CN218214392U

CN218214392U - Vehicle superelevation warning system

Info

Publication number: CN218214392U
Application number: CN202220885532.8U
Authority: CN
Inventors: 张磊; 曾帅
Original assignee: Suzhou Aikrypton Inno Robot Technology Co ltd
Current assignee: Aikrypton Innolux Changshu Transportation Technology Co ltd
Priority date: 2022-04-15
Filing date: 2022-04-15
Publication date: 2023-01-03
Anticipated expiration: 2032-04-15

Abstract

The application discloses vehicle superelevation warning system, it sets up warning device to predetermine suggestion position department on target limit for height facility entry the place ahead road, it sets up first laser radar, the second laser radar, first camera and second camera to predetermine the detection site department in warning device place ahead target highway section, the same lane region on the target highway section is covered to the visual angle of first laser radar, the second laser radar, first camera and second camera, be used for gathering the same vehicle data of going to the side. The first laser radar and the first camera are arranged back to the target height limiting facility, forward ultrahigh detection of a running vehicle is achieved, the second laser radar and the second camera are arranged towards the target height limiting facility, reverse ultrahigh detection of the running vehicle is achieved, then the ultrahigh vehicle running to the entrance of the target height limiting facility is warned by the warning device, dissuasion and reversion induction of the ultrahigh vehicle are achieved, and safety accidents caused by ultrahigh of the vehicle are reduced.

Description

Vehicle superelevation warning system

Technical Field

The application relates to the technical field of intelligent traffic, in particular to a vehicle ultrahigh warning system.

Background

Nowadays, road facilities are damaged or traffic accidents occur frequently due to the fact that vehicles are too high, maintenance cost of road surfaces, tunnels and bridges is increased year by year, and personal safety of drivers is seriously damaged. The majority of the measures currently used are: and installing a height limiting rod on a road with limited height requirements. However, this method cannot let the driver know in advance that the vehicle driven by the driver is over high, and when the vehicle hits the height-limiting rod, a traffic accident occurs, which may result in damage to the vehicle and the height-limiting rod, or in serious accident of vehicle damage and death. Therefore, a safe and effective vehicle height-exceeding early warning scheme is needed.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a vehicle superelevation warning system, can warn the superelevation vehicle that goes on the road in advance, is favorable to reducing the incident because the vehicle superelevation leads to.

The embodiment of the application provides a vehicle superelevation warning system, includes: the warning device is arranged at a preset prompting point position on a road in front of an entrance of a target height limiting facility, and the data acquisition device is arranged at a preset detection point position on a target road section in front of the warning device;

the data acquisition device includes: the system comprises a first laser radar, a second laser radar, a first camera and a second camera, wherein the first laser radar and the first camera are arranged back to a target height-limiting facility, the second laser radar and the second camera are arranged facing the target height-limiting facility, and the viewing angles of the first laser radar, the second laser radar, the first camera and the second camera cover the same lane area on a target road section and are used for collecting vehicle data in the same driving direction;

the control device is respectively connected with the first laser radar, the second laser radar, the first camera and the second camera, and is used for receiving laser point cloud data collected by the first laser radar and the second laser radar and vehicle images collected by the first camera and the second camera and sending identification information of the ultrahigh vehicle to the warning device;

and the warning device is connected with the control device and used for warning the ultrahigh vehicle driving to the entrance of the target height-limiting facility according to the received identification information.

Furthermore, the first laser radar, the second laser radar, the first camera and the second camera are arranged on the same support at the preset detection point.

Further, predetermine the check point location and include that the interval predetermines first check point location and the second check point location of distance, first check point location with distance of traveling between the warning device is greater than second check point location with distance of traveling between the warning device, first lidar sets up and is located on the first support of first check point location, second lidar, first camera, second camera all set up and are located on the second support of second check point location, wherein, first lidar with the visual angle region of first camera is at least partly overlapped.

