CN115492033B - Management method and system for intelligent highway central separation zone opening guardrail - Google Patents

Abstract

The application relates to a management method and a system of a smart highway central separation strip opening guardrail, belonging to the technical field of smart highways, wherein the method comprises the following steps: when a road event occurs on the intelligent road, acquiring road information and road event information of the intelligent road, wherein the road information comprises the opening positions of the dividing belts of all the dividing belt openings and the corresponding lifting guardrails; the road event information includes a road event location; acquiring rescue vehicle information for performing road rescue according to the road event information, wherein the rescue vehicle information comprises the current vehicle position of a rescue vehicle; generating a rescue driving path of a rescue vehicle based on the road information, the road event position and the current vehicle position; when the rescue driving path needs to pass through the target division belt opening, the lifting type guardrail at the target division belt opening is controlled to be opened. This application has the effect that reduces manual work and time cost.

Description

Management method and system for intelligent highway central separation zone opening guardrail

Technical Field

The application relates to the technical field of intelligent roads, in particular to a management method and a management system for an intelligent road central separation belt opening guardrail.

Background

The intelligent road is a new concept and a new mode for realizing the cooperative management and control and innovative service of a road transportation system and promoting the scientific management, the efficient operation and the high-quality service of a road network by means of mobile communication, new generation information technologies such as the internet, cloud computing, big data, artificial intelligence and the like.

The highway and the integral subgrade of the first-level highway are provided with central separation strips for ensuring the driving safety, and the central separation strip openings are arranged according to different intervals as required. The opening of the central separation belt is arranged so that vehicles can run to a reverse lane through the opening when the road (tunnel) is maintained, maintained and emergently rescued.

Under normal conditions, in order to keep the integrity of the protective performance of the central separation belt, the opening of the central separation belt is closed by splicing a plurality of movable upright post guardrails, and the setting height of the movable upright post guardrails is in accordance with the height of the central separation belt.

However, when it is desired to pass through the central divider opening, it is necessary to remove a plurality of removable post guardrails of the spliced type, increasing labor and time costs.

Disclosure of Invention

In order to reduce labor and time costs, the application provides a management method and a management system for an intelligent highway central separation strip opening guardrail.

In a first aspect, the application provides a management method for an intelligent road central separator open guardrail, which adopts the following technical scheme:

a management method of an intelligent road central separation zone opening guardrail is applied to a management system of the intelligent road central separation zone opening guardrail, the management system comprises a server and a lifting guardrail, and the management method comprises the following steps:

when a road event occurs on the intelligent road, acquiring road information and road event information of the intelligent road, wherein the intelligent road is provided with a first lane and a second lane opposite to the first lane, a central separator is arranged between the first lane and the second lane, the central separator is provided with a plurality of separator openings, each separator opening is provided with a lifting guardrail, and the road information comprises the positions of the separator openings of all the separator openings and the corresponding lifting guardrails; the road event information includes a road event location;

acquiring rescue vehicle information for road rescue according to the road event information, wherein the rescue vehicle information comprises the current vehicle position of a rescue vehicle;

generating a rescue travel path for the rescue vehicle based on the road information, the road event location, and the current vehicle location;

and when the rescue driving path needs to pass through the opening of the target division belt, controlling the lifting type guardrail at the opening of the target division belt to be opened.

By adopting the technical scheme, when a traffic accident occurs on the intelligent road, the road information and the road event information of the intelligent road are obtained, wherein the road information comprises the opening positions of the dividing strips with all the opening positions of the dividing strips and the corresponding lifting type guardrails, and the road event information comprises the road time position. And then, acquiring rescue vehicle information for road rescue according to the road event information, wherein the rescue vehicle information comprises the current vehicle position of the rescue vehicle. And then, generating a rescue driving path of the rescue vehicle according to the road information, the road event information and the current vehicle position, and controlling the lifting type guardrail at the corresponding opening of the target division belt to be opened when the rescue driving path needs to pass through the opening of the target division belt, so that the rescue vehicle can pass through in time. Therefore, through the mode, the guardrail is not required to be dismantled manually, and labor and time cost can be effectively reduced.

Preferably, the generating of the rescue driving path of the rescue vehicle based on the road information, the road event location and the current vehicle location includes:

determining a lane in which the road event location and the current vehicle location are located;

when the road event position and the current vehicle position are located in the first lane or the second lane at the same time, the rescue driving path is directly generated according to the current vehicle position and the road event position in sequence;

when the road event position is located in the first lane and the current vehicle position is located in the second lane, or when the road event position is located in the second lane and the current vehicle position is located in the first lane, obtaining the opening positions of the division belts of all the division belt openings according to the road information;

determining a target separator opening which needs to pass through according to the position of the separator opening, the current vehicle position and the road event position;

generating the rescue travel path based on the current vehicle position, the target division belt opening, and the road event position in sequence.

By adopting the technical scheme, whether the rescue vehicle and the road event position are simultaneously positioned in the first lane or the second lane is determined according to the current vehicle position, so that whether a target separation belt opening exists in the rescue driving path can be determined, the rescue driving path can be generated according to different conditions, and the accuracy of generating the rescue driving path can be improved.

Preferably, the determining a target division belt opening needing to pass through according to the division belt opening position, the current vehicle position and the road event position, and generating the rescue driving path based on the current vehicle position, the target division belt opening and the road event position in sequence includes:

obtaining a first separation zone opening located in front of the road event location and a second separation zone opening located behind the road event location;

acquiring a distance between the road event position and the first separation zone opening as a first distance;

obtaining a distance between the road event location and the second divider strip opening as a second distance;

determining the magnitude relation of the first distance and the second distance;

when the first distance is greater than or equal to the second distance, then generating the rescue travel path based on the current vehicle position, the second division belt opening, and the road event position in sequence;

when the first distance is less than the second distance, then generating the rescue travel path based on the current vehicle position, the first separation zone opening, and the road event position in sequence.

By adopting the technical scheme, the rescue driving path is determined to be generated according to the first separation belt opening or the second separation belt opening, the current vehicle position and the road event position according to the size relation between the first distance and the second distance, so that the path can be selected more accurately, and the rescue efficiency of the rescue vehicle is improved.

