WO2018032295A1

WO2018032295A1 - Accident scene reconstruction method and device, and moving monitoring apparatus

Info

Publication number: WO2018032295A1
Application number: PCT/CN2016/095409
Authority: WO
Inventors: 刘海波; 雷方; 涂校明
Original assignee: 华为技术有限公司
Priority date: 2016-08-16
Filing date: 2016-08-16
Publication date: 2018-02-22
Also published as: CN108604284A; CN108604284B

Abstract

Provided in embodiments of the present invention are an accident scene reconstruction method and device, and moving monitoring apparatus. The method comprises: acquiring accident trigger information comprising accident position information; acquiring, according to the accident position information and by means of a moving monitoring apparatus, scene images at positions corresponding to the accident position information; and determining, according to the scene images at the positions corresponding to the accident position information, a past traveling trajectory of a car in the accident.

Description

Accident scene restoration method, device and motion monitoring equipment

Technical field

Embodiments of the present invention relate to the field of communications, and in particular, to an accident site reduction method, apparatus, and motion monitoring device.

Background technique

With the rapid development of urban traffic, vehicles are increasing, and traffic accidents occur frequently. In the event of a traffic accident, the accident vehicle usually needs to be parked in place to determine the responsibility for the traffic accident before leaving the site.

In the prior art, in order to determine the responsibility of the accident, one way is for the two parties to negotiate and judge by themselves. However, due to the lack of a neutral role, it is difficult for both parties to agree on the responsibility of the accident, and the two parties are prone to disputes and it is difficult to complete in a short time. Accident determination is likely to cause traffic congestion. In the prior art, another way is that both parties to the accident pass the photo of the accident site and wait for the traffic police or the staff of the insurance company to make an accident responsibility judgment based on the photo of the accident site. However, when the traffic police or the insurance company's staff judges the accident responsibility, it can only judge based on the accident scene photos retained by both parties to the accident. Due to the professional level of photographs taken by both parties to the accident, the photographs taken may not be fully reflected. On-site conditions, after the judgment is easy to make mistakes.

Summary of the invention

The embodiment of the invention provides an accident site reduction method, a device and a motion monitoring device, which are used to solve the problem that it is difficult to accurately determine the accident occurrence process in the prior art, and the accident liability judgment is inaccurate.

In a first aspect, an implementation of the present invention provides an accident site reduction method, where the accident site restoration method includes: acquiring an accident triggering information, where the accident triggering information includes an accident location information of an accident occurrence location; and according to the accident location information, The scene image of the location corresponding to the accident location information is collected by the motion monitoring device; and the historical driving track of the accident vehicle is determined according to the scene image of the location corresponding to the accident location information.

By automatically obtaining the accident location information when the accident occurs, and calling the motion monitoring equipment to make more accurate shooting of the scene according to the accident damage request, the accident scene restoration device or the motion monitoring device can predict the accident vehicle according to the scene photo. Historical trajectory to more accurately restore the scene of the accident. Compared with the prior art, the accident scene reduction method provided by the embodiment of the present invention can complete the restoration of the accident scene more efficiently and accurately.

Optionally, the accident scene restoration method may also be performed by the motion monitoring device.

Optionally, after determining the historical driving trajectory of the accident vehicle, the method further comprises: determining an accident liability of the accident vehicle according to the historical driving trajectory of the accident vehicle. According to the historical form trajectory of the accident vehicle, the accident liability of the accident vehicle can be determined more accurately.

Optionally, the method further includes: collecting, according to the accident location information, the driving data of the accident vehicle by using the motion monitoring device, the scene image corresponding to the location according to the accident location information, and the accident vehicle The driving data determines a historical driving trajectory of the accident vehicle.

The driving data of the accident vehicle is collected by the motion monitoring device, and the position of the accident vehicle before the accident occurs can be calculated according to the driving data, thereby accurately obtaining the driving track of the accident vehicle before the accident occurs, according to the The driving trajectory, the accident site restoration device or the motion monitoring device can more accurately judge the responsibility of the accident.

Optionally, collecting the driving data of the accident vehicle by using the motion monitoring device according to the accident location information, including: sending, according to the accident location information, driving data collection to the accident vehicle by using the motion monitoring device Receiving; receiving a live image of the location corresponding to the accident location information sent by the motion monitoring device, and driving data of the accident vehicle.

Optionally, determining a historical travel track of the accident vehicle according to the scene image corresponding to the location information of the accident location information, including: determining, according to the travel data of the accident vehicle, a travel track of the accident vehicle in a preset time period The preset time period includes a preset time length before the accident time point, and the end time of the accident time point; a travel trajectory according to the accident vehicle in the preset time period, and the according to the The accident location information corresponds to the live image of the location, and generates a historical travel trajectory of the accident vehicle at the accident site.

By acquiring the driving data of the accident vehicle within the preset time period and combining the scene image of the accident occurrence place, the accident vehicle can be simulated in each of the preset time periods. Set the relative position of the time point to obtain the accurate driving trajectory of the accident vehicle, and provide an accident determination reference for the accident site restoration device or the motion monitoring device.

Optionally, a process of generating a historical driving track of the accident vehicle at the accident site according to the driving track of the accident vehicle in the preset time period and the scene image according to the corresponding position of the accident position information, This can be achieved by:

Generating a road model corresponding to the location of the accident location information and a model of the accident vehicle according to the scene image corresponding to the location of the accident location information;

And generating, according to the driving track of the accident vehicle in the preset time period, the road model corresponding to the position of the accident position information, and the model of the accident vehicle, a historical driving track of the accident vehicle at the accident site.

