CN114999179A - Tunnel safe driving method, equipment and medium - Google Patents
Tunnel safe driving method, equipment and medium Download PDFInfo
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- CN114999179A CN114999179A CN202210850540.3A CN202210850540A CN114999179A CN 114999179 A CN114999179 A CN 114999179A CN 202210850540 A CN202210850540 A CN 202210850540A CN 114999179 A CN114999179 A CN 114999179A
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
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Abstract
The application discloses a method, equipment and medium for safe driving of a tunnel, belongs to the technical field of traffic control systems, and is used for solving the technical problems that the existing vehicle is greatly influenced by the illumination intensity of a tunnel entrance and a tunnel exit during driving of the tunnel, and the traffic accident is easy to occur because the condition of a front road section cannot be timely acquired. The method comprises the following steps: acquiring the illumination intensity of a tunnel entrance and a tunnel exit and determining the absolute value of the difference between the tunnel entrance and the tunnel interior illumination intensity; if the number of the vehicles in the road section in front of the target vehicle is larger than the preset threshold value, determining the number of the vehicles in the road section in front of the target vehicle and acquiring each vehicle driving image of the road section in front of the target vehicle; determining congestion in the tunnel according to the number of vehicles and the number of lanes, analyzing vehicle running images of the lane where the target vehicle is located and the adjacent lanes to determine the distance between the target vehicle and each adjacent vehicle, and determining the speed of the target vehicle and each adjacent vehicle through speed measuring equipment so as to send early warning information to the target vehicle when the collision between the target vehicle and each adjacent vehicle is predicted at the next moment.
Description
Technical Field
The application relates to the technical field of traffic control systems, in particular to a method, equipment and medium for safe driving of a tunnel.
Background
At present, with the rapid development of national economy and transportation industry, in order to meet the travel demands of the masses, the road construction of China is continuously promoted, and meanwhile, the number of tunnels of China is also increased dramatically and rapidly under the influence of terrain and topography. The tunnel is a long and narrow and closed space structure, and the driver can experience a violent process from strong illumination intensity to weak illumination intensity at the moment that the vehicle enters the tunnel, and can also experience a violent process from weak illumination intensity to strong illumination intensity at the moment that the vehicle exits the tunnel, so that visual oscillation of the driver is easily caused, the driver cannot adapt to a darker environment in time, the traffic condition in the underground tunnel is seen clearly, and traffic accidents such as rear-end collision or collision are caused.
In the prior art, drivers are usually reminded by setting speed limit signs at tunnel entrances and exits, but at the moment of entering and exiting the tunnel, the drivers need a certain time to adapt to the change of illumination intensity, the road conditions of the front road section cannot be acquired in time, and the risk of traffic accidents exists.
Disclosure of Invention
The embodiment of the application provides a safe driving method, safe driving equipment and safe driving medium for a tunnel, and aims to solve the technical problems that when an existing vehicle runs in the tunnel, the vision of a driver is greatly influenced by the poor illumination intensity at the entrance and the exit of the tunnel, the road condition of a front road section in the tunnel cannot be acquired in time, and traffic accidents are prone to happening.
On one hand, the embodiment of the application provides a safe driving method for a tunnel, which is applied to a safe driving system for a tunnel, wherein a light monitoring device, a radar, an image acquisition device, an edge processing device and a speed measuring device in the system are connected in a wireless communication manner, and the method comprises the following steps:
acquiring illumination intensity of a tunnel entrance and exit based on a light monitoring device in a tunnel where a target vehicle is located, and sending the illumination intensity of the tunnel entrance and exit to edge processing equipment of a tunnel entrance and exit road section to determine an absolute value of a difference between the illumination intensity of the tunnel entrance and exit and the illumination intensity inside the tunnel;
if the absolute value of the difference of the illumination intensities is larger than a preset threshold value, determining the number of vehicles on a road section in front of the target vehicle through a radar of a tunnel road section, triggering an image acquisition device of the tunnel road section, acquiring running images of all adjacent vehicles on the road section in front of the target vehicle according to a preset time interval, and sending the number of the vehicles and the running images of all the adjacent vehicles to an edge processing device of the current road section;
when congestion is determined to occur in the tunnel according to the number of vehicles and the number of lanes, analyzing vehicle driving images of a lane where the target vehicle is located and adjacent lanes to determine the distance between the target vehicle and each adjacent vehicle, and determining the vehicle speed corresponding to the target vehicle and each adjacent vehicle through a speed measuring device of the tunnel section to send the corresponding vehicle speed to a corresponding edge processing device;
and according to the distance between the target vehicle and each adjacent vehicle and the speed of the target vehicle and each adjacent vehicle, when the target vehicle and each adjacent vehicle are predicted to collide at the next moment, early warning information is sent to the target vehicle, so that the target vehicle adjusts the speed according to the early warning information.