Preferably, before the generating the rescue driving path based on the current vehicle position, the first division belt opening, and the road event position in this order, the method further includes:

judging whether the first distance is smaller than or equal to a preset safety distance;

if not, generating the rescue driving path based on the current vehicle position, the second partition belt opening and the road event position in sequence;

if so, executing the step of generating the rescue driving path based on the current vehicle position, the first separation zone opening and the road event position in sequence.

By adopting the technical scheme, whether the first distance is smaller than or equal to the preset safety distance or not is judged, whether the danger coefficient of the rescue vehicle driving in the reverse direction from the first separation belt opening is too high or not can be determined, so that the first separation belt opening or the second separation belt opening can be selected to be used as one part of a rescue driving path according to the judgment result, and the safety of the driving path in the rescue process can be improved.

Preferably, before the generating the rescue driving path based on the current vehicle position, the second isolation zone opening, and the road event position in this order, the method further comprises:

judging whether a first road congestion condition exists behind a lane where the road event position is located or not based on the road event information;

if the first road congestion condition exists, generating the rescue driving path based on the current vehicle position, the first separation zone opening and the road event position in sequence;

and if the first road congestion condition does not exist, executing the step of generating the rescue driving path based on the current vehicle position, the second partition belt opening and the road event position in sequence.

By adopting the technical scheme, whether a first road jam condition exists behind the lane where the road event position is located is judged according to the road event information, and then whether the first road jam condition exists behind the lane where the road event position is located or not is determined to pass through the first division belt opening or the second division belt opening, so that the generated rescue running path is determined, the rescue delay caused by traffic jam can be avoided as far as possible, and the rescue efficiency can be further improved.

Preferably, the determining whether or not there is a first road congestion situation behind the lane where the road event location is located based on the road event information includes:

acquiring a road congestion condition behind a lane where the road event position is located based on the road event information;

if the road congestion condition exists, acquiring a position of the road congestion condition closest to the road event position as a congestion starting position;

acquiring an area between the congestion starting position and the road event position as a normal area;

judging whether the second partition belt opening is positioned in the normal area or not;

if yes, determining that the first road congestion condition does not exist;

and if not, determining that the first road congestion condition exists.

By adopting the technical scheme, the normal area is determined according to the road event position and the acquired congestion starting position, and then whether the second division belt opening is positioned in the normal area is judged, so that whether the rescue vehicle can pass through the second division belt opening is determined, whether the congestion condition of the first road exists is further determined, and the judgment accuracy can be improved.

Preferably, before the directly generating the rescue driving path in turn according to the current vehicle position and the road event position, the method further includes:

judging whether a second road congestion condition exists behind the lane where the road event position is located or not based on the road event information;

if the second road jam condition exists, acquiring the opening position of the division belt which is not in the second road jam condition behind the road event position and has the smallest distance to the road event position as a rear opening position;

acquiring the opening position of the division belt in front of the road event position and with the minimum distance from the road event position as a front opening position;

generating the rescue driving path according to the current vehicle position, the rear opening position, the front opening position and the road event position in sequence;

and if the second road congestion condition does not exist, executing the step of directly generating the rescue driving path according to the current vehicle position and the road event position in sequence.

By adopting the technical scheme, whether a second road congestion condition exists behind the road event position or not is determined, if yes, the opening position of the partition belt which is not in the second road congestion condition behind the road event position and has the smallest distance to the road event position is obtained and serves as a rear opening position, then the front opening position is obtained, a rescue driving path is generated according to the current vehicle position, the rear opening position, the front opening position and the road event position, and the rescue efficiency can be further improved.

Preferably, the method further comprises the following steps:

acquiring current time information;

determining whether it is currently at night based on the time information;

if so, acquiring the current brightness detected by the brightness detector;

judging whether the current brightness is greater than or equal to a brightness threshold value;

if yes, acquiring a light-on instruction;

and controlling a laser emitter positioned on the lifting guardrail to emit light based on the light-on instruction so as to enable a light guide hose positioned on the lifting guardrail to emit light.

By adopting the technical scheme, whether the guardrail is positioned at night or not is determined according to the time information, the current brightness is obtained if the guardrail is positioned at night, and when the current brightness is larger than or equal to the brightness threshold value, the light-on instruction is obtained to control the laser emitter on the lifting guardrail to emit light, so that the hose of the catheter emits light, and the functions of indicating and warning can be achieved.

Preferably, after determining that the night is currently in, the method further comprises:

when a road event occurs on the intelligent road and the rescue driving path needs to pass through the opening of the target separation belt, the light color of the laser emitter is controlled to be changed so as to adjust the light emitting color of the light guide hose.

Through adopting above-mentioned technical scheme, through the light colour that changes laser emitter, can further carry out road guide to the rescue vehicle to can improve the accuracy of the in-process of traveling.

The second aspect, the application provides a management system of wisdom highway central authorities division strip open guardrail, adopts following technical scheme:

the utility model provides a management system of wisdom highway central authorities division area open guardrail, includes server and over-and-under type guardrail, the server includes:

the intelligent highway comprises a first information acquisition module, a second information acquisition module and a control module, wherein the first information acquisition module is used for acquiring highway information and road event information of the intelligent highway when a road event occurs on the intelligent highway, the intelligent highway is provided with a first lane and a second lane opposite to the first lane, a central separator is arranged between the first lane and the second lane, the central separator is provided with a plurality of separator openings, each separator opening is provided with a lifting guardrail, and the highway information comprises the opening positions of the separators of all the separator openings and the corresponding lifting guardrails; the road event information includes a road event location;

the second information acquisition module is used for acquiring rescue vehicle information for road rescue according to the road event information, wherein the rescue vehicle information comprises the current vehicle position of a rescue vehicle;

a path generation module for generating a rescue driving path of the rescue vehicle based on the road information, the road event location and the current vehicle location;

and the guardrail control module is used for controlling the lifting type guardrail at the opening of the target division belt to be opened when the rescue driving path needs to pass through the opening of the target division belt.

