CN114582116A - Vehicle positioning early warning method, server and computer readable storage medium - Google Patents

Vehicle positioning early warning method, server and computer readable storage medium Download PDF

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Publication number
CN114582116A
CN114582116A CN202011384459.8A CN202011384459A CN114582116A CN 114582116 A CN114582116 A CN 114582116A CN 202011384459 A CN202011384459 A CN 202011384459A CN 114582116 A CN114582116 A CN 114582116A
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vehicle
road
signal
judging
positioning
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CN114582116B (en
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刘东林
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Nanning Fulian Fugui Precision Industrial Co Ltd
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Nanning Fulian Fugui Precision Industrial Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/091—Traffic information broadcasting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
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  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)

Abstract

A vehicle positioning early warning method is applied to a server and comprises the following steps: tracking vehicles on the road through a Kalman filtering algorithm; receiving a first signal transmitted by a vehicle on a road through a plurality of road receivers, wherein the first signal comprises an identification code of the vehicle, and the identification code corresponds to the vehicle one to one; judging whether the road receiver receives the first signal; when the road receiver receives the first signal, calculating the number of times that the single road receiver receives the first signal transmitted by the same vehicle; and judging the running state of the vehicle according to the times. The invention also provides a server and a computer readable storage medium. The invention can monitor vehicles running on the road in real time, accurately position the traffic accident site when encountering traffic accidents, and has the advantages of high efficiency, low cost and convenient implementation.

Description

Vehicle positioning early warning method, server and computer readable storage medium
Technical Field
The embodiment of the invention relates to an application vehicle positioning early warning technology, in particular to a vehicle positioning early warning method, a server and a computer readable storage medium.
Background
Safety is a major factor in pulling the demand for intelligent driving to grow. Every year, holidays are more traffic accidents caused by environment or negligence, and in order to improve safe driving of automobiles, the most advanced intelligent automobiles are intelligent driving and intelligent unmanned driving at present.
The unmanned driving is an intelligent automobile which senses the surrounding environment of a road through a vehicle-mounted sensing system, automatically plans a driving route and controls the steering and the speed of the automobile to reach a preset target according to the road, the position of the automobile and obstacle information obtained by sensing.
Intelligent driving is a different concept than unmanned driving, and is broader, which refers to a technology that a robot assists a person in driving and replaces the driving of the person in a special case.
However, the existing safe driving technology still has many defects, and the safe state of the vehicle in the driving process cannot be effectively judged in time.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a vehicle positioning early warning method, a server and a computer readable storage medium, which can monitor vehicles traveling on a road in real time and accurately position a traffic accident location when a traffic accident occurs.
The embodiment of the invention provides an application vehicle positioning early warning method which is applied to a server and comprises the following steps: tracking vehicles on the road through a Kalman filtering algorithm; receiving signals transmitted by vehicles on a road through a road receiver, wherein the signals comprise identification codes of the vehicles, and the identification codes correspond to the vehicles one to one; judging whether the road receiver receives the signal; when the road receiver receives the signals, calculating the times of receiving the signals transmitted by the same vehicle by the single road receiver; and judging the running state of the vehicle according to the times.
Optionally, the determining the driving state of the vehicle according to the number of times includes: setting a threshold interval; when the frequency is smaller than the threshold interval, judging that the road condition is good in the driving process of the vehicle; when the frequency is within the range of the threshold interval, judging that the vehicle is slow to run in the running process; and when the times are larger than the threshold interval, judging that the traffic jam occurs in the running process of the vehicle.
Optionally, the method further comprises: receiving a first signal transmitted by the vehicle and a second signal transmitted by the road receiver; judging whether a traffic accident occurs according to the first signal and the second signal, and positioning an accident occurrence place when the traffic accident occurs; and informing the road receiver of broadcasting road conditions and warning in a preset range of the accident occurrence place.
Optionally, the determining whether a traffic accident occurs according to the first signal and the second signal, and locating an accident occurrence location when the traffic accident occurs, includes: judging whether the first signal emitted by the vehicle disappears; when the first signal disappears, judging and positioning a first position of the vehicle according to the first signal which is transmitted by the vehicle last; determining whether the road receiver is interrupted; defining the first position as an accident occurrence location when the road receiver is not interrupted.
