CN116978198A - Tunnel safety early warning method, related equipment and computer readable storage medium - Google Patents

Tunnel safety early warning method, related equipment and computer readable storage medium Download PDF

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Publication number
CN116978198A
CN116978198A CN202211043422.8A CN202211043422A CN116978198A CN 116978198 A CN116978198 A CN 116978198A CN 202211043422 A CN202211043422 A CN 202211043422A CN 116978198 A CN116978198 A CN 116978198A
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CN
China
Prior art keywords
tunnel
traffic
data
environment data
road
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CN202211043422.8A
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Chinese (zh)
Inventor
颜培州
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Beijing Dongtuzhengchuang Technology Co ltd
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Beijing Dongtuzhengchuang Technology Co ltd
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Priority to CN202211043422.8A priority Critical patent/CN116978198A/en
Publication of CN116978198A publication Critical patent/CN116978198A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/24—Reminder alarms, e.g. anti-loss alarms
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
    • A62C3/0221—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires for tunnels
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C37/00—Control of fire-fighting equipment
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route

Abstract

The embodiment of the application discloses a tunnel security early warning method, related equipment and a computer readable storage medium, wherein the method can comprise the following steps: receiving tunnel monitoring data acquired by a tunnel monitoring system through a sensor, wherein the tunnel monitoring data comprises tunnel traffic data and tunnel environment data; wherein the tunnel traffic data is indicative of traffic conditions within the tunnel; the tunnel environment data is indicative of an environmental condition within the tunnel; and executing first processing according to the tunnel traffic data and the tunnel environment data. By implementing the method and the device, potential safety hazards of vehicle running in the tunnel can be effectively reduced.

Description

Tunnel safety early warning method, related equipment and computer readable storage medium
Technical Field
The present application relates to the field of tunnel security technologies, and in particular, to a tunnel security early warning method, related devices, and a computer readable storage medium.
Background
The existing tunnel monitoring system can detect vehicle operation data in a tunnel. And analyzing the data through an event analysis system, and identifying various event data such as vehicle stopping violations, congestion, reverse running, pedestrians and the like. If accidents such as illegal running of vehicles, fire and the like occur, a corresponding processing method cannot be provided, and the potential safety hazard of running of vehicles in the tunnel is increased.
Disclosure of Invention
The embodiment of the application provides a tunnel safety early warning method, related equipment and a computer readable storage medium, which can effectively reduce potential safety hazards of vehicle running in a tunnel.
In a first aspect, an embodiment of the present application provides a tunnel security pre-warning method, where the method is applied to an edge server, and the method may include the following steps:
receiving tunnel monitoring data acquired by a tunnel monitoring system through a sensor, wherein the tunnel monitoring data comprises tunnel traffic data and tunnel environment data; wherein the tunnel traffic data is indicative of traffic conditions within the tunnel; the tunnel environment data is indicative of an environmental condition within the tunnel;
and executing first processing according to the tunnel traffic data and the tunnel environment data.
By implementing the embodiment of the application, the edge server can execute relevant processing based on the tunnel traffic data and the tunnel environment data so as to ensure the safety of vehicle running in the tunnel.
In one possible implementation manner, the performing a first process according to the tunnel traffic data and the tunnel environment data includes:
and outputting first prompt information to a vehicle running in the tunnel under the condition that the tunnel environment data indicates that the depth of accumulated water in the tunnel exceeds a first threshold value.
In this way, in the case where the tunnel environment data indicates that the depth of the accumulated water in the tunnel exceeds the first threshold value, a prompt message is output to the vehicle to prompt the driver to control the traveling speed.
In one possible implementation manner, a water pump is arranged in the tunnel, and a communication connection is established between the edge server and the water pump; the performing a first process according to the tunnel traffic data and the tunnel environment data includes:
and outputting second prompt information to a vehicle running in the tunnel and outputting a starting instruction aiming at the water pump to start the water pump to drain under the condition that the tunnel environment data indicate that the depth of accumulated water in the tunnel exceeds a second threshold value.
In this way, when the tunnel environment data indicates that the depth of the accumulated water in the tunnel exceeds the second threshold, a prompt message is output to the vehicle to remind the driver to control the running speed and control the vehicle to pass through the accumulated water road section as safely as possible, and at the same time, the edge server outputs a starting instruction to the water pump to drain the accumulated water road section.