In an implementation manner of the present application, the light intensity of the tunnel entrance is obtained by the light monitoring device in the tunnel where the target vehicle is located, and the light intensity of the tunnel entrance is sent to the edge processing device in the tunnel entrance section, so as to determine an absolute value of a difference between the tunnel entrance and the tunnel interior light intensity, specifically including:
determining a tunnel into which the target vehicle is about to enter or exit according to a positioning device of the target vehicle, and acquiring the current illumination intensity of the tunnel entrance through a light monitoring device arranged in the tunnel according to a preset direction; the preset direction is a direction corresponding to the tunnel inlet or the tunnel outlet;
the method comprises the steps that illumination intensity inside a tunnel is obtained through a light monitoring device arranged in the direction facing the inside of the tunnel, and the illumination intensity in the tunnel and the illumination intensity at the entrance of the tunnel are sent to edge processing equipment of a corresponding road section;
calculating an absolute value of the difference between the illumination intensities at the tunnel entrance and the tunnel according to the illumination intensity at the tunnel entrance and the illumination intensity in the tunnel, and determining the magnitude relation between the absolute value of the difference and a preset threshold value;
and determining the influence degree of the difference of the illumination intensity of the tunnel entrance and the tunnel interior on the target vehicle according to the size relation.
In an implementation manner of the present application, when it is determined that congestion occurs in the tunnel according to the number of vehicles and the number of lanes, analyzing vehicle driving images of a lane where the target vehicle is located and adjacent lanes to determine a distance between the target vehicle and each of the adjacent vehicles specifically includes:
determining the length and the number of lanes of the road section in front of the target vehicle, and calculating the vehicle density of the road section in front of the target vehicle at the current moment according to the length, the number of lanes and the number of vehicles of the road section in front of the target vehicle;
determining whether a road section in front of the target vehicle is congested or not according to the vehicle density at the current moment, and if so, acquiring a vehicle running image corresponding to a lane where the target vehicle is located and a vehicle running image corresponding to a lane adjacent to the target vehicle;
analyzing vehicle driving images of a lane where the target vehicle is located and adjacent lanes through edge processing equipment of a corresponding road section, and determining adjacent vehicles of the target vehicle in the vehicle driving images;
establishing a three-dimensional space model corresponding to the tunnel where the target vehicle is located based on the geographical position information corresponding to the target vehicle, and determining the distance between the target vehicle and each adjacent vehicle according to the relative position between the target vehicle and each adjacent vehicle in the three-dimensional space model.
In one implementation manner of the present application, the predicting, according to the distance between the target vehicle and each of the adjacent vehicles and the vehicle speed of the target vehicle and each of the adjacent vehicles, that the target vehicle collides with each of the adjacent vehicles at a next time includes:
acquiring multiple groups of speeds of adjacent vehicles in the running process of the target vehicle through speed measuring equipment of a tunnel section, and acquiring the predicted speeds of the adjacent vehicles according to the multiple groups of speeds;
calculating to obtain a running path of the adjacent vehicle according to the predicted speed of the adjacent vehicle and the corresponding horizontal deviation angle of the adjacent vehicle on the current tunnel road section;
obtaining the coordinate position of the adjacent vehicle at the next moment according to the coordinate position of the adjacent vehicle in the three-dimensional space model and the form path corresponding to the adjacent vehicle;
and calculating the distance between the target vehicle and the adjacent vehicle according to the vehicle speed, the current coordinate position, the horizontal deviation angle and the coordinate position of the adjacent vehicle at the next moment corresponding to the target vehicle so as to predict whether the target vehicle collides with each adjacent vehicle at the next moment.
In an implementation manner of the present application, the determining, by the speed measuring device in the tunnel road segment, a vehicle speed corresponding to the target vehicle and each of the adjacent vehicles, so as to send the corresponding vehicle speed to the corresponding edge processing device specifically includes:
when the target vehicle or each adjacent vehicle passes through the current tunnel section, identifying the corresponding vehicle through a radar corresponding to the current tunnel section, and triggering speed measuring equipment arranged in the tunnel at preset intervals to determine the time of the corresponding vehicle passing through the speed measuring equipment of the current tunnel section;
sending the geographic position information corresponding to the speed measuring equipment of the current tunnel road section and the time corresponding to the speed measuring equipment when the corresponding vehicle passes through the speed measuring equipment to edge processing equipment of the corresponding road section;
when the target vehicle or each adjacent vehicle passes through a next tunnel section, identifying the corresponding vehicle through a radar corresponding to the next tunnel section, and triggering a speed measuring device corresponding to the next tunnel section to determine the time of the corresponding vehicle passing through the speed measuring device of the next tunnel section;
and determining the corresponding speed of the target vehicle or each adjacent vehicle according to the time when the corresponding vehicle passes through the current tunnel section speed measuring device and the next tunnel section speed measuring device and the distance between the current tunnel section speed measuring device and the next tunnel section speed measuring device, and sending the corresponding speed to the edge processing device of the current section.