By combining the driving trajectory of the accident vehicle in the preset time period, and the model of the accident vehicle, the road model of the accident occurrence place, the driving process of the accident vehicle at the time of the accident and the road of the accident place can be accurately restored. The environment provides a more accurate information reference for the accident site restoration device or the motion monitoring device in determining the liability of the accident.

Optionally, the accident triggering information may be obtained by receiving the accident triggering information sent by the accident vehicle, or receiving the accident triggering information sent by the roadside monitoring device. The accident triggering information is sent to the accident site restoration device in a different manner, so that the accident site restoration method provided by the embodiment of the present invention can perform accident site restoration for different types of accident vehicles.

Optionally, the driving data of the accident vehicle includes: a speed, an acceleration, and a running direction of the accident vehicle in a preset time period, where the preset time period includes a preset duration before the accident time point, and The time point of the accident is the end point.

Optionally, the motion monitoring device is a drone.

In a second aspect, an embodiment of the present invention provides an accident site restoration device, including: an acquisition module and a processing module;

The acquiring module is configured to acquire an accident triggering information, and collect, by the motion monitoring device, a live image of the location corresponding to the accident location information; the accident triggering information includes: accident location information;

The processing module is configured to determine a historical driving trajectory of the accident vehicle according to the scene image of the location corresponding to the accident location information.

Optionally, the processing module is further configured to determine an accident liability of the accident vehicle according to a historical driving trajectory of the accident vehicle after the determining module determines a historical driving trajectory of the accident vehicle.

Optionally, the acquiring module is further configured to: collect, according to the accident location information, the driving data of the accident vehicle by using the motion monitoring device;

The processing module is specifically configured to:

Determining a historical travel trajectory of the accident vehicle according to the scene image of the location corresponding to the accident location information and the travel data of the accident vehicle.

Optionally, the acquiring module is configured to: send, according to the accident location information, a travel data collection request to the accident vehicle by using the motion monitoring device; and receive the accident location information sent by the motion monitoring device. A live image of the corresponding location and driving data of the accident vehicle.

Optionally, the processing module is configured to: determine, according to the driving data of the accident vehicle, a driving track of the accident vehicle in a preset time period, where the preset time period includes a pre-prevention time point Set the length of time and end the accident time point;

And generating a historical driving track of the accident vehicle at the accident site according to the driving track of the accident vehicle in the preset time period and the scene image according to the position corresponding to the accident position information.

Optionally, the processing module is specifically configured to:

Optionally, the acquiring module is specifically configured to: receive event trigger information sent by the accident vehicle; or receive event trigger information sent by the roadside monitoring device.

Optionally, the motion monitoring device is a drone.

The technical effects of the accident scene reduction device provided by the embodiment of the present invention are similar to the foregoing various method embodiments, and are not described herein again.

In a third aspect, an embodiment of the present invention provides an accident site restoration device, including:

a data collector, configured to acquire incident trigger information, where the accident trigger information includes: accident location information;

The data collector is further configured to collect, according to the accident location information, a live image of the location corresponding to the accident location information by using a motion monitoring device;

And a processor, configured to determine a historical driving track of the accident vehicle according to the live image of the location corresponding to the accident location information.

Optionally, the processor is further configured to determine an accident responsibility of the accident vehicle according to a historical travel track of the accident vehicle after the processor determines a historical travel track of the accident vehicle.

Optionally, the data collector is further configured to: according to the accident location information, control the motion monitoring device to collect driving data of the accident vehicle;

The processor is specifically configured to:

Optionally, the data collector is specifically configured to:

Sending, by the motion monitoring device, a travel data collection request to the accident vehicle according to the accident location information;

Receiving a live image of the location corresponding to the accident location information sent by the motion monitoring device, and driving data of the accident vehicle.

Optionally, the processor is specifically configured to:

Determining, according to the driving data of the accident vehicle, a driving trajectory of the accident vehicle in a preset time period, wherein the preset time period includes a preset time length before the accident time point, and the accident time point is the end point;

Optionally, the processor is specifically configured to:

Optionally, the data collector is specifically configured to:

Receiving accident trigger information sent by the accident vehicle; or

Receives the incident trigger information sent by the roadside monitoring device.

Optionally, the motion monitoring device is a drone.

In a fourth aspect, the embodiment of the present invention further provides a motion monitoring device, where the motion monitoring device includes a receiver, a data collector, and a transmitter, where the receiver is configured to receive a data acquisition control command sent by the accident scene restoration device. The data collection control command includes an accident location information; the data collector is configured to acquire a live image of the location corresponding to the accident location information according to the accident location information; and the transmitter is configured to: The scene image is sent to the accident scene restoration device, so that the accident scene restoration device determines the historical travel track of the accident vehicle according to the scene image of the corresponding location of the accident location information.

Optionally, the data collector is further configured to: collect travel data of the accident vehicle according to the accident location information;

The transmitter is further configured to: send the driving data of the accident vehicle to the accident site restoration device, for the scene image of the location corresponding to the accident location information according to the accident site restoration device, and the accident vehicle The driving data determines the historical driving trajectory of the accident vehicle.

Optionally, the data collector is specifically configured to:

Sending a travel data collection request to the accident vehicle according to the accident location information;

Optionally, the motion monitoring device is a drone.

The technical effects of the motion monitoring device provided by the embodiment of the present invention are similar to the foregoing various method embodiments, and are not described herein again.