By adopting the technical scheme, according to information transmission among the modules, when a traffic accident occurs on the intelligent highway, highway information and road event information of the intelligent highway are obtained, wherein the highway information comprises the opening positions of the dividing strips of all the dividing strip openings and the corresponding lifting type guardrails, and the road event information comprises the road time position. And then, acquiring rescue vehicle information for road rescue according to the road event information, wherein the rescue vehicle information comprises the current vehicle position of the rescue vehicle. And then, generating a rescue driving path of the rescue vehicle according to the road information, the road event information and the current vehicle position, and controlling the lifting type guardrail at the corresponding opening of the target division belt to be opened when the rescue driving path needs to pass through the opening of the target division belt, so that the rescue vehicle can pass through in time. Therefore, through the mode, the guardrail is not required to be dismantled manually, and labor and time cost can be effectively reduced.

In summary, the present application includes at least one of the following beneficial technical effects:

1. when a traffic accident occurs on the intelligent road, road information and road event information of the intelligent road are obtained. And then acquiring rescue vehicle information for road rescue according to the road event information. And then, generating a rescue driving path of the rescue vehicle according to the road information, the road event information and the current vehicle position, and controlling the lifting type guardrail at the corresponding opening of the target division belt to be opened when the rescue driving path needs to pass through the opening of the target division belt, so that the rescue vehicle can pass through in time. Therefore, through the mode, the guardrail is not required to be dismantled manually, and labor and time cost can be effectively reduced.

2. Determining whether the rescue vehicle and the road event are positioned in the first lane or the second lane at the same time according to the current vehicle position, so that whether a target division belt opening exists in the rescue driving path can be determined, the rescue driving path can be generated according to different conditions, and the accuracy of generating the rescue driving path can be improved;

3. whether the first distance is smaller than or equal to the preset safety distance or not is judged, whether the danger coefficient of the rescue vehicle driving in the reverse direction from the first separation belt opening is too high or not can be determined, and therefore the first separation belt opening or the second separation belt opening can be selected to be used as one part of a rescue driving path according to the judgment result, and the safety of the driving path in the rescue process can be improved.

Drawings

FIG. 1 is a block diagram of a management system for an intelligent road center divider with an opening guardrail according to an embodiment of the present disclosure

FIG. 2 is a schematic flow chart illustrating a method for managing an intelligent road center divider guardrail according to an embodiment of the present disclosure;

FIG. 3 is a schematic flowchart of steps S11 to S15 according to an embodiment of the present application;

FIG. 4 is a schematic flow chart of steps S21 to S26 according to an embodiment of the present application;

FIG. 5 is a schematic flow chart of steps S31 to S33 according to an embodiment of the present application;

FIG. 6 is a schematic flow chart of steps S41 to S43 in one embodiment of the present application;

FIG. 7 is a schematic flowchart illustrating steps S51 to S56 according to an embodiment of the present application;

FIG. 8 is a schematic flow chart of steps S61 to S65 according to an embodiment of the present application;

fig. 9 is a schematic flowchart of steps S71 to S76 in an embodiment of the present application.

Description of the reference numerals:

1. a first information acquisition module; 2. a second information acquisition module; 3. a path generation module; 4. guardrail control module.

Detailed Description

The present application is described in further detail below with reference to figures 1 to 9.

The embodiment of the application also discloses a management system of the intelligent highway central separation zone opening guardrail.

Referring to fig. 1, the management system of the intelligent highway central separator open barrier includes: server and over-and-under type guardrail, the server includes:

the intelligent road information acquisition system comprises a first information acquisition module 1, a second information acquisition module and a control module, wherein the first information acquisition module is used for acquiring road information and road event information of an intelligent road when the intelligent road has a road event;

the second information acquisition module 2 is used for acquiring rescue vehicle information for road rescue according to the road event information;

the path generating module 3 is used for generating a rescue driving path of a rescue vehicle based on the road information, the road event position and the current vehicle position;

and the guardrail control module 4 is used for controlling the lifting type guardrail at the opening of the target division belt to be opened when the opening of the target division belt needs to be passed through in the rescue driving path.

The server can receive and send related control information and control the opening or closing of the lifting guardrail. Specifically, the server includes a first information acquisition module 1, a second information acquisition module 2, a path generation module 3, and a guardrail control module 4.

When a road event occurs on the intelligent road, the first information acquisition module 1 acquires road information and road event information of the intelligent road and sends the road information and the road event information to the second information acquisition module 2 and the path generation module 3 which are connected with the first information acquisition module. The intelligent road is provided with a first lane and a second lane opposite to the first lane, a central separator is arranged between the first lane and the second lane, a plurality of separator openings are formed in the central separator, lifting type guardrails are arranged at the positions of the separator openings of each separator, and road information comprises the positions of the separator openings of all the separator openings and the corresponding lifting type guardrails; the road event information includes a road event location.

And then the second information acquisition module 2 acquires rescue vehicle information for road rescue according to the road event information and sends the rescue vehicle information to the path generation module 3 connected with the second information acquisition module, wherein the rescue vehicle information comprises the current vehicle position of the rescue vehicle.

Then, the route generation module 3 generates a rescue driving route of the rescue vehicle according to the road information, the road event information and the current vehicle position, and sends the rescue driving route to the guardrail control module 4. And finally, when a target division belt opening needing to pass through exists in the rescue driving path, the guardrail control module 4 controls the lifting type guardrail at the target division belt opening to be opened.

Therefore, through the mode, the guardrail does not need to be manually dismantled, and labor and time cost can be effectively reduced.

Wherein, over-and-under type guardrail is including setting up the mounting bracket in division strip opening both ends respectively, and the top fixedly connected with millimeter wave radar or laser radar of mounting bracket is used for detecting the vehicle. And a plurality of light guide hoses are connected between the two mounting frames in a sliding manner, the guide hoses are parallel to the ground, sliding blocks are mounted at two ends of each guide hose, and the sliding blocks are connected with the mounting frames in a sliding manner along the length direction of the mounting frames.

Simultaneously, at the median opening part, be located the opening that can hold all light guide hose under the light guide hose seted up, when the slider drove the vertical lapse of light guide hose, can accomodate all light guide hose and slider to the opening in to realize opening of over-and-under type guardrail.

The specific opening mode can be that the top and the bottom of mounting bracket all rotate and are connected with a gear, and the gear of mounting bracket bottom extends to in the opening through a connecting plate, and the connecting plate is in same straight line with the mounting bracket, and the length of connecting plate is more than or equal to the height of mounting bracket. The chain is meshed between the two gears and fixedly connected with the sliding block on the same mounting frame, the clothes motor is fixedly connected to the mounting frame, and the clothes motor is fixedly connected with one of the gears in a coaxial mode.

