CN117542220B - Driving safety induction method and system applied to severe weather - Google Patents
Driving safety induction method and system applied to severe weather Download PDFInfo
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Classifications
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- 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
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- 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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- 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
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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- 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
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096872—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where instructions are given per voice
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- 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
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
Abstract
The invention relates to the technical field of driving safety induction, and discloses a driving safety induction method and a driving safety induction system applied to severe weather, wherein the method comprises the following steps: the method comprises the steps of obtaining a current driving point of a driving vehicle under severe weather, identifying a destination, constructing a driving path diagram according to the current driving point and the driving destination, analyzing driving paths, inquiring path conditions, collecting traffic information, constructing path selection costs, planning paths based on the path selection costs, obtaining planned paths, constructing a path topology network of a junction point on the planned paths, analyzing the junction situation of the junction point, constructing driving early warning information of the driving vehicle, analyzing the driving state of the driving vehicle in the planned paths, identifying the driving environment of the driving vehicle, limiting the driving speed of the driving vehicle, obtaining limiting speed, utilizing the driving early warning information and limiting speed, and constructing a driving scheme of a driving user. The invention can improve the driving safety in severe weather.
Description
Technical Field
The invention relates to the technical field of driving safety induction, in particular to a driving safety induction method and system applied to severe weather.
Background
Under severe weather conditions, roads are easy to accumulate water, freeze and the like, so that the conditions of wet and slippery roads and low visibility are caused, and the occurrence probability of sudden events is high, such as natural disasters, various traffic accidents and the like, so that real-time navigation information is provided for drivers in severe weather, the safest route selection and driving mode are indicated, and therefore, traffic jam is relieved, emergency rescue is guaranteed, driving pressure of the drivers is reduced, and safety of the drivers and other road users is guaranteed.
At present, for driving safety induction methods under severe weather, information such as road conditions, traffic conditions and the like is monitored in real time generally through devices such as sensors and the like, and warning or advice is provided for a driver in time. The method is favorable for a driver to make a correct and safe decision, and potential danger is avoided, however, the driving condition of the vehicle in the driving process cannot be monitored in real time, so that the driver needs to pay attention to the road condition, the driving state of the vehicle and the like, the driving pressure is higher, and the driving safety under severe weather is lower.
Disclosure of Invention
In order to solve the problems, the invention provides a driving safety induction method and a driving safety induction system applied to severe weather, which can improve the driving safety in severe weather.
In a first aspect, the present invention provides a driving safety induction method applied in severe weather, including:
Acquiring a current driving point of a driving vehicle in severe weather, identifying a driving destination of the driving vehicle, and constructing a driving map of the driving vehicle according to the current driving point and the driving destination;
Analyzing a driving path of the driving vehicle by using the path diagram, inquiring the path condition of the driving path, collecting traffic information of the driving path, constructing path selection cost of the driving path by using the path condition and the traffic information, and planning the path of the driving path based on the path selection cost to obtain a planned path;
Identifying a tandem point of the planned path, constructing a path topology network of the tandem point, analyzing the tandem condition of the tandem point by utilizing the path topology network, and constructing the driving early warning information of the driving vehicle according to the tandem condition;
Analyzing the vehicle running state of the running vehicle on the planned path, identifying the running environment of the running vehicle, and limiting the running vehicle speed of the running vehicle based on the vehicle running state and the running environment to obtain a limited speed;
And constructing a driving scheme of the driving user by utilizing the driving early warning information and the vehicle speed limit.
In one possible implementation manner of the first aspect, the constructing a road map of the driving vehicle according to the current driving point and the driving destination includes:
Constructing a road network of the driving vehicle by utilizing the current driving point and the driving destination;
Carrying out road marking on the road network to obtain a marked road;
and constructing a road map of the driving vehicle by using the marked road.
In a possible implementation manner of the first aspect, the querying a path condition of the driving path includes:
Collecting a current path image of the driving path;
Identifying a current color feature and a current shape feature of the current path image;
Analyzing image change information of the current path image based on the current color feature and the current shape feature;
and determining the path condition of the driving path by using the image change information.