In a fifth aspect, an embodiment of the present invention further provides an accident site restoration method, including:

Receiving a data collection control instruction sent by the accident scene restoration device, where the data collection control instruction includes accident location information; acquiring, according to the accident location information, a scene image corresponding to the location of the accident location information; and corresponding location of the accident location information The scene image is sent to the accident scene restoration device, so that the accident scene restoration device determines the historical travel track of the accident vehicle according to the scene image of the corresponding location of the accident location information.

Optionally, the method further includes: collecting driving data of the accident vehicle according to the accident location information; and transmitting driving data of the accident vehicle to the accident site restoration device, for the accident site to be restored The device determines a historical travel trajectory of the accident vehicle according to the scene image of the location corresponding to the accident location information and the travel data of the accident vehicle.

Optionally, the collecting, according to the accident location information, the driving data of the accident vehicle, including: sending a driving data collection request to the accident vehicle according to the accident location information; and receiving the sending by the motion monitoring device The accident location information corresponds to a live image of the location and travel data of the accident vehicle.

The technical effects of the accident scene reduction method provided by the embodiment of the present invention are similar to the foregoing various method embodiments, and are not described herein again.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will The drawings used in the embodiments or the description of the prior art are briefly introduced. It is obvious that the drawings in the following description are some embodiments of the present invention, and are not creative to those skilled in the art. Other drawings can also be obtained from these drawings on the premise of labor.

1 is a schematic structural diagram of a frame of an accident recovery system according to an embodiment of the present invention;

2 is a schematic flow chart of an accident recovery method according to an embodiment of the present invention;

3 is a schematic diagram of an accident vehicle model, a road model, and a travel trajectory according to an embodiment of the present invention;

4 is a schematic diagram of a collision position of an accident vehicle according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of another collision position of an accident vehicle according to an embodiment of the present invention; FIG.

6 is a schematic structural diagram of an accident site restoration device according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of another accident site restoration device according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic structural diagram of a motion monitoring device according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

In the prior art, after a collision accident occurs in a traveling vehicle, the traffic police or insurance company staff often judges the accident responsibility through the photo of the accident scene. Since the photograph taken by the ordinary owner is not professional, the situation of the scene cannot be fully reflected, which may easily lead to inaccurate judgment results. . In order to improve the accuracy of the judgment of the accident liability, the present invention provides an accident scene reduction method, a device and a motion monitoring device, which recovers an accident by taking a professional photograph and combining the trajectory of the accident vehicle during the accident occurrence. Throughout the process, the accident liability judge or the accident determination device is accurately determined according to the traffic regulations to determine the accident liability of both parties to the accident.

The technical solutions of the present invention will be described in detail below with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in some embodiments.

FIG. 1 is a schematic structural diagram of a frame of an accident recovery system according to an embodiment of the present invention.

Referring to FIG. 1 , the accident recovery system includes an accident site restoration device 10 and a motion monitoring device 20 . Optionally, the accident recovery system may further include a roadside monitoring device 30. The motion monitoring device 20 is configured to acquire an image of an accident scene and an accident vehicle driving data, and send the data to the accident scene restoration device 10, and the roadside monitoring device 30 can also be used to acquire an accident scene image and use a camera tracking. The motion monitoring device 20 arrives at the scene of the accident.

FIG. 2 is a schematic flowchart diagram of an accident recovery method according to an embodiment of the present invention. Referring to FIG. 2, an accident recovery method provided by an embodiment of the present invention includes:

S201: The accident site restoration device acquires the accident trigger information, where the accident trigger information includes: the accident location information;

Specifically, when the accident vehicle collides, the accident scene restoration device may not be limited to acquiring the accident trigger information according to the following manner:

In an implementation manner, the acquiring the trigger information of the accident includes:

Receiving accident trigger information sent by the accident vehicle.

Specifically, the accident triggering information may be sent to the accident site restoration device by the accident vehicle, and the location of the accident vehicle, such as latitude and longitude information, may be transmitted to the accident site restoration device. In this implementation, an emergency call system is installed in the accident vehicle. When the accident vehicle collides with other accident vehicles, the emergency call system can be automatically started, and the accident trigger information is sent to the road monitoring system. Alternatively, the owner of the accident vehicle may manually send the accident trigger information to the accident site restoration device through a call button on the vehicle. Alternatively, the owner of the accident vehicle may also report the accident trigger information through other communication devices, such as a mobile phone, a tablet computer, a PC, a smart wearable device, and the like.

In another implementation manner, the acquiring the incident trigger information includes:

Specifically, the roadside monitoring device may be a surveillance camera on both sides of the road. After the accident vehicle collides, the roadside monitoring device at the place where the accident occurs captures an image of the accident and determines whether an accident has occurred. If it is determined that an accident occurs, the roadside monitoring device transmits the accident triggering information to the accident site restoration device. Specifically, it may be determined by the roadside monitoring device or a user thereof whether an accident occurs according to the monitoring image, and the accident triggering information is sent to the accident site restoration device by operating the roadside monitoring device.

S202: The accident scene restoration device passes the motion monitoring according to the accident location information. The device collects a live image of the location corresponding to the accident location information;

In order to more accurately restore the travel trajectory of the accident vehicle, the method further comprises collecting travel data of the accident vehicle through the motion monitoring device according to the accident location information.