The rotation through servo motor drives the gear to rotate, and then drives the chain, and the chain drives the slider and makes the slider drive the light guide hose and remove, has realized opening of over-and-under type guardrail in light guide hose and slider all move to the opening promptly, when servo motor reverses, drives light guide hose and slider and rises from the opening in, has realized closing of over-and-under type guardrail promptly.

In order to guarantee the protective action of the lifting guardrail as far as possible, a connecting rod is fixedly connected between the two opposite sliding blocks, namely the connecting rod is fixed between the sliding blocks at the two ends of one light guide hose and is parallel to the light guide hose. When driving opening or closing of over-and-under type guardrail through private clothes motor, can only open the private clothes motor of one end, the other end can drive through the connecting rod, and then realizes the slip of the slider on two mounting brackets to accomodate connecting rod and light guide hose in the opening is whole.

Simultaneously, still install laser emitter on the slider, and laser emitter and sword light hose collineation, also each light guide hose all corresponds a laser emitter promptly, when laser emitter sent out light, can illuminate the light guide hose.

The embodiment of the application also discloses a management method of the intelligent road central separation zone opening guardrail, and the management method is described in detail by combining the management system.

Referring to fig. 2, the method for managing the open barriers of the intelligent road center divider includes:

s1, when a road event occurs on an intelligent road, obtaining road information and road event information of the intelligent road;

s2, acquiring rescue vehicle information for road rescue according to the road event information;

s3, generating a rescue driving path of a rescue vehicle based on the road information, the road event position and the current vehicle position;

and S4, when the rescue driving path needs to pass through the target division belt opening, controlling the lifting type guardrail at the target division belt opening to be opened.

Specifically, when a road event occurs on the intelligent road, road information and road event information of the intelligent road are acquired. The intelligent road is provided with a first lane and a second lane opposite to the first lane, the first lane and the second lane are both one-way lanes, a central separator is arranged between the first lane and the second lane, the central separator is provided with a plurality of separator openings, each separator opening is provided with a lifting guardrail, and the road information comprises the positions of the separator openings of all the separator openings and the corresponding lifting guardrails; the road event information includes a road event location.

The highway information is obtained by pre-storing relevant data of a road, such as the overall route of the road, the position of a partition strip, the opening position of the partition strip and the like, by a system, and can be directly called when the road information needs to be obtained. The acquisition mode of the road event information can be obtained by shooting through the cameras on the road, each camera corresponds to a corresponding position, and the corresponding pictures shot by the cameras are acquired, so that the corresponding road event information, such as the positions of the road events, the types of the road events, such as road accidents or road blockage, and the like, can be obtained. Of course, the current road event information may be reported by GPS positioning, for example, by a roadside assistance telephone, and the position may be transmitted by a navigation system. After the information is obtained, the information can be uploaded to a server.

And then, acquiring rescue vehicle information for road rescue according to the road event information, wherein the rescue vehicle information comprises the current vehicle position of the rescue vehicle, and the acquisition mode of the current vehicle position can be acquired after the current vehicle position is positioned by a GPS navigation device on the rescue vehicle. The rescue vehicle information can also comprise information such as license plate numbers of the rescue vehicles, and the information can be manually or automatically uploaded to the server through the terminal device so as to be obtained, and the rescue vehicle information can also be uploaded to the server when the rescue vehicles are assigned to carry out rescue work.

Then, a rescue driving path of the rescue vehicle is generated according to the road information, the road event position and the current vehicle position, namely the rescue driving path is generated according to the current vehicle position, the road information and the road event position in sequence. In the process of rescuing vehicles, rescue can be carried out according to rescue driving paths. The highway information includes the positions of the openings of all the division belts and the corresponding lifting guardrails, that is, the division belt openings and the corresponding lifting guardrails which need to pass through may exist in the rescue driving path, or may not exist.

When a division belt opening and a corresponding lifting guardrail are available, it is proved that the rescue vehicle needs to change lanes to drive, for example, from a first lane to a second lane or from the second lane to the first lane, so that the lifting guardrail needs to be opened at the moment, and when the opening does not exist, the opening is not needed.

Therefore, when the rescue driving path needs to pass through the target partition belt opening, the lifting type guardrail at the target partition belt opening is controlled to be opened, namely, when the position of the target partition belt opening is determined, an opening instruction is generated, so that the private clothes motor of the corresponding lifting type guardrail is controlled to rotate, the connecting rod and the light guide hose are controlled to be completely contained in the opening, and the lifting type guardrail is opened.

Of course, in an implementation manner of this embodiment, when the rescue driving path needs to pass through the opening of the target isolation strip, and after the millimeter wave radar or the laser radar of the target isolation strip detects the rescue vehicle, an opening command may be generated to control the opening of the lifting guardrail. Of course, still further, a license plate recognition device, such as a camera, may be disposed at the lifting guardrail, and when the license plate number of the rescue vehicle is recognized and when the opening of the target partition strip is needed to pass through in the rescue driving path, an opening command is generated again to control the lifting guardrail to open.

Therefore, through the mode, the guardrail is not required to be dismantled manually, and labor and time cost can be effectively reduced. Meanwhile, the safety of guardrail opening can be improved, and traffic accidents caused by other vehicles passing through the lifting type guardrail can be prevented as much as possible.

Referring to fig. 3, in order to enable the generated rescue driving path to be more accurate, in another embodiment, the step S3 of generating the rescue driving path for the rescue vehicle based on the road information, the road event location, and the current vehicle location includes:

s11, determining a road event position and a lane where a current vehicle position is located;

s12, when the road event position and the current vehicle position are located in a first lane or a second lane at the same time, sequentially and directly generating a rescue driving path according to the current vehicle position and the road event position;

s13, when the road event position is located on a first lane and the current vehicle position is located on a second lane, or when the road event position is located on the second lane and the current vehicle position is located on the first lane, the opening positions of the division belts of all the division belt openings are obtained according to the road information;

s14, determining a target division belt opening needing to pass through according to the division belt opening position, the current vehicle position and the road event position;

and S15, generating a rescue driving path based on the current vehicle position, the target separation belt opening and the road event position in sequence.