In a possible implementation manner of the first aspect, the identifying color features and shape features of the path image and the historical path image includes:
constructing a color histogram of the current path image, and calculating pixel distribution values of the color histogram by using the following formula:
；
Wherein denotes a pixel distribution value, H denotes a width of the current path image corresponding to the color histogram, L denotes a height of the current path image corresponding to the color histogram, Z [ i, j ] denotes a pixel value of the ith row and jth column of the current path image in the color channel, rgb k denotes a kth color of the current path image in the color channel corresponding to the color histogram;
Determining the color characteristics of the path image according to the interval variation of the pixel distribution value of the current path image;
Calculating the pixel gradient of the current path image using the following formula:
；
Wherein Δt represents the pixel gradient, and L (a+1, b) represents the pixel value of the domain point of the center point (a, b) of the path image;
calculating the gradient direction of the current path image by using the following formula:
；
Wherein denotes a gradient direction, L (a+1, b), L (a-1, b), L (a, b-1), L (a, b+1) denote pixel values of four domain points up, down, left, right, and the center point (a, b) of the current path image,
And determining the shape characteristics of the current path image by utilizing the gradient change of the pixel gradient and the direction change of the gradient direction.
In a possible implementation manner of the first aspect, the constructing the path selection cost of the driving path using the path condition and the traffic information includes:
Identifying a path obstacle in the driving path according to the path condition and the traffic information, and calculating a path selection weight of the driving path based on the path obstacle;
Constructing the travelling coordinates of the travelling path;
calculating the priority of the path selection in the driving path according to the driving coordinates and the path selection weight by using the following formula:
；
Wherein γ represents priority, x 1,y1 represents a start point coordinate in the travelling coordinates, x 2,y2 represents an end point coordinate in the travelling coordinates, Q represents a path selection weight, f (t) represents a time function, P represents a duty ratio of the travelling path obstacle, and E represents a path selection trade-off threshold;
and determining the path selection cost of the driving path according to the priority.
In one possible implementation manner of the first aspect, the performing path planning on the driving path based on the path selection cost to obtain a planned path includes:
identifying a path selection element of the driving path based on the path selection cost value;
Calculating a probability value of the path selection of the driving vehicle from the current path to the next path by using the path selection element in combination with the following formula:
；
Where G represents a probability value, i represents a current path, j represents a j-th path among the row paths,
Phi ij (K) is the quantity of path selection elements between the path i and the path j, epsilon ij (K) is the heuristic function of path selection, a is the pheromone heuristic factor of the path, beta is the heuristic factor of the expected value of path selection, and represents the constraint condition of path selection;
And selecting a path from the driving paths according to the probability value to obtain a planned path.
In a possible implementation manner of the first aspect, the constructing a path topology network of the tandem point includes:
Carrying out path extension by using the tandem points to obtain an extension road;
Constructing a path topological frame of the tandem point by utilizing the extended road;
Updating information of the path topological frame to obtain an updating frame;
And constructing a path topology network of the tandem point by using the updating framework.
In one possible implementation manner of the first aspect, the constructing driving early warning information of the driving vehicle according to the tandem situation includes:
constructing a driving early warning text of the driving vehicle according to the tandem situation;
converting the driving early warning text into a voice text;
And storing the voice text into a voice broadcasting system of the driving vehicle to obtain voice broadcasting early warning information, and taking the voice broadcasting early warning information as driving early warning information of the driving vehicle.
In a possible implementation manner of the first aspect, the analyzing a vehicle driving state of the driving vehicle on the planned path includes:
Acquiring driving feedback information of the driving vehicle, and analyzing driving performance of the driving vehicle by using the driving feedback information;
According to the driving performance, carrying out abnormal driving analysis on the driving vehicle to obtain a driving analysis result;
and judging the vehicle running state of the running vehicle according to the running analysis result.
In a second aspect, the present invention provides a driving safety guidance system for use in severe weather, the system comprising:
the road map construction module is used for acquiring the current driving point of the driving vehicle in severe weather, identifying the driving destination of the driving vehicle and constructing a road map of the driving vehicle according to the current driving point and the driving destination;
the path planning module is used for analyzing the driving path of the driving vehicle by utilizing the road map, inquiring the path condition of the driving path, collecting the traffic information of the driving path, constructing the path selection cost of the driving path by utilizing the path condition and the traffic information, and planning the path of the driving path based on the path selection cost to obtain a planned path;
the early warning information construction module is used for identifying a junction point of the planned path, constructing a path topology network of the junction point, analyzing the junction situation of the junction point by utilizing the path topology network, and constructing the driving early warning information of the driving vehicle according to the junction situation;
The vehicle speed limiting module is used for analyzing the vehicle running state of the running vehicle on the planned path, identifying the running environment of the running vehicle, and limiting the running vehicle speed of the running vehicle based on the vehicle running state and the running environment to obtain a limited vehicle speed;
And the driving scheme construction module is used for constructing the driving scheme of the driving user by utilizing the driving early warning information and the vehicle speed limit.