Specifically, the step S202 includes:

The accident site restoration device collects a scene image of the location corresponding to the accident location information through the motion monitoring device according to the accident location information, and sends a driving data collection request to the accident vehicle through the motion monitoring device;

The accident scene restoration device receives a scene image of the location corresponding to the accident location information sent by the motion monitoring device, and driving data of the accident vehicle.

The motion monitoring device and the accident vehicle each have a wireless transmission capability, and the motion monitoring device and the accident vehicle can establish a wireless connection through Bluetooth matching, Wi-Fi, 2.4G, wireless communication, or network communication.

The accident triggering information may further include the identification information of the accident vehicle, and the identification information may be reported by the accident vehicle to the accident site restoration device, or may be reported by the road test monitoring device. After the accident scene restoration device receives the accident trigger information, the data acquisition control instruction may be sent to the motion monitoring device and the accident vehicle at the same time, and the motion monitoring device and the accident vehicle may be according to the The control commands are matched and the security check is completed. The security verification may be performed by the accident scene restoration device transmitting the verification password or the identification information of the motion monitoring device to the accident vehicle or to the user terminal reporting the accident trigger information. Then, the motion monitoring device can transmit the travel data acquisition request to the accident vehicle through the wireless connection, and receive the travel data from the accident vehicle.

Specifically, the motion monitoring device may be a drone with a camera or a surveillance patrol car or the like. The drone is the abbreviation for drone, which is a non-manned aircraft operated by radio remote control equipment and its own program control device. Specifically, it can be divided into: unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned parachute aircraft, and so on. UAVs are widely used in aerial photography, agriculture, disaster relief, monitoring of hazardous environments, surveying and mapping, news reporting, power inspection, film and television shooting and other fields. The drone or monitoring patrol car may receive an instruction sent by the accident scene restoration device through a wireless network. When the accident scene is restored After receiving the accident triggering information, the accident scene restoration device sends a control instruction to the motion monitoring device, and controls the motion monitoring device to collect a scene image of the accident occurrence location corresponding to the accident location information, and a control office. The motion monitoring device transmits a travel data collection request to the accident vehicle. After receiving the control instruction, the motion monitoring device moves to the corresponding position of the accident location information, and obtains a live image by taking a picture or imaging the scene of the accident.

The motion monitoring device may also be an electronic terminal such as a mobile phone or a tablet computer, as long as it can interact with the onboard computer to obtain driving data, and then determine the responsibility of the accident.

It can be understood that the accident site restoration device can also directly send a travel data collection request to the accident vehicle, and the accident vehicle can establish wireless communication with the accident site restoration device through a built-in vehicle component, and The accident scene restoration device transmits the travel data of the accident vehicle.

Optionally, the accident site restoration device may directly collect the scene image through the roadside monitoring device, and directly send an instruction to the motion monitoring device near the accident vehicle according to the accident location information to control the motion monitoring. The device sends a formal data collection request to the accident vehicle. By combining roadside monitoring equipment and motion monitoring equipment to complete the function of on-site image and accident vehicle driving data collection, the data transmission amount of the motion monitoring equipment is reduced, and the data processing capability is improved.

In a specific implementation process, the accident scene restoration device may guide the motion monitoring device to the accident scene by being not limited to the following manner.

In one mode, the accident site restoration device tracks the motion monitoring device by the roadside monitoring device. When the road monitoring device traces to the position corresponding to the motion scene of the accident monitoring device, The motion monitoring device can be instructed to correct the flight direction until the motion monitoring device reaches the accident scene. When the motion monitoring device arrives at the accident site, the roadside monitoring device sends a tracking report to the accident site restoration device to notify the accident site restoration device that the motion monitoring device has reached the corresponding location of the accident location information. After receiving the tracking report, the site restoration device may send a control instruction to the motion monitoring device to instruct the motion monitoring device to start collecting the accident scene image data and the driving data of the accident vehicle.

In another mode, the accident scene restoration device directly sends the motion monitoring device The accident location information, the motion monitoring device navigates according to the accident location information, and reaches the corresponding location of the accident location information. Optionally, the current motion track is obtained by the camera on the motion monitoring device and reported to the accident site restoration device, and the flight site of the motion monitoring device is controlled by the accident site restoration device.

After the motion monitoring device reaches the corresponding location of the accident location information, the image of the accident scene is collected by the camera according to the control instruction sent by the accident site restoration device.

Specifically, the motion monitoring device sends a driving data collection request to the accident vehicle, and acquires driving data of the accident vehicle, including:

The motion monitoring device transmits the travel data collection request to a vehicle broadcast of the accident site.

After receiving the request, the in-vehicle device on the vehicle at the accident site transmits the vehicle identification information of the vehicle and the travel data corresponding to the vehicle to the motion monitoring device through a wireless network.

Optionally, the in-vehicle device may also send the driving data of the accident vehicle to the accident scene restoration device while transmitting the accident trigger information to the accident scene restoration device. Then, when the motion monitoring device acquires the live image of the location corresponding to the accident location information, it is not necessary to repeatedly collect the driving data of the accident vehicle to the in-vehicle device.

Specifically, the vehicle-mounted component may be a second-generation system (the second on-Board Diagnostics, OBDII) box or a self-contained diagnostic component. The vehicle-mounted component and the motion monitoring device can establish a wireless connection through Bluetooth, Wi-Fi (Fireless-Fidelity, Wi-Fi), 2.4G wireless, wireless communication, network communication, etc., to receive the motion monitoring device. Sending the travel data collection request, and transmitting the travel data of the accident vehicle to the motion monitoring device according to the request. The wireless communication may use any communication standard or protocol, including but not limited to GSM (Global System of Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access). , Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), e-mail, SMS (Short Messaging Service), and the like.