Specifically, when the rescue driving path is generated, the road event position and the lane where the current vehicle position is located are determined in a certain manner, which can be obtained by a navigation system, and the lane where the road event position is located can also be determined by the uploaded road event information, that is, the road event information also includes the lane where the road event is located. Of course, other known location determination methods may be used to determine the lane.

If the road event position and the current vehicle position are located in the same lane, namely both the first lane or the second lane, the driving direction of the rescue vehicle and the road event are proved to be in the same direction at the moment, so that the rescue vehicle can directly go to the road event position without changing lanes at the moment.

Therefore, the rescue driving path is directly generated according to the current vehicle position and the road event position in sequence, namely the rescue driving path does not need to penetrate through the division belt opening, so that the rescue driving path can be directly generated according to the current vehicle position and the road event position, and the lifting guardrail does not need to be opened.

And when the road event position is located on the first lane and the current vehicle position is located on the second lane, or when the road event position is located on the second lane and the current vehicle position is located on the first lane, because the distance between the openings of the two adjacent division belts is long, in order to save time and improve rescue efficiency, the opening positions of the division belts of all the division belt openings are obtained according to the road information.

Then, a target separator opening which needs to be passed is determined according to the position of the separator opening, the current vehicle position and the road event position, that is, a proper position is selected at all the positions of the separator openings to be used as the target separator opening, and of course, the selection mode can be selected according to actual conditions.

And then, generating a rescue driving path based on the current vehicle position, the target division belt opening and the road event position in sequence, so that the rescue vehicle can drive to the road event position from the current vehicle position after passing through the target division belt opening, and further road rescue can be conveniently carried out.

By the method, the rescue driving path is selectively produced according to the lane of the road event position and the current vehicle position, unnecessary time waste can be reduced, the speed of road rescue is increased, and the accuracy of generation of the rescue driving path can be increased.

Referring to fig. 4, in order to better select a suitable target division bar opening, in another embodiment, a target division bar opening needing to be passed is determined according to a division bar opening position, a current vehicle position and a road event position, and a rescue driving path is generated based on the current vehicle position, the target division bar opening and the road event position in sequence, and the method comprises the following steps:

s21, acquiring a first separation belt opening located in front of the road event position and a second separation belt opening located behind the road event position;

s22, acquiring the distance between the road event position and the opening of the first separation zone as a first distance;

s23, acquiring the distance between the road event position and the opening of the second separation belt as a second distance;

s24, determining the size relation between the first distance and the second distance;

s25, when the first distance is larger than or equal to the second distance, generating a rescue driving path based on the current vehicle position, the second partition belt opening and the road event position in sequence;

and S26, when the first distance is smaller than the second distance, generating a rescue driving path based on the current vehicle position, the first separation zone opening and the road event position in sequence.

Specifically, first, a first division belt opening located in front of the road event position and a second division belt opening located behind the road event position are acquired according to all the division belt opening positions and the road event position. After the road event position is determined, the specific position of the road event on the whole intelligent road can be determined, so that the position relation between the road event position and the opening positions of all the division belts can be determined, namely, the opening positions of the division belts in the front and back directions of the road event position can be determined through the road information, and the corresponding division belt openings can be determined.

Then, the distance between the road event position and the first separation zone opening is obtained as the first distance, and the distance between the road event position and the second separation zone opening is obtained as the second distance, and the obtaining mode can be obtained after the measurement by the navigation system, and of course, the obtaining mode can also be obtained through other modes, for example, after the photograph shooting and the calculation by the image algorithm.

A magnitude relationship between the first distance and the second distance is then determined to determine which of the separator openings the road event location is closer to. If the first distance is smaller than the second distance, the fact that the road event position is closer to the first separation zone opening is proved, and therefore in order to reach the scene faster, a rescue driving path is generated according to the current vehicle position, the first separation zone opening and the road event position in sequence.

If the first distance is larger than or equal to the second distance, the rescue vehicle moves from the opening of the separation zone to the lane where the road event is located, reverse driving is conducted at the moment, in order to guarantee safety in the road driving process as far as possible, a rescue driving path is generated according to the current vehicle position, the opening of the second separation zone and the position of the road event sequentially at the moment, reverse driving of the rescue vehicle can be reduced as far as possible, and therefore safety in the road rescue process is improved.

Referring to fig. 5, in order to further improve safety of driving during roadside assistance, in another embodiment, before generating a rescue driving path based on a current vehicle position, a first division belt opening, and a road event position in sequence, the method further includes:

s31, judging whether the first distance is smaller than or equal to a preset safety distance;

s32, if not, generating a rescue driving path based on the current vehicle position, the second partition belt opening and the road event position in sequence;

and S33, if yes, executing the step of generating a rescue driving path based on the current vehicle position, the first separation zone opening and the road event position in sequence.

Specifically, before generating the rescue driving path based on the current vehicle position, the first partitioning band opening, and the road event position in this order, it is determined whether the first distance is less than or equal to a preset safe distance, that is, even in the case where the first distance is less than the second distance, it is also necessary to determine whether the distance over which the rescue vehicle travels in reverse is excessively large, that is, less than or equal to the preset safe distance. The preset safety distance can be set according to actual conditions, for example, according to the number of vehicles in a lane, if the number of vehicles is too many, the preset safety distance can be reduced, and if the number of vehicles in the lane is less, the preset safety distance can be properly increased.

If the first distance is greater than the preset safety distance, the backward running distance of the rescue vehicle is far, so that the running safety is considered at the moment, even if the first distance is smaller than the second distance, the rescue running path is still generated according to the current vehicle position, the second separation belt opening and the road event position in sequence at the moment, the vehicle enters the lane where the road event is located from the second separation belt opening, and the running safety can be improved.

If the first distance is smaller than or equal to the preset safety distance, the fact that the distance for the rescue vehicle to enter the lane where the road event is located in the reverse direction is acceptable is proved, the danger is low, and therefore the subsequent steps are continuously executed at the moment, namely the rescue driving path is generated sequentially based on the current vehicle position, the first separation zone opening and the road event position, so that the rescue vehicle enters the lane where the road event is located from the first separation zone opening, road rescue is conveniently and timely carried out, and the rescue efficiency is improved.