Optionally, the road receivers are installed on two sides of a road according to a preset spacing distance, and the road receivers are connected in a cascade manner, wherein the cascade manner is that the road receivers on the same side are cascaded according to adjacent positions.
Optionally, the determining whether a traffic accident occurs according to the first signal and the second signal, and locating an accident occurrence location when the traffic accident occurs, further includes: judging whether the road receiver is interrupted; when the road receiver is interrupted, judging the interruption position of the road receiver according to the cascade mode of the road receiver; defining the interruption site as a traffic accident occurrence site.
Optionally, the determining and locating the first position of the vehicle according to the first signal last transmitted by the vehicle includes: detecting the signal intensity of the first signal; and judging and positioning the position of the vehicle according to the direction of the signal.
The embodiment of the invention also provides a server, which comprises a memory, a processor and an application vehicle positioning early warning program which is stored on the memory and can be operated on the processor, wherein the application vehicle positioning early warning program realizes the following steps when being executed by the processor: tracking vehicles on a road through a Kalman filtering algorithm; receiving signals transmitted by vehicles on a road through a road receiver, wherein the signals comprise identification codes of the vehicles, and the identification codes correspond to the vehicles one to one; judging whether the road receiver receives the signal; when the road receiver receives the signals, calculating the times of receiving the signals transmitted by the same vehicle by the single road receiver; and judging the running state of the vehicle according to the times.
Optionally, the determining the driving state of the vehicle according to the number of times includes: setting a threshold interval; when the times are smaller than the threshold interval, judging that the road condition is good in the driving process of the vehicle; when the frequency is within the range of the threshold interval, judging that the vehicle is slow to run in the running process; and when the times are larger than the threshold interval, judging that the traffic jam occurs in the running process of the vehicle.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the vehicle positioning early warning method are implemented as described above.
Compared with the prior art, the vehicle positioning early warning method, the vehicle positioning early warning device and the computer readable storage medium are different from a traffic police active traffic monitoring method in the traditional traffic monitoring method, can monitor vehicles running on a road in real time, accurately position a traffic accident site when a traffic accident occurs, do not need high-cost lane monitoring such as camera shooting tracking and the like, have the advantages of high efficiency, low cost and convenience in implementation, and can be widely applied to road traffic detection.
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Fig. 1 is a block diagram of a vehicle positioning and warning server according to a preferred embodiment of the present invention.
FIG. 2 is a block diagram of a preferred embodiment of the vehicle positioning and warning process of the present invention.
FIG. 3 is a diagram of a road vehicle driving scenario in accordance with a preferred embodiment of the present invention.
FIG. 4 is a diagram of the distance between a road vehicle and a road receiver according to the preferred embodiment of the invention.
FIG. 5 is a block diagram of a road vehicle crash fence in accordance with a preferred embodiment of the present invention.
FIG. 6 is a flowchart illustrating a vehicle positioning warning method according to a preferred embodiment of the present invention.
Description of the main elements
Server 1
Vehicle positioning early warning program 10
Memory device 20
Processor with a memory having a plurality of memory cells 30
Tracking module 101
Receiving module 102
Judging module 103
Positioning module 104
Warning module 105
Detailed Description
Fig. 1 is a block diagram of a server 1 according to a preferred embodiment of the present invention. The server 1 further includes a vehicle positioning early warning program 10, a memory 20, a processor 30, and the like.
The memory 20 includes at least one type of readable storage medium including flash memory, hard disks, multimedia cards, card-type memory (e.g., SD or DX memory, etc.), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM), magnetic memory, magnetic disks, optical disks, etc. The processor 30 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data Processing chip.
Referring to fig. 2, a block diagram of a preferred embodiment of the vehicle positioning warning program 10 of the present invention is shown.
The vehicle positioning early warning program 10 includes a tracking module 101, a receiving module 102, a determining module 103, a positioning module 104, and an alarming module 105. The modules are configured to be executed by one or more processors (in this embodiment, one processor 30) to implement the present invention. The modules referred to in the present invention are computer program segments that complete a particular instruction. The memory 20 is used for storing data such as program codes of the vehicle positioning early warning program 10. The processor 30 is configured to execute program code stored in the memory 20.