In one possible implementation manner, a water pump is arranged in the tunnel, and the edge server is respectively in communication connection with the water pump and the road traffic signal controller; the performing a first process according to the tunnel traffic data and the tunnel environment data includes:
And outputting third prompt information under the condition that the tunnel environment data indicate that the depth of accumulated water in the tunnel exceeds a third threshold value, outputting a starting instruction aiming at the water pump, starting the water pump to drain water, and indicating the road traffic signal controller to set traffic signals in the direction of the tunnel to be in a no-pass state.
In one possible implementation manner, fire extinguishing equipment is arranged in the tunnel, and a communication connection is established between the edge server and the fire extinguishing equipment; the performing a first process according to the tunnel traffic data and the tunnel environment data includes:
controlling fire extinguishing equipment in the traffic accident area to extinguish fire when the tunnel traffic data indicate that traffic accidents occur in the tunnel and the tunnel environment data indicate that fire occurs in the tunnel, and determining a target planning path based on vehicle information of a target vehicle, obstacle vehicle information and a drivable area of the target vehicle, wherein the target planning path is a path with the minimum passing cost in M planning paths so that the target vehicle drives based on the target planning path; m is an integer greater than 1, and the target vehicle is any one of vehicles running in the tunnel.
In one possible implementation manner, the traffic cost corresponding to the target planned path is smaller than a target threshold.
In one possible implementation manner, the performing a first process according to the tunnel traffic data and the tunnel environment data includes:
outputting a suggested driving speed to a vehicle running in the tunnel under the condition that the tunnel traffic data indicate that traffic accidents occur in the tunnel and/or the tunnel environment data indicate that the depth of accumulated water in the tunnel exceeds a first threshold value, so that the vehicle running in the tunnel drives according to the suggested driving speed; wherein the recommended driving speed is determined based on the number of vehicles in the tunnel and a drivable area indicating an area in which the vehicles can safely travel.
In one possible implementation manner, the performing the first process further includes:
the edge server sends a traffic cooperative scheduling triggering instruction to the cloud server, and the cloud server invokes a set cooperative strategy to conduct diversion control on traffic flow in a tunnel entrance direction area or a tunnel exit direction area;
or the edge server performs self-networking with the edge server in the set tunnel entrance direction area or the tunnel exit direction area in a wireless self-networking mode, and initiates diversion control of traffic flow in the area in the network.
In one possible implementation manner, the tunnel exit direction area is associated with at least one first associated intersection, each first associated intersection is connected with at least one forward road, and the diversion control on the traffic flow in the tunnel exit direction area includes:
the road traffic signal controller is instructed to set the traffic signal of the at least one forward road to a permitted traffic state.
In a possible implementation manner, the tunnel entrance direction area is associated with at least one second associated intersection, each second associated intersection is connected with at least one exit road, and the distance from each second associated intersection to the entrance of the tunnel is smaller than a threshold value; the flow guiding control of the traffic flow in the tunnel entrance direction area comprises the following steps:
and determining at least one first lane which can reach a first exit road from a plurality of lanes included in an entry road of the tunnel, wherein the first exit road is any exit road of exit roads connected with the at least one associated intersection, outputting the first lane to vehicles on the entry road of the tunnel, and instructing a road traffic signal controller to set a traffic signal of the first exit road to a traffic permission state under the condition that the tunnel traffic data indicates that a traffic accident occurs in the tunnel and/or the tunnel environment data indicates that a fire disaster occurs in the tunnel.
In one possible implementation, the edge server and the monitoring system of the tunnel, the sensor, the water pump, the fire extinguishing device and the road traffic signal controller form a network topology structure through an AUTBUS bus.
In a second aspect, an embodiment of the present application provides an edge server, including:
the receiving unit is used for receiving tunnel monitoring data acquired by the tunnel monitoring system through the sensor, wherein the tunnel monitoring data comprise tunnel traffic data and tunnel environment data; wherein the tunnel traffic data is indicative of traffic conditions within the tunnel; the tunnel environment data is indicative of an environmental condition within the tunnel;
and the processing unit is used for executing first processing according to the tunnel traffic data and the tunnel environment data.
In a third aspect, an embodiment of the present application provides another server, including a processor, an input device, an output device, and a memory, where the processor, the input device, the output device, and the memory are connected to each other, and the memory is configured to store a computer program supporting the server to perform the method described above, where the computer program includes program instructions, and where the processor is configured to invoke the program instructions to perform the method of the first aspect described above.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of the first aspect described above.
In a fifth aspect, embodiments of the present application also provide a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of the first aspect described above.
In general, since the AUTBUS bus has the characteristics of multiple nodes, high bandwidth, high real-time and long-distance transmission, the linkage control of a tunnel monitoring system, a water pump, fire extinguishing equipment and a road traffic signal controller of an upstream and downstream associated intersection in a tunnel can be realized, and when an unexpected situation occurs in the tunnel, a processing method can be timely given out, so that the potential safety hazard of vehicle running in the tunnel can be effectively reduced.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described.