In one implementation manner of the present application, after the sending the corresponding vehicle speed to the corresponding edge processing device, the method further includes:
determining whether the road section in front of the target vehicle is abnormal or not according to the road condition information of the road section in front of the target vehicle, which is acquired by the radar and the image acquisition device;
when the road section in front of the target vehicle is abnormal, analyzing a vehicle driving image corresponding to the lane where the target vehicle is located, and determining whether the abnormality affects the lane where the target vehicle is located;
when the abnormity has influence on the forward road section driving of the target vehicle, determining a corresponding abnormity type, and determining an obstacle avoidance strategy corresponding to the target vehicle according to the abnormity type; wherein the exception type includes at least: a traffic accident anomaly type, an obstacle anomaly type, or a road anomaly type.
In an implementation manner of the present application, before sending the warning information to the target vehicle to enable the target vehicle to adjust the vehicle speed according to the warning information, the method further includes:
acquiring related information of adjacent vehicles colliding with the target vehicle at the next moment through edge processing equipment corresponding to the tunnel section where the target vehicle currently runs; wherein the adjacent vehicle-related information at least includes: the type, size, color and license plate number of the adjacent vehicle;
and determining the relative position of the adjacent vehicle and the tunnel according to the geographical position information corresponding to the adjacent vehicle passing through the speed measuring equipment.
In an implementation manner of the present application, the sending of the warning information to the target vehicle to enable the target vehicle to adjust the vehicle speed according to the warning information specifically includes:
generating early warning information corresponding to the target vehicle at the next moment according to the related information of the adjacent vehicle, the relative position of the adjacent vehicle and the tunnel, the distance between the adjacent vehicle and the target vehicle and the speed of the adjacent vehicle and the target vehicle;
adding the distance between other adjacent vehicles around the target vehicle and the speed of each adjacent vehicle into the early warning information respectively so as to send the early warning information to the target vehicle;
and displaying the early warning information on a display device of the target vehicle in a text form, and broadcasting the early warning information on the target vehicle in a voice form so as to remind the target vehicle of adjusting the vehicle speed.
On the other hand, this application embodiment still provides a safe driving equipment in tunnel, is applied to safe driving system in tunnel, carry out wireless communication between bright monitoring device, radar, image acquisition device, edge processing equipment and the speed measuring equipment in the system and connect, equipment includes:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of driving a tunnel as described above.
On the other hand, the embodiment of the present application further provides a non-volatile computer storage medium, which stores computer executable instructions and is applied to a tunnel safety driving system, wherein wireless communication connection is performed among a light monitoring device, a radar, an image acquisition device, an edge processing device and a speed measuring device in the system, and the computer executable instructions are set as follows:
the safe driving method for the tunnel is described above.
The embodiment of the application provides a method, equipment and medium for safe driving of a tunnel, which at least have the following beneficial effects:
the method comprises the steps that illumination intensity at an entrance and an exit of a tunnel can be obtained in real time through a light monitoring device, the obtained illumination intensity is sent to edge processing equipment corresponding to an entrance and exit road section of the tunnel based on wireless connection between the light monitoring device and the edge processing equipment, so that the absolute value of the difference between the illumination intensity at the entrance and the exit of the tunnel and the illumination intensity inside the tunnel is determined, and the number of vehicles corresponding to the road section in front of a target vehicle is determined through a radar when the absolute value of the difference between the illumination intensity is larger than a preset threshold value, namely the difference between the illumination intensity at the entrance and the exit of the tunnel affects safe driving of the target vehicle; the method comprises the steps of obtaining vehicle running images of adjacent vehicles on a road section in front of a target vehicle at regular time through an image acquisition device, sending the number of the vehicles and the vehicle running images of the adjacent vehicles to edge processing equipment, processing the vehicle running images to obtain the distance between the target vehicle and each adjacent vehicle when congestion occurs in a tunnel, and determining the speed of the target vehicle and each adjacent vehicle through speed measuring equipment, so that the target vehicle can be predicted to collide with the adjacent vehicles if the current speed and running direction of the target vehicle continue to continue according to the speed of the target vehicle and each adjacent vehicle and the distance between the target vehicle and each adjacent vehicle, early warning information is sent to the target vehicle at the moment, traffic accidents of the target vehicle are avoided as much as possible, and the running safety of the target vehicle in the tunnel is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a method for driving a tunnel safely according to an embodiment of the present application;
fig. 2 is a schematic internal structure diagram of a tunnel safe driving device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, 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 application.