Further, the driving distance between the preset prompting point location and the preset detection point location is between 50 meters and 100 meters.

Furthermore, a ramp is arranged on the road in front of the entrance of the target height limiting facility, and the driving distance between the preset prompt point and the ramp intersection is between 90 and 150 meters.

Further, the first laser radar, the second laser radar, the first camera and the second camera are all in a top view posture, and a depression angle is set between 10 degrees and 30 degrees.

Further, the horizontal field angle of each of the first laser radar and the second laser radar is between 110 ° and 130 °, and the vertical field angle of each of the first laser radar and the second laser radar is between 10 ° and 15 °.

Furthermore, the target road section comprises M lanes, N groups of data acquisition devices are arranged at preset detection point positions on the target road section, wherein M is an integer greater than or equal to 1, N is an integer greater than or equal to 1 and less than or equal to M, the N groups of data acquisition devices are all used for acquiring vehicle data in the same driving direction, and different groups of data acquisition devices correspond to different lane areas of the target road section,

the system further comprises a switch, each group of data acquisition devices are respectively and correspondingly provided with the respective control devices, and the control devices corresponding to each group of data acquisition devices are connected with the warning device through the switch.

Further, the warning device comprises a traffic guidance display screen for displaying identification information of an ultrahigh vehicle in the vehicles driving to the entrance of the target height-limiting facility.

Further, the control device adopts an edge computing device.

One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

the vehicle ultrahigh warning system provided by the embodiment of the application comprises a warning device arranged at a preset prompt point position on a road in front of a target height-limiting facility entrance, a first laser radar, a second laser radar, a first camera and a second camera are arranged at a preset detection point position on a target road section in front of the warning device, the first laser radar, the second laser radar, the visual angles of the first camera and the second camera cover the same lane area on the target road section and are used for collecting vehicle data in the same driving direction, the first laser radar and the first camera are arranged opposite to the target height-limiting facility, forward ultrahigh detection of a driving vehicle is realized, the second laser radar and the second camera are arranged facing the target height-limiting facility, reverse ultrahigh detection of the driving vehicle is realized, then the warning device warns the ultrahigh vehicle driving to the target height-limiting facility entrance, persuasion induction of the ultrahigh vehicle is realized, and safety accidents caused by ultrahigh of the vehicle are reduced. And the forward and reverse ultrahigh detection is carried out on the vehicles in the same driving direction, and the reverse ultrahigh detection can further supplement the forward ultrahigh detection result, so that the missing detection is effectively reduced, and the reliability of the system is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a block diagram of a vehicle superelevation warning system according to an embodiment of the present application;

fig. 2 is a schematic view of point location layout provided in the embodiment of the present application;

FIG. 3 is a top view of an exemplary vehicle ultra-high warning system layout scenario in an embodiment of the present application;

fig. 4 is a front view of a layout scenario of an exemplary vehicle ultra-high warning system in an embodiment of the present application.

Detailed Description

Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present application. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present application.

Various structural schematics according to embodiments of the present application are shown in the figures. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, structures and relative sizes and positional relationships therebetween shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes and relative positions according to actual needs. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship. The term "plurality" means more than two, including two or more.

The following describes the vehicle superelevation warning system provided in the embodiment of the present application in detail. It should be understood that the specific features in the embodiments and examples of the present application are detailed description of the technical solutions in the embodiments of the present application, and are not limited to the technical solutions in the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.

The embodiment of the application provides a vehicle superelevation warning system for the superelevation vehicle that traveles on the road in target limit for height facility entry the place ahead warns to persuade the superelevation vehicle, avoid superelevation vehicle and target limit for height facility collision accident. For example, the target height-limiting facility may be a facility with height-limiting requirements, such as a tunnel, an overpass or a viaduct. The road ahead of the entrance of the target height-limiting facility is the road on which the vehicle enters the entrance of the target height-limiting facility.