Compared with the prior art, the technical principle and beneficial effect of this scheme lie in:
According to the embodiment of the invention, the current position information of the driving vehicle can be known by acquiring the current driving point of the driving vehicle in severe weather, so that the current position information can be extended to the terminal point of the driving vehicle to conduct driving safety induction, and panoramic information in the driving process of the vehicle can be known by constructing the driving map of the driving vehicle according to the current driving point and the driving destination. The road map is a global map of a path which a vehicle may pass from a certain place to another place, and by using the road map, the road paths of the driving vehicles are analyzed to obtain all paths which can be used for driving, so that a more suitable path such as a nearest path, a safest path and the like can be selected from all paths, and by using the path selection cost to plan the driving paths, the planned path can obtain a better driving path. The driving safety induction method and system applied to severe weather provided by the embodiment of the invention can improve the driving safety in severe weather.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic flow chart of a driving safety induction method applied in severe weather according to an embodiment of the present invention;
Fig. 2 is a schematic block diagram of a driving safety induction system applied in severe weather according to an embodiment of the present invention.
Detailed Description
It should be understood that the detailed description is presented by way of example only and is not intended to limit the invention.
The embodiment of the invention provides a driving safety induction method applied to severe weather, and an execution subject of the driving safety induction method applied to severe weather comprises, but is not limited to, at least one of a server, a terminal and other electronic equipment capable of being configured to execute the driving safety induction method provided by the embodiment of the invention. In other words, the driving safety induction method applied to severe weather may be performed by software or hardware installed in a terminal device or a server device, and the software may be a blockchain platform. The service end includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, and the like. The server may be an independent server, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms.
Referring to fig. 1, a flow chart of a driving safety induction method applied in bad weather according to an embodiment of the invention is shown. The driving safety induction method applied to severe weather described in fig. 1 comprises the following steps:
S1, acquiring a current driving point of a driving vehicle in severe weather, identifying a driving destination of the driving vehicle, and constructing a driving map of the driving vehicle according to the current driving point and the driving destination.
According to the embodiment of the invention, the current position information of the driving vehicle can be known by acquiring the current driving point of the driving vehicle in severe weather, so that the driving safety induction can be carried out by extending the current position information to the terminal point of the driving vehicle. The current driving point refers to the current position of the driving vehicle, and the bad weather refers to poor weather conditions such as heavy snow, heavy fog, freezing and the like.
Further, according to the embodiment of the invention, the traffic area where the driving vehicle is going to travel can be known by identifying the driving destination of the driving vehicle, so that the traffic condition of the traffic area can be analyzed in advance. The driving destination refers to a place where the driving vehicle finally reaches.
Optionally, the identifying the driving destination of the driving vehicle is obtained by acquiring the destination input by the driving personnel of the driving vehicle by using a driving navigation system preconfigured by the driving vehicle.
According to the embodiment of the invention, the panoramic information in the running process of the vehicle can be known by constructing the running chart of the running vehicle according to the current running point and the running destination. Wherein, the road map refers to a global map of the path that the vehicle may pass from one place to another.
As one embodiment of the present invention, the constructing a traffic map of the driving vehicle according to the current driving point and the driving destination includes: and constructing a road network of the driving vehicle by using the current driving point and the driving destination, marking the road on the road network to obtain a marked road, and constructing a road map of the driving vehicle by using the marked road. The road network refers to a road network comprising main roads, highways, secondary roads, loops and the like according to the driving roads between the starting point and the ending point.
Optionally, the process of constructing the road network of the driving vehicle by using the current driving point and the driving destination is: and taking the current driving point as a starting point, taking the driving destination as an end point, searching a road from the starting point to the end point by using a Google map or other map services, and connecting the road to a road network formed by the road.
Optionally, the marking the road network to obtain the marked road refers to marking the selected road on the road network, including information such as road name, number, direction, etc., for example, using straight lines to represent the road, arrows to represent the direction, etc., and marking can be performed by labelbox tools, where the road is marked, and the road map of the driving vehicle is constructed by using the marked road, for example, by using a drawing tool such as photoshop, etc.
S2, analyzing a driving path of the driving vehicle by using the road map, inquiring the path condition of the driving path, collecting traffic information of the driving path, constructing path selection cost of the driving path by using the path condition and the traffic information, and planning the path of the driving path based on the path selection cost to obtain a planned path.
According to the embodiment of the invention, through the utilization of the road map, all the paths of the traveling vehicles can be obtained by analyzing the traveling paths of the traveling vehicles, and further, a more suitable path such as the nearest path, the safest path and the like can be selected from all the paths.
Optionally, the analyzing the driving path of the driving vehicle by using the driving chart may be performed by performing line analysis by identifying and reading a road of the driving chart through google map.