The embodiment of the application provides a method, equipment and a medium for safe driving of a tunnel, the illumination intensity at an entrance and an exit of the tunnel is obtained in real time through a brightness monitoring device, the obtained illumination intensity is sent to edge processing equipment corresponding to a road section of the entrance and the exit of the tunnel based on wireless connection between the brightness monitoring device and the edge processing equipment, so that the absolute value of the difference between the illumination intensity at the entrance and the exit of the tunnel and the absolute value of the difference between the illumination intensity inside the tunnel are determined, and when the absolute value of the difference between the illumination intensity is larger than a preset threshold value, namely the difference between the illumination intensity at the entrance and the exit of the tunnel has influence on safe driving of a target vehicle, the number of vehicles corresponding to the road section in front of the target vehicle is determined through a radar; the method comprises the steps that vehicle running images of adjacent vehicles on a road section in front of a target vehicle are obtained at regular time through an image acquisition device, the number of the vehicles and the vehicle running images of the adjacent vehicles are sent to edge processing equipment, when congestion of a tunnel is determined, the vehicle running images are processed to obtain the distance between the target vehicle and each adjacent vehicle, the speed of the target vehicle and each adjacent vehicle is determined through speed measuring equipment, then according to the speed of the target vehicle and each adjacent vehicle and the distance between the target vehicle and each adjacent vehicle, the fact that the target vehicle collides with the adjacent vehicle if the target vehicle continues to continue to run at the current speed and the running direction is predicted, and early warning information is sent to the target vehicle. The technical problem that when an existing vehicle runs in a tunnel, the vision of a driver is greatly influenced by the poor illumination intensity at the entrance and the exit of the tunnel, the condition of a front road section in the tunnel cannot be obtained in time, and the risk of traffic accidents is caused is solved.
Fig. 1 is a schematic flow chart of a method for driving a tunnel safely according to an embodiment of the present application. As shown in fig. 1, a method for driving a tunnel safely provided in an embodiment of the present application mainly includes the following steps:
101. the method comprises the steps that illumination intensity of a tunnel entrance is obtained based on a light monitoring device in a tunnel where a target vehicle is located, and the illumination intensity of the tunnel entrance is sent to edge processing equipment of a tunnel entrance section, so that an absolute value of the difference between the illumination intensity of the tunnel entrance and the illumination intensity of the interior of the tunnel is determined.
Tunnels are engineering structures buried in the ground and are a form of human underground space. The tunnel is used as a special road component, and as the tunnel is closed, light inside the tunnel is dark, and the road condition and the vehicle condition inside the tunnel cannot be obtained in time at the moment of entering the tunnel, the psychological pressure of a driver can be increased when the driver drives in the tunnel. When a vehicle runs at the exit of the tunnel, because the light intensity difference between the inside of the tunnel and the outside of the tunnel is large, the adaptability of human eyes to the light intensity is poor, a black hole effect can be generated when the vehicle runs into the entrance of the tunnel, a white hole effect is generated when the vehicle runs out of the exit of the tunnel, and the risk of traffic accidents is caused.
Specifically, the server can determine a tunnel entrance where the target vehicle is about to enter or exit according to the positioning device of the target vehicle, and then can obtain the illumination intensity corresponding to the tunnel entrance in real time through the light monitoring device arranged in the tunnel entrance according to the preset direction. It should be noted that, the preset direction in the embodiment of the present application refers to a direction corresponding to a tunnel entrance or a direction corresponding to a tunnel exit, so that the illumination intensity corresponding to the tunnel entrance can be obtained by a light monitoring device arranged in the direction of the tunnel entrance.
The server acquires and determines the illumination intensity corresponding to the current tunnel through a light monitoring device arranged in the tunnel and facing the tunnel interior direction, then sends the illumination intensity corresponding to the tunnel interior and the illumination intensity corresponding to the tunnel entrance and exit to the edge processing equipment of the corresponding road section, so that the edge processing equipment can calculate the absolute value of the difference between the tunnel entrance and the tunnel interior and determine the magnitude relation between the absolute value of the difference between the tunnel entrance and the tunnel interior and a preset threshold value according to the illumination intensities of the tunnel interior and the tunnel entrance and exit, and then can predict the influence degree of the absolute value of the difference between the tunnel entrance and the tunnel interior on the safety of the target vehicle entering or exiting the tunnel according to the determined magnitude relation.
102. If the absolute value of the difference of the illumination intensities is larger than a preset threshold value, the number of vehicles in the road section in front of the target vehicle is determined through the radar of the tunnel road section, an image acquisition device of the tunnel road section is triggered, each vehicle driving image of the road section in front of the target vehicle is acquired according to a preset time interval, and the number of the vehicles and each vehicle driving image are sent to the edge processing equipment of the current road section.
When the difference between the illumination intensity at the entrance and the exit of the tunnel and the illumination intensity inside the tunnel is larger than a preset threshold value, namely, the difference between the illumination intensity has a great influence on the safety of the target vehicle entering or exiting the tunnel, the server needs to identify the number of vehicles corresponding to the road section in front of the target vehicle through a radar which is arranged in a road test inside the tunnel according to a preset spacing distance, so that the driving condition of the vehicle in front of the target vehicle can be determined according to the number of the vehicles. It should be noted that, the preset spacing distance in the embodiment of the present application is set to be 100 meters, and the preset spacing distance may be a suitable value according to actual requirements, which is not specifically limited in the present application.
