CN117079465A - Safety early warning method and system for driving vehicle on expressway - Google Patents
Safety early warning method and system for driving vehicle on expressway Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The embodiment of the specification discloses a driving vehicle safety early warning method and system for a highway, relates to the technical field of intelligent traffic vehicle road cooperation, and aims to solve the problems that an existing early warning mode is small in early warning range and single in early warning type. The method comprises the following steps: acquiring running data of a running vehicle through a preset millimeter wave radar on a highway section; performing data elimination on the running data according to a preset target reflecting surface energy threshold value, a preset millimeter wave radar effective acquisition range and a preset speed threshold value to obtain target running data; performing behavior recognition on target driving data based on a preset expressway event comprehensive perception algorithm to obtain event types of expressway sections; and determining the risk level of the expressway road section according to the event type, and transmitting the risk level and the event type to a vehicle-mounted mobile terminal positioned behind the expressway road section and facing the vehicle based on a TCP/IP protocol.
Description
Technical Field
The present disclosure relates to the field of data analysis technologies, and in particular, to a method and a system for early warning of safety of a driving vehicle on a highway.
Background
In recent years, expressway networks have been expanding. The characteristics of high speed, high flow, road closure and the like of the expressway ensure that the accident rate of the expressway and the personnel and property losses caused after the accident occur are high. Among the causes of numerous road traffic accidents, the road environment factors such as unclear front vehicle conditions, complex road conditions and the like in the driving process are in the first place. When traffic jam or traffic accident occurs in the expressway, and if the on-road vehicle to be driven in upstream does not acquire the state information of the related event in time, the driver does not have enough time to flexibly respond to the front road condition, so that the jam is spread or secondary accident is caused. Therefore, the method and the system accurately sense the state of the complex road of the expressway, provide real-time event information push service for the on-road vehicle, and effectively reduce the accident occurrence probability or the accident loss degree.
At present, the traditional traffic event detection system mainly aims at providing simple traffic information and detecting basic traffic data for urban roads, mountain roads, expressways and the like, so that macroscopic static information is released. For real-time safety early warning, the approach of a road side information board is generally adopted to carry out safety information early warning of accident-prone places, the range is small, the effect is poor, and the early warning information transmitted by an LED display screen cannot be responded in time on the basis that the LED display screen at the edge of the road side is short in front-back interval time of the LED screen when the vehicle running at high speed transmits early warning prompts to the vehicles in the road, and the distance between the vehicle and the display screen of an internal lane is large. And the sight of a driver is blocked in rainy and snowy days, and the information exposure effect is limited to a great extent. In addition, in the prior art, the detection mode based on the microwave radar is complicated in waveform control due to the fact that the microwave radar is large in size and high in price, and waveforms sent by the radar are invisible, so that good detection performance is difficult to maintain in complex road condition environments with more interference factors. The existing safety early warning mode is generally based on the fact that the management platform can send a prompt signal to the early warning system only after receiving the fault information sent by the fault vehicle user terminal and judging the fault information, the upstream vehicle cannot timely receive the current road information and make emergency response, and accidents in the road cannot be well avoided in time.
Disclosure of Invention
In order to solve the above technical problems, one or more embodiments of the present disclosure provide a driving vehicle safety warning method and system for expressways.
One or more embodiments of the present disclosure adopt the following technical solutions:
one or more embodiments of the present disclosure provide a driving vehicle safety warning method for an expressway, the method including:
acquiring running data of a running vehicle through a preset millimeter wave radar on a highway section; wherein the travel data includes: traveling vehicle ID, traveling vehicle speed, target reflection surface energy;
performing data elimination on the driving data according to a preset target reflecting surface energy threshold value, an effective acquisition range of the preset millimeter wave radar and a preset speed threshold value to obtain target driving data;
performing behavior recognition on the target driving data based on a preset expressway event comprehensive perception algorithm to obtain an event type of the expressway section; wherein the behavior recognition comprises: low-speed behavior recognition, reverse behavior recognition, parking behavior recognition, congestion state recognition, emergency lane occupation and accident recognition;
and determining the risk level of the expressway section according to the event type, and transmitting the risk level and the event type to a vehicle-mounted mobile terminal positioned on a rear-facing vehicle of the expressway section based on a TCP/IP protocol.
Optionally, in one or more embodiments of the present disclosure, the data rejection is performed on the driving data according to a preset target reflection surface energy threshold, an effective acquisition range of the preset millimeter wave radar, and a preset speed threshold, so as to obtain target driving data, which specifically includes:
acquiring upper and lower value limits of the preset target reflecting surface energy threshold value, so as to remove noise data from the driving data based on the upper and lower value limits and obtain first driving data;
determining an effective detection area of the preset millimeter wave radar according to the effective acquisition range of the preset millimeter wave radar and the road boundary of the expressway, so as to filter data exceeding the effective detection area in the first driving data and obtain second driving data;
determining a highest speed threshold and a lowest speed threshold of the expressway based on the preset speed threshold, so as to determine a normal speed range of the expressway according to the highest speed threshold and the lowest speed threshold;
if the speed of the running vehicle in the second running data exceeds the normal speed range, acquiring a deviation value of the speed of the running vehicle relative to the normal speed range;
And if the deviation value is larger than a preset deviation threshold value, eliminating the second running data to obtain target running data.
Optionally, in one or more embodiments of the present disclosure, determining the effective detection area of the preset millimeter wave radar according to the effective collection range of the preset millimeter wave radar and the road boundary of the expressway specifically includes:
determining an effective acquisition range of the millimeter wave radar based on the arrangement position of the preset millimeter wave radar and the effective detection included angle and the maximum identification distance of the preset millimeter wave radar;
taking a preset millimeter wave radar layout position as a coordinate origin, taking the acquisition direction of the preset millimeter wave radar as an x-axis positive direction, and taking the counterclockwise rotation of the acquisition direction by 90 degrees as a y-axis positive direction, so as to establish a rectangular coordinate system;
acquiring intersection points of upper and lower boundaries of the effective acquisition range and the road boundary, and acquiring coordinates of the intersection points under the rectangular coordinate system to determine an effective detection area of the preset millimeter wave radar based on the coordinates of the intersection points under the rectangular coordinate system; wherein the intersection point comprises: the first upper boundary intersection point, the second upper boundary intersection point, the first lower boundary intersection point and the second lower boundary intersection point.