Furthermore, the embodiment of the invention can know whether the road in the driving path has the conditions of road icing, wet sliding, mountain road debris flow and the like by inquiring the path condition of the driving path.
As an embodiment of the present invention, the querying the path status of the driving path includes: collecting a current path image of the driving path, identifying current color features and current shape features of the current path image, analyzing image change information of the current path image based on the current color features and the current shape features, and determining the path condition of the driving path by utilizing the image change information.
Wherein the color features refer to features that best represent visual content of the image in a visual sense, and the shape features refer to features related to the outline and regional content of the image.
Optionally, the collecting the current path image of the driving path is obtained by querying a road image database corresponding to the driving path.
Further, as an optional embodiment of the present invention, the identifying the current color feature and the current shape feature of the current path image includes: constructing a color histogram of the current path image, and calculating pixel distribution values of the color histogram by using the following formula:
；
Wherein denotes a pixel distribution value, H denotes a width of the current path image corresponding to the color histogram, L denotes a height of the current path image corresponding to the color histogram, Z [ i, j ] denotes a pixel value of the ith row and jth column of the current path image in the color channel, rgb k denotes a kth color of the current path image in the color channel corresponding to the color histogram;
Determining the color characteristics of the path image according to the interval variation of the pixel distribution value of the current path image;
Calculating the pixel gradient of the current path image using the following formula:
；
Wherein Δt represents the pixel gradient, and L (a+1, b) represents the pixel value of the domain point of the center point (a, b) of the path image;
calculating the gradient direction of the current path image by using the following formula:
；
wherein denotes a gradient direction, L (a+1, b), L (a-1, b), L (a, b-1), L (a, b+1) denote pixel values of four domain points up, down, left, right, and the center point (a, b) of the current path image,
And determining the shape characteristics of the current path image by utilizing the gradient change of the pixel gradient and the direction change of the gradient direction.
Optionally, the determining the shape feature of the current path image using the gradient change of the pixel gradient and the direction change of the gradient direction includes: acquiring a history path image of the current path image, identifying history image characteristics of the history path image, analyzing characteristic changes of the image characteristics of the current path image and the history image characteristics by utilizing a convolutional neural network to obtain the characteristic changes,
And determining the path condition of the driving path by using the image change information, and determining the road change by identifying the image change information, wherein the road surface of the driving path is in a clean state when the driving path is in seven am, and the road surface of the driving path is in a snow accumulation state when the driving path is in five pm.
According to the embodiment of the invention, the traffic information such as traffic information of congestion, accidents and the like on the road can be known by collecting the traffic information of the driving path.
Further, the embodiment of the invention can know the selection quality of each path through constructing the path selection cost of the driving path by utilizing the path condition and the traffic information. The path selection cost refers to the quality of the path that can be evaluated, and it is generally necessary to find the path with the minimum cost as the optimal solution.
As one embodiment of the present invention, the constructing a path selection cost of the driving path using the path condition and the traffic information includes: identifying a path obstacle in the driving path according to the path condition and the traffic information, and calculating a path selection weight of the driving path based on the path obstacle;
Constructing the travelling coordinates of the travelling path;
calculating the priority of the path selection in the driving path according to the driving coordinates and the path selection weight by using the following formula:
；
Wherein γ represents priority, x 1,y1 represents a start point coordinate in the travelling coordinates, x 2,y2 represents an end point coordinate in the travelling coordinates, Q represents a path selection weight, f (t) represents a time function, P represents a duty ratio of the travelling path obstacle, and E represents a path selection trade-off threshold;
and determining the path selection cost of the driving path according to the priority.
Optionally, the identifying the path obstacle in the driving path according to the path condition and the traffic information is identified by querying an information base of the traffic information, calculating the path selection weight of the driving path based on the path obstacle is calculated by combining an average method with the obstacle duty ratio, the driving coordinates of the driving path are constructed by an excel table, the path selection cost of the driving path is determined according to the priority, and the higher the priority is, the smaller the path selection cost is indicated.
According to the embodiment of the invention, the path planning is carried out on the driving path based on the path selection cost, so that the planned path can be obtained, and a better driving path can be obtained. The planned path is a better path analyzed according to the requirements of driving users or the current road condition, such as a path with shortest distance, highest road fluency and highest safety.
As an embodiment of the present invention, the performing path planning on the driving path based on the path selection cost to obtain a planned path includes: based on the path selection cost, identifying a path selection element of the driving path, and calculating a probability value of path selection from the current path to the next path of the driving vehicle by utilizing the path selection element in combination with the following formula:
；
Where G represents a probability value, i represents a current path, j represents a j-th path among the row paths,
Phi ij (K) is the quantity of path selection elements between the path i and the path j, epsilon ij (K) is the heuristic function of path selection, a is the pheromone heuristic factor of the path, beta is the heuristic factor of the expected value of path selection, and represents the constraint condition of path selection;
And selecting a path from the driving paths according to the probability value to obtain a planned path.