When the radar identifies that the vehicle passes through the tunnel road section, the radar sends a shooting instruction to an image acquisition device of a road test in the tunnel, so that the image acquisition device is triggered to start working, the image acquisition device acquires a plurality of vehicle running images corresponding to the road section in front of the target vehicle at regular time according to a preset time interval, and then sends the acquired vehicle quantity and the acquired vehicle running images to edge processing equipment in the corresponding road section in the tunnel, so that the vehicle running images are processed through the edge processing equipment.
103. When the congestion in the tunnel is determined according to the number of vehicles and the number of lanes, the driving images of the vehicles in the lane where the target vehicle is located and the adjacent lanes are analyzed to determine the distance between the target vehicle and each adjacent vehicle, the speed of the target vehicle corresponding to each adjacent vehicle is determined through speed measuring equipment on the tunnel section, and the corresponding speed is sent to corresponding edge processing equipment.
Specifically, the server determines the length of the road section in front of the target vehicle and the number of corresponding lanes by crawling the relevant information of the current tunnel, and then can calculate the vehicle density of the road section in front of the target vehicle at the current moment according to the length of the road section in front of the target vehicle, the number of lanes and the number of vehicles, and further can determine whether the road section in front of the target vehicle is congested or not according to the vehicle density at the current moment.
If so, the server is required to obtain a vehicle driving image corresponding to the lane where the target vehicle is located and a vehicle driving image corresponding to an adjacent lane of the target vehicle, analyze the vehicle driving image of the lane where the target vehicle is located and the vehicle driving image of the adjacent lane of the target vehicle through edge processing equipment corresponding to the road section, determine adjacent vehicles of the target vehicle in the vehicle driving image, then establish a three-dimensional space model corresponding to the tunnel where the target vehicle is located based on geographical position information corresponding to the target vehicle, and respectively determine the distance between the target vehicle and each adjacent vehicle according to the relative position between the target vehicle and each adjacent vehicle in the three-dimensional space model.
When a target vehicle or each adjacent vehicle passes through the current tunnel road section, the server identifies the corresponding vehicle through the radar corresponding to the current tunnel road section, when the radar identifies the corresponding vehicle, the speed measuring device arranged inside the tunnel according to the preset interval distance is triggered, so that the speed measuring device can pass through, the time corresponding to the speed measuring device when the corresponding vehicle passes through the current tunnel road section is determined, the geographic position information corresponding to the speed measuring device of the current tunnel road section and the time corresponding to the speed measuring device when the corresponding vehicle passes through the speed measuring device are sent to the edge processing device of the corresponding road section, and the edge processing device of the corresponding road section can perform subsequent analysis processing according to the geographic position information and the time information.
Then, when the target vehicle or each adjacent vehicle passes through the next tunnel section, the server identifies the corresponding vehicle through the radar corresponding to the next tunnel section, when the corresponding vehicle is identified by the plurality of radars corresponding to the next tunnel section, the speed measuring device corresponding to the next tunnel section is triggered to determine the time when the corresponding vehicle passes through the speed measuring device of the next tunnel section, so that the speed corresponding to the target vehicle or each adjacent vehicle can be determined according to the time corresponding to the corresponding vehicle passing through the speed measuring equipment at the current tunnel section, the time corresponding to the speed measuring equipment at the next tunnel section and the distance between the speed measuring equipment at the current tunnel section and the speed measuring equipment at the next tunnel section, and the corresponding speed is sent to the edge processing equipment at the current section, so that the edge processing device can perform subsequent analysis processing according to the vehicle speed of the target vehicle or a vehicle adjacent to the target vehicle.
In an embodiment of the application, after sending the corresponding vehicle speed to the corresponding edge processing device, the server determines whether the road section in front of the target vehicle is abnormal according to the road condition information of the road section in front of the target vehicle, which is acquired by the radar of the tunnel road section and the image acquisition device, and analyzes the vehicle driving image corresponding to the lane where the target vehicle is located when the road section in front of the target vehicle is abnormal, so as to determine whether the lane where the target vehicle is located is affected by the abnormality of the road section in front. When the abnormality occurring in the front road section affects the target vehicle to drive to the front road section of the tunnel, the server needs to determine an abnormality type corresponding to the abnormality and determine an obstacle avoidance strategy corresponding to the front road section of the target vehicle according to the abnormality type. It should be noted that the exception types in the embodiment of the present application at least include: traffic accident abnormality type, obstacle abnormality type, or road abnormality type, etc.
104. And according to the distance between the target vehicle and each adjacent vehicle and the speed of the target vehicle and each adjacent vehicle, when the target vehicle and each adjacent vehicle collide at the next moment, early warning information is sent to the target vehicle, so that the target vehicle adjusts the speed according to the early warning information.
Specifically, the server can obtain multiple groups of speeds of adjacent vehicles of the target vehicle in the running process of the target vehicle through speed measuring equipment of the tunnel road section, obtain predicted speeds of the adjacent vehicles according to multiple groups of speed samples of the adjacent vehicles, then calculate and obtain running paths of the adjacent vehicles according to the predicted speeds of the adjacent vehicles and horizontal deviation angles corresponding to the adjacent vehicles in the current tunnel road section, and further obtain coordinate positions of the adjacent vehicles at the next moment according to coordinate positions of the adjacent vehicles in the three-dimensional space model and form paths corresponding to the adjacent vehicles. The server can calculate the distance between the target vehicle and the adjacent vehicle according to the vehicle speed, the current coordinate position, the horizontal offset angle and the coordinate position of the adjacent vehicle at the next moment corresponding to the target vehicle, and further predict whether the target vehicle and each adjacent vehicle collide at the next moment.