And the tracking module 101 is used for tracking the vehicles on the road through a Kalman filtering algorithm.
Specifically, as shown in fig. 3, when tracking vehicles on a road, each vehicle corresponds to a small point (e.g., a point indicated by an arrow in fig. 3) in the middle of the road, and the traffic jam can be determined according to the density of the small points. In the prior art, a driving dynamic state of a vehicle is obtained by a kalman filter algorithm, and a detected vehicle state is represented by a state vector x (k), where x (k) ═ p (k), θ (k), ω (k)]T. Wherein, p (k) is the state value of the lane position of the vehicle at the time t ═ kθ (k) is a traveling direction state value of the vehicle at time t-k, and ω (k) is a traveling speed of the vehicle at time t-k. The kalman filtering algorithm belongs to a relatively mature technology, and the detailed tracking algorithm is not described in detail in this embodiment.
The receiving module 102 is configured to receive, by a road receiver, a first signal transmitted by a vehicle on a road, where the first signal includes an identification code of the vehicle, and the identification code corresponds to the vehicle one to one.
In this embodiment, each vehicle has a unique identification code for identifying the identity of the vehicle. As shown in fig. 3, the road receivers are installed on the guardrails on both sides of the road at preset intervals, as A, B, C, D, E, F in fig. 4 are all road receivers, the road receivers are connected in a cascade manner at one level, and only when the guardrails on both sides of the road are broken, the cascade manner at the broken guardrails is interrupted, so that the accident occurrence place can be located. The preset spacing distance may be set as desired, for example, one road receiver may be installed every 20 m.
A judging module 103, configured to judge whether the road receiver receives the signal.
The determining module 103 is further configured to calculate the number of times that a single road receiver receives the first signal transmitted by the same vehicle, and determine the driving state of the vehicle according to the number of times.
Specifically, the number of times that a single road receiver receives an identification code transmitted by the same vehicle is calculated, and the driving state of the vehicle is judged according to the number of times. Specifically, the vehicle transmits a unique identification code, the road receivers on both sides of the road are used for receiving the identification code, and the driving state of the corresponding vehicle can be judged according to the number of times that the road receivers receive the identification code transmitted by the same vehicle in the driving process of the vehicle, for example, if only a small number of times are received, the vehicle is normally driven, and if the number of times is received, the vehicle is jammed or an accident occurs.
The determination module 103 determines the driving state of the vehicle according to the number of times by: setting a threshold interval; when the frequency is smaller than the threshold interval, judging that the road condition is good in the driving process of the vehicle; when the frequency is within the range of the threshold interval, judging that the vehicle is slow to run in the running process; and when the times are larger than the threshold interval, judging that the traffic jam occurs in the running process of the vehicle.
For example, the threshold interval is set to [2,3], that is, when the number of times is equal to or less than 1, it is determined that the road condition is good during the running of the vehicle, when the number of times is equal to or more than 2 and equal to or less than 3, it is determined that the vehicle is slow during the running of the vehicle, and when the number of times is greater than 3, it is determined that the traffic is congested during the running of the vehicle.
The receiving module 102 is further configured to receive a first signal transmitted by the vehicle and a second signal transmitted by the road receiver.
Specifically, the road receiver will send the received first signal transmitted by the vehicle to the server 1 for processing, and in this embodiment, the signal transmitted by the road receiver will be referred to as the second signal for distinguishing from the first signal.
And the positioning module 104 is configured to determine whether a traffic accident occurs according to the first signal and the second signal, and position a location where the traffic accident occurs when the traffic accident occurs.
The warning module 105 is configured to notify the road receiver of the broadcast road condition and warn within a preset range of the accident occurrence location.
In this embodiment, the preset range is set by a developer according to actual needs, for example, after a traffic accident is determined to occur, the alarm is given by a warning light within 1 km of the accident occurrence location.