Receiving, by the in-vehicle device of the vehicle of the accident scene, the motion monitoring device After the driving data is described, recording is performed and uploaded to the accident site restoration device.

After the motion monitoring device completes the driving data collection process, the data collection completion indication is sent. Specifically, the motion monitoring device may indicate that data collection is completed by means of voice broadcast or flashing in a set manner, or may indicate that data collection is completed by pushing information to the user terminal. After receiving the data collection completion instruction, the accident vehicle at the accident site may leave the accident site to prevent traffic congestion.

S203: Determine a historical driving track of the accident vehicle according to the scene image of the position corresponding to the accident location information.

Specifically, the step S203 includes:

The preset time period is a period of time before the time point of the accident occurrence. In order to accurately understand the driving state of the accident vehicle during the accident, the driving trajectory of the accident vehicle may be restored according to the driving data of the accident vehicle, thereby assisting the accident site reducing device or the motion monitoring device or the accident judgment. The equipment determines the correct liability for the accident.

3 is a schematic diagram of an accident vehicle model, a road model, and a travel trajectory according to an embodiment of the present invention.

Referring to FIG. 3, in particular, according to the driving track of the accident vehicle in the preset time period and the scene image according to the corresponding position of the accident position information, the accident vehicle is generated at the scene of the accident. Historical trajectories, including:

Generating the accident vehicle according to a driving trajectory of the accident vehicle in the preset time period, a road model corresponding to the position of the accident position information, and a model of the accident vehicle The historical trajectory at the scene of the accident can be achieved by:

The accident vehicle model is reconstructed based on the image information. Specifically, the accident vehicle model may be a 2D model or a 3D model. If it is a 3D model, it is necessary to perform edge recognition on multiple angled images, and then model the accident vehicle.

Specifically, the process of modeling and calculating the accident vehicle may also be directly implemented by the motion monitoring device. The motion monitoring device may complete the scene image according to the location information of the accident location information and the driving data of the accident vehicle when collecting the scene image of the location corresponding to the accident location information and the driving data of the accident vehicle. Modeling calculation of the accident vehicle and outputting the modeling result to the accident site restoration device. Optionally, the motion monitoring device may also send the scene image of the location corresponding to the accident location information and the driving data of the accident vehicle to the control center for modeling calculation, and receive the modeling result output to the accident site to restore. Device.

The image edge is used to identify road edges, vehicle contours, and the like in the image. Based on the identified edge information, the road model and vehicle model of the accident scene are reconstructed.

Calculating, according to the driving data of each accident vehicle, a position of the plurality of set time points of the accident vehicle within the preset time period, and determining a history of the accident vehicle according to the road model and the vehicle model of the accident site Driving track.

Specifically, the driving data of the accident vehicle includes: speed, acceleration, and running direction of the accident vehicle during the preset time period. The calculating the location of the plurality of set time points of the accident vehicle in the preset time period includes:

Starting from the stop position of the accident vehicle at the accident occurrence time point T ₀ , according to the running direction, speed and acceleration of the first set time point T ₁ adjacent to the accident occurrence point of the accident vehicle, Calculating a position of the accident vehicle at the first set time point T ₁ , and then according to the position of the accident vehicle at the first set time point T ₁ , and the accident vehicle is The running direction, speed and acceleration of the second set time point T ₂ adjacent to the first set time point T ₁ are set, and the position of the accident vehicle at the second set time point T ₂ is calculated. And so on until the position of all the set time points of the accident vehicle within the preset time period is calculated.

Specifically, according to

Calculating a displacement of the accident vehicle when moving from the i-1th set time point T _i-1 to the ith set time point T _i , and then according to the i-1th set time point T _i a position and a displacement of the accident vehicle when moving from the i-1th set time point T _i-1 to the i th set time point T _i , determining that the accident vehicle is at the ith set time The position when the point T _i . Wherein, V _i represents the traveling speed of the accident vehicle at the ith set time point T _i , and a _i represents the running acceleration of the accident vehicle at the ith set time point T _i .

The above modeling process is illustrated below with reference to FIG. 3:

The travel data of the accident vehicle at time points T ₀ , T ₁ , T ₂ , T ₃ includes direction d, speed V, acceleration a, and time T. Wherein, the direction d is a turning angle of the accident vehicle. Specifically, the travel data of the accident vehicle at time points T ₀ , T ₁ , T ₂ , and T ₃ are (d0, v0, a0, T ₀ ), (d1, v1, a1, T ₁ ), (d2, respectively). , v2, a2, T ₂ ), (d3, v3, a3, T ₃ ). Since the position of the accident vehicle at the time point T ₀ is known, the position of the adjacent track point, that is, the position of the accident vehicle at the time point T ₁ , can be determined according to the position of the accident vehicle at the time point T ₀ . .

Specifically, it can be

Calculating the vehicle in the accident and the time displacement between T ₀ _{T. 1,} the accident in accordance with the vehicle stopped at the time point T ₀ of the position, and the vehicle accident between time points T ₀ and T ₁ as The displacement and the change in direction give the position of the accident vehicle at time T ₁ . By analogy, the trajectory of the accident vehicle within the preset time period can be obtained. Determining the position of the accident vehicle at the set time point within the preset time period, the model of the accident vehicle according to the position, speed and acceleration of the accident vehicle at each of the set time points And performing a motion scene reproduction to generate a historical motion trajectory of the accident vehicle within the preset time period.