FIG. 1 is a network architecture diagram of a tunnel security processing system according to an embodiment of the present application;
Fig. 2 is a schematic view of a tunnel scene provided in an embodiment of the present application;
fig. 3a is a schematic flow chart of a tunnel security pre-warning method according to an embodiment of the present application;
FIG. 3b is a schematic diagram of a path planning according to an embodiment of the present application;
FIG. 4 is a schematic diagram of another edge server according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an edge server according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
The terms "first" and "second" and the like in the description and in the drawings are used for distinguishing between different objects or for distinguishing between different processes of the same object and not for describing a particular sequential order of objects. Furthermore, references to the terms "comprising" and "having" and any variations thereof in the description of the present application are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or apparatus. It should be noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or method of design described herein as "exemplary" or "for example" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion. In embodiments of the application, "A and/or B" means both A and B, A or B. "A, and/or B, and/or C" means any one of A, B, C, or any two of A, B, C, or A and B and C.
In order to better understand the present solution, a network architecture to which the present solution may be applied is described first, referring to fig. 1, fig. 1 is a schematic diagram of an architecture of a tunnel security processing system according to an embodiment of the present application. As shown in fig. 1, the tunnel security processing system comprises an edge server, a tunnel monitoring system, a water pump, fire extinguishing equipment, a road traffic signal controller and a barrier gate, wherein a network topology structure is formed between the edge server and the tunnel monitoring system, the water pump, the fire extinguishing equipment, the road traffic signal controller and the barrier gate through an AUTBUS bus. The AUTBUS bus is an industrial field bus which adopts a two-wire non-bridging medium and has multiple nodes, high bandwidth, high real-time and long-distance transmission. In general, the AUTBUS bus data bandwidth can reach 100Mbps, the maximum transmission distance is 500 meters, the minimum cycle period is 8 microseconds, the maximum node number is 256, the bus clock jitter is 10ns, and the bus virtualization and asymmetric encryption are supported. And the communication characteristics and the connection convenience of the system are applicable to traffic signal control scenes, and are compatible with applications such as ISO/IEC/IEEE 8802-3 Ethernet, IPv6 and the like.
Taking the tunnel security processing system shown in fig. 2 as an example, each device set in the tunnel security processing system is specifically described below:
The tunnel monitoring system can acquire tunnel monitoring data detected by the plurality of sensors, wherein the tunnel monitoring data can comprise tunnel traffic data and tunnel environment data, the tunnel traffic data indicates traffic conditions in a tunnel, and the tunnel environment data indicates environment conditions of the tunnel. Specifically, the sensor can include a camera, an electronic water gauge, an ultrasonic liquid level sensor, a vibration sensor, smoke, a combustible gas sensor, and a temperature and humidity sensor.
For example, a camera may be used to detect vehicles entering and exiting a tunnel; the system can also be used for detecting whether traffic accidents, illegal parking, foreign matter throwing, fire and other events exist in the tunnel.
Illustratively, an electronic water gauge is used for monitoring the water level in the tunnel to determine whether water accumulation exists.
Illustratively, an ultrasonic liquid level sensor is used for non-contact measurement of the height of the water level in the tunnel.
Illustratively, a vibration sensor is used for detecting vibration with abnormal frequency and amplitude inside the tunnel.
Illustratively, a smoke, combustible gas sensor for detecting the concentration of combustible gases such as carbon monoxide, methane, etc.; and also to detect the concentration of smoke resulting from the combustion of a fire.
Illustratively, the temperature and humidity sensor is used for detecting temperature and humidity.
Illustratively, the barrier gate is used for controlling the vehicle to be prohibited from driving into the tunnel.
Illustratively, a luminescent information panel is used to display relevant information such as clear, jammed, accident, prevented from driving in, etc.
Illustratively, fans are used for air circulation inside the tunnel, ensuring the discharge of combustible or harmful gases.
Illustratively, water spraying devices (also known as fire extinguishing equipment) are used for spraying water for cooling and extinguishing fires.
Illustratively, a water pump is used to drain the accumulated water in the tunnel.
Illustratively, the escape route indicator light is used for indicating the escape route and the safety exit inside the tunnel.
The road traffic signal controller can establish communication connection with the tunnel monitoring system in a wired or wireless mode and receive the tunnel monitoring data acquired by the sensor. When the tunnel monitoring data indicates that an abnormality occurs inside the tunnel, an emergency signal control scheme is started, for example, a traffic signal in the direction of entering the tunnel is set to an forbidden traffic state.