As shown in fig. 1, the vehicle over-height warning system may include: data acquisition device 110, control device 120 and warning device 130. Wherein, data acquisition device 110 includes: a first lidar 101, a second lidar 111, a first camera 102, and a second camera 112. It should be noted that the set of data acquisition device 110 and control device 120 shown in fig. 1 is only illustrative and not limiting. The first laser radar 101, the second laser radar 111, the first camera 102, the second camera 112 and the warning device 130 are all connected to the control device 120.

In specific implementation, according to field investigation, as shown in fig. 2, a prompt point location and a detection point location are arranged on a road in front of an entrance of the target height-limiting facility 100 in advance, so that the warning device 130 of the system is arranged at a preset prompt point location a and is used for warning an ultrahigh vehicle driving to the entrance of the target height-limiting facility 100; the data acquisition device 110, namely the first laser radar 101, the second laser radar 111, the first camera 102 and the second camera 112 are arranged at the preset detection point B, and are used for acquiring vehicle data, including vehicle height data and vehicle images, of the vehicle driving to the entrance of the target height-limiting facility 100, so as to perform ultrahigh detection on the vehicle driving on the road.

It should be noted that, in consideration of the time delay between the superelevation detection and the superelevation warning, a certain driving distance may be provided between the preset prompting point location a and the preset detection point location B, and the preset prompting point location a is closer to the entrance of the target height limiting facility 100 than the preset detection point location B, so that the warning device 130 can warn the superelevation vehicle in time before the superelevation vehicle passes through the preset prompting point location a. The specific interval of travel distance can be determined according to the speed limit requirement of the actual road and the performance of each device in the system. For example, the driving distance L between the preset prompting point location a and the preset detection point location B may be set between 50 meters and 100 meters, such as 50 meters, 60 meters, 80 meters, 90 meters, or 100 meters.

The specific position of the preset prompt point position A can be set according to an actual scene, and a sufficient braking distance needs to be reserved for the ultrahigh vehicle. For example, as shown in fig. 2, the road in front of the entrance of the target height-limiting facility 100 has a ramp from which the vehicle can travel away from the main road, thereby avoiding passing through the target height-limiting facility 100. At this time, the preset prompt point a may be disposed in front of the ramp intersection, so that the ultrahigh vehicle may timely drive away from the main road from the ramp after being warned by the warning device 130. In order to ensure that the ultrahigh vehicle has enough time to drive away from the main road leading to the entrance of the target height limiting facility 100 from the ramp, a certain driving distance needs to be kept between the preset prompt point position a and the intersection of the driving-out ramp. For example, the driving distance between the preset prompting point location a and the exit ramp intersection may be between 90 meters and 150 meters, and specifically may be set according to multiple tests, such as 90 meters, 100 meters, 120 meters, or 150 meters, and the like.

In this embodiment, a road segment on which the data acquisition device 110 needs to be arranged and the running vehicle superelevation detection is performed is referred to as a target road segment. In a practical application scenario, the target road segment may be one or more. Taking the target height-limiting facility 100 as a tunnel as an example, for the same tunnel, within a certain distance range in front of a tunnel entrance, if only one road is led to the tunnel entrance, the number of target road sections is one; if there is a main road and at least one side road, the target road segment includes a plurality of road segments.

In a scene that a target road segment has multiple road segments, the first laser radar 101, the second laser radar 111, the first camera 102 and the second camera 112 are arranged at preset detection points of each road segment. Each road section is provided with a corresponding control device 120, and the first laser radar 101, the second laser radar 111, the first camera 102 and the second camera 112 arranged on each road section are connected with the corresponding control devices 120, so that the ultrahigh detection speed of vehicles on each road section can be improved. As shown in fig. 2, a side road exists on a road leading to a tunnel entrance, vehicles running on the side road merge into the main road and then lead to the tunnel entrance, and a target road section may include a main road section and a side road section, at this time, data acquisition devices 110 need to be respectively and uniformly arranged at a preset detection point B1 of the main road section and a preset detection point B2 of the side road section, that is, a first laser radar 101, a second laser radar 111, a first camera 102 and a second camera 112 need to be arranged, so as to respectively detect superelevation of the vehicles running on the main road section and the side road section.

