WO2021168867A1 - 一种安全驾驶监测的方法和装置 - Google Patents

一种安全驾驶监测的方法和装置 Download PDF

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Publication number
WO2021168867A1
WO2021168867A1 PCT/CN2020/077361 CN2020077361W WO2021168867A1 WO 2021168867 A1 WO2021168867 A1 WO 2021168867A1 CN 2020077361 W CN2020077361 W CN 2020077361W WO 2021168867 A1 WO2021168867 A1 WO 2021168867A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
driving direction
lane
driving
road
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Application number
PCT/CN2020/077361
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English (en)
French (fr)
Inventor
周伟
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2020/077361 priority Critical patent/WO2021168867A1/zh
Priority to CN202080004515.2A priority patent/CN112585657A/zh
Publication of WO2021168867A1 publication Critical patent/WO2021168867A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication

Definitions

  • the invention relates to the technical field of traffic detection, in particular to a method and device for safe driving monitoring.
  • one way is for the vehicle to detect the driving direction of the vehicle through at least one sensor installed by itself, and after determining that the driving direction of the vehicle is wrong, it prompts the driver of the vehicle to be currently driving The direction is wrong.
  • the sensor in the vehicle fails, or the driver turns off the automatic detection function of the vehicle, the vehicle cannot promptly notify the driver when the vehicle is traveling in an error. It is easy to cause safety hazards.
  • Another way is to install a camera device on the road to capture images of passing vehicles, and then send the captured vehicle driving photos to the traffic processing department, which artificially determines the driving direction from the captured vehicle driving photos For the wrong vehicle, the vehicle with the wrong direction will be notified and points will be deducted and other violations will be dealt with subsequently.
  • a vehicle in the wrong direction may cause traffic accidents on the road at any time. This method still cannot promptly notify the driver when the vehicle is driving in the wrong direction, and consumes a lot of manpower and material resources. .
  • the present application provides a method and device for safe driving monitoring, which are used to identify vehicles with the wrong direction of travel and notify them in time, so as to improve the safety of road driving.
  • the method for safe driving monitoring provided in the embodiments of the present application may be executed by a processing device, and the processing device has various situations, and may be a single device or a combination of at least two devices.
  • the processing device is a roadside unit (RSU), and the method for safe driving monitoring provided in the embodiment of the present application is executed by the RSU.
  • RSU roadside unit
  • the RSU when the RSU is executed, the RSU connects to the sensor through a wired connection or a Bluetooth connection or a cellular network, acquires information from the sensor, processes the data, obtains the processing result, and sends the processing result to the vehicle according to the processing result.
  • First information when the RSU is executed, the RSU connects to the sensor through a wired connection or a Bluetooth connection or a cellular network, acquires information from the sensor, processes the data, obtains the processing result, and sends the processing result to the vehicle according to the processing result.
  • the processing device is an RSU integrated with a sensor
  • the method for monitoring safe driving provided in the embodiment of the present application is executed by the RSU integrated with a sensor.
  • the RSU integrates a camera, One or more of sensors such as radar and GPS receiver.
  • the RSU acquires the information in the sensor according to its integrated sensor, processes the data, obtains the result of the processing, and sends the first information to the vehicle according to the result of the processing.
  • the processing device is an RSU and a sensor
  • the method for safe driving monitoring provided in the embodiment of the present application is executed by the RSU and the sensor in cooperation.
  • the sensor includes a camera and a radar.
  • GPS global positioning system
  • the RSU acquires the information in the sensor according to the external sensor, processes the data, obtains the result of the processing, and sends the first information to the vehicle according to the result of the processing.
  • the processing device is a central processing device, and the RSU is independent.
  • the RSU when the central processing unit executes, the RSU connects to the sensor through a wired connection or a Bluetooth connection or a cellular network, acquires the information in the sensor, and sends it to the central processing unit.
  • the central processing unit performs data processing.
  • the central processing unit sends the processing result to the RSU. Further, the RSU sends the first information to the vehicle.
  • the processing device is a central processing device, and the RSU is independent.
  • the central processing unit when the central processing unit executes, the central processing unit connects to the sensor through a wired connection or a Bluetooth connection or a cellular network, acquires information in the sensor, and performs data processing according to the acquired information, and the central processing unit The processor sends the processed result to the RSU. Further, the RSU sends the first information to the vehicle.
  • the processing device is a central processing device, and the RSU itself integrates sensors.
  • the RSU acquires information according to its own integrated sensors, and sends it to the central processing unit.