Taking a network architecture shown in fig. 1 as an example, a tunnel security early warning method disclosed in the embodiment of the application is described. Referring to fig. 3, fig. 3 is a flow chart of a tunnel security pre-warning method according to an embodiment of the present application, which may include, but is not limited to, the following steps:
Step S301, receiving tunnel monitoring data acquired by a tunnel monitoring system through a sensor, wherein the tunnel monitoring data comprise tunnel traffic data and tunnel environment data; wherein the tunnel traffic data is indicative of traffic conditions within the tunnel; the tunnel environment data is indicative of an environmental condition within the tunnel.
Step S302, executing a first process according to the tunnel traffic data and the tunnel environment data.
In one embodiment, in the case where the tunnel environment data indicates that the depth of the water accumulation in the tunnel exceeds a first threshold (e.g., the first threshold is 4 cm), a first prompt message is output to a vehicle traveling in the tunnel, for example, the edge server may control the light emitting information panel to display "tunnel water accumulation, slow down running".
In one embodiment, in the case where the tunnel environment data indicates that the depth of the water accumulation in the tunnel exceeds a second threshold (e.g., the second threshold is 10 cm), a second prompt message is output to the vehicle traveling in the tunnel, for example, the edge server controls the light emitting information panel to display "the water accumulation in the tunnel, please slow down. Meanwhile, a starting instruction aiming at the water pump can be output, and the water pump is started to drain water.
In one embodiment, in a case where the tunnel environment data indicates that the depth of the water in the tunnel exceeds a third threshold (for example, the third threshold is 15 cm), third prompt information is output, for example, the edge server controls the light emitting information panel to display "tunnel water, no drive in". Meanwhile, a starting instruction aiming at the water pump can be output, and the water pump is started to drain water. Closing the tunnel entrance barrier gate. And issuing an emergency command to the road traffic signal controller, and instructing the road traffic signal controller to set the traffic signal in the direction of entering the tunnel to be in a traffic forbidden state. Taking the road junction 2 in fig. 2 as an example, the signal lamps turning to the right in northwest, straight in east to west and left in south to west are set as red lamps.
In one embodiment, the edge server may be in communication with the weather prediction system to obtain the precipitation amount for a certain time period in the future to establish an early warning mechanism, for example, control the light-emitting information board to output a fourth prompt message to display "how much millimeter the precipitation amount is in the future 1 hour, please pay attention to driving safety".
In one embodiment, in a case where the tunnel traffic data indicates that a traffic accident occurs in the tunnel and the tunnel environment data indicates that a fire occurs in the tunnel, the fire extinguishing apparatus in the traffic accident area is controlled to extinguish the fire, and a target planned path is determined based on the vehicle information of the target vehicle, the obstacle vehicle information, and the drivable area of the target vehicle, specifically, the drivable area of the target vehicle may refer to an area where the vehicle does not collide with the obstacle vehicle while driving.
For the target vehicle, the process of determining the target planned path based on the vehicle information of the target vehicle, the obstacle vehicle information, and the drivable region of the target vehicle may include: first, at time t, the target vehicle information, the obstacle vehicle information, and the drivable region of the target vehicle are acquired, and in general, the drivable region of the target vehicle may be a rectangular region having a size of l×i with the own vehicle as the center. Then, rasterizing the drivable area of the target vehicle to obtain a raster map; then, converting the coordinates of the obstacle from the geodetic coordinate system ENU to the vehicle coordinate system according to the coordinates of the vehicle, and acquiring the occupation area of the obstacle on the grid map by combining the size of the obstacle; thus, M planned paths from the start point to the target point can be acquired based on the occupied area described above. As shown in fig. 3b, taking a square area with a size of 50m by 50m or a rectangular area with other sizes as a drivable area, and performing rasterization processing on the drivable area to obtain a raster map (as shown by a gray grid in fig. 3 b); the grid resolution is 0.25m by 0.25m, i.e. the size of each grid in the grid map is 0.25m by 0.25m. The coordinates of the obstacle (including the social vehicle and the obstacle shown in fig. 3 b) are down-converted from the ENU coordinate system to the vehicle coordinate system to obtain the relative position coordinates of the obstacle with respect to the vehicle. And then, mapping the own vehicle and the obstacle to the grid map according to the vehicle coordinate and the size and the relative position coordinate and the size of the obstacle, so as to obtain the occupation area of the vehicle and the obstacle on the grid map. In other words, after acquiring the occupation area of the obstacle in the grid map, M planned paths may be acquired based on the above occupation area. This approach reduces the dependence on sensor accuracy compared to the prior art.