Further, the same target road section includes M lanes, and N groups of data acquisition devices 110 may be disposed at preset detection points on the target road section. Wherein M is an integer greater than or equal to 1, and N is an integer greater than or equal to 1 and less than or equal to M. The N sets of data acquisition devices 110 are all used for acquiring vehicle data in the same driving direction, that is, the vehicle data on the target road section driving to the entrance of the target height-limiting facility 100. The view angle area of the N-group data acquisition devices 110 needs to cover all lanes on the target road section leading to the entrance of the target height-limiting facility 100, so as to ensure the reliability of the system. The different sets of data acquisition devices 110 may detect vehicle data corresponding to different lane areas on the target road segment. Of course, there is a partial overlap between the field of view regions of adjacent sets of data acquisition devices 110.

When the data acquisition devices 110 are specifically arranged, the specific number of groups of the data acquisition devices 110 may be determined according to the number of lanes of the target road section in the actual scene and the field range of the data acquisition devices 110. For example, if the target road segment has 1 to 3 lanes, a group of data acquisition devices 110 may be correspondingly disposed; if the target road section has 4 to 6 lanes, two sets of data acquisition devices 110 may be correspondingly disposed. As shown in fig. 3, taking 4 lanes as an example, one group of data acquisition devices 110 is corresponding to detect vehicle data of 1 lane and 2 lanes, and the other group of data acquisition devices 110 is corresponding to detect vehicle data of 3 lanes and 4 lanes.

In the case of arranging multiple sets of data acquisition devices 110, in order to increase the ultrahigh detection speed, one control device 120 may be provided for each set of data acquisition devices 110, that is, each set of data acquisition devices 110 corresponds to its own control device 120.

Further, in the case that a plurality of control devices 120 are arranged, in order to facilitate data transmission, the vehicle height exceeding warning system provided by the embodiment further includes an exchange 121, and each control device 120 is connected to the warning device 130 through the exchange 121.

For each set of data acquisition devices 110, in a specific layout, as shown in fig. 3 and 4, the first laser radar 101 and the first camera 102 are arranged back to the target height-limiting facility 100, the second laser radar 111 and the second camera 112 are arranged facing the target height-limiting facility 100, and the viewing angles of the first laser radar 101, the second laser radar 111, the first camera 102 and the second camera 112 cover the same lane area on the target road segment and are used for acquiring vehicle data in the same driving direction. Specifically, the first laser radar 101 and the first camera 102 are respectively configured to collect height data and identification images of vehicles driving to a preset detection point on a target road segment, and the second laser radar 111 and the second camera 112 are respectively configured to collect height data and identification images of vehicles driving to a preset prompt point after passing through the preset detection point on the target road segment. For example, the vehicle image may be a license plate image or other identification image capable of uniquely identifying the vehicle. Taking identification information as license plate numbers as an example, license plates are arranged at the head and the tail of the vehicle, the first camera 102 is shot from the forward direction of the vehicle, and the collected license plate images are positioned at the head of the vehicle; the second camera 112 is shot from the vehicle in the reverse direction, and collects the license plate image at the tail of the vehicle.

As shown in fig. 4, the first laser radar 101, the second laser radar 111, the first camera 102 and the second camera 112 all present a top view posture, and the specific depression angle θ can be set according to the requirements of the actual application scenario. For example, the depression angles θ of the first laser radar 101, the second laser radar 111, the first camera 102, and the second camera 112 may be set between 10 degrees and 30 degrees, such as 10 degrees, 20 degrees, 30 degrees, and the like.