Referring to fig. 6, in order to enable faster roadside assistance in consideration of a situation where a road accident may cause road congestion, in another embodiment, before generating a rescue travel path based on a current vehicle position, a second division belt opening, and a road event position in sequence, the method further includes:

s41, judging whether a first road congestion condition exists behind a lane where the road event position is located or not based on the road event information;

s42, if a first road congestion condition exists, generating a rescue driving path based on the current vehicle position, the first separation zone opening and the road event position in sequence;

s43, if the first road congestion condition does not exist, the step of generating a rescue driving path based on the current vehicle position, the second partition belt opening and the road event position in sequence is executed.

Specifically, when the first distance is greater than or equal to the second distance and before the rescue driving path is generated based on the current vehicle position, the second separation zone opening and the road event position in sequence, whether a first road congestion condition exists behind the lane where the road event position is located is judged based on the road event information, and the obtaining mode can be obtained after shooting through a camera arranged on the road, for example, when a plurality of vehicles are included in a shot picture and the positions of the vehicles do not move, the traffic congestion is proved. Of course, it may also be obtained after monitoring by the navigation system. Of course, the signal can be obtained after monitoring in other ways. The first road congestion condition refers to a congestion condition that the rescue vehicle cannot pass through the second separation belt opening.

If the first road congestion condition does not exist, the fact that the rescue vehicle behind the road event can normally pass is proved, therefore, the rescue driving path does not need to be adjusted, the next operation can be directly carried out, namely, the step of generating the rescue driving path based on the current vehicle position, the second partition belt opening and the road event position in sequence is carried out, and therefore the safety of road rescue driving can be guaranteed as far as possible.

If the first road jam condition exists, it is proved that the rescue vehicle behind the road event is not easy to pass through at the moment, so that the rescue driving path is directly generated on the basis of the current vehicle position, the first separation zone opening and the road event position in sequence without passing through the second separation zone opening, the rescue vehicle still passes through the first separation zone opening under the condition that the first distance is larger than or equal to the second distance, and then the road rescue work is implemented, so that the rescue speed can be improved as much as possible.

Referring to fig. 7, in order to improve the accuracy of the road congestion determination, in another embodiment, the step S41 of determining whether a first road congestion condition exists behind the lane where the road event position is located based on the road event information includes:

s51, acquiring a road congestion condition behind a lane where a road event position is located based on the road event information;

s52, if the road congestion condition exists, acquiring a position, closest to the road event position, of the road congestion condition as a congestion starting position;

s53, acquiring an area between a congestion starting position and a road event position as a normal area;

s54, judging whether the second separation belt opening is positioned in a normal area or not;

s55, if yes, determining that the congestion condition of the first road does not exist;

and S56, if not, determining that the first road congestion condition exists.

Specifically, the specific way of determining whether the first road congestion condition exists may be: the road congestion condition behind the lane where the road event position is located is obtained according to the road event information, the obtaining mode can be obtained after shooting through a camera on the roadside or a division belt, and if the position of a vehicle in a shot image does not move, the road congestion condition is proved to exist.

When a road congestion condition exists, acquiring a position of the road congestion condition, which is closest to a road event position, as a congestion starting position, wherein the acquisition mode can still be determined in a camera shooting mode, and then acquiring an area between the congestion starting position and the road event position as a normal area, wherein the normal area refers to an area between the congestion starting position and the road event position and is free of other vehicles, and certainly also refers to an area through which rescue vehicles can pass.

Then, whether the second separating belt opening is located in the normal area is judged, that is, whether the second separating belt opening exists in the normal area in the shot image is determined through an image recognition algorithm. If the second division belt opening is located in the normal area, the fact that the rescue vehicle can pass through the second division belt opening is proved, and the fact that the first road congestion condition does not exist at the moment is indicated. If the second division belt opening is not in the silent normal area, the rescue vehicle is proved to be incapable of performing road driving conversion through the second division belt opening at the moment, so that the condition that the first road is congested is shown at the moment.

Furthermore, the accuracy of judging whether the road is congested or not can be improved as much as possible by the mode, whether the second separation belt opening can pass through the rescue vehicle or not can be further determined, and the rescue efficiency can be improved as much as possible.

Referring to fig. 8, when the current vehicle position and the road event position are both on the same road, the rescue vehicle may not directly move to the road event position on the same road for rescue due to road congestion, and therefore, a path needs to be re-planned, so in another embodiment, before directly generating a rescue driving path according to the current vehicle position and the road event position in turn, the method further includes:

s61, judging whether a second road congestion condition exists behind a lane where the road event position is located or not based on the road event information;

s62, if a second road jam condition exists, acquiring a position of a division belt opening which is not in the second road jam condition behind the road event position and has the smallest distance to the road event position as a rear opening position;

s63, acquiring an opening position of a division strip in front of the road event position and with the minimum distance from the road event position as a front opening position;

s64, generating a rescue driving path according to the current vehicle position, the rear opening position, the front opening position and the road event position in sequence;

and S65, if the second road congestion condition does not exist, executing the step of directly generating a rescue driving path according to the current vehicle position and the road event position in sequence.

Specifically, it is first determined whether or not a second road congestion condition exists behind a lane where a road event location is located, based on the road event information, in the same manner as the determination of whether or not the first road congestion condition exists. Therefore, whether the rescue vehicle can directly carry out road rescue can be judged. The second road congestion condition is the road congestion condition when the rescue vehicle cannot directly reach the position of the road event behind the same lane as the road event.

If the second road congestion condition does not exist, the running path does not need to be adjusted, so the step of directly generating the rescue running path according to the current vehicle position and the road event position in turn can be continuously executed.

If a second road jam condition exists, at the moment, in order to carry out road rescue in time, a lane needs to be changed, and therefore, at the moment, the position of the opening of the partition belt, which is not in the second road jam condition and has the minimum distance from the road event position, behind the road event position is obtained and used as the position of the rear opening. The jam length of the second road jam condition is obtained, the obtaining mode can be obtained after monitoring through a navigation system, the position of the tail end of the second jam condition is determined, and then the position of the minimum tail end away from the position of the road event is determined, namely the opening position of the separation zone with the minimum distance from the position of the road event is determined, so that the rescue vehicle can conveniently enter the opposite lane from the rear opening position.

Then, the opening position of the division belt which is in front of the road event position and has the smallest distance to the road event position is obtained and used as the front opening position, and after the road event position is determined, the closest division belt opening in front of the road event can be determined according to the road event position, so that the front opening position can be determined. After the rescue vehicle runs in the opposite lane, the rescue vehicle can enter the lane where the road event is located again through the front opening position, so that the speed of the rescue vehicle moving to the road event position can be increased as much as possible.