Optionally, in one or more embodiments of the present specification, the determining the effective detection area of the preset millimeter wave radar based on the coordinate of the intersection point in the rectangular coordinate system specifically includes:
comparing the first abscissa of the first upper boundary intersection point with the first lower boundary intersection point to take the maximum value of the first abscissa as the abscissa of the first upper boundary intersection point and the first lower boundary intersection point;
comparing the second abscissa of the second upper boundary intersection point with the second lower boundary intersection point to take the second abscissa minimum value as the abscissa of the second upper boundary intersection point and the second lower boundary intersection point;
comparing the first ordinate of the first upper boundary intersection point with the first ordinate of the second upper boundary intersection point, and taking the minimum value of the first ordinate as the ordinate of the first upper boundary intersection point and the second upper boundary intersection point;
comparing the second ordinate of the first lower boundary intersection point with the second lower boundary intersection point, and taking the maximum value of the second ordinate as the ordinate of the first lower boundary intersection point and the second lower boundary intersection point;
and determining a rectangular area corresponding to the preset millimeter wave radar as an effective detection area based on the abscissa of the first upper boundary intersection point and the first lower boundary intersection point, the abscissa of the second upper boundary intersection point and the second lower boundary intersection point, and the ordinate of the first upper boundary intersection point and the second upper boundary intersection point and the ordinate of the first lower boundary intersection point and the second lower boundary intersection point.
Optionally, in one or more embodiments of the present disclosure, before determining the highest speed threshold and the lowest speed threshold of the highway based on the preset speed threshold, the method further includes:
acquiring vehicle track data acquired in a preset statistical time period in the effective detection area, and acquiring the vehicle running speed in the vehicle track data;
acquiring a speed distribution histogram of the vehicle running speed to determine a corresponding speed value of each cumulative percentile based on the speed distribution histogram;
and determining the cumulative percentile value of the highest speed threshold and the cumulative percentile value of the lowest speed threshold according to the dividing proportion of the preset cumulative percentile so as to acquire the highest speed threshold and the lowest speed threshold of the expressway based on the speed mapping relation of the distribution histogram.
Optionally, in one or more embodiments of the present disclosure, performing behavior recognition on the target driving data based on a preset highway event integrated perception algorithm to obtain an event type of the highway section, which specifically includes:
acquiring the absolute speed and the running direction of each target running vehicle according to the target running data;
Determining dangerous behavior events of each target traveling vehicle in the expressway section based on the absolute speed, the traveling direction and preset speed thresholds of each traveling behavior; wherein the dangerous behavior event comprises: low speed behavior, reverse behavior, parking behavior;
acquiring traffic flow density and traffic value of a forward detection area in the effective detection area according to the target driving data, so as to determine a congestion state event of the expressway section based on the traffic flow density and the traffic value;
determining a coordinate range corresponding to each lane in the expressway section based on the road actual canalization parameter of the expressway section, and determining a driving event of each driving vehicle based on the coordinate range corresponding to each lane and the driving track parameter in the target driving data; wherein the driving event includes: and (5) identifying an occupied emergency lane, identifying single car accidents and identifying multiple car accidents.
Optionally, in one or more embodiments of the present disclosure, determining the congestion status event of the highway section based on the traffic flow density and the traffic value specifically includes:
generating an area state discrimination basis diagram of the expressway road section based on a preset first traffic density and a preset second traffic density and a preset first traffic volume and a preset second traffic volume;
Determining a congestion state corresponding to the expressway road section in the area state discrimination basis diagram based on the traffic flow density and traffic value of the forward detection area; wherein the congestion state includes: unblocked, crowded and very crowded;
the method for generating the regional state discrimination basis map of the expressway section based on the preset first traffic density and the preset second traffic density and the preset first traffic volume and the preset second traffic volume specifically comprises the following steps:
acquiring a first area smaller than the preset first traffic volume density, a second area smaller than the preset first traffic volume and a third area smaller than the preset first traffic volume density and smaller than a preset first traffic volume threshold; wherein the first traffic threshold is half of the sum of the preset first traffic and the preset second traffic;
determining an unblocked region in an initial region state discrimination basis diagram according to the union of the first region, the second region and the third region;
acquiring a first residual area except the unblocked area in the initial area state discrimination basis diagram to acquire a crowded area which is smaller than the preset second traffic density and smaller than a preset second traffic threshold in the first residual area; the second traffic threshold is the sum of half of the preset second traffic and half of the preset first traffic;
Acquiring a second residual area except the unblocked area and the crowded area in the initial area state discrimination diagram, so as to take the second residual area as a very crowded area;
and determining the area division range of the initial area state discrimination map based on the unblocked area, the crowded area and the very crowded area to obtain an area state discrimination basis map of the expressway road section.
Optionally, in one or more embodiments of the present disclosure, determining a driving event of each driving vehicle based on the coordinate range corresponding to each lane and the driving track parameter in the target driving data specifically includes:
determining an emergency lane coordinate range on the expressway section based on the coordinate range corresponding to each lane, and determining whether the driving vehicle occupies an emergency lane occupation event according to the emergency lane coordinate range and the vehicle coordinates in the target driving data;
determining a current acceleration value of the running vehicle and the speed of the running vehicle based on the running track parameters, and if the speed of the running vehicle is determined to be smaller than the minimum speed threshold value and the current acceleration value is determined to be larger than a preset acceleration threshold value, determining that a bicycle accident exists in the running vehicle;
If it is determined that a plurality of driving vehicles with single car accidents exist on the expressway section and the inter-vehicle distance threshold value at the beginning of deceleration corresponding to each single car accident is smaller than the preset vehicle distance, determining that a plurality of car accidents exist on the expressway section.