  • the central processing unit performs data processing, and the central processing unit sends the processing result to the central processing unit.
  • the RSU further sends first information to the vehicle.
  • the processing device is a central processing device.
  • the RSU when the central processing unit executes, the RSU connects to an external sensor through a wired connection or a Bluetooth connection or a cellular network, acquires information from the sensor, and sends it to the central processing unit.
  • the central processing unit performs data processing.
  • the central processing unit sends the processing result to the RSU, and the RSU further sends the first information to the vehicle.
  • the processing device is a central processing device.
  • the central processing unit when the central processing unit executes, the central processing unit connects to an external sensor through a wired connection or a Bluetooth connection or a cellular network, acquires information from the sensor, and sends it to the central processing unit for processing by the central processing unit. For data processing, the central processing unit sends the processing result to the RSU, and the RSU further sends the first information to the vehicle.
  • the RSU in this application sends the first information to the vehicle
  • the first information can also be sent to other RSUs, where the communication process between the RSU and the other RSUs may undergo central processing
  • the CPU may not pass through the central processing unit, which is not limited in the embodiment of the present application.
  • the data sent by this application can be original data or data processed by RSU.
  • the RSU can also be replaced by other devices with communication functions, which is not limited in this application.
  • the device for processing the safe driving monitoring may be the RSU (the RSU may be an RSU with integrated sensors) or the whole machine of the central processing unit, or it may be a part of the RSU or the central processing unit Devices, such as chips related to wireless communication functions, such as system chips, communication chips, or radio frequency chips.
  • the system chip is also called system-on-chip, or SoC chip.
  • the communication chip may include one or more of a radio frequency processing chip and a baseband processing chip.
  • the baseband processing chip is sometimes called a modem (modem) or baseband processor.
  • the communication chip can be integrated inside the SoC chip or not integrated with the SoC chip.
  • the baseband processing chip is integrated in the SoC chip, and the radio frequency processing chip is not integrated with the SoC chip.
  • an embodiment of the present application provides a method for safe driving monitoring, including:
  • the RSU when the above method is executed by the RSU, the RSU is responsible for obtaining the driving direction of the vehicle traveling on the monitoring road, and when the first vehicle is detected, it sends the first vehicle to the first vehicle.
  • the RSU is responsible for obtaining the driving direction of the vehicle traveling on the monitoring road, and when the first vehicle is detected, it sends the first vehicle to the first vehicle.
  • the RSU when the above method is executed by the central processing unit, the RSU is responsible for acquiring the driving direction of the vehicle driving on the monitoring road, and uploading the acquired information to the central processing unit. Data processing is performed on the uploaded information, and the processing result is sent to the RSU. When the RSU determines that the first vehicle is detected according to the processing result, the first information is sent to the first vehicle.
  • the first vehicle is a vehicle whose absolute value of the included angle between the driving direction and the driving direction of the lane is greater than or equal to a first threshold.
  • the embodiment of the present application provides a method for determining whether the vehicle is the first vehicle according to the angle between the driving direction of the vehicle and the driving direction of the lane.
  • the algorithm can be made simpler.
  • the first threshold value is 90 degrees.
  • an embodiment of the present application provides a first threshold value, for example, the first threshold value is 90 degrees.
  • the driving direction of the vehicle traveling on the monitoring road is determined according to the positioning information of the vehicle traveling on the detection road at at least two different times.
  • the RSU when the above method is executed by the RSU, the RSU receives the positioning information of the vehicle driving on the monitoring road at at least two different times, and determines according to the received at least two positioning information The driving direction of the vehicle.
  • the RSU receives the positioning information of the vehicle driving on the monitoring road at at least two different times, and uploads the location information to the central processing unit, the central processing unit Determine the driving direction of the vehicle according to the information uploaded by the RSU.
  • an embodiment of the present application provides a method for determining whether the vehicle is the first vehicle based on at least two positioning information sent by the vehicle, by which the driving direction of the vehicle can be judged more intuitively.
  • the positioning information is obtained by a GPS receiver of a global positioning system.
  • the embodiment of the present application provides a method for determining the positioning information, which can quickly and effectively obtain the positioning information.
  • the method further includes: determining the driving direction of the vehicle driving on the monitoring road according to the heading direction of the vehicle driving on the monitoring road, wherein the driving direction of the vehicle driving on the monitoring road The heading direction of the on-going vehicle is determined by the sensor information.
  • the senor is a radar or a camera.
  • the method further includes: acquiring the driving direction of the lane on the monitored road; the driving direction of the lane is determined according to the driving direction of the lane set in advance.