In this embodiment, the positioning module 104 positions the accident site by the following two ways:
the first method comprises the following steps:
judging whether the first signal emitted by the vehicle disappears; when the first signal disappears, judging and positioning a first position of the vehicle according to the first signal which is transmitted by the vehicle last; judging whether the road receiver is interrupted according to the second signal; defining the first position as an accident site when the road receiver is not interrupted.
In this embodiment, the positioning module 104 detects the signal strength and the direction of the first signal; and judging and positioning the position of the vehicle according to the signal intensity and the direction of the first signal.
In this embodiment, the road receiver receives the first signal of the vehicle at different distances with different signal strengths, and it can be determined which road receiver the vehicle is closest to by the received signal strengths. In this embodiment, the conversion formula of the signal strength and the distance is as follows: d 10((ABS(RSSI)-A)/10*n)Wherein d is the distance between the vehicle and the target road receiver, the unit is m, the RSSI is the value of the signal strength, A is the absolute value of the RSSI at the distance of 1m from the target road receiver, and n is the environmental attenuation factor. From this, the distance values of d1, d2, d3, d4, (s1+ s2), (s3+ s4) as shown in fig. 4 can be calculated. Cos (α 1) ═ d1 according to the cosine theorem2+(s1+s2)2-d32) And 2 d1 (s1+ s2) is s1/d1 to obtain s1, and similarly, s1, s2, s3 and s4 can obtain which lane the vehicle is on. Wherein d1, d2, d3 and d4 are distances between the vehicle and the adjacent four road receivers respectively.
And the second method comprises the following steps:
judging whether the road receiver is interrupted according to the second signal; when the road receiver is interrupted, judging the interruption position of the road receiver according to the cascade mode of the road receiver; defining the interruption site as a traffic accident occurrence site.
As shown in fig. 3, the road receivers are installed at both sides of a road according to a preset spacing distance, and the road receivers are connected in a cascade manner, where the road receivers on the same side are cascaded according to adjacent positions. When a traffic accident happens to the vehicle and rushes out of the guardrail, the cascade mode is interrupted as shown in fig. 5, and the traffic accident happening place can be located according to the interruption place.
In the embodiment, the method is different from the method for actively monitoring the traffic by a traffic police in the traditional traffic monitoring method, can monitor vehicles running on the road in real time, accurately positions the traffic accident site when a traffic accident occurs, does not need high-cost lane monitoring such as camera tracking and the like, has the advantages of high efficiency, low cost and convenience in implementation, and can be widely applied to road traffic detection.
Referring to fig. 6, a flow chart of a vehicle positioning early warning method according to a preferred embodiment of the invention is shown. The vehicle positioning early warning method is applied to the server 1 and can be realized by the processor 30 executing the modules 101 to 105 shown in fig. 2.
And S600, tracking the vehicles on the road through a Kalman filtering algorithm.
Specifically, as shown in fig. 3, when tracking vehicles on a road, each vehicle corresponds to a small point in the middle of the road, and the traffic jam can be determined by the density of the small points. In the prior art, the driving dynamic state of a vehicle is obtained by kalman filter algorithm, and the detected vehicle state is represented by a state vector x (k), where x (k) ═ p (k), θ (k), ω (k)]T. Where p (k) is a lane position state value of the vehicle at the time t-k, θ (k) is a driving direction state value of the vehicle at the time t-k, and ω (k) is a driving speed of the vehicle at the time t-k. The kalman filtering algorithm belongs to a relatively mature technology, and the detailed tracking algorithm is not described in detail in this embodiment.
Step S602, a signal transmitted by a vehicle on a road is received through a road receiver, wherein the signal comprises an identification code of the vehicle, and the identification code corresponds to the vehicle one to one.
In this embodiment, each vehicle has a unique identification code for identifying the identity of the vehicle. As shown in fig. 3, the road receivers are installed on the guardrails on both sides of the road at preset intervals, as A, B, C, D, E, F in fig. 4 are all road transceivers, all the road transceivers are connected in a cascade manner at one level, and only when the guardrails on both sides of the road are broken, the cascade manner at the broken guardrails is interrupted, so that the accident occurrence place can be located. The preset spacing distance may be set as desired, for example, one road receiver may be installed every 20 m.
Step S604, determining whether the road receiver receives the signal.