Optionally, in one or more embodiments of the present specification, before acquiring the driving data of the driving vehicle by the preset millimeter wave radar on the expressway, the method further includes:
acquiring road information of each road section in the expressway; wherein the road information includes: road area information and construction information;
determining a complex road section area in each road section based on the road area information and the construction information, and taking the complex road section area as a layout area of the millimeter wave radar;
and acquiring the area of the layout area to determine the layout position of each millimeter wave radar in the layout area based on the effective acquisition range of the millimeter wave radar, so as to deploy the millimeter wave radar at the layout position based on a fixed upright or movable carrier.
One or more embodiments of the present specification provide a driving vehicle safety precaution system for an expressway, the system including:
The data acquisition module is used for acquiring the running data of the running vehicle through a preset millimeter wave radar on the expressway section; wherein the travel data includes: traveling vehicle ID, traveling vehicle speed, target reflection surface energy;
the data preprocessing module is used for carrying out data elimination on the running data according to a preset target reflecting surface energy threshold value, an effective acquisition range of the preset millimeter wave radar and a preset speed threshold value so as to obtain target running data;
the event judging module is used for carrying out behavior identification on the target driving data based on a preset expressway event comprehensive perception algorithm to obtain the event type of the expressway section; wherein the behavior recognition comprises: low-speed behavior recognition, reverse behavior recognition, parking behavior recognition, congestion state recognition, emergency lane occupation and accident recognition;
and the early warning prompt module is used for determining the danger level of the expressway road section according to the event type, and transmitting the danger level and the event type to a vehicle-mounted mobile terminal positioned on the expressway road section and facing the vehicle based on a TCP/IP protocol.
The above-mentioned at least one technical scheme that this description embodiment adopted can reach following beneficial effect:
The millimeter wave radar is used for acquiring the running data of the running vehicle, so that the problem that the effective acquisition is difficult to be performed in a complex path environment with more interference when the running data is acquired based on the microwave radar in the prior art is solved, and the dynamic information detection precision of complex road conditions is improved. By adopting a multi-step threshold analysis method, noise interference items are effectively removed, the data quality of driving data is improved, and the reliability of subsequent safety early warning is further improved. According to a preset expressway event comprehensive perception algorithm, the behavior recognition is carried out on real-time events such as low speed, illegal stop, reverse running, accidents and the like existing in the forward direction of the expressway, so that the event type of the expressway section is obtained, the comprehensive analysis and discrimination of the microscopic driving behavior of the vehicle and the forward road condition traffic event in the detection range are realized, and the problem that the existing single type detection and safety early warning have limitations is solved. Meanwhile, the dangerous grade and the event type are sent to the vehicle-mounted mobile terminal of the backward vehicle on the expressway section through the TCP/IP protocol, so that a vehicle driver can acquire safety early warning information in time, the vehicle driver can make an optimal decision most suitable for the vehicle to execute, and the driving efficiency is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some of the embodiments described in the present description, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. In the drawings:
fig. 1 is a schematic flow chart of a driving vehicle safety early warning method for a highway according to an embodiment of the present disclosure;
fig. 2 (a) is a schematic diagram illustrating installation of a millimeter wave radar in a certain application scenario provided in the embodiments of the present disclosure;
fig. 2 (b) is a schematic installation diagram of a ramp merging area device in a certain application scenario provided in an embodiment of the present disclosure;
fig. 2 (c) is a schematic installation diagram of a construction section device in a certain application scenario provided in the embodiments of the present disclosure;
FIG. 3 is a schematic diagram of an effective detection area according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a regional status discrimination diagram of an expressway section according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a lane coordinate range provided in an embodiment of the present disclosure;
Fig. 6 is a schematic structural diagram of a driving vehicle safety warning system for expressways according to an embodiment of the present disclosure.
Detailed Description
The embodiment of the specification provides a driving vehicle safety early warning method and system for a highway.
In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present disclosure.
As shown in fig. 1, the embodiment of the present disclosure provides a flow chart of a driving vehicle safety pre-warning method for a highway. As can be seen from fig. 1, in one or more embodiments of the present disclosure, a driving vehicle safety warning method for a highway includes the following steps:
s101: acquiring running data of a running vehicle through a preset millimeter wave radar on a highway section; wherein the travel data includes: traveling vehicle ID, traveling vehicle speed, target reflection surface energy.
The method aims at solving the problems that when the existing microwave radar-based running data acquisition is carried out, the existing microwave radar is large in size and high in price, waveforms sent by the radar are invisible, so that waveform control is complex, and effective acquisition is difficult to carry out in a complex path environment with more interference. In the embodiment of the specification, the running data of the running vehicle is collected through the preset millimeter wave radar on the expressway section. Wherein, it should be noted that the driving data includes: data such as the ID of the traveling vehicle, the speed of the traveling vehicle, the radial distance of the vehicle from the radar, the lateral distance of the vehicle from the perpendicular bisector of the radar antenna, the target reflecting surface energy, etc. Based on a preset millimeter wave radar acquisition mode, the device is characterized by small volume, light weight and high spatial resolution of the millimeter wave radar, has simple installation, moderate cost and good penetrability, can still keep good performance in complex road condition environments with more interference factors, has double advantages of microwave guidance and photoelectric guidance, and can greatly improve the dynamic information detection precision of complex road conditions.
Further, in order to meet the data acquisition requirements in different scenes, real-time acquisition of driving data is realized. In one or more embodiments of the present disclosure, before acquiring the driving data of the driving vehicle by the preset millimeter wave radar on the expressway, the method further includes the steps of:
Firstly, road information of each road section in a highway is obtained; the road information includes: road area information such as road junction area, diversion area, tunnel, and the like, and construction information. And then determining a complex road section area in each expressway road section according to the road area information and the construction information, and taking the complex road section area as a layout area of millimeter wave radars so as to realize safety early warning on dangerous road sections and complex road sections. After determining the complex road section area, in order to enable the complex road section area to be covered by the millimeter wave radar, the area of the layout area is obtained in the embodiment of the specification, so that the layout position of each millimeter wave radar in the layout area is determined according to the effective acquisition range of the millimeter wave radar, and the millimeter wave radar is deployed in the layout position based on a fixed upright or a movable carrier. As shown in fig. 2 (a), the millimeter wave radar device may be installed by using a fixed upright, and in addition, may be temporarily deployed by using a movable carrier on a road side, so as to meet data acquisition requirements in different scenarios. Since dangerous sections of the expressway are generally located in accident-raised areas such as ramp converging areas, diverging areas, tunnels and bridges, the upright posts shown in fig. 2 (a) are arranged in the accident-raised areas, so that bidirectional millimeter wave radars or even a plurality of millimeter wave radars are installed, and the full coverage of the potential dangerous sections is achieved. It can be understood that in order to be convenient for to the analysis of millimeter wave radar collection data and the early warning forwarding of analysis result, the check out test set main part comprises a plurality of millimeter wave radars and industrial computer. The installation positions of the millimeter wave radar aiming at different potential dangerous road sections are not completely similar to the installation schematic diagrams of the ramp converging zone equipment and the installation schematic diagrams of the construction road section equipment shown in fig. 2 (b) and 2 (c), so that the installation in different scenes can be flexibly set.