After M planning paths are acquired, the passing cost corresponding to each planning path can be calculated through a cost function, wherein the cost function is constructed according to at least one of a safety item S, a comfort item C and an obstacle risk level R1; wherein the safety term S is used to characterize a lateral target offset and a longitudinal speed offset maintained between the vehicle and the obstacle; the comfort term C is used to characterize the degree of change in acceleration of the vehicle, for example, the degree of change in acceleration of the vehicle may include lateral Jerk and longitudinal Jerk; the risk level R1 of the obstacle is used to characterize the extent to which the obstacle may encroach on the drivable area of the vehicle and the obstacle may cause damage to the vehicle.
For example, the degree of loss of a vehicle by an obstacle can be divided into: slight scratches, slight deformation, dishing of the vehicle body, etc. The degree of loss of the obstacle by the vehicle is related to the category to which the obstacle belongs, for example, when the obstacle is a pedestrian, the degree of loss of the obstacle by the vehicle may include injury to the pedestrian; when the obstacle is another vehicle, the degree of loss of the obstacle by the vehicle may include slight scratches, slight deformation, vehicle body dents, and the like. It is to be understood that the above examples are intended to be illustrative only and should not be construed as limiting.
In one embodiment, the cost function may be:
G＝w1×S+w2×C+w3×R1
wherein w1, w2 and w3 are weight coefficients; s represents a security item; c represents a comfort item; r1 represents the risk level of the obstacle.
In practical application, the M planning paths can be ordered based on the passing cost corresponding to each of the M planning paths, so that an ordering result is obtained; and then, in the obtained sequencing result, determining the planning path with the minimum passing cost as a target planning path. When the target vehicle drives according to the determined target planning path, the obstacle can be effectively avoided, and the running safety and smoothness of the vehicle are ensured.
In one embodiment, after the target planned path is acquired, it may be further determined whether the traffic cost corresponding to the target planned path is less than a target threshold, where the target threshold is used to indicate an acceptable maximum traffic cost. For example, the target threshold may be determined by analyzing historical traffic data of the user (e.g., the historical traffic data may include historical car accident data). For another example, the target threshold may be set by the user according to his own needs. And under the condition that the target planning path is less than the target threshold value, driving according to the target planning path. In the case where it is determined that the target planned path is not less than (e.g., may be greater than or equal to) the target threshold value, the control vehicle is kept stationary.
In one embodiment, the recommended driving speed is output to the vehicle traveling in the tunnel to cause the vehicle traveling in the tunnel to drive according to the recommended driving speed in the event that the tunnel traffic data indicates that a traffic accident has occurred in the tunnel and/or the tunnel environmental data indicates that the depth of water in the tunnel exceeds a first threshold. Specifically, the recommended driving speed may be determined according to the number of vehicles in the tunnel and the drivable area. Wherein the drivable area indicates an area in which the vehicle can safely run.
In one embodiment, the edge server may send a traffic cooperative scheduling trigger instruction to the cloud server, and call a set cooperative policy through the cloud server to perform diversion control on traffic flow in the tunnel entrance direction area or the tunnel exit direction area;
or the edge server performs self-networking with the edge server in the set tunnel entrance direction area or the tunnel exit direction area in a wireless self-networking mode, and initiates diversion control of traffic flow in the area in the network.
Considering that the tunnel exit direction area is associated with at least one first associated intersection, each first associated intersection is connected with at least one forward road, at this time, the edge server can issue an emergency instruction to the road traffic signal controller, and instruct the road traffic signal controller to set the traffic signal of at least one forward road to a traffic permission state. As shown in the first associated intersection in fig. 2, traffic signals in the straight road direction and the right turn direction are set to the permitted traffic state. Further, the length of time that each forward road maintains the permitted traffic state may be determined by the historical traffic flow of that forward road. In this way, the occurrence of the vehicle congestion phenomenon at the first associated intersection can be avoided.
In one embodiment, the tunnel entrance direction area is associated with at least one second associated intersection, each second associated intersection being connected with at least one exit road, each second associated intersection being less than a threshold value from the tunnel entrance, and at least one first lane accessible to the first exit road is determined from a plurality of lanes comprised by the tunnel entrance road in case the tunnel traffic data indicates a traffic accident in the tunnel and/or the tunnel environment data indicates a fire in the tunnel, such that the vehicle can be driven on a first lane basis, exiting the tunnel. As shown in fig. 2 for the first lane. Meanwhile, the edge server can send an emergency instruction to the road traffic signal controller, and instruct the road traffic signal controller to set the traffic signal of the first exit road to be in a traffic permission state.