For example, first lidar 101 and second lidar 111 may employ hybrid solid state 16-line lidar that do not include a rotating mechanism. The 16-line subdivision measurement and identification accuracy is high, and due to the fact that a rotating mechanism is omitted, stability and service life of the device are high, and power consumption is low. Of course, in addition to the hybrid solid-state 16-line lidar, the first and

second lidar

101 and 111 may also be other suitable lidar, which is not limited in this embodiment.

The horizontal field angle of the first laser radar 101 and the second laser radar 111 may be set between 110 ° and 130 °, for example, may be concentrated in a range of 110 °, 120 ° or 130 °, so that waste of the horizontal field angle may be avoided, and the horizontal angular resolution may be improved. Taking the horizontal field angle of 120 ° as an example, the horizontal angular resolution may reach 0.2 °.

The vertical field angles (e.g., the gray triangular regions illustrated in fig. 4) of the first lidar 101 and the second lidar 111 may be set to be between 10 ° and 15 °, for example, may be set to be 10 °, 11 °, 13 °, or 15 °, depending on the requirements of the actual application scenario. Taking the vertical field angle of 11 degrees as an example, the vertical offset of the laser scanning line relative to the central line can be +/-5.5 degrees, the range of the vertical field angle is wide, and the vertical resolution can reach 0.73 degrees.

It should be noted that the outdoor effective measurement distance of the laser radar can reach 80 meters, the range for measuring the height of the vehicle is mainly concentrated in the range of 0-30 meters, the effective distance for photographing and identifying the license plate by the camera is about 20 meters, the laser radar can be operated under strong sunlight or in darkness, and the identification accuracy is more than or equal to 99.5 percent.

In an alternative embodiment, the first and

second laser radars

101 and 111, the first and

second cameras

102 and 112 may be mounted on the same support 141. At this time, only one preset detection point needs to be determined for the same target road segment, for example, an L-shaped rod may be erected in the middle of the road-side green belt as the bracket 141, and the L-shaped rod is used for installing the first laser radar 101, the second laser radar 111, the first camera 102 and the second camera 112 to detect the vehicle running on the road. For example, the L-bar dimensions may be: the height is not less than 7m, and the width is 9m. Of course, a light supplement lamp configured to be used with the first camera 102 and the second camera 112 may be further installed on the L-shaped rod to supplement light in dark ambient brightness.

During use, the control device 120 receives laser point cloud data collected by the first laser radar 101 and the second laser radar 111 and vehicle images collected by the first camera 102 and the second camera 112, and sends identification information of the ultrahigh vehicle to the warning device 130. Specifically, the control device 120 cooperates with the first laser radar 101 and the first camera 102 to perform forward detection of the running vehicle, and the control device 120 cooperates with the second laser radar 111 and the second camera 112 to perform reverse detection of the running vehicle, which are described below.

And (3) forward detection process: as shown in fig. 4, a vehicle traveling on a target road segment first travels from far to near to a preset detection point, the first laser radar 101 and the first camera 102 collect vehicle height data and vehicle images from the forward direction of the traveling vehicle and send the collected data to the control device 120, the control device 120 determines whether the vehicle is ultrahigh according to the vehicle height data and a preset height threshold, and identification information of the ultrahigh vehicle is determined from the collected vehicle images.

Specifically, in the forward direction detection process, the vehicle enters a far-end detection area of the first laser radar 101 first, and then gradually travels to a near-end detection area, and the coverage range of the field of view of the laser radar in the vertical direction of the road surface gradually increases from the far end to the near end, so that the first laser radar 101 has a certain time delay from the collection of vehicle data to the collection of more accurate vehicle height data. Therefore, in an alternative embodiment, after it is detected that a vehicle enters the detection area of the first laser radar 101, the lane where the vehicle is located is identified, then a snapshot instruction carrying lane information is sent to the first camera 102, the first camera 102 is triggered to take a picture, a vehicle image is collected, and then vehicle identification information of a corresponding lane in the image is identified and stored. If the vehicle is determined to be an ultrahigh vehicle in the subsequent vehicle ultrahigh determination, the vehicle identification information of the vehicle is sent to the warning device 130. Therefore, the reliability of the forward detection result is guaranteed, and the situation that the first camera 102 cannot capture the ultrahigh vehicle identification information due to the fact that the vehicle ultrahigh judgment result is acquired late is avoided.