S102: and carrying out data elimination on the driving data according to a preset target reflecting surface energy threshold value, an effective acquisition range of the preset millimeter wave radar and a preset speed threshold value so as to obtain target driving data.
After the traveling data acquired by the preset millimeter wave radar is obtained based on the step S101, in order to improve the data quality aiming at the problems of target interference and the like in the complex road environment, in the embodiment of the specification, the traveling data is subjected to data rejection according to the preset target reflecting surface energy threshold value, the preset effective acquisition range of the millimeter wave radar and the preset speed threshold value, so that the filtered target traveling data is obtained, and by adopting a multi-step threshold analysis method, noise interference items are effectively removed, the data quality of the traveling data is improved, and the reliability of subsequent safety precaution is further improved.
Specifically, in one or more embodiments of the present disclosure, the data rejection is performed on the driving data according to a preset target reflection surface energy threshold, a preset effective acquisition range of the millimeter wave radar, and a preset speed threshold, so as to obtain target driving data, and specifically includes the following steps:
firstly, obtaining upper and lower value limits of an energy threshold of a preset target reflecting surface, and accordingly noise data is removed from the driving data according to the upper and lower value limits, and first driving data are obtained. That is, when the data is removed based on the target reflection surface energy threshold, the effective change range of the vehicle according to the target reflection surface energy threshold is, for example, the effective change range of the vehicle under normal conditions: 70-100db, an upper threshold value RCS of the effective target reflection surface energy threshold RCS is set max And lower limit value RCS min Thereby according to the thresholdAnd comparing the values, and eliminating noise targets irrelevant to the RCS energy value of the vehicle target to obtain first driving data. And then determining an effective detection area of the preset millimeter wave radar shown in fig. 3 according to the effective acquisition range of the preset millimeter wave radar and the road boundary of the expressway, so as to filter data exceeding the effective detection area in the first driving data and obtain second driving data. And then determining the highest speed threshold and the lowest speed threshold of the expressway according to the preset speed threshold, so as to determine the normal speed range of the expressway according to the highest speed threshold and the lowest speed threshold. If the speed of the running vehicle in the second running data exceeds the normal speed range, a deviation value of the speed of the running vehicle relative to the normal speed range is obtained, and if the deviation value is larger than a preset deviation threshold value, the second running data is removed to obtain the target running data.
To further explain the effective detection area of the millimeter wave radar as shown in fig. 3, data rejection based on spatial location is implemented. In one or more embodiments of the present disclosure, an effective detection area of a preset millimeter wave radar is determined according to an effective collection range of the preset millimeter wave radar and a road boundary of a highway, and the method specifically includes the following steps:
Firstly, based on the layout position of a preset millimeter wave radar, the effective detection included angle alpha and the maximum recognition distance L of the preset millimeter wave radar c As can be seen from fig. 3, the effective acquisition range of the millimeter wave radar is determined, and the effective acquisition range is a sector area, that is, interference data exceeding the highway section exists, so that invalid interference data is removed. And establishing a rectangular coordinate system shown in fig. 3 by taking a preset millimeter wave radar arrangement position as a coordinate origin, taking the acquisition direction of the preset millimeter wave radar as an x-axis positive direction and taking the counterclockwise rotation of the acquisition direction by 90 degrees as a y-axis positive direction. Then calculating the upper and lower boundaries of the effective acquisition range of the millimeter wave radar detection area as L shown in figure 3 c 、L d With the road boundary L a 、L b Is defined by the intersection point P of (2) a And P c And obtain the coordinate P of the intersection point in the rectangular coordinate system a (x a ,y a ) And P c (x c ,y c ) Simultaneously according to the sector arc S and L of the effective acquisition area a 、L b The intersection P is obtained from the positional relationship of (2) b (x b ,y b )、P d (x d ,y d ). Then determining an effective detection area of the preset millimeter wave radar according to the coordinates of the intersection point in the rectangular coordinate system; wherein, the intersection point includes: first upper boundary intersection point P a Second upper boundary intersection point P b First lower boundary intersection point P c Second lower boundary intersection point P d 。
Further, in one or more embodiments of the present disclosure, the determining the effective detection area of the preset millimeter wave radar based on the coordinates of the intersection point in the rectangular coordinate system specifically includes the following steps:
First, comparing the first abscissa of the first upper boundary intersection point with the first lower boundary intersection point to take the maximum value of the first abscissa as the abscissa of the first upper boundary intersection point and the first lower boundary intersection point. And comparing the second abscissa of the second upper boundary intersection point with the second lower boundary intersection point to take the second abscissa minimum value as the abscissa of the second upper boundary intersection point and the second lower boundary intersection point. Comparing the first ordinate of the first upper boundary intersection point with the first ordinate of the second upper boundary intersection point, and taking the minimum value of the first ordinate as the ordinate of the first upper boundary intersection point and the second upper boundary intersection point. Comparing the second ordinate of the first lower boundary intersection point with the second lower boundary intersection point, and taking the maximum value of the second ordinate as the ordinate of the first lower boundary intersection point and the second lower boundary intersection point. Namely, the process of determining the intersection point coordinates of all boundary points in a certain application scene of the specification comprises the following steps:
step1.1: contrast point P a 、P c X of the abscissa of (2) a 、x c Take the maximum value of x max 。
Step1.2: contrast point P b 、P d Is y of the abscissa of (2) b 、y d Taking the minimum value as x min 。
Step1.3: contrast point P c 、P d Is y of the ordinate of (2) c 、y d Take the maximum value of y max 。
Step1.4: contrast point P a 、P b Is y of the ordinate of (2) a 、y b Taking the minimum value as y min 。
Step1.5: update point P a 、P b 、P c And P d The coordinates are (x) min ,y max )、(x max ,y max )、(x min ,y min ) And (x) max ,y min )。
After determining the coordinates of each intersection point, determining a rectangular area corresponding to the preset millimeter wave radar as an effective detection area according to the obtained abscissa of the first upper boundary intersection point and the first lower boundary intersection point, the obtained abscissa of the second upper boundary intersection point and the second lower boundary intersection point, the obtained ordinate of the first upper boundary intersection point and the second upper boundary intersection point and the obtained ordinate of the first lower boundary intersection point and the obtained ordinate of the second lower boundary intersection point, namely based on P after Step5 a 、P b 、P c And P d And generating a rectangle for the point, determining an effective detection area of the preset millimeter wave radar, and eliminating the monitoring target based on the area.