Further, after the obtaining the historical driving track of the accident vehicle, the method further includes:

The accident site restoration device determines an accident liability of the accident vehicle according to the historical travel track of the accident vehicle.

Specifically, an accident determination rule is preset in the accident site restoration device. After the accident scene restoration device acquires the historical motion trajectory of the accident vehicle within the preset time period, according to the historical motion trajectory, the driving data of the accident vehicle, and the accident determination rule, The responsibility for the accident of the accident vehicle is judged.

Specifically, the accident site restoration device or the motion monitoring device may be responsible for the accident The judgment result is directly sent to the on-board computer or user terminal at the scene of the accident, or outputted in the form of voice playback.

4 is a schematic diagram of a collision position of an accident vehicle according to an embodiment of the present invention.

Please refer to FIG. 4. For example, the A car is straight before the collision, that is, the direction is 0; when the B car occurs, the direction is not 0. According to the rules of the “turning straight to go straight” rule, it can be determined that the B car is the responsible party for the accident.

Optionally, according to the characteristic information of the accident occurrence location, the determination accuracy is enhanced. For example, if the accident occurrence location is a signal light intersection, the indication responsibility of the accident is determined by combining the indication information of the traffic light and the historical movement track of the accident vehicle. For example: at the intersection with a signal light, the right-turning vehicle does not allow the straight-through release vehicle, and the right-turn vehicle bears full responsibility.

FIG. 5 is a schematic diagram of another collision position of an accident vehicle according to an embodiment of the present invention.

Referring to FIG. 5, for example, according to the modeling result, the motion trajectory of the A car and the B car in the preset time period is restored, and the B car is straight before the collision, and the speed increases after the collision; the A car goes straight before the collision, The speed is reduced after the collision. Then it can be determined that the A car is chasing the B car. Optionally, according to the characteristic information of the accident occurrence location, the accuracy of the determination is enhanced. For example, if the accident occurrence location is within the same lane, the following determination rule is met: the rear-end vehicle assumes full responsibility for the rear-end collision of the vehicle traveling in the same lane.

The accident scene reduction method provided by the embodiment of the present invention is configured to collect, according to the accident location information in the obtained accident trigger information, a scene image of the location corresponding to the accident location information by using the motion monitoring device; and corresponding to the accident location information according to the accident location information The live image of the location determines the historical trajectory of the accident vehicle. According to the accident site reduction method provided by the embodiment of the invention, the accident site restoration device can automatically acquire the accident location information when the accident occurs, and call the motion monitoring device to perform more accurate shooting on the site according to the accident damage request, thereby making the accident judgment The judgment result given in the responsibility is more accurate. Compared with the prior art, the accident scene reduction method provided by the embodiment of the present invention can complete the accident responsibility determination more efficiently and accurately.

The embodiment of the invention also provides an accident site reduction device. FIG. 6 is a schematic structural diagram of an accident site restoration device according to an embodiment of the present invention.

Referring to FIG. 6, an accident site restoration device according to an embodiment of the present invention includes:

The obtaining module 610 is configured to acquire incident trigger information, where the accident trigger information includes: accident location information;

The acquiring module 610 is further configured to collect the accident location information by using a motion monitoring device. a live image of the corresponding location;

The processing module 620 is configured to determine a historical driving trajectory of the accident vehicle according to the live image of the location corresponding to the accident location information.

Optionally, the processing module 620 is further configured to:

After the determining module determines the historical driving trajectory of the accident vehicle, determining an accident responsibility of the accident vehicle according to the historical driving trajectory of the accident vehicle.

Optionally, the acquiring module 610 is further configured to: collect, according to the accident location information, the driving data of the accident vehicle by using the motion monitoring device;

The processing module 620 is specifically configured to:

Optionally, the obtaining module 610 is specifically configured to:

And controlling, according to the accident location information, the motion monitoring device to send a driving data collection request to the accident vehicle;

Optionally, the processing module 620 is specifically configured to:

Optionally, the processing module 610 is specifically configured to:

Optionally, the obtaining module 610 is specifically configured to:

Receiving accident trigger information sent by the accident vehicle; or

Optionally, the motion monitoring device is a drone.

The accident site reduction device provided by the embodiment of the present invention can be used to perform the technical solution of the accident site reduction method provided by the method embodiment of the present invention, and the implementation principle and the technical effect thereof are similar, and details are not described herein again.

Another embodiment of the present invention provides an accident site restoration device. FIG. 7 is a schematic structural diagram of another accident site restoration device according to an embodiment of the present invention.

Referring to FIG. 7, an accident site restoration device according to an embodiment of the present invention includes:

The data collector 710 is configured to acquire incident trigger information, where the accident trigger information includes: accident location information;

The data collector 710 is further configured to collect, according to the accident location information, a live image of the location corresponding to the accident location information by using a motion monitoring device;

The processor 720 is configured to determine a historical travel track of the accident vehicle according to the live image of the location corresponding to the accident location information.

Optionally, the processor 720 is further configured to:

After the processor determines the historical travel trajectory of the accident vehicle, determining an accident liability of the accident vehicle according to the historical travel trajectory of the accident vehicle.

Optionally, the data collector 710 is further configured to: according to the accident location information, control the motion monitoring device to collect driving data of the accident vehicle;

The processor 720 is specifically configured to:

Optionally, the data collector 710 is specifically configured to:

Optionally, the processor 720 is specifically configured to:

Optionally, the data collector 710 is specifically configured to:

Receiving accident trigger information sent by the accident vehicle; or

Optionally, the motion monitoring device is a drone.