Specifically, the vehicle transmits a unique identification code, the road receivers on both sides of the road are used for receiving the identification code, and the driving state of the corresponding vehicle can be judged according to the number of times that the road receivers receive the identification code transmitted by the same vehicle in the driving process of the vehicle, for example, if only a small number of times are received, the vehicle is normally driven, and if the number of times is received, the vehicle is jammed or an accident occurs.
Step S606, when the road receiver receives the signal, calculating the number of times that a single road receiver receives the signal transmitted by the same vehicle.
And step S608, judging the running state of the vehicle according to the times.
Specifically, the number of times that a single road receiver receives an identification code transmitted by the same vehicle is calculated, and the driving state of the vehicle is judged according to the number of times.
The judgment of the running state of the vehicle according to the times is realized by the following modes: setting a threshold interval; when the frequency is smaller than the threshold interval, judging that the road condition is good in the driving process of the vehicle; when the frequency is within the range of the threshold interval, judging that the vehicle is slow to run in the running process; and when the times are larger than the threshold interval, judging that the traffic jam occurs in the running process of the vehicle.
For example, the threshold interval is set to [2,3], that is, when the number of times is equal to or less than 1, it is determined that the road condition is good during the running of the vehicle, when the number of times is equal to or more than 2 and equal to or less than 3, it is determined that the vehicle is slow during the running of the vehicle, and when the number of times is greater than 3, it is determined that the traffic is congested during the running of the vehicle.
In this embodiment, the method further includes: receiving a first signal transmitted by the vehicle and a second signal transmitted by the road receiver; judging whether a traffic accident occurs according to the first signal and the second signal, and positioning an accident occurrence place when the traffic accident occurs; and informing the road receiver to broadcast the road condition and warning in a preset range of the accident occurrence place.
In this embodiment, the preset range is set by a developer according to actual needs, for example, after a traffic accident is determined to occur, the alarm is given by a warning light within 1 km of the accident occurrence location.
In this embodiment, the accident occurrence location is located by the following two ways:
the first method comprises the following steps:
judging whether the first signal emitted by the vehicle disappears; when the first signal disappears, judging and positioning a first position of the vehicle according to the first signal which is transmitted by the vehicle last; judging whether the road receiver is interrupted or not according to the second signal; defining the first position as an accident occurrence location when the road receiver is not interrupted.
In this embodiment, the signal strength and the direction of the first signal are detected; and judging and positioning the position of the vehicle according to the signal intensity and the direction of the first signal.
In this embodiment, the road receiver receives the first signal of the vehicle at different distances with different signal strengths, and it can be determined which road receiver the vehicle is closest to by the received signal strengths. In this embodiment, the conversion formula of the signal strength and the distance is as follows: d 10((ABS(RSSI)-A)/10*n)Where d is the distance between the vehicle and the target road receiver, and is expressed in m, RSSI is the signal strength value, a is the absolute value of the signal strength RSSI at a distance of 1m from the target road receiver, and n is the environmental attenuation factor. From this, the distance values of d1, d2, d3, d4, (s1+ s2), (s3+ s4) as shown in fig. 4 can be calculated. Cos (α 1) ═ d1 according to the cosine theorem2+(s1+s2)2-d32) And 2 d1 (s1+ s2) is s1/d1 to obtain s1, and similarly, s1, s2, s3 and s4 can obtain which lane the vehicle is on. Wherein d1, d2, d3 and d4 are distances between the vehicle and the adjacent four road receivers respectively.
And the second method comprises the following steps:
judging whether the road receiver is interrupted according to the second signal; when the road receiver is interrupted, judging the interruption position of the road receiver according to the cascade mode of the road receiver; defining the interruption site as a traffic accident occurrence site.
As shown in fig. 3, the road receivers are installed at both sides of a road according to a preset spacing distance, and the road receivers are connected in a cascade manner, where the road receivers on the same side are cascaded according to adjacent positions. When a traffic accident happens to the vehicle and rushes out of the guardrail, the cascade mode is interrupted as shown in fig. 5, and the traffic accident happening place can be located according to the interruption place.