Further, to be able to determine an appropriate speed threshold to reject data based on a preset speed threshold, in one or more embodiments of the present disclosure, before determining the highest speed threshold and the lowest speed threshold of the highway based on the preset speed threshold, the method further includes the following process:
and acquiring vehicle track data acquired in a preset statistical time period in the effective detection area, and acquiring the vehicle running speed in the vehicle track data. A velocity distribution histogram of the vehicle travel velocity is then obtained to determine a corresponding velocity value for each cumulative percentile based on the velocity distribution histogram. And then determining the cumulative percentile value of the highest speed threshold and the cumulative percentile value of the lowest speed threshold according to the dividing proportion of the preset cumulative percentile, so as to acquire the highest speed threshold and the lowest speed threshold of the expressway according to the speed mapping relation of the distribution histogram. In a certain application scenario, the preset statistical time period may be one week, that is, form data within one week is continuously counted, so as to count the speed of statistics The values are distributed and frequency ordered, so that the speed value corresponding to each accumulated percentage is calculated, and then the maximum speed threshold v is divided according to the speed mapping relation max For example, take the 99% fractional number corresponding to the speed value, and the minimum speed threshold v min For example, 1% quantile corresponds to a speed value. And (3) eliminating noise targets with larger deviation from the normal vehicle running speed by screening targets in the maximum and minimum threshold ranges as effective targets.
S103: performing behavior recognition on the target driving data based on a preset expressway event comprehensive perception algorithm to obtain an event type of the expressway section; wherein the behavior recognition comprises: low-speed behavior recognition, reverse behavior recognition, parking behavior recognition, congestion state recognition, emergency lane occupation and accident recognition.
In order to realize comprehensive analysis and discrimination of microscopic driving behaviors of vehicles and forward road condition traffic events in a detection range and solve the problem of limitation of existing single-type detection and safety pre-warning, in the embodiment of the specification, the target form data filtered in the step S102 are identified according to a preset comprehensive perception algorithm of expressway events, and real-time events such as low speed, illegal stop, reverse running, accidents and the like existing forward of the expressway are identified, so that the types of the events occurring on the expressway section are obtained.
Specifically, in one or more embodiments of the present disclosure, behavior recognition is performed on target driving data based on a preset highway event comprehensive perception algorithm to obtain an event type of a highway section, which specifically includes the following steps:
firstly, acquiring the absolute speed and the running direction of each target running vehicle according to target running data, and determining dangerous behavior events of each target running vehicle in a highway section based on the absolute speed, the running direction and preset speed thresholds of each running behavior; among them, it is to be noted that dangerous behavior events include: low speed behavior, reverse behavior, parking behavior, etc. Specifically, in a certain application scenario in the present specification, for the identification of low-speed behavior, a vehicle traveling process obtained by using a preset millimeter wave radar is adoptedJudging the low-speed running threshold v of the running vehicle in the expressway l For example, the current highway defines a low speed threshold of 60km/h and a time threshold of Δt l For example, the industry experience pre-fetch time threshold is 3s, if the accumulated speed of the running vehicle is lower than v l And the duration exceeds deltat l Then a low-speed behavior is determined. And for the reverse behavior recognition, judging that the traveling vehicle has reverse behavior if the real-time speed in the same continuous target track is a negative value relative to the lane direction based on the absolute speed. Identification of absolute speed for parking behavior when the target speed of the vehicle is below the parking threshold v s (typically 5 km/h) and a duration greater than the parking threshold Deltat s And when the detected vehicle parameters disappear, namely the radar acquisition data feature targets are reduced compared with the previous time, judging that the parking behavior exists in the detected road section.
And acquiring the traffic flow density and the traffic value of a forward detection area in the effective detection area according to the target driving data, so as to determine the congestion state event of the expressway road section based on the traffic flow density and the traffic value. Specifically, in one or more embodiments of the present disclosure, determining a congestion status event of an expressway section based on traffic flow density and traffic value specifically includes the following processes:
firstly, according to the preset first traffic density and the preset second traffic density, and the preset first traffic volume and the preset second traffic volume, an area state discrimination basis diagram of the expressway section as shown in fig. 4 is generated. Then, determining the congestion state corresponding to the expressway section in the regional state judgment basis map based on the traffic flow density and traffic value of the expressway of the section; among them, it is to be noted that the congestion state includes: clear, crowded, very crowded. Based on a preset first traffic density K 1 And preset a second vehicle flow density K 2 Presetting a first traffic volume Q 1 And preset a second traffic volume Q 2 The method for generating the regional status discrimination basis map of the expressway section shown in fig. 4 specifically comprises the following steps:
firstly, a first area smaller than a preset first traffic volume density, a second area smaller than a preset first traffic volume and a third area smaller than the preset first traffic volume density and smaller than a preset first traffic volume threshold value are acquired; the first traffic threshold is half of the sum of the preset first traffic and the preset second traffic. And then determining the clear region in the initial region state discrimination basis diagram according to the union set of the first region, the second region and the third region. And simultaneously acquiring a first residual area except for a clear area in the initial area state discrimination basis diagram so as to acquire a crowded area which is smaller than a preset second traffic density and smaller than a preset second traffic threshold in the first residual area. It should be noted that the second traffic threshold is the sum of half of the preset second traffic and the preset first traffic. And acquiring a second residual area except the unblocked area and the crowded area in the initial area state discrimination diagram, thereby taking the second residual area as a very crowded area. And determining the area division range of the initial area state discrimination map according to the acquired unblocked area, crowded area and extremely crowded area to obtain the area state discrimination basis map of the expressway road section as shown in fig. 4. By setting the area state discrimination basis diagram, the road congestion state of the millimeter wave radar coverage area is judged, and the judging steps are as follows:
Step2.1, judging whether the traffic density of the detection section is greater than a preset first traffic density or not, and obtaining a first judgment result.