And (3) reverse detection process: as shown in fig. 4, after the vehicle passes through the preset detection point, the vehicle continues to drive towards the entrance of the target height-limiting facility 100. In this process, the second laser radar 111 collects vehicle height data from the reverse direction of the traveling vehicle and transmits the collected data to the control device 120. Since the vehicle firstly enters the near-end detection area of the second laser radar 111 and then drives to the far-end detection area, the second laser radar 111 can quickly acquire accurate vehicle height data. Therefore, in an alternative embodiment, the control device 120 may determine whether the vehicle is ultrahigh according to the vehicle height data and a preset height threshold, and if it is determined that the vehicle is ultrahigh, identify the lane where the vehicle is located, and then send a snapshot instruction carrying lane information to the second camera 112, so as to control the second camera 112 to collect a vehicle image, and after the control device 120 acquires the vehicle image, identify the vehicle identification information of the corresponding lane in the image, and send the vehicle identification information of the vehicle to the warning device 130. This can reduce the number of images that the second camera 112 needs to capture, reducing the data storage pressure of the system.

In the detection process, the specific processes of vehicle superelevation judgment and image identification can refer to related technologies, for example, a self-adaptive background point-complementing algorithm, multi-lane fuzzy stereo segmentation, a vehicle wavelet denoising algorithm, a multi-echo raindrop removing algorithm and other data preprocessing algorithms can be used, so that the signal-to-noise ratio is improved, the data preprocessing quality is enhanced, and the reliability of the identification result is improved; the parameters such as the outer contour, the running speed, the course angle and the like of the vehicle can be extracted by autonomous clustering recognition by adopting a deep learning artificial intelligence technology, and the embodiment does not describe the parameters in detail.

In this embodiment, on the basis of setting the first laser radar 101 and the first camera 102 for forward detection, the second laser radar 111 and the second camera 112 are set for reverse supplementary detection, so that on one hand, the accuracy of the vehicle superelevation determination result can be effectively improved, and on the other hand, the problem of inaccurate identification information identification caused by vehicle identification such as license plate shielding, blurring, too fast vehicle speed and the like can be avoided, thereby improving the reliability of the system.

In an alternative embodiment, the first laser radar 101 and the second laser radar 111, the first camera 102, and the second camera 112 may be installed at different preset detection positions. At this moment, the preset detection point positions determined on the same target road section need to include a first detection point position and a second detection point position which are separated by a preset distance, and the specific separation distance can be set according to practical experience and multiple tests, so that the visual angle areas of the first laser radar 101 and the first camera 102 are at least partially overlapped, and therefore it is ensured that when the vehicle height data collected by the first laser radar 101 determine that the vehicle is ultrahigh, the first camera 102 can collect the vehicle image of the ultrahigh vehicle. The driving distance between the first detection point and the warning device 130 is greater than the driving distance between the second detection point and the warning device 130. The first laser radar 101 is arranged on a first support located at a first detection point, and the second laser radar 111, the first camera 102 and the second camera 112 are all arranged on a second support located at a second detection point. Therefore, enough time can be reserved for the first laser radar 101 to acquire more accurate vehicle height data, so that a snapshot instruction carrying lane information can be sent to the first camera 102 to trigger shooting and identification of vehicle identification information when the vehicle is identified to be ultrahigh in the forward detection process. This can reduce the number of images that the first camera 102 needs to capture, reducing the data storage pressure of the system.