In general, since the AUTBUS bus has the characteristics of multiple nodes, high bandwidth, high real-time and long-distance transmission, the linkage control of a tunnel monitoring system, a water pump, fire extinguishing equipment and a road traffic signal controller of an upstream and downstream associated intersection in a tunnel can be realized, and when an unexpected situation occurs in the tunnel, a processing method can be timely given out, so that the potential safety hazard of vehicle running in the tunnel can be effectively reduced.
The foregoing embodiments focus on how an edge server processes based on tunnel traffic data and tunnel environment data, and the apparatus to which the present application relates is described in detail below. It should be noted that, for details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.
As shown in fig. 4, an embodiment of the present application provides an edge server 40, which may include:
a receiving unit 400, configured to receive tunnel monitoring data acquired by a tunnel monitoring system through a sensor, where the tunnel monitoring data includes tunnel traffic data and tunnel environment data; wherein the tunnel traffic data is indicative of traffic conditions within the tunnel; the tunnel environment data is indicative of an environmental condition within the tunnel;
a processing unit 402, configured to perform a first process according to the tunnel traffic data and the tunnel environment data.
In one possible implementation, the processing unit 402 is specifically configured to:
and outputting first prompt information to a vehicle running in the tunnel under the condition that the tunnel environment data indicates that the depth of accumulated water in the tunnel exceeds a first threshold value.
In one possible implementation manner, a water pump is arranged in the tunnel, and a communication connection is established between the edge server and the water pump; the processing unit 402 is specifically configured to: and outputting second prompt information to a vehicle running in the tunnel and outputting a starting instruction aiming at the water pump to start the water pump to drain under the condition that the tunnel environment data indicate that the depth of accumulated water in the tunnel exceeds a second threshold value.
In one possible implementation manner, a water pump is arranged in the tunnel, and the edge server is respectively in communication connection with the water pump and the road traffic signal controller; the processing unit 402 is specifically configured to:
and outputting third prompt information under the condition that the tunnel environment data indicate that the depth of accumulated water in the tunnel exceeds a third threshold value, outputting a starting instruction aiming at the water pump, starting the water pump to drain water, and indicating the road traffic signal controller to set traffic signals in the direction of the tunnel to be in a no-pass state.
In one possible implementation manner, fire extinguishing equipment is arranged in the tunnel, and a communication connection is established between the edge server and the fire extinguishing equipment; the processing unit 402 is specifically configured to:
controlling fire extinguishing equipment in the traffic accident area to extinguish fire when the tunnel traffic data indicate that traffic accidents occur in the tunnel and the tunnel environment data indicate that fire occurs in the tunnel, and determining a target planning path based on vehicle information of a target vehicle, obstacle vehicle information and a drivable area of the target vehicle, wherein the target planning path is a path with the minimum passing cost in M planning paths so that the target vehicle drives based on the target planning path; m is an integer greater than 1, and the target vehicle is any one of vehicles running in the tunnel; and the passing cost corresponding to the target planning path is smaller than a target threshold value.
In one possible implementation, the processing unit 402 is specifically configured to:
outputting a suggested driving speed to a vehicle running in the tunnel under the condition that the tunnel traffic data indicate that traffic accidents occur in the tunnel and/or the tunnel environment data indicate that the depth of accumulated water in the tunnel exceeds a first threshold value, so that the vehicle running in the tunnel drives according to the suggested driving speed; wherein the recommended driving speed is determined based on the number of vehicles in the tunnel and a drivable area indicating an area in which the vehicles can safely travel.
In a possible implementation manner, the processing unit 402 is further configured to:
sending a traffic cooperative scheduling triggering instruction to a cloud server, and calling a set cooperative strategy through the cloud server to conduct diversion control on traffic flow in a tunnel entrance direction area or a tunnel exit direction area;
or, by means of wireless ad hoc network, the method performs ad hoc network with an edge server in a set tunnel entrance direction area or a tunnel exit direction area, and initiates diversion control of traffic flow in the area in the network.
In a possible implementation manner, the tunnel exit direction area is associated with at least one first associated intersection, and each first associated intersection is connected with at least one forward road, and the processing unit 402 is further specifically configured to:
the road traffic signal controller is instructed to set the traffic signal of the at least one forward road to a permitted traffic state.