Step2.2 if the first judgment result is no, the state of the section is smooth, namely the section is a smooth section.
And step2.3, if the first judgment result is yes, judging whether the section traffic flow density is smaller than a preset second traffic flow density, and obtaining a second judgment result. It will be appreciated that the predetermined second vehicle flow density is greater than the predetermined first vehicle flow density as shown in fig. 4.
And step2.4, if the second judgment result is yes, judging whether the traffic volume of the section is smaller than half of the sum of the preset first traffic volume and the preset second traffic volume, namely, the preset first traffic volume threshold value, and obtaining a third judgment result. If the third judgment result is yes, the state of the section is smooth. If the third judgment result is negative, judging whether the traffic volume of the section is smaller than the sum of half of the first preset traffic volume and the second preset traffic volume, namely, the second traffic volume threshold value, and obtaining a fourth judgment result.
Step2.5 if the fourth determination result is yes, the status of the segment is crowded. If the fourth determination result is no, the status of the segment is very crowded.
Step2.6, if the second judgment result is negative, judging whether the traffic volume of the section is smaller than the first preset traffic volume, and obtaining a fifth judgment result; if the fifth judgment result is yes, the state of the section is smooth. And if the fifth judgment result is negative, judging whether the traffic volume of the section is smaller than the second preset traffic volume or not to obtain a sixth judgment result.
Step2.7 if the sixth determination result is yes, the status of the segment is crowded. If the fifth judgment result is negative, the state of the section is very crowded.
Further, the coordinate range corresponding to each lane in the expressway section as shown in fig. 5 is determined based on the road actual canalization parameter of the expressway section, and the driving event of each driving vehicle is determined based on the coordinate range corresponding to each lane and the driving locus parameter in the target driving data. Wherein, it should be noted that the driving event includes: and (5) identifying an occupied emergency lane, identifying single car accidents and identifying multiple car accidents. Further, in one or more embodiments of the present disclosure, determining a driving event of each driving vehicle based on a coordinate range corresponding to the lane and a driving track parameter in the target driving data specifically includes:
And determining an emergency lane coordinate range on the expressway section based on the coordinate range corresponding to each lane, and determining whether the driving vehicle occupies an emergency lane occupation event according to the emergency lane coordinate range and the vehicle coordinates in the target driving data. I.e. the current running state of the vehicle is judged. And if the coordinates of the on-road vehicle are detected to be consistent with the coordinates of the forbidden area of the current road section or the expressway of the emergency lane, the vehicle is indicated to travel to the emergency lane area. Then determining the current acceleration value of the running vehicle and the speed of the running vehicle according to the running track parameters, such asIf the speed of the running vehicle is smaller than the minimum speed threshold value and the current acceleration value is larger than the preset acceleration threshold value, the running vehicle is determined to have a bicycle accident. Namely, acquiring the vehicle track parameter, and obtaining the current acceleration value a according to the vehicle speed value j Setting the speed change threshold as a l The minimum speed threshold is v min If a sudden drop in vehicle speed is detected and less than v min At the same time a j Less than a l Judging that the bicycle accident exists. At this time according to the current running coordinates (x i ,y i ) The vehicle lane position condition is determined. If the vehicle does not have the sudden lane change, judging that the vehicle is parked in a single vehicle fault; if the vehicle crosses the lane in a short time, it is determined that the vehicle is a single vehicle collision accident. If it is determined that there are a plurality of traveling vehicles having a single car accident on an expressway section, it is determined that there are multiple car accidents on the expressway section. Namely, acquiring the track parameters of multiple vehicles in the range, and obtaining the corresponding acceleration value of each vehicle according to the speed value Setting the deceleration threshold value as a l The minimum speed threshold is v min Distance threshold d min If multiple target speed dips are detected within the range and less than v min At the same time->Less than a l The distance between vehicles at the beginning of deceleration is smaller than d min And judging that the road section has a multi-car accident.
S104: and determining the risk level of the expressway section according to the event type, and transmitting the risk level and the event type to a vehicle-mounted mobile terminal positioned on a rear-facing vehicle of the expressway section based on a TCP/IP protocol.
In order to comprehensively analyze the danger coefficient, determine and evaluate the final early warning level, in the embodiment of the present disclosure, the early warning of the event determined in the step S103 is divided into three levels, i.e. one, two, three, etc., and the early warning is sequentially performed on the driver by using red, yellow and green, where the corresponding danger levels are dangerous, dangerous and safe. The following table 1 shows a hierarchical early warning model parameter table in a certain application scenario of the present specification.
TABLE 1 hierarchical early warning model parameter Table
The classified early warning model parameter table is searched according to the event type, so that the dangerous grade corresponding to the event existing in the expressway section is determined, the dangerous grade and the event type are sent to the vehicle-mounted mobile terminal positioned behind the expressway section and facing the vehicle based on the TCP/IP protocol, real-time early warning is carried out on a driver of the coming road vehicle, the driver obtains information in the first time, and collision avoidance reaction is assisted. The safety precaution is carried out in a mode of being transmitted to the vehicle-mounted mobile terminal, so that the situation that severe weather such as snow, freezing, low temperature and sand blowing is easily influenced greatly when the precaution is carried out based on the display board or the LED screen is avoided, and the situation that the driver has sight interference and has difficulty in distinguishing images occurs. The vehicle driver can make an optimal decision which is most suitable for the vehicle to execute based on the safety early warning, and the driving efficiency is effectively improved.