Of course, in other embodiments, the first laser radar 101 and the first camera 102 may be mounted on one support, and the second laser radar 111 and the second camera 112 may be mounted on the other support, specifically arranged according to the needs of the actual scene.

In this embodiment, the control device 120 may adopt an edge computing device to increase the data processing speed, thereby being beneficial to ensuring the timeliness of the ultrahigh recommended return. Of course, in other embodiments of the present description, the control device 120 may also adopt other suitable devices having data processing and storing functions, and this embodiment does not limit this.

After the warning device 130 receives the forward detection result and the reverse detection result, that is, the identification information of the ultrahigh vehicle detected in the forward detection process and the identification information of the ultrahigh vehicle detected in the reverse detection process, the ultrahigh vehicle can be warned accordingly.

It should be noted that, considering that the forward detection result and the reverse detection result are repeated, in order to avoid wasting warning resources due to repeated warning, after receiving the identification information of the vehicle with the height, the warning device 130 determines whether the detection result of the vehicle has been received immediately, that is, the vehicle with the height has been warned, and does not repeat warning on the vehicle any more.

The warning device 130 may include a traffic guidance display 131, for example, as shown in fig. 3, the traffic guidance display 131 may be mounted on a mounting bracket 142 disposed at a predetermined prompting location. The traffic guidance display screen 131 is used for displaying identification information of the ultrahigh vehicle on the road in front, such as license plate information, so that a warning effect for the ultrahigh vehicle is achieved, and a driver is prompted that the vehicle is ultrahigh and needs to drive away in advance. The driver of the ultrahigh vehicle turns around or drives out from the ramp in front of the entrance of the target height limiting facility 100 after seeing the ultrahigh vehicle, so that the collision accident caused by passing through the target height limiting facility 100 is avoided. For example, "xxx (number plate) is ultrahigh, please drive away" may be displayed.

It is understood that the warning device 130 may further include a display controller 132, and the display controller 132 is connected to the traffic guidance display 131 and the control device 120, respectively, for summarizing and storing the received ultrahigh vehicle identification information, such as license plate information, and then controlling the guidance display to display the ultrahigh vehicle identification information. It should be noted that, the specific implementation of the display controller 132 may refer to the display control related art, and this embodiment will not be described in detail. For example, as shown in fig. 3, an integrated information processing cabinet 143 may be provided on the road side for placing the above-mentioned control device 120, the switch 121, the display controller 132, and the like, and connection cables of the first laser radar 101, the second laser radar 111, the first camera 102, and the second camera 112 and the integrated information processing cabinet 143 may be buried from the flower bed.

Further, the warning device 130 may further include a voice prompt module (not shown), and the voice prompt module is connected to the control device 120. For example, the voice prompt module may be mounted on the same mounting bracket 142 as the traffic-inducing display 131. Can both show the identification information of superelevation vehicle through traffic induction display screen 131 like this, carry out voice broadcast to the superelevation vehicle through voice prompt module again and remind, further strengthen the warning effect to superelevation vehicle driver, improve the security.

In an alternative embodiment, the vehicle height exceeding warning system provided in this embodiment may further include a wireless communication device (not shown in the figure), and the control device 120 is connected to the vehicle-mounted multimedia device through the wireless communication device. The user can select whether to start the ultrahigh reminding function of the vehicle-mounted multimedia equipment. If the user selects to start the ultrahigh reminding function, that is, the user is authorized, the control device 120 may send the warning information to the vehicle-mounted multimedia device of the ultrahigh vehicle through the wireless communication device according to the vehicle identification information of the ultrahigh vehicle. After the vehicle-mounted multimedia equipment receives the warning information, the vehicle-mounted multimedia equipment broadcasts the ultrahigh prompt in a voice mode, for example, "limited high facilities in the front, your vehicle is ultrahigh, please drive away in time" and the like can be broadcasted. For example, the wireless communication device may adopt a bluetooth module, a WIFI module, a 2G/3G/4G/5G network module, or the like. Can further strengthen the warning effect to super high vehicle driver like this, guarantee that the driver knows the self vehicle superelevation, improve the security.