Optionally, the path selection element identifying the driving path determines that constraint information exists in the driving path through the path selection cost based on the path selection cost, and the path selection element identifying the driving path according to the constraint information such as the condition that an obstacle exists in the path, the road is damaged, the road is closed and the like.
And S3, identifying a junction point of the planned path, constructing a path topology network of the junction point, analyzing the junction condition of the junction point by using the path topology network, and constructing the driving early warning information of the driving vehicle according to the junction condition.
According to the embodiment of the invention, the situation that more vehicles appear when the vehicle arrives at a certain position can be known through the bus sink for identifying the planned path. The junction point refers to a junction of a road trunk, wherein the junction point refers to a point where vehicles meet.
Optionally, the junction identifying the planned path is obtained by querying a road intersection of the planned path.
Furthermore, the road network connected to the junction of the driving vehicle can be known through the construction of the path topology network of the junction, so that the method and the device can be used for realizing the road network. The path topology network is a network formed by linking all extended lines with a certain point as a starting point.
As one embodiment of the present invention, the constructing a path topology network of the tandem point includes: and carrying out path extension by the tandem point to obtain an extension road, constructing a path topology frame of the tandem point by utilizing the extension road, updating information of the path topology frame to obtain an updating frame, and constructing a path topology network of the tandem point by utilizing the updating frame.
The path topology framework refers to a basic model of the path topology network.
Optionally, the path topology frame is generated by using a script generated by JAVA language and the linear structure of the extended road, the information of the path topology frame is updated, the obtained updated frame is updated by performing attribute marking, flow marking and direction marking on the path line in the path topology frame, and the path topology network of the tandem point constructed by using the updated frame is drawn by using tools such as ArcGIS, QGIS and the like.
According to the embodiment of the invention, the junction situation of the junction is analyzed by utilizing the path topology network, so that the places where vehicles are gathered in a large quantity in the planned path can be known, early warning is facilitated, and driving safety is ensured.
Optionally, the process of analyzing the tandem situation of the tandem point by using the path topology network includes: and analyzing the number of vehicles reaching each junction in near time when the driving vehicle reaches each junction by utilizing the path topology network.
According to the embodiment of the invention, the traffic early warning information of the driving vehicle is constructed according to the traffic situation, so that a warning effect can be provided for a driver of the driving vehicle in time, and traffic accidents are avoided. The driving early warning information is warning information and is used for prompting the situation that a vehicle is about to encounter in driving.
As an embodiment of the present invention, the constructing the driving early warning information of the driving vehicle according to the tandem situation includes: constructing a driving early warning text of the driving vehicle according to the tandem situation;
and converting the driving early warning text into a voice text, storing the voice text into a voice broadcasting system of the driving vehicle to obtain voice broadcasting early warning information, and taking the voice broadcasting early warning information as the driving early warning information of the driving vehicle.
The driving early warning text refers to a file for recording text information, and the voice text refers to a folder for recording voice text.
Optionally, the traffic warning text of the driving vehicle is constructed according to the traffic converging situation, the information in the traffic converging situation, such as the time when the vehicle reaches the point a and the information such as the vehicle encountered when the vehicle reaches the point a, is converted into text information, the traffic warning text is converted into voice text through ttsmaker tools, the voice text is stored in a voice broadcasting system of the driving vehicle, and the voice broadcasting warning information is received and stored through a data receiving port in the driving navigation system.
S4, analyzing the vehicle running state of the running vehicle on the planned path, identifying the running environment of the running vehicle, and limiting the running vehicle to obtain the limited speed based on the vehicle running state and the running environment.
According to the embodiment of the invention, whether the driving vehicle is abnormal or not in the driving process of the driving vehicle on the planned path can be known through analyzing the driving state of the driving vehicle on the planned path, and whether the driving vehicle can continue to drive safely or not can be known. The vehicle running state refers to a state that the vehicle runs on a road, such as a normal running state, a braking abnormal state, a windscreen wiper abnormal state and the like.
As one embodiment of the present invention, the analyzing the vehicle driving state of the driving vehicle on the planned path includes: and acquiring driving feedback information of the driving vehicle, analyzing driving performance of the driving vehicle by using the driving feedback information, performing abnormal driving analysis on the driving vehicle according to the driving performance, obtaining a driving analysis result, and judging the driving state of the driving vehicle according to the driving analysis result.