The embodiment of the invention further provides a motion monitoring device. FIG. 8 is a schematic structural diagram of a motion monitoring device according to an embodiment of the present invention.

Referring to FIG. 8, the motion monitoring device provided by the embodiment of the present invention includes:

The receiver 810 is configured to receive a data collection control instruction sent by the accident scene restoration device, where the data collection control instruction includes: accident location information;

The data collector 820 is configured to acquire, according to the accident location information, a live image of the location corresponding to the accident location information;

a transmitter 830, configured to send a live image of the location corresponding to the accident location information to the accident site restoration device, where the accident site restoration device is configured according to the accident location information Corresponding to the live image of the location, the historical travel trajectory of the accident vehicle is determined.

Optionally, the data collector 820 is further configured to: collect the driving data of the accident vehicle according to the accident location information;

The transmitter 830 is further configured to: send the driving data of the accident vehicle to the accident site restoration device, for the scene image of the location corresponding to the accident location information according to the accident site restoration device, and the accident The driving data of the vehicle determines the historical driving trajectory of the accident vehicle.

Optionally, the data collector 820 is specifically configured to:

Optionally, the motion monitoring device is a drone.

The motion monitoring device provided by the embodiment of the present invention is similar to the implementation principle and technical effect of the accident scene reduction method provided by the foregoing method embodiment, and details are not described herein again.

One of ordinary skill in the art will appreciate that all or part of the steps to implement the various method embodiments described above may be accomplished by hardware associated with the program instructions. The aforementioned program can be stored in a readable storage medium of a computer, mobile phone or other portable device. The program, when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

An accident site restoration method, characterized in that it comprises:

Obtaining an accident triggering information, where the accident triggering information includes: accident location information;

And collecting, according to the accident location information, a scene image of the location corresponding to the accident location information by using the motion monitoring device;

A historical travel trajectory of the accident vehicle is determined according to the scene image of the location corresponding to the accident location information.
The method according to claim 1, wherein after the determining the historical travel trajectory of the accident vehicle, the method further comprises:

The accident liability of the accident vehicle is determined according to the historical travel trajectory of the accident vehicle.
The method according to claim 1 or 2, further comprising: collecting, by the motion monitoring device, driving data of the accident vehicle according to the accident location information;

Determining, according to the scene image of the location corresponding to the accident location information, a historical driving trajectory of the accident vehicle, including:

Determining a historical travel trajectory of the accident vehicle according to the scene image of the location corresponding to the accident location information and the travel data of the accident vehicle.
The method according to claim 3, wherein the collecting, by the motion monitoring device, the driving data of the accident vehicle according to the accident location information comprises:

Sending, by the motion monitoring device, a travel data collection request to the accident vehicle according to the accident location information;

Receiving a live image of the location corresponding to the accident location information sent by the motion monitoring device, and driving data of the accident vehicle.
The method according to claim 4, wherein the determining the historical driving trajectory of the accident vehicle according to the scene image corresponding to the location of the accident location information comprises:

Determining, according to the driving data of the accident vehicle, a driving trajectory of the accident vehicle in a preset time period, wherein the preset time period includes a preset time length before the accident time point, and the accident time point is the end point;

And generating a historical driving track of the accident vehicle at the accident site according to the driving track of the accident vehicle in the preset time period and the scene image according to the position corresponding to the accident position information.
The method according to claim 5, wherein the accident is generated according to a travel trajectory of the accident vehicle during the preset time period and a scene image according to the position corresponding to the accident position information The historical trajectory of the vehicle at the scene of the accident, including:

Generating a road model corresponding to the location of the accident location information and a model of the accident vehicle according to the scene image corresponding to the location of the accident location information;

And generating, according to the driving track of the accident vehicle in the preset time period, the road model corresponding to the position of the accident position information, and the model of the accident vehicle, a historical driving track of the accident vehicle at the accident site.
The method according to any one of claims 1 to 6, wherein the obtaining the accident triggering information comprises:

Receiving accident trigger information sent by the accident vehicle; or

Receives the incident trigger information sent by the roadside monitoring device.
The method according to any one of claims 1 to 7, wherein the driving data of the accident vehicle comprises: speed, acceleration and running direction of the accident vehicle for a preset time period, wherein the preset time The segment includes a preset duration before the accident time point, and the end point of the accident time point.
A method according to any one of claims 1-8, wherein the motion monitoring device is a drone.
An accident site restoration device, comprising:

An acquisition module, configured to acquire incident trigger information, where the accident trigger information includes: accident location information;

The acquiring module is further configured to collect, by using a motion monitoring device, a live image of the location corresponding to the accident location information;

And a processing module, configured to determine a historical driving track of the accident vehicle according to the live image of the corresponding position of the accident location information.
The device according to claim 10, wherein the processing module is further configured to:

After determining the historical travel trajectory of the accident vehicle, the accident responsibility of the accident vehicle is determined according to the historical travel trajectory of the accident vehicle.
The apparatus according to claim 10 or 11, wherein said acquisition module, The method is further configured to: collect, according to the accident location information, the driving data of the accident vehicle by using the motion monitoring device;

The processing module is specifically configured to:

Determining a historical travel trajectory of the accident vehicle according to the scene image of the location corresponding to the accident location information and the travel data of the accident vehicle.
The device according to claim 12, wherein the obtaining module is specifically configured to:

