in the running process of the vehicle, transmitting accident or fault information to a management terminal through a client; obtaining the specific position of the event vehicle through a management terminal, and screening out a service terminal closest to the vehicle; sending the unmanned aerial vehicle to the event vehicle location through the server side for accident troubleshooting; feeding back the site environment information to the server through the unmanned aerial vehicle; and the information is forwarded to the management terminal through the server terminal.
9. The utility model provides a special road vehicle accident processing of unmanned driving and rescue system which characterized in that: the system employs the driverless dedicated road vehicle accident handling and rescue method of any one of claims 1-8.
10. The driverless dedicated road vehicle accident handling and rescue system of claim 9, wherein: the system comprises a client, a server and a management end;
the client is an unmanned vehicle end and is communicated with the management end through a Uu port of a cellular network; the clients communicate with each other through an air interface of the PC 5;
the server side is a roadside monitoring management intelligent side which is pre-provided with road real-time condition monitoring equipment and is communicated with the client side through a PC5 air interface;
the management end is a cloud control management system and is electrically connected with the server end through a hard line;
the client is used for transmitting accident or fault information to the management terminal; when the vehicle normally runs into the entrance of the driverless special lane, uploading the characteristic information of the vehicle to a server side, and sending an access permission request; when the vehicle leaves the exit of the unmanned special road, the driving information is transmitted to the server; uploading the vehicle information aggregate to a management end for unified management;
the server is used for collecting the field environment information of the accident or fault point and sending the field environment information to the management terminal; sending the information of the event processing to a management terminal; when the vehicle normally runs into the entrance of the driverless special lane, the vehicle is monitored and identified, whether the vehicle is allowed to enter is judged, and a client entering request is forwarded to the management terminal; when the vehicle leaves the exit of the unmanned special road, the driving information is forwarded to the management end; sending the unmanned aerial vehicle to the vehicle location of the event for accident investigation; receiving field environment information transmitted by the unmanned aerial vehicle, and forwarding the field environment information to a management terminal;
the management terminal is used for establishing and updating an accident handling scheme library; grading events and selecting a specific processing scheme from an accident processing scheme library; the influence of the event on the traffic is sent to the unmanned vehicle planned to pass through the current road section in the event processing process in real time; updating the vehicle information collection; obtaining the specific position of the event vehicle, and screening out the service end closest to the vehicle; issuing the information of event processing to vehicles on the vehicle information collection and unmanned vehicles which plan to pass through the road section; when the vehicle is allowed to enter, issuing a unique number m to the client; uniformly managing the received vehicle information aggregate; when the vehicle leaves the exit of the unmanned special road, the unique code of the client is recovered, the command allowing the vehicle to leave is issued to the server for execution, the information of the client is deleted from the vehicle information collection, and the vehicle information collection is updated.
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