As shown in fig. 6, in one or more embodiments of the present disclosure, there is provided a driving vehicle safety precaution system for an expressway, the system including:
the data acquisition module is used for acquiring the running data of the running vehicle through a preset millimeter wave radar on the expressway section; wherein the travel data includes: traveling vehicle ID, traveling vehicle speed, target reflection surface energy;
the data preprocessing module is used for carrying out data elimination on the running data according to a preset target reflecting surface energy threshold value, an effective acquisition range of the preset millimeter wave radar and a preset speed threshold value so as to obtain target running data;
the event judging module is used for carrying out behavior identification on the target driving data based on a preset expressway event comprehensive perception algorithm to obtain the event type of the expressway section; wherein the behavior recognition comprises: low-speed behavior recognition, reverse behavior recognition, parking behavior recognition, congestion state recognition, emergency lane occupation and accident recognition;
and the early warning prompt module is used for determining the danger level of the expressway road section according to the event type, and transmitting the danger level and the event type to a vehicle-mounted mobile terminal positioned on the expressway road section and facing the vehicle based on a TCP/IP protocol.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, devices, non-volatile computer storage medium embodiments, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
The foregoing is merely one or more embodiments of the present description and is not intended to limit the present description. Various modifications and alterations to one or more embodiments of this description will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of one or more embodiments of the present description, is intended to be included within the scope of the claims of the present description.
Claims (10)
1. A method for safety warning of a traveling vehicle on a highway, the method comprising:
acquiring running data of a running vehicle through a preset millimeter wave radar on a highway section; wherein the travel data includes: traveling vehicle ID, traveling vehicle speed, target reflection surface energy;
performing data elimination on the driving data according to a preset target reflecting surface energy threshold value, an effective acquisition range of the preset millimeter wave radar and a preset speed threshold value to obtain target driving data;
performing behavior recognition on the target driving data based on a preset expressway event comprehensive perception algorithm to obtain an event type of the expressway section; wherein the behavior recognition comprises: low-speed behavior recognition, reverse behavior recognition, parking behavior recognition, congestion state recognition, emergency lane occupation and accident recognition;
and determining the risk level of the expressway section according to the event type, and transmitting the risk level and the event type to a vehicle-mounted mobile terminal positioned on a rear-facing vehicle of the expressway section based on a TCP/IP protocol.
2. The method for safety precaution of a traveling vehicle on an expressway according to claim 1, wherein the data of the traveling data is removed according to a preset target reflection surface energy threshold, an effective acquisition range of the preset millimeter wave radar, and a preset speed threshold, so as to obtain target traveling data, and specifically comprising:
Acquiring upper and lower value limits of the preset target reflecting surface energy threshold value, so as to remove noise data from the driving data based on the upper and lower value limits and obtain first driving data;
determining an effective detection area of the preset millimeter wave radar according to the effective acquisition range of the preset millimeter wave radar and the road boundary of the expressway, so as to filter data exceeding the effective detection area in the first driving data and obtain second driving data;
determining a highest speed threshold and a lowest speed threshold of the expressway based on the preset speed threshold, so as to determine a normal speed range of the expressway according to the highest speed threshold and the lowest speed threshold;
if the speed of the running vehicle in the second running data exceeds the normal speed range, acquiring a deviation value of the speed of the running vehicle relative to the normal speed range;
and if the deviation value is larger than a preset deviation threshold value, eliminating the second running data to obtain target running data.
3. The method for safety precaution of a traveling vehicle for an expressway according to claim 2, characterized in that determining an effective detection area of the preset millimeter wave radar according to an effective collection range of the preset millimeter wave radar and a road boundary of the expressway, specifically comprises:
Determining an effective acquisition range of the millimeter wave radar based on the arrangement position of the preset millimeter wave radar and the effective detection included angle and the maximum identification distance of the preset millimeter wave radar;
taking a preset millimeter wave radar layout position as a coordinate origin, taking the acquisition direction of the preset millimeter wave radar as an x-axis positive direction, and taking the counterclockwise rotation of the acquisition direction by 90 degrees as a y-axis positive direction, so as to establish a rectangular coordinate system;
acquiring intersection points of upper and lower boundaries of the effective acquisition range and the road boundary, and acquiring coordinates of the intersection points under the rectangular coordinate system to determine an effective detection area of the preset millimeter wave radar based on the coordinates of the intersection points under the rectangular coordinate system; wherein the intersection point comprises: the first upper boundary intersection point, the second upper boundary intersection point, the first lower boundary intersection point and the second lower boundary intersection point.
4. A traveling vehicle safety precaution method for a highway according to claim 3, characterized in that said determining the effective detection area of the preset millimeter wave radar based on the coordinates of the intersection point in the rectangular coordinate system specifically comprises:
comparing the first abscissa of the first upper boundary intersection point with the first lower boundary intersection point to take the maximum value of the first abscissa as the abscissa of the first upper boundary intersection point and the first lower boundary intersection point;
Comparing the second abscissa of the second upper boundary intersection point with the second lower boundary intersection point to take the second abscissa minimum value as the abscissa of the second upper boundary intersection point and the second lower boundary intersection point;
comparing the first ordinate of the first upper boundary intersection point with the first ordinate of the second upper boundary intersection point, and taking the minimum value of the first ordinate as the ordinate of the first upper boundary intersection point and the second upper boundary intersection point;
comparing the second ordinate of the first lower boundary intersection point with the second lower boundary intersection point, and taking the maximum value of the second ordinate as the ordinate of the first lower boundary intersection point and the second lower boundary intersection point;
and determining a rectangular area corresponding to the preset millimeter wave radar as an effective detection area based on the abscissa of the first upper boundary intersection point and the first lower boundary intersection point, the abscissa of the second upper boundary intersection point and the second lower boundary intersection point, and the ordinate of the first upper boundary intersection point and the second upper boundary intersection point and the ordinate of the first lower boundary intersection point and the second lower boundary intersection point.