And finally, generating a rescue driving path according to the current vehicle position, the rear opening position, the front opening position and the road event position in sequence, so that the rescue vehicle can move according to the current vehicle position, the rear opening position, the front opening position and the road event position in sequence, and the timeliness of rescue is ensured as much as possible.

Referring to fig. 9, in order to improve safety of the rescue vehicle in driving at night, in another embodiment, the management method further includes:

s71, acquiring current time information;

s72, determining whether the mobile terminal is at night or not based on the time information;

s73, if yes, obtaining the current brightness detected by the brightness detector;

s74, judging whether the current brightness is larger than or equal to a brightness threshold value;

s75, if yes, acquiring a light-on instruction;

and S76, controlling a laser emitter on the lifting guardrail to emit light based on the light-on instruction so as to enable a light guide hose on the lifting guardrail to emit light.

Specifically, the current time information is acquired during the road rescue driving process, and may be acquired after being timed by a timer or other time recording software. Then, whether the current time is at night is determined according to the current time information, of course, the night can be planned according to actual requirements, for example, the night is determined according to different times of different regions, for example, the night is determined to be six o 'clock in the afternoon to five o' clock in the next morning.

If the night is not in place, the visibility at the moment is proved to be normal, and the indication of light is not needed. And if the laser emitter is in the night, acquiring the current brightness detected by the brightness detector at the moment, and judging whether the current brightness is greater than or equal to a brightness threshold value or not so as to determine whether the laser emitter needs to be switched on or not.

If the current brightness is smaller than the brightness threshold value, it is proved that the vehicles do not pass through at the moment with high probability, so that the laser transmitter does not need to be switched on at the moment, and the electricity can be saved. If present luminance is greater than or equal to the luminance threshold value, acquires the instruction of turning on the light this moment to it is luminous to control laser emitter switch-on according to the instruction of turning on the light, thereby makes the light guide hose luminous through the light guide hose to make laser, thereby can guide the rescue vehicle of traveling.

Of course, in an implementation manner of this embodiment, the laser emitters that emit light here may also be set as the laser emitters on the lifting guardrail corresponding to the division strip opening in the rescue driving path, that is, not all the laser emitters on the lifting guardrail are turned on when the current brightness is greater than the brightness threshold. Therefore, the electricity can be saved as much as possible while the light guide is carried out.

Further, in an implementation manner of this embodiment, after determining that the current night is, further include: when a road event occurs on the intelligent road and the rescue driving path needs to pass through the opening of the target separation belt, the light color of the laser emitter is controlled to change so as to adjust the light emitting color of the light guide hose.

That is, laser emitter can set up different light colour, takes place the road incident when wisdom highway, and when the rescue was gone and need pass through the target median opening in the route, can control the laser emitter switch-on of different colours, and then makes laser emitter's colour change to can adjust the luminous colour of light guide hose, can be better guide rescue vehicle, improve the security of traveling.

The implementation principle of the management method for the intelligent road central separation zone open guardrail in the embodiment of the application is as follows: when a traffic accident occurs on the intelligent road, road information and road event information of the intelligent road are obtained, wherein the road information comprises the opening positions of the dividing strips with all the opening positions of the dividing strips and the corresponding lifting type guardrails, and the road event information comprises road time positions. The intelligent highway is provided with a first lane and a second lane opposite to the first lane, a central separation strip is arranged between the first lane and the second lane, a plurality of separation strip openings are formed in the central separation strip, and lifting type guardrails are arranged at the positions of the separation strip openings. And then, acquiring rescue vehicle information for road rescue according to the road event information, wherein the rescue vehicle information comprises the current vehicle position of the rescue vehicle. And then, generating a rescue driving path of the rescue vehicle according to the road information, the road event information and the current vehicle position, and controlling the lifting type guardrail at the corresponding opening of the target division belt to be opened when the rescue driving path needs to pass through the opening of the target division belt, so that the rescue vehicle can pass through in time. Therefore, through the mode, the guardrail is not required to be dismantled manually, and labor and time cost can be effectively reduced.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: equivalent changes in structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (7)

1. A management method of an intelligent road central separation zone open guardrail is characterized by being applied to a management system of the intelligent road central separation zone open guardrail, wherein the management system comprises a server and a lifting guardrail, and the management method comprises the following steps:

when a road event occurs on the intelligent road, acquiring road information and road event information of the intelligent road, wherein the intelligent road is provided with a first lane and a second lane opposite to the first lane, a central separator is arranged between the first lane and the second lane, the central separator is provided with a plurality of separator openings, each separator opening is provided with a lifting guardrail, and the road information comprises the positions of the separator openings of all the separator openings and the corresponding lifting guardrails; the road event information includes a road event location;

acquiring rescue vehicle information for road rescue according to the road event information, wherein the rescue vehicle information comprises the current vehicle position of a rescue vehicle;

generating a rescue travel path for the rescue vehicle based on the road information, the road event location, and the current vehicle location;

when the rescue driving path needs to pass through a target division belt opening, controlling a lifting guardrail at the target division belt opening to be opened;

the generating of the rescue driving path of the rescue vehicle based on the road information, the road event location and the current vehicle location comprises:

determining a lane in which the road event location and the current vehicle location are located;

when the road event position and the current vehicle position are located in the first lane or the second lane at the same time, the rescue driving path is directly generated according to the current vehicle position and the road event position in sequence;

when the road event position is located in the first lane and the current vehicle position is located in the second lane, or when the road event position is located in the second lane and the current vehicle position is located in the first lane, obtaining the opening positions of the separation belts of all the separation belt openings according to the road information;

determining a target separator opening which needs to pass through according to the position of the separator opening, the current vehicle position and the road event position;

generating the rescue run path based on the current vehicle position, the target separator opening, and the road event location in sequence;

the determining a target division belt opening needing to pass through according to the division belt opening position, the current vehicle position and the road event position, and generating the rescue driving path based on the current vehicle position, the target division belt opening and the road event position in sequence comprises the following steps:

obtaining a first separation zone opening located in front of the road event location and a second separation zone opening located behind the road event location;

acquiring a distance between the road event location and the first dividing belt opening as a first distance;

obtaining a distance between the road event location and the second divider strip opening as a second distance;

determining the magnitude relation between the first distance and the second distance;

when the first distance is greater than or equal to the second distance, then generating the rescue travel path based on the current vehicle position, the second division belt opening, and the road event position in sequence;

when the first distance is less than the second distance, generating the rescue driving path based on the current vehicle position, the first separation zone opening and the road event position in sequence;

prior to the generating the rescue travel path based on the current vehicle position, the first split zone opening, and the road event position in this order, further comprising:

judging whether the first distance is smaller than or equal to a preset safety distance;

if not, generating the rescue driving path based on the current vehicle position, the second partition belt opening and the road event position in sequence;

if so, executing the step of generating the rescue driving path based on the current vehicle position, the first separation zone opening and the road event position in sequence.