The driving feedback information refers to driving feedback of a feedback system of the vehicle according to the condition of the vehicle when the vehicle is in a parent driving state, and the driving performance refers to performance of a braking system, tires, an engine and the like of the vehicle.
Optionally, the driving feedback of the driving vehicle is obtained through an automobile sensor, and the process of analyzing the driving performance of the driving vehicle by using the driving feedback information is as follows: and identifying the running states of all parts of the running vehicle such as the sensitivity and the light brightness of the vehicle wiper according to the running feedback information, and determining the running driving performance of the vehicle according to the sensitivity and the light brightness, wherein according to the running performance, the abnormal running analysis of the running vehicle refers to analysis of whether the running abnormality of the vehicle exists in running, and through the running performance feedback analysis, the abnormal running is indicated if the running performance of the vehicle is obviously reduced in the running process.
Further, according to the embodiment of the invention, through the identification of the driving environment of the driving user, the normal driving speed of the vehicle such as the speed that the urban road with snow cannot exceed 30 yards, the driving should be stopped when extremely severe weather is met can be analyzed through different environment conditions. The driving environment refers to weather conditions and road environment conditions such as snowy weather, road icing and the like.
According to the embodiment of the invention, the driving vehicle is limited by the driving vehicle speed based on the driving state of the vehicle and the driving environment, so that the driving risk caused by too high driving speed can be avoided by obtaining the limited driving speed.
As one embodiment of the present invention, the limiting the vehicle speed of the driving vehicle based on the driving state of the vehicle and the driving environment, to obtain a limited vehicle speed, includes: and carrying out preliminary limitation on the driving vehicle according to the driving environment to obtain a first limiting speed, analyzing the current driving state of the driving vehicle at the first limiting speed by the driving vehicle, and carrying out driving limitation on the driving vehicle according to the current driving state to obtain the limiting speed.
Optionally, the preliminary limitation is performed on the driving vehicle according to the driving environment, the first limiting speed is obtained by setting a rainy weather limiting speed 60 code in an urban road according to a traffic rule, the current driving state of the driving vehicle is analyzed by the driving vehicle at the first limiting speed, the driving vehicle is sensed and fed back by a vehicle sensing system of the driving vehicle, the driving vehicle is limited according to the current driving state, and the process of obtaining the limiting speed is as follows: and when the current running state is normal, running according to the first limiting speed, if the current running state is abnormal, such as abnormal control of the intelligent windscreen wiper and the headlight, decelerating according to the first limiting speed by 30 yards, and when the current running state is dangerous, such as tire pressure danger, and the balance system is dangerous, running of the running vehicle is limited.
S5, constructing a driving scheme of the driving user by using the driving early warning information and the vehicle speed limit.
According to the embodiment of the invention, the driving scheme of the driving user is constructed by utilizing the driving early warning information and the vehicle speed limit, so that a safe driving scheme can be obtained, and the driving safety of the vehicle in severe weather can be improved.
Optionally, the process of constructing the driving scheme of the driving user by using the driving early warning information and the vehicle speed limit is as follows: and inputting the driving early warning information and the vehicle speed limit into a driving navigation system of the vehicle user, and then carrying out real-time driving planning on the driving user by utilizing the driving navigation system according to the vehicle speed limit of the driving early warning information to obtain a driving scheme of the driving user.
It can be seen that, in the embodiment of the invention, the current position information of the driving vehicle can be known by acquiring the current driving point of the driving vehicle in severe weather, so that the current position information can be extended to the terminal point of the driving vehicle to conduct driving safety induction, and panoramic information in the driving process of the vehicle can be known by constructing the driving map of the driving vehicle according to the current driving point and the driving destination. The road map is a global map of a path which a vehicle may pass from a certain place to another place, and by using the road map, the road paths of the driving vehicles are analyzed to obtain all paths which can be used for driving, so that a more suitable path such as a nearest path, a safest path and the like can be selected from all paths, and by using the path selection cost to plan the driving paths, the planned path can obtain a better driving path. The driving safety induction method applied to severe weather provided by the embodiment of the invention can improve the driving safety in severe weather.
As shown in FIG. 2, the invention is a functional block diagram of a driving safety induction method and system applied to severe weather.
The driving safety induction method and system 200 applied to severe weather can be installed in electronic equipment. According to the implemented functions, the system for controlling equipment safety under bridge construction by using the internet of things may include a road map construction module 201, a path planning module 202, an early warning information construction module 203, a vehicle speed limit module 204 and a driving scheme construction module 205, where the modules may also be referred to as units, refer to a series of computer program segments capable of being executed by a processor of an electronic device and of completing a fixed function, and are stored in a memory of the electronic device.