The server generates early warning information corresponding to the target vehicle at the next moment according to the related information of the adjacent vehicles of the target vehicle, the relative positions of the adjacent vehicles and the tunnel, the distance between the adjacent vehicles and the target vehicle and the speeds of the adjacent vehicles and the target vehicle, then the distance between other adjacent vehicles around the target vehicle and the speed of each adjacent vehicle are respectively added to the early warning information, and then the early warning information is sent to the target vehicle.
The server displays the early warning information on the display device of the target vehicle in a text mode and broadcasts the early warning information on the target vehicle in a voice mode so as to remind the target vehicle to adjust the current speed, so that the target vehicle is prevented from running according to the current speed and the running path and colliding with the adjacent vehicle, and the running safety of the vehicle in the tunnel is improved.
The above is a method embodiment proposed in the present application. Based on the same inventive concept, the embodiment of the application also provides tunnel safe driving equipment, and the structure of the tunnel safe driving equipment is shown in fig. 2.
Fig. 2 is a schematic internal structure diagram of a tunnel safe driving device provided in an embodiment of the present application. As shown in fig. 2, the wireless communication connection is performed between the light monitoring device, the radar, the image acquisition device, the edge processing device and the speed measuring device in the system, and the wireless communication connection is performed between the devices, wherein the devices comprise:
at least one processor 201;
and a memory 202 communicatively coupled to the at least one processor 201;
wherein the memory 202 stores instructions executable by the at least one processor 201, the instructions being executable by the at least one processor 201 to enable the at least one processor 201 to:
acquiring the illumination intensity of a tunnel entrance based on a light monitoring device in a tunnel where a target vehicle is located, and sending the illumination intensity of the tunnel entrance to an edge processing device of a tunnel entrance section to determine the absolute value of the difference between the illumination intensity of the tunnel entrance and the illumination intensity of the interior of the tunnel;
if the absolute value of the difference of the illumination intensities is larger than a preset threshold value, determining the number of vehicles on a road section in front of a target vehicle through a radar of the tunnel road section, triggering an image acquisition device of the tunnel road section, acquiring each vehicle driving image of the road section in front of the target vehicle according to a preset time interval, and sending the number of the vehicles and each vehicle driving image to the edge processing equipment of the current road section;
when congestion occurs in the tunnel according to the number of vehicles and the number of lanes, analyzing vehicle running images of a lane where the target vehicle is located and adjacent lanes to determine the distance between the target vehicle and each adjacent vehicle, and determining the speed of the target vehicle corresponding to each adjacent vehicle through speed measuring equipment of a tunnel section to send the corresponding speed to corresponding edge processing equipment;
and according to the distance between the target vehicle and each adjacent vehicle and the speed of the target vehicle and each adjacent vehicle, when the collision between the target vehicle and each adjacent vehicle is predicted at the next moment, sending early warning information to the target vehicle so that the target vehicle adjusts the speed according to the early warning information.
The embodiment of the application also provides a nonvolatile computer storage medium, which stores computer executable instructions and is applied to a tunnel safety driving system, wherein the light monitoring device, the radar, the image acquisition device, the edge processing device and the speed measuring device in the system are in wireless communication connection, and the computer executable instructions are set as follows:
acquiring the illumination intensity of a tunnel entrance based on a light monitoring device in a tunnel where a target vehicle is located, and sending the illumination intensity of the tunnel entrance to an edge processing device of a tunnel entrance section to determine the absolute value of the difference between the illumination intensity of the tunnel entrance and the illumination intensity of the interior of the tunnel;
if the absolute value of the difference of the illumination intensities is larger than a preset threshold value, determining the number of vehicles on a road section in front of a target vehicle through a radar of the tunnel road section, triggering an image acquisition device of the tunnel road section, acquiring each vehicle driving image of the road section in front of the target vehicle according to a preset time interval, and sending the number of the vehicles and each vehicle driving image to edge processing equipment of the current road section;
when congestion in the tunnel is determined according to the number of vehicles and the number of lanes, analyzing vehicle running images of a lane where the target vehicle is located and adjacent lanes to determine the distance between the target vehicle and each adjacent vehicle, determining the corresponding speed of the target vehicle and each adjacent vehicle through speed measuring equipment on the tunnel section, and sending the corresponding speed to corresponding edge processing equipment;
and according to the distance between the target vehicle and each adjacent vehicle and the speed of the target vehicle and each adjacent vehicle, when the target vehicle and each adjacent vehicle collide at the next moment, early warning information is sent to the target vehicle, so that the target vehicle adjusts the speed according to the early warning information.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device and media embodiments, the description is relatively simple, as it is substantially similar to the method embodiments, and reference may be made to some description of the method embodiments for relevant points.