In summary, the vehicle superelevation warning system provided by this embodiment realizes the forward superelevation detection by arranging the first laser radar 101 and the first camera 102 at the preset detection point, realizes the reverse superelevation detection by arranging the second laser radar 111 and the second camera 112, covers the same lane area on the target road section with the view angles of the first laser radar 101, the second laser radar 111, the first camera 102 and the second camera 112, warns the superelevation vehicle by arranging the warning device 130 at the preset prompt point, realizes the reversion of the superelevation vehicle, and is favorable for reducing the safety accidents caused by the superelevation of the vehicle. And the forward and reverse ultrahigh detection is carried out on the vehicles in the same driving direction, and the reverse ultrahigh detection can further supplement the forward ultrahigh detection result, so that the missing detection is effectively reduced, and the reliability of the system is improved.

While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A vehicle over-height warning system, comprising: the warning device is arranged at a preset prompting point position on a road in front of an entrance of a target height limiting facility, and the data acquisition device is arranged at a preset detection point position on a target road section in front of the warning device;

the control device is respectively connected with the first laser radar, the second laser radar, the first camera and the second camera, and is used for receiving laser point cloud data acquired by the first laser radar and the second laser radar and vehicle images acquired by the first camera and the second camera and sending identification information of the ultrahigh vehicle to the warning device;

2. The vehicle ultra-high warning system according to claim 1, wherein the first laser radar, the second laser radar, the first camera and the second camera are arranged on the same support at the same preset detection point.

3. The vehicle ultrahigh warning system according to claim 1, wherein the preset detection points comprise a first detection point and a second detection point which are separated by a preset distance, the driving distance between the first detection point and the warning device is greater than the driving distance between the second detection point and the warning device, the first laser radar is arranged on a first bracket located at the first detection point, the second laser radar, the first camera and the second camera are all arranged on a second bracket located at the second detection point, and the viewing angle area of the first laser radar and the viewing angle area of the first camera are at least partially overlapped.

4. The vehicle ultra-high warning system as claimed in claim 1, wherein a driving distance between the preset prompting point location and the preset detection point location is between 50 meters and 100 meters.

5. The vehicle height exceeding warning system according to claim 1, wherein a ramp is arranged on a road in front of the entrance of the target height limiting facility, and a driving distance between the preset prompt point and the ramp intersection is between 90 meters and 150 meters.

6. The vehicle over-height warning system according to any one of claims 1 to 5, wherein the first lidar, the second lidar, the first camera, and the second camera are each configured to be in a top view posture, and a depression angle is set between 10 degrees and 30 degrees.

7. The vehicle ultra-high warning system according to claim 6, wherein the horizontal field angle of each of the first and second laser radars is between 110 ° and 130 ° and the vertical field angle is between 10 ° and 15 °.

8. The vehicle ultrahigh warning system according to any one of claims 1 to 5, wherein the target road section comprises M lanes, N sets of data acquisition devices are arranged at preset detection points on the target road section, wherein M is an integer greater than or equal to 1, N is an integer greater than or equal to 1 and less than or equal to M, the N sets of data acquisition devices are all used for acquiring vehicle data in the same driving direction, and different sets of data acquisition devices correspond to different lane areas of the target road section,

the system further comprises a switch, each group of data acquisition devices corresponds to the corresponding control device, and the control devices corresponding to each group of data acquisition devices are connected with the warning device through the switch.

9. The vehicular elevation warning system according to claim 1, wherein the warning device includes a traffic guidance display screen for displaying identification information of an elevation vehicle in a vehicle heading for the entrance of the target elevation limit facility.

10. The vehicle over-height warning system according to claim 1, wherein the control device employs an edge computing device.