In a possible implementation manner, the tunnel entrance direction area is associated with at least one second associated intersection, each second associated intersection is connected with at least one exit road, and the distance from each second associated intersection to the entrance of the tunnel is smaller than a threshold value; the processing unit 402 is specifically configured to:
determining at least one first lane which can reach a first exit road from a plurality of lanes included in an entry road of the tunnel, wherein the first exit road is any exit road of exit roads connected with the at least one associated intersection, and outputting the first lane to a vehicle on the entry road of the tunnel, when the tunnel traffic data indicates that a traffic accident occurs in the tunnel and/or the tunnel environment data indicates that a fire disaster occurs in the tunnel; and instructs the road traffic signal controller to set the traffic signal of the first exit road to an allowed traffic state.
In one possible implementation, the edge server and the monitoring system of the tunnel, the sensor, the water pump, the fire extinguishing device and the road traffic signal controller form a network topology structure through an AUTBUS bus.
It should be noted that, the edge server described in the embodiment of the present application may refer to the related description of the tunnel security pre-warning method in the embodiment of the method described in fig. 3a, which is not repeated herein.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an edge server according to an embodiment of the present application. The edge server 50 includes at least one processor 501 and at least one communication module 505. Optionally, at least one memory 504 may also be included. The edge server may also include common components such as antennas, which are not described in detail herein.
The processor 501 may be a general purpose Central Processing Unit (CPU), microprocessor, application Specific Integrated Circuit (ASIC), or one or more integrated circuits for controlling the execution of the above program schemes.
A communication module 505 for communicating with other devices or communication networks.
The Memory 504 may be, but is not limited to, a read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a random access Memory (random access Memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a compact disc read-Only Memory (Compact Disc Read-Only Memory) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be stand alone and coupled to the processor via a bus. The memory may also be integrated with the processor.
Wherein the memory 504 is used for storing application program codes for executing the above schemes, and the execution is controlled by the processor 501. The processor 501 is configured to execute application code stored in the memory 504. For example, the code stored by memory 504 may perform the tunnel security precaution method provided above in fig. 3 a. Specifically, the processor 501 is configured to invoke data and program codes in the memory, and execute the tunnel security pre-warning method proposed by the present application.
It should be noted that, the functions of the edge server 50 described in the embodiment of the present application can be referred to the related description in the embodiment of the method described in fig. 3a, and are not repeated herein.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium is used for storing a computer program, and the computer program causes a control device to execute part or all of the steps of any one of the control methods described in the above method embodiments.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause an electronic device to perform part or all of the steps of any one of the convolution methods described in the method embodiments above.
It will be appreciated by those of ordinary skill in the art that the various exemplary elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
Those of skill in the art will appreciate that the functions described in connection with the various illustrative logical blocks, modules, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware, software, firmware, or any combination thereof. If implemented in software, the functions described by the various illustrative logical blocks, modules, and steps may be stored on a computer readable medium or transmitted as one or more instructions or code and executed by a hardware-based processing unit. Computer-readable media may include computer-readable storage media corresponding to tangible media, such as data storage media, or communication media including any medium that facilitates transfer of a computer program from one place to another (e.g., according to a communication protocol). In this manner, a computer-readable medium may generally correspond to (1) a non-transitory tangible computer-readable storage medium, or (2) a communication medium, such as a signal or carrier wave. Data storage media may be any available media that can be accessed by one or more computers or one or more processors to retrieve instructions, code and/or data structures for implementing the techniques described in this disclosure. The computer program product may include a computer-readable medium.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form. The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (13)

1. The tunnel safety early warning method is characterized by being applied to an edge server; the method comprises the following steps:
receiving tunnel monitoring data acquired by a tunnel monitoring system through a sensor, wherein the tunnel monitoring data comprises tunnel traffic data and tunnel environment data; wherein the tunnel traffic data is indicative of traffic conditions within the tunnel; the tunnel environment data is indicative of an environmental condition within the tunnel;
and executing first processing according to the tunnel traffic data and the tunnel environment data.
2. The method of claim 1, wherein said performing a first process based on said tunnel traffic data and said tunnel environment data comprises:
and outputting first prompt information to a vehicle running in the tunnel under the condition that the tunnel environment data indicates that the depth of accumulated water in the tunnel exceeds a first threshold value.
3. The method of claim 1, wherein a water pump is arranged in the tunnel, and a communication connection is established between the edge server and the water pump; the performing a first process according to the tunnel traffic data and the tunnel environment data includes:
And outputting second prompt information to a vehicle running in the tunnel and outputting a starting instruction aiming at the water pump to start the water pump to drain under the condition that the tunnel environment data indicate that the depth of accumulated water in the tunnel exceeds a second threshold value.