The device and the medium provided by the embodiment of the application correspond to the method one by one, so the device and the medium also have the beneficial technical effects similar to the corresponding method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A safe driving method for a tunnel is characterized by being applied to a safe driving system for the tunnel, wherein a light monitoring device, a radar, an image acquisition device, an edge processing device and a speed measuring device in the system are in wireless communication connection, and the method comprises the following steps:
the method comprises the steps that illumination intensity of a tunnel entrance is obtained based on a light monitoring device in a tunnel where a target vehicle is located, and the illumination intensity of the tunnel entrance is sent to edge processing equipment of a tunnel entrance section, so that an absolute value of the difference between the illumination intensity of the tunnel entrance and the illumination intensity of the interior of the tunnel is determined;
if the absolute value of the difference of the illumination intensities is larger than a preset threshold value, determining the number of vehicles on a road section in front of the target vehicle through a radar of a tunnel road section, triggering an image acquisition device of the tunnel road section, acquiring running images of adjacent vehicles on the road section in front of the target vehicle according to a preset time interval, and sending the number of the vehicles and the running images of the adjacent vehicles to edge processing equipment of a current road section;
when congestion is determined to occur in the tunnel according to the number of vehicles and the number of lanes, analyzing vehicle driving images of a lane where the target vehicle is located and adjacent lanes to determine the distance between the target vehicle and each adjacent vehicle, and determining the vehicle speed corresponding to the target vehicle and each adjacent vehicle through a speed measuring device of the tunnel section to send the corresponding vehicle speed to a corresponding edge processing device;
and according to the distance between the target vehicle and each adjacent vehicle and the speed of the target vehicle and each adjacent vehicle, when the target vehicle and each adjacent vehicle are predicted to collide at the next moment, early warning information is sent to the target vehicle, so that the target vehicle adjusts the speed according to the early warning information.
2. The method according to claim 1, wherein the acquiring, by a light monitoring device in a tunnel where the target vehicle is located, the illumination intensity at the entrance and exit of the tunnel, and sending the illumination intensity at the entrance and exit of the tunnel to an edge processing device at the entrance and exit section of the tunnel to determine the absolute value of the difference between the illumination intensities at the entrance and exit of the tunnel and the inside of the tunnel specifically comprises:
determining a tunnel into which the target vehicle is about to enter or exit according to a positioning device of the target vehicle, and acquiring the current illumination intensity of the tunnel entrance through a light monitoring device arranged in the tunnel according to a preset direction; the preset direction is a direction corresponding to the tunnel inlet or the tunnel outlet;
the method comprises the steps that illumination intensity inside a tunnel is obtained through a light monitoring device arranged in the direction facing the inside of the tunnel, and the illumination intensity in the tunnel and the illumination intensity at the entrance of the tunnel are sent to edge processing equipment of a corresponding road section;
calculating an absolute value of the difference between the illumination intensities at the tunnel entrance and the tunnel according to the illumination intensity at the tunnel entrance and the illumination intensity in the tunnel, and determining the magnitude relation between the absolute value of the difference and a preset threshold value;
and determining the influence degree of the difference of the illumination intensity of the tunnel entrance and the tunnel interior on the target vehicle according to the size relation.
3. The method according to claim 1, wherein when it is determined that congestion occurs in the tunnel according to the number of vehicles and the number of lanes, the method for determining the distance between the target vehicle and each of the adjacent vehicles by analyzing the vehicle driving images of the lane where the target vehicle is located and the adjacent lanes comprises:
determining the length and the number of lanes of the road section in front of the target vehicle, and calculating the vehicle density of the road section in front of the target vehicle at the current moment according to the length, the number of lanes and the number of vehicles of the road section in front of the target vehicle;
determining whether a road section in front of the target vehicle is congested or not according to the vehicle density at the current moment, and if so, acquiring a vehicle running image corresponding to a lane where the target vehicle is located and a vehicle running image corresponding to a lane adjacent to the target vehicle;
analyzing vehicle driving images of a lane where the target vehicle is located and adjacent lanes through edge processing equipment of a corresponding road section, and determining adjacent vehicles of the target vehicle in the vehicle driving images;
establishing a three-dimensional space model corresponding to the tunnel where the target vehicle is located based on the geographical position information corresponding to the target vehicle, and determining the distance between the target vehicle and each adjacent vehicle according to the relative position between the target vehicle and each adjacent vehicle in the three-dimensional space model.