2. The management method according to claim 1, characterized by further comprising, before said generating the rescue travel path based on the current vehicle position, the second division belt opening, and the road event position in this order:

judging whether a first road congestion condition exists behind a lane where the road event position is located or not based on the road event information;

if the first road congestion condition exists, generating the rescue driving path based on the current vehicle position, the first separation zone opening and the road event position in sequence;

and if the first road congestion condition does not exist, executing the step of generating the rescue driving path based on the current vehicle position, the second partition belt opening and the road event position in sequence.

3. The method for managing according to claim 2, wherein the determining whether there is a first road congestion condition behind a lane in which the road event location is located based on the road event information includes:

acquiring a road congestion condition behind a lane where the road event position is located based on the road event information;

if the road congestion condition exists, acquiring a position of the road congestion condition, which is closest to the road event position, as a congestion starting position;

acquiring an area between the congestion starting position and the road event position as a normal area;

judging whether the second separation belt opening is positioned in the normal area or not;

if so, determining that the first road congestion condition does not exist;

and if not, determining that the first road congestion condition exists.

4. The management method according to claim 1, further comprising, before the directly generating the rescue travel path in turn from the current vehicle position and the road event position:

judging whether a second road congestion condition exists behind the lane where the road event position is located or not based on the road event information;

if the second road congestion condition exists, acquiring the opening position of the division belt which is not in the second road congestion condition behind the road event position and has the minimum distance to the road event position as a rear opening position;

acquiring the opening position of the division strip in front of the road event position and with the minimum distance from the road event position as a front opening position;

generating the rescue driving path according to the current vehicle position, the rear opening position, the front opening position and the road event position in sequence;

and if the second road congestion condition does not exist, executing the step of directly generating the rescue driving path according to the current vehicle position and the road event position in sequence.

5. The method for managing according to claim 1, further comprising:

acquiring current time information;

determining whether it is currently at night based on the time information;

if so, acquiring the current brightness detected by the brightness detector;

judging whether the current brightness is greater than or equal to a brightness threshold value;

if yes, acquiring a light-on instruction;

and controlling a laser emitter positioned on the lifting guardrail to emit light based on the light-on instruction so as to enable a light guide hose positioned on the lifting guardrail to emit light.

6. The management method according to claim 5, further comprising, after determining that it is currently at night:

when a road event occurs on the intelligent road and a target separation belt opening needs to pass through in the rescue driving path, the light color of the laser emitter is controlled to be changed so as to adjust the light emitting color of the light guide hose.

7. The utility model provides a management system of wisdom highway central authorities division area open guardrail which characterized in that, includes server and over-and-under type guardrail, the server includes:

the intelligent road system comprises a first information acquisition module (1) and a second information acquisition module, wherein the first information acquisition module is used for acquiring road information and road event information of the intelligent road when a road event occurs on the intelligent road, the intelligent road is provided with a first lane and a second lane opposite to the first lane, a central separator is arranged between the first lane and the second lane, the central separator is provided with a plurality of separator openings, each separator opening is provided with a lifting guardrail, and the road information comprises the positions of the separator openings of all the separator openings and the corresponding lifting guardrails; the road event information includes a road event location;

the second information acquisition module (2) is used for acquiring rescue vehicle information for road rescue according to the road event information, wherein the rescue vehicle information comprises the current vehicle position of a rescue vehicle;

a path generation module (3) for generating a rescue driving path of the rescue vehicle based on the road information, the road event location and the current vehicle location;

the guardrail control module (4) is used for controlling the lifting guardrail at the opening of the target division belt to be opened when the rescue travelling path needs to pass through the opening of the target division belt;

the generating a rescue travel path for the rescue vehicle based on the road information, the road event location, and the current vehicle location includes:

determining a lane in which the road event location and the current vehicle location are located;

when the road event position and the current vehicle position are located in the first lane or the second lane at the same time, the rescue driving path is directly generated according to the current vehicle position and the road event position in sequence;

when the road event position is located in the first lane and the current vehicle position is located in the second lane, or when the road event position is located in the second lane and the current vehicle position is located in the first lane, obtaining the opening positions of the division belts of all the division belt openings according to the road information;

determining a target division belt opening needing to pass through according to the division belt opening position, the current vehicle position and the road event position;

generating the rescue run path based on the current vehicle position, the target division strip opening, and the road event position in sequence;

the determining a target division belt opening needing to pass through according to the division belt opening position, the current vehicle position and the road event position, and sequentially generating the rescue driving path based on the current vehicle position, the target division belt opening and the road event position comprises the following steps:

obtaining a first separation zone opening located in front of the road event location and a second separation zone opening located behind the road event location;

acquiring a distance between the road event position and the first separation zone opening as a first distance;

obtaining a distance between the road event location and the second dividing belt opening as a second distance;

determining the magnitude relation of the first distance and the second distance;

when the first distance is greater than or equal to the second distance, then generating the rescue travel path based on the current vehicle position, the second stopband opening, and the road event position in sequence;

when the first distance is less than the second distance, generating the rescue driving path based on the current vehicle position, the first separation zone opening and the road event position in sequence;

prior to said generating said rescue run path based on said current vehicle position, said first zoned opening, and said road event location in that order, further comprising:

judging whether the first distance is smaller than or equal to a preset safety distance;

if not, generating the rescue driving path based on the current vehicle position, the second partition belt opening and the road event position in sequence;

if so, executing the step of generating the rescue driving path based on the current vehicle position, the first separation zone opening and the road event position in sequence.

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