4. The method of claim 1, wherein a water pump is arranged in the tunnel, and the edge server establishes communication connection with the water pump and the road traffic signal controller respectively; the performing a first process according to the tunnel traffic data and the tunnel environment data includes:
and outputting third prompt information under the condition that the tunnel environment data indicate that the depth of accumulated water in the tunnel exceeds a third threshold value, outputting a starting instruction aiming at the water pump, starting the water pump to drain water, and indicating the road traffic signal controller to set traffic signals in the direction of the tunnel to be in a no-pass state.
5. The method of claim 1, wherein fire suppression equipment is disposed within the tunnel, and a communication connection is established between the edge server and the fire suppression equipment; the performing a first process according to the tunnel traffic data and the tunnel environment data includes:
Controlling fire extinguishing equipment in the traffic accident area to extinguish fire when the tunnel traffic data indicate that traffic accidents occur in the tunnel and the tunnel environment data indicate that fire occurs in the tunnel, and determining a target planning path based on vehicle information of a target vehicle, obstacle vehicle information and a drivable area of the target vehicle, wherein the target planning path is a path with the minimum passing cost in M planning paths so that the target vehicle drives based on the target planning path; m is an integer greater than 1, and the target vehicle is any one of vehicles running in the tunnel; and the passing cost corresponding to the target planning path is smaller than a target threshold value.
6. The method of claim 1, wherein said performing a first process based on said tunnel traffic data and said tunnel environment data comprises:
outputting a suggested driving speed to a vehicle running in the tunnel under the condition that the tunnel traffic data indicate that traffic accidents occur in the tunnel and/or the tunnel environment data indicate that the depth of accumulated water in the tunnel exceeds a first threshold value, so that the vehicle running in the tunnel drives according to the suggested driving speed; wherein the recommended driving speed is determined based on the number of vehicles in the tunnel and a drivable area indicating an area in which the vehicles can safely travel.
7. The method of claim 1, wherein the performing the first process further comprises:
the edge server sends a traffic cooperative scheduling triggering instruction to the cloud server, and the cloud server invokes a set cooperative strategy to conduct diversion control on traffic flow in a tunnel entrance direction area or a tunnel exit direction area;
or the edge server performs self-networking with the edge server in the set tunnel entrance direction area or the tunnel exit direction area in a wireless self-networking mode, and initiates diversion control of traffic flow in the area in the network.
8. The method of claim 6, wherein the tunnel exit direction area has associated therewith at least one first associated intersection, each first associated intersection having associated therewith at least one forward road, the diversion control of traffic flow within the tunnel exit direction area comprising:
the road traffic signal controller is instructed to set the traffic signal of the at least one forward road to a permitted traffic state.
9. The method of claim 6, wherein the tunnel entrance direction area is associated with at least one second associated intersection, each second associated intersection being connected with at least one exit road, each second associated intersection being less than a threshold distance from an entrance of the tunnel; the flow guiding control of the traffic flow in the tunnel entrance direction area comprises the following steps:
Determining at least one first lane which can reach a first exit road from a plurality of lanes included in an entry road of the tunnel, wherein the first exit road is any exit road of exit roads connected with the at least one associated intersection, and outputting the first lane to a vehicle on the entry road of the tunnel, when the tunnel traffic data indicates that a traffic accident occurs in the tunnel and/or the tunnel environment data indicates that a fire disaster occurs in the tunnel; and instructs the road traffic signal controller to set the traffic signal of the first exit road to an allowed traffic state.
10. The method of any of claims 1-8, wherein a network topology is formed between the edge server and the monitoring system of the tunnel, the sensor, the water pump, the fire suppression device, and the road traffic signal controller via an AUTBUS bus.
11. An edge server, comprising:
the receiving unit is used for receiving tunnel monitoring data acquired by the tunnel monitoring system through the sensor, wherein the tunnel monitoring data comprise tunnel traffic data and tunnel environment data; wherein the tunnel traffic data is indicative of traffic conditions within the tunnel; the tunnel environment data is indicative of an environmental condition within the tunnel;
And the processing unit is used for executing first processing according to the tunnel traffic data and the tunnel environment data.
12. An edge server comprising a processor and a memory, the processor and the memory being interconnected, wherein the memory is adapted to store a computer program comprising program instructions, the processor being configured to invoke the program instructions to perform the method of any of claims 1-9.
13. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1-9.
CN202211043422.8A 2022-08-29 2022-08-29 Tunnel safety early warning method, related equipment and computer readable storage medium Pending CN116978198A (en)

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CN202211043422.8A CN116978198A (en) 2022-08-29 2022-08-29 Tunnel safety early warning method, related equipment and computer readable storage medium

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