In the embodiment of the present invention, the functions of each module/unit are as follows:
The traffic map construction module 201 is configured to obtain a current driving point of a driving vehicle in severe weather, identify a driving destination of the driving vehicle, and construct a traffic map of the driving vehicle according to the current driving point and the driving destination;
The path planning module 202 is configured to analyze a driving path of the driving vehicle by using the road map, query a path condition of the driving path, collect traffic information of the driving path, construct a path selection cost of the driving path by using the path condition and the traffic information, and plan the driving path based on the path selection cost to obtain a planned path;
The early warning information construction module 203 is configured to identify a junction point of the planned path, construct a path topology network of the junction point, analyze a junction situation of the junction point by using the path topology network, and construct driving early warning information of the driving vehicle according to the junction situation;
The vehicle speed limiting module 204 is configured to analyze a vehicle running state of the driving vehicle on the planned path, identify a driving environment of the driving vehicle, and limit the driving vehicle to obtain a limited vehicle speed based on the vehicle running state and the driving environment;
the driving scheme construction module 205 is configured to construct a driving scheme of the driving user by using the driving early warning information and the vehicle speed limit.
In detail, when the modules in the system 200 for implementing the safety control of the equipment under the bridge construction by using the internet of things in the embodiment of the present invention are used, the same technical means as the driving safety induction method applied to the severe weather described in fig. 1 to 2 are adopted, and the same technical effects can be produced, which is not repeated here.
The present invention also provides a storage medium storing a computer program which, when executed by a processor of an electronic device, can implement:
Acquiring a current driving point of a driving vehicle in severe weather, identifying a driving destination of the driving vehicle, and constructing a driving map of the driving vehicle according to the current driving point and the driving destination;
Analyzing a driving path of the driving vehicle by using the path diagram, inquiring the path condition of the driving path, collecting traffic information of the driving path, constructing path selection cost of the driving path by using the path condition and the traffic information, and planning the path of the driving path based on the path selection cost to obtain a planned path;
Identifying a tandem point of the planned path, constructing a path topology network of the tandem point, analyzing the tandem condition of the tandem point by utilizing the path topology network, and constructing the driving early warning information of the driving vehicle according to the tandem condition;
Analyzing the vehicle running state of the running vehicle on the planned path, identifying the running environment of the running vehicle, and limiting the running vehicle speed of the running vehicle based on the vehicle running state and the running environment to obtain a limited speed;
And constructing a driving scheme of the driving user by utilizing the driving early warning information and the vehicle speed limit.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus, system and method may be implemented in other manners. For example, the system embodiments described above are merely illustrative, e.g., the division of the modules is merely a logical function division, and other manners of division may be implemented in practice.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in the embodiments of the present invention 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 integrated units can be realized in a form of hardware or a form of hardware and a form of software functional modules.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The driving safety induction method applied to severe weather is characterized by comprising the following steps of:
Acquiring a current driving point of a driving vehicle in severe weather, identifying a driving destination of the driving vehicle, and constructing a driving map of the driving vehicle according to the current driving point and the driving destination;
Analyzing a driving path of the driving vehicle by using the driving chart, inquiring the path condition of the driving path, collecting traffic information of the driving path, constructing a path selection cost of the driving path by using the path condition and the traffic information, and planning the path of the driving path based on the path selection cost to obtain a planned path, wherein the inquiring the path condition of the driving path comprises the following steps:
Collecting a current path image of the driving path;
Identifying a current color feature and a current shape feature of the current path image;
Analyzing image change information of the current path image based on the current color feature and the current shape feature;
Optionally, the identifying the current color feature and the current shape feature of the current path image includes:
constructing a color histogram of the current path image, and calculating pixel distribution values of the color histogram by using the following formula:
；
Wherein denotes a pixel distribution value, H denotes a width of the current path image corresponding to the color histogram, L denotes a height of the current path image corresponding to the color histogram,/> denotes a pixel value of the ith row and jth column of the current path image in the color channel, and/> denotes a kth color of the current path image in the color channel corresponding to the color histogram;
Determining the color characteristics of the path image according to the interval variation of the pixel distribution value of the current path image;
Calculating the pixel gradient of the current path image using the following formula:
；
Wherein denotes the pixel gradient,/> denotes the pixel value of the center point of the path image/> domain point;
calculating the gradient direction of the current path image by using the following formula:
；
Wherein denotes a gradient direction,/> 、/>、/>、/> denotes pixel values at four field points above, below, left and right of a center point/> of the current path image,
Determining a shape feature of the current path image using a gradient change of the pixel gradient and a direction change of the gradient direction,
And performing path planning on the driving path based on the path selection cost to obtain a planned path, including:
identifying a path selection element of the driving path based on the path selection cost;
Calculating a probability value of the path selection of the driving vehicle from the current path to the next path by using the path selection element in combination with the following formula:
；
Where G represents a probability value, i represents a current path, j represents a j-th path among the row paths,
For the path selection element quantity between the path i and the path j,/> is a heuristic function of path selection, a is a pheromone heuristic factor of the path,/> is a heuristic factor of a path selection expected value, and/> represents a constraint condition of path selection;
selecting a path from the driving paths according to the probability value to obtain a planned path;
Identifying a tandem point of the planned path, constructing a path topology network of the tandem point, analyzing the tandem condition of the tandem point by utilizing the path topology network, and constructing the driving early warning information of the driving vehicle according to the tandem condition;
Analyzing the vehicle running state of the running vehicle on the planned path, identifying the running environment of the running vehicle, and limiting the running vehicle speed of the running vehicle based on the vehicle running state and the running environment to obtain a limited speed;
And constructing a driving scheme of the driving user by utilizing the driving early warning information and the vehicle speed limit.