Sending, by the motion monitoring device, a travel data collection request to the accident vehicle according to the accident location information;

Receiving a live image of the location corresponding to the accident location information sent by the motion monitoring device, and driving data of the accident vehicle.
The device according to any one of claims 10 to 13, wherein the processing module is specifically configured to:

Determining, according to the driving data of the accident vehicle, a driving trajectory of the accident vehicle in a preset time period, wherein the preset time period includes a preset time length before the accident time point, and the accident time point is the end point;

And generating a historical driving track of the accident vehicle at the accident site according to the driving track of the accident vehicle in the preset time period and the scene image according to the position corresponding to the accident position information.
The device according to claim 14, wherein the processing module is specifically configured to:

Generating a road model corresponding to the location of the accident location information and a model of the accident vehicle according to the scene image corresponding to the location of the accident location information;

And generating, according to the driving track of the accident vehicle in the preset time period, the road model corresponding to the position of the accident position information, and the model of the accident vehicle, a historical driving track of the accident vehicle at the accident site.
The device according to any one of claims 10-15, wherein the obtaining module is specifically configured to:

Receiving accident trigger information sent by the accident vehicle; or

Receives the incident trigger information sent by the roadside monitoring device.
The device according to any one of claims 10-16, wherein the driving data of the accident vehicle comprises: a speed, an acceleration, and a running direction of the accident vehicle during a preset time period, wherein the preset time The segment includes a preset duration before the accident time point, and the end point of the accident time point.
A device according to any of claims 10-17, wherein the motion monitoring device is a drone.
An accident site restoration device, comprising:

a data collector, configured to acquire incident trigger information, where the accident trigger information includes: accident location information;

The data collector is further configured to collect, according to the accident location information, a live image of the location corresponding to the accident location information by using a motion monitoring device;

And a processor, configured to determine a historical driving track of the accident vehicle according to the live image of the location corresponding to the accident location information.
The apparatus according to claim 19, wherein said processor is further configured to:

After the processor determines the historical travel trajectory of the accident vehicle, determining an accident liability of the accident vehicle according to the historical travel trajectory of the accident vehicle.
The device according to claim 19 or 20, wherein the data collector is further configured to: according to the accident location information, control the motion monitoring device to collect driving data of the accident vehicle;

The processor is specifically configured to:

Determining a historical travel trajectory of the accident vehicle according to the scene image of the location corresponding to the accident location information and the travel data of the accident vehicle.
The device according to claim 21, wherein the data collector is specifically configured to:

Sending, by the motion monitoring device, a travel data collection request to the accident vehicle according to the accident location information;

Receiving a live image of the location corresponding to the accident location information sent by the motion monitoring device, and driving data of the accident vehicle.
The apparatus according to claim 22, wherein said processor is specific Used for:

Determining, according to the driving data of the accident vehicle, a driving trajectory of the accident vehicle in a preset time period, wherein the preset time period includes a preset time length before the accident time point, and the accident time point is the end point;

And generating a historical driving track of the accident vehicle at the accident site according to the driving track of the accident vehicle in the preset time period and the scene image according to the position corresponding to the accident position information.
The device according to claim 23, wherein the processor is specifically configured to:

Generating a road model corresponding to the location of the accident location information and a model of the accident vehicle according to the scene image corresponding to the location of the accident location information;

And generating, according to the driving track of the accident vehicle in the preset time period, the road model corresponding to the position of the accident position information, and the model of the accident vehicle, a historical driving track of the accident vehicle at the accident site.
The device according to any one of claims 19-24, wherein the data collector is specifically configured to:

Receiving accident trigger information sent by the accident vehicle; or

Receives the incident trigger information sent by the roadside monitoring device.
The device according to any one of claims 19 to 25, wherein the driving data of the accident vehicle comprises: a speed, an acceleration, and a running direction of the accident vehicle during a preset time period, wherein the preset time The segment includes a preset duration before the accident time point, and the end point of the accident time point.
A device according to any one of claims 19-26, wherein the motion monitoring device is a drone.
A motion monitoring device, comprising:

a receiver, configured to receive a data collection control instruction sent by the accident scene restoration device, where the data collection control instruction includes: accident location information;

a data collector, configured to acquire a live image of the location corresponding to the accident location information according to the accident location information;

a transmitter, configured to send a live image of the location corresponding to the accident location information to the event Therefore, the on-site restoration device is configured to determine, according to the scene image of the location corresponding to the accident location information, the historical driving trajectory of the accident vehicle.
The device according to claim 28, wherein the data collector is further configured to: collect driving data of the accident vehicle according to the accident location information;

The transmitter is further configured to: send the driving data of the accident vehicle to the accident site restoration device, for the scene image of the location corresponding to the accident location information according to the accident site restoration device, and the accident vehicle The driving data determines the historical driving trajectory of the accident vehicle.
The device according to claim 29, wherein the data collector is specifically configured to:

Sending a travel data collection request to the accident vehicle according to the accident location information;

Receiving a live image of the location corresponding to the accident location information sent by the motion monitoring device, and driving data of the accident vehicle.
The device according to any one of claims 28 to 30, wherein the driving data of the accident vehicle comprises: a speed, an acceleration, and a running direction of the accident vehicle for a preset time period, wherein the preset time The segment includes a preset duration before the accident time point, and the end point of the accident time point.
Apparatus according to any of claims 28-31, wherein the motion monitoring device is a drone.