5. A method of safety warning of a traveling vehicle for an expressway according to claim 2, characterized in that before determining the highest speed threshold and the lowest speed threshold of the expressway based on the preset speed threshold, the method further comprises:
Acquiring vehicle track data acquired in a preset statistical time period in the effective detection area, and acquiring the vehicle running speed in the vehicle track data;
acquiring a speed distribution histogram of the vehicle running speed to determine a corresponding speed value of each cumulative percentile based on the speed distribution histogram;
and determining the cumulative percentile value of the highest speed threshold and the cumulative percentile value of the lowest speed threshold according to the dividing proportion of the preset cumulative percentile so as to acquire the highest speed threshold and the lowest speed threshold of the expressway based on the speed mapping relation of the distribution histogram.
6. The method for safety precaution of a traveling vehicle on an expressway according to claim 1, wherein the behavior recognition is performed on the target traveling data based on a preset expressway event comprehensive awareness algorithm, and the event type of the expressway section is obtained, specifically comprising:
acquiring the absolute speed and the running direction of each target running vehicle according to the target running data;
determining dangerous behavior events of each target traveling vehicle in the expressway section based on the absolute speed, the traveling direction and preset speed thresholds of each traveling behavior; wherein the dangerous behavior event comprises: low speed behavior, reverse behavior, parking behavior;
Acquiring traffic flow density and traffic value of a forward detection area in the effective detection area according to the target driving data, so as to determine a congestion state event of the expressway section based on the traffic flow density and the traffic value;
determining a coordinate range corresponding to each lane in the expressway section based on the road actual canalization parameter of the expressway section, and determining a driving event of each driving vehicle based on the coordinate range corresponding to each lane and the driving track parameter in the target driving data; wherein the driving event includes: and (5) identifying an occupied emergency lane, identifying single car accidents and identifying multiple car accidents.
7. The method for highway traffic safety precaution according to claim 6, wherein determining the congestion status event of the highway section based on the traffic flow density and the traffic value comprises:
generating an area state discrimination basis diagram of the expressway road section based on a preset first traffic density and a preset second traffic density and a preset first traffic volume and a preset second traffic volume;
determining a congestion state corresponding to the expressway road section in the area state discrimination basis diagram based on the traffic flow density and traffic value of the forward detection area; wherein the congestion state includes: unblocked, crowded and very crowded;
The method for generating the regional state discrimination basis map of the expressway section based on the preset first traffic density and the preset second traffic density and the preset first traffic volume and the preset second traffic volume specifically comprises the following steps:
acquiring a first area smaller than the preset first traffic volume density, a second area smaller than the preset first traffic volume and a third area smaller than the preset first traffic volume density and smaller than a preset first traffic volume threshold; wherein the first traffic threshold is half of the sum of the preset first traffic and the preset second traffic;
determining an unblocked region in an initial region state discrimination basis diagram according to the union of the first region, the second region and the third region;
acquiring a first residual area except the unblocked area in the initial area state discrimination basis diagram to acquire a crowded area which is smaller than the preset second traffic density and smaller than a preset second traffic threshold in the first residual area; the second traffic threshold is the sum of half of the preset second traffic and half of the preset first traffic;
acquiring a second residual area except the unblocked area and the crowded area in the initial area state discrimination diagram, so as to take the second residual area as a very crowded area;
And determining the area division range of the initial area state discrimination map based on the unblocked area, the crowded area and the very crowded area to obtain an area state discrimination basis map of the expressway road section.
8. The method for safety warning of vehicles on expressway according to claim 6, wherein determining a driving event of each of said vehicles on the basis of the coordinate range corresponding to each lane and the driving trajectory parameter in the target driving data, comprises:
determining an emergency lane coordinate range on the expressway section based on the coordinate range corresponding to each lane, and determining whether the driving vehicle occupies an emergency lane occupation event according to the emergency lane coordinate range and the vehicle coordinates in the target driving data;
determining a current acceleration value of the running vehicle and the speed of the running vehicle based on the running track parameters, and if the speed of the running vehicle is determined to be smaller than the minimum speed threshold value and the current acceleration value is determined to be larger than a preset acceleration threshold value, determining that a bicycle accident exists in the running vehicle;
if it is determined that a plurality of driving vehicles with single car accidents exist on the expressway section and the inter-vehicle distance threshold value at the beginning of deceleration corresponding to each single car accident is smaller than the preset vehicle distance, determining that a plurality of car accidents exist on the expressway section.
9. The method for safety warning of a traveling vehicle on an expressway according to claim 1, characterized in that before collecting traveling data of the traveling vehicle by a preset millimeter wave radar on the expressway, the method further comprises:
acquiring road information of each road section in the expressway; wherein the road information includes: road area information and construction information;
determining a complex road section area in each road section based on the road area information and the construction information, and taking the complex road section area as a layout area of the millimeter wave radar;
and acquiring the area of the layout area to determine the layout position of each millimeter wave radar in the layout area based on the effective acquisition range of the millimeter wave radar, so as to deploy the millimeter wave radar at the layout position based on a fixed upright or movable carrier.
10. A driving vehicle safety warning system for an expressway, the system comprising:
the data acquisition module is used for acquiring the running data of the running vehicle through a preset millimeter wave radar on the expressway section; wherein the travel data includes: traveling vehicle ID, traveling vehicle speed, target reflection surface energy;
The data preprocessing module is used for carrying out data elimination on the running data according to a preset target reflecting surface energy threshold value, an effective acquisition range of the preset millimeter wave radar and a preset speed threshold value so as to obtain target running data;
the event judging module is used for carrying out behavior identification on the target driving data based on a preset expressway event comprehensive perception algorithm to obtain the event type of the expressway section; wherein the behavior recognition comprises: low-speed behavior recognition, reverse behavior recognition, parking behavior recognition, congestion state recognition, emergency lane occupation and accident recognition;
and the early warning prompt module is used for determining the danger level of the expressway road section according to the event type, and transmitting the danger level and the event type to a vehicle-mounted mobile terminal positioned on the expressway road section and facing the vehicle based on a TCP/IP protocol.
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