2. The method according to claim 1, wherein the constructing a road map of the driving vehicle according to the current driving point and the driving destination comprises:
Constructing a road network of the driving vehicle by utilizing the current driving point and the driving destination;
Carrying out road marking on the road network to obtain a marked road;
and constructing a road map of the driving vehicle by using the marked road.
3. The method of claim 1, wherein constructing the path selection cost of the driving path using the path condition and the traffic information comprises:
Identifying a path obstacle in the driving path according to the path condition and the traffic information, and calculating a path selection weight of the driving path based on the path obstacle;
Constructing the travelling coordinates of the travelling path;
calculating the priority of the path selection in the driving path according to the driving coordinates and the path selection weight by using the following formula:
；
Wherein denotes a priority,/> ,/> denotes a start point coordinate in the travelling coordinates,/> ,/> denotes an end point coordinate in the travelling coordinates,/> denotes a path selection weight,/> denotes a time function,/> denotes a duty cycle of the travelling path obstacle,/> denotes a path selection trade-off threshold;
and determining the path selection cost of the driving path according to the priority.
4. The method of claim 1, wherein said constructing a path topology network of said sink comprises:
Carrying out path extension by using the tandem points to obtain an extension road;
Constructing a path topological frame of the tandem point by utilizing the extended road;
Updating information of the path topological frame to obtain an updating frame;
And constructing a path topology network of the tandem point by using the updating framework.
5. The method of claim 1, wherein the constructing the driving warning information of the driving vehicle according to the tandem situation comprises:
constructing a driving early warning text of the driving vehicle according to the tandem situation;
converting the driving early warning text into a voice text;
And storing the voice text into a voice broadcasting system of the driving vehicle to obtain voice broadcasting early warning information, and taking the voice broadcasting early warning information as driving early warning information of the driving vehicle.
6. The method of claim 1, wherein said analyzing the vehicle travel state of the driving vehicle on the planned path comprises:
Acquiring driving feedback information of the driving vehicle, and analyzing driving performance of the driving vehicle by using the driving feedback information;
According to the driving performance, carrying out abnormal driving analysis on the driving vehicle to obtain a driving analysis result;
and judging the vehicle running state of the running vehicle according to the running analysis result.
7. A system for implementing the driving safety induction method applied to bad weather according to any one of claims 1 to 6, characterized in that the system comprises:
the road map construction module is used for acquiring the current driving point of the driving vehicle in severe weather, identifying the driving destination of the driving vehicle and constructing a road map of the driving vehicle according to the current driving point and the driving destination;
the path planning module is used for analyzing the driving path of the driving vehicle by utilizing the road map, inquiring the path condition of the driving path, collecting the traffic information of the driving path, constructing the path selection cost of the driving path by utilizing the path condition and the traffic information, and planning the path of the driving path based on the path selection cost to obtain a planned path;
the early warning information construction module is used for identifying a junction point of the planned path, constructing a path topology network of the junction point, analyzing the junction situation of the junction point by utilizing the path topology network, and constructing the driving early warning information of the driving vehicle according to the junction situation;
The vehicle speed limiting module is used for analyzing the vehicle running state of the running vehicle on the planned path, identifying the running environment of the running vehicle, and limiting the running vehicle speed of the running vehicle based on the vehicle running state and the running environment to obtain a limited vehicle speed;
And the driving scheme construction module is used for constructing the driving scheme of the driving user by utilizing the driving early warning information and the vehicle speed limit.
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