The method is applied to the system, is different from the method of traffic police active traffic monitoring in the traditional traffic monitoring method, can monitor vehicles running on the road in real time, accurately positions the traffic accident site when encountering a traffic accident, does not need high-cost lane monitoring such as camera tracking and the like, has the advantages of high efficiency, low cost and convenient implementation, and can be widely applied to road traffic detection.
It should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those of ordinary skill in the art that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (10)

1. A vehicle positioning early warning method is applied to a server and is characterized by comprising the following steps:
tracking vehicles on the road through a Kalman filtering algorithm;
receiving a first signal transmitted by a vehicle on a road through a plurality of road receivers, wherein the signal comprises an identification code of the vehicle, and the identification code corresponds to the vehicle one to one;
judging whether the road receiver receives the first signal;
when the road receiver receives the first signal, calculating the number of times that the single road receiver receives the first signal transmitted by the same vehicle;
and judging the running state of the vehicle according to the times.
2. The vehicle positioning early warning method according to claim 1, wherein the determining the driving state of the vehicle according to the number of times comprises:
setting a threshold interval;
when the frequency is smaller than the threshold interval, judging that the road condition is good in the driving process of the vehicle;
when the frequency is within the range of the threshold interval, judging that the vehicle is slow to run in the running process;
and when the times are larger than the threshold interval, judging that the traffic jam occurs in the running process of the vehicle.
3. The vehicle positioning warning method according to claim 2, further comprising:
receiving a first signal transmitted by the vehicle and a second signal transmitted by the road receiver;
judging whether a traffic accident occurs according to the first signal and the second signal, and positioning an accident occurrence place when the traffic accident occurs;
and informing the road receiver of broadcasting road conditions and warning in a preset range of the accident occurrence place.
4. The vehicle positioning and early warning method according to claim 3, wherein the determining whether a traffic accident occurs according to the first signal and the second signal, and positioning the accident site when the traffic accident occurs comprises:
judging whether the first signal emitted by the vehicle disappears or not;
when the first signal disappears, judging and positioning a first position of the vehicle according to the first signal which is transmitted by the vehicle last;
judging whether the road receiver is interrupted according to the second signal;
defining the first position as an accident site when the road receiver is not interrupted.
5. The vehicle positioning early warning method according to claim 4, wherein the road receivers are installed at both sides of a road according to a preset spacing distance, and the road receivers are connected in a cascade manner, wherein the road receivers at the same side are cascaded according to adjacent positions.
6. The vehicle positioning early warning method according to claim 5, wherein the determining whether a traffic accident occurs according to the first signal and the second signal, and when a traffic accident occurs, positioning an accident occurrence location, further comprises:
when the road receiver is interrupted, judging the interruption position of the road receiver according to the cascade mode of the road receiver;
defining the interruption site as a traffic accident occurrence site.
7. The vehicle positioning early warning method according to claim 4, wherein the determining and positioning the first position of the vehicle according to the first signal transmitted by the vehicle last comprises:
detecting the signal intensity and the direction of the first signal;
and judging and positioning the position of the vehicle according to the signal intensity and the direction of the first signal.
8. A server, comprising a memory, a processor, and a vehicle positioning early warning program stored on the memory and executable on the processor, wherein the vehicle positioning early warning program when executed by the processor implements the steps of:
tracking vehicles on a road through a Kalman filtering algorithm;
receiving a first signal transmitted by a vehicle on a road through a road receiver, wherein the first signal comprises an identification code of the vehicle, and the identification code corresponds to the vehicle one to one;
judging whether the road receiver receives the first signal;
when the road receiver receives the first signal, calculating the number of times that the single road receiver receives the first signal transmitted by the same vehicle;
and judging the running state of the vehicle according to the times.
9. The server according to claim 8, wherein the determining the running state of the vehicle according to the number of times includes:
setting a threshold interval;
when the times are smaller than the threshold interval, judging that the road condition is good in the driving process of the vehicle;
when the frequency is within the range of the threshold interval, judging that the vehicle is slow to run in the running process;
and when the times are larger than the threshold interval, judging that the traffic jam occurs in the running process of the vehicle.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the vehicle localization early warning method as claimed in any one of claims 1 to 7.
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