4. The method according to claim 1, wherein the predicting that the target vehicle collides with each of the adjacent vehicles at the next time according to the distance between the target vehicle and each of the adjacent vehicles and the vehicle speed of the target vehicle and each of the adjacent vehicles comprises:
acquiring multiple groups of speeds of adjacent vehicles in the running process of the target vehicle through speed measuring equipment of a tunnel section, and acquiring the predicted speeds of the adjacent vehicles according to the multiple groups of speeds;
calculating to obtain a running path of the adjacent vehicle according to the predicted speed of the adjacent vehicle and the corresponding horizontal deviation angle of the adjacent vehicle on the current tunnel road section;
obtaining the coordinate position of the adjacent vehicle at the next moment according to the coordinate position of the adjacent vehicle in the three-dimensional space model and the form path corresponding to the adjacent vehicle;
and calculating the distance between the target vehicle and the adjacent vehicle according to the vehicle speed, the current coordinate position, the horizontal offset angle and the coordinate position of the adjacent vehicle at the next moment corresponding to the target vehicle so as to predict whether the target vehicle collides with each adjacent vehicle at the next moment.
5. The method according to claim 1, wherein the step of determining, by the speed measuring device in the tunnel section, the vehicle speed corresponding to the target vehicle and each of the adjacent vehicles to send the corresponding vehicle speed to the corresponding edge processing device specifically includes:
when the target vehicle or each adjacent vehicle passes through the current tunnel section, identifying the corresponding vehicle through a radar corresponding to the current tunnel section, and triggering speed measuring equipment arranged in the tunnel at preset intervals to determine the time of the corresponding vehicle passing through the speed measuring equipment of the current tunnel section;
sending the geographic position information corresponding to the speed measuring equipment of the current tunnel road section and the time corresponding to the speed measuring equipment when the corresponding vehicle passes through the speed measuring equipment to edge processing equipment of the corresponding road section;
when the target vehicle or each adjacent vehicle passes through a next tunnel section, identifying the corresponding vehicle through a radar corresponding to the next tunnel section, and triggering a speed measuring device corresponding to the next tunnel section to determine the time of the corresponding vehicle passing through the speed measuring device of the next tunnel section;
and determining the corresponding speed of the target vehicle or each adjacent vehicle according to the time when the corresponding vehicle passes through the current tunnel section speed measuring device and the next tunnel section speed measuring device and the distance between the current tunnel section speed measuring device and the next tunnel section speed measuring device, and sending the corresponding speed to the edge processing device of the current section.
6. The method of claim 1, wherein after sending the corresponding vehicle speed to the corresponding edge processing device, the method further comprises:
determining whether the road section in front of the target vehicle is abnormal or not according to the road condition information of the road section in front of the target vehicle, which is acquired by the radar and the image acquisition device;
determining whether the road section in front of the target vehicle is abnormal or not according to the road condition information of the road section in front of the target vehicle, which is acquired by the radar and the image acquisition device;
when the road section in front of the target vehicle is abnormal, analyzing a vehicle driving image corresponding to the lane where the target vehicle is located, and determining whether the abnormality affects the lane where the target vehicle is located;
when the abnormity has influence on the forward road section driving of the target vehicle, determining a corresponding abnormity type, and determining an obstacle avoidance strategy corresponding to the target vehicle according to the abnormity type; wherein the exception types include at least: a traffic accident anomaly type, an obstacle anomaly type, or a road anomaly type.
7. The method for safe driving in a tunnel according to claim 1, wherein before the sending of the warning information to the target vehicle so that the target vehicle adjusts the vehicle speed according to the warning information, the method further comprises:
acquiring related information of adjacent vehicles colliding with the target vehicle at the next moment through edge processing equipment corresponding to the tunnel section where the target vehicle currently runs; wherein the adjacent vehicle-related information at least includes: the type, size, color and license plate number of the adjacent vehicle;
and determining the relative position of the adjacent vehicle and the tunnel according to the geographical position information corresponding to the adjacent vehicle passing through the speed measuring equipment.
8. The method according to claim 7, wherein the sending of the warning information to the target vehicle to adjust the speed of the target vehicle according to the warning information specifically includes:
generating early warning information corresponding to the target vehicle at the next moment according to the related information of the adjacent vehicle, the relative position of the adjacent vehicle and the tunnel, the distance between the adjacent vehicle and the target vehicle and the speed of the adjacent vehicle and the target vehicle;
adding the distance between other adjacent vehicles around the target vehicle and the vehicle speed of each adjacent vehicle to the early warning information respectively so as to send the early warning information to the target vehicle;
and displaying the early warning information on a display device of the target vehicle in a text form, and broadcasting the early warning information on the target vehicle in a voice form so as to remind the target vehicle to adjust the vehicle speed.
9. The utility model provides a safe driving equipment in tunnel which characterized in that is applied to safe driving system in tunnel, carry out wireless communication between bright monitoring device, radar, image acquisition device, edge processing equipment and the speed measuring equipment in the system and connect, equipment includes:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of driving a tunnel according to any one of claims 1 to 8.
10. A non-transitory computer storage medium storing computer-executable instructions for use in a tunnel safety driving system in which a light monitoring device, a radar, an image capture device, an edge processing device, and a speed measuring device are wirelessly connected, the computer-executable instructions configured to:
a method of driving a vehicle safely in a tunnel according to any one of claims 1 to 8.
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