  • the driving direction of the lane is determined according to the driving direction of the lane preset on the cloud server.
  • an embodiment of the present application provides a method for determining the driving direction of a lane.
  • the method further includes: acquiring the driving direction of the lane on the monitored road; the driving direction of the lane is issued by a cloud server.
  • the RSU when the above method is executed by the RSU, the RSU receives the driving direction of the lane issued by the cloud server.
  • the central processing unit receives the driving direction of the lane issued by the cloud server, and notifies the RSU of the driving direction of the lane.
  • the cloud server in this application may be the central processing unit.
  • an embodiment of the present application provides a method for determining the driving direction of a lane.
  • the driving direction of the lane is issued by a cloud server, so that the driver can more clearly determine the driving direction of the lane.
  • the method further includes: acquiring the driving direction of the lane on the monitored road; the driving direction of the lane is acquired by radar and/or sensors.
  • the embodiment of the present application provides a method for determining the driving direction of a lane, for example, obtained by radar and/or a sensor. This method can determine the driving direction of the lane more quickly and concisely.
  • the method further includes: acquiring the driving direction of the lane on the monitored road; the driving direction of the lane is determined according to the driving direction of the lane displayed on the electronic map corresponding to the lane .
  • the embodiment of the present application provides a method for determining the driving direction of a lane.
  • the method can determine the driving direction of the lane on the electronic map corresponding to the lane more simply and efficiently.
  • the driving direction of the lane can determine the driving direction of the lane on the electronic map corresponding to the lane more simply and efficiently.
  • the method further includes: acquiring the driving direction of the lane on the monitored road; the driving direction of the lane is determined according to the driving direction of the vehicle passing through the lane obtained in history, The number of said vehicles is greater than or equal to the second threshold.
  • the RSU when the above method is executed by the RSU, the RSU performs big data analysis according to the driving direction of the vehicles passing through the lane acquired in history, so as to determine the driving direction of the lane on the monitored road.
  • the number of said vehicles is greater than or equal to the second threshold.
  • the central processing unit when the above method is executed by the central processing unit, performs big data analysis based on historically acquired driving directions of vehicles passing through the lane to obtain an analysis result, and determines the analysis result according to the analysis result.
  • the driving direction of the lane on the road is monitored, and the driving direction of the lane on the monitored road is notified to the RSU, and the number of the vehicles is greater than or equal to a second threshold.
  • an embodiment of the present application provides a method for determining the driving direction of a lane, and determining the driving direction of the lane by means of big data analysis, which is closer to the actual traffic situation.
  • the driving direction of the lane on the monitored road is determined according to the driving direction of the vehicle with the highest coincidence rate passing through the lane obtained from history, and the number of the vehicles is greater than or equal to the second Threshold.
  • an embodiment of the present application provides a method for determining the driving direction of a lane.
  • the driving direction of the lane on the monitored road is determined based on historically obtained driving directions of vehicles passing through the lane that are greater than or equal to a preset analysis value, and the number of vehicles is greater than Or equal to a second threshold, the preset analysis value is used to determine whether to determine the driving direction of the vehicle as the driving direction of the lane.
  • the embodiment of the present application provides a method for determining the driving direction of a lane, for example, determining the driving direction of the lane by means of big data analysis, which is more accurate.
  • the device with processing function determines that the first vehicle exists in the following manner: the first device with processing function obtains the identifiers and identifiers of different vehicles passing through the middle section of the road Corresponding to the first appearance time respectively, and acquiring the third information sent by the second device with processing function; wherein, the third information includes the information of the exit through the road acquired by the second device with processing function.
  • the identification of different vehicles and the corresponding first appearance time respectively; the first device with processing function is based on the identification of different vehicles passing through the middle section of the road and the corresponding first appearance time, and the time of the exit passing the road.
  • the identifiers of different vehicles and the corresponding first appearance times respectively determine the vehicle that first passes the exit of the road and then passes through the middle section of the road as the first vehicle.
  • a method for the first device with processing function to determine the first vehicle is provided, that is, the first vehicle is determined by vehicle information collected by multiple devices with processing function.
  • the first apparatus for processing communication functions obtains the identifiers of different vehicles passing through the entrance of the road and the corresponding first appearance times respectively, and obtains the third information sent by the second RSU; wherein , The third information includes the identifications of different vehicles passing the exit of the road and the corresponding first appearance times obtained by the second device with processing function; the first device with processing function
  • the identifiers of different vehicles at the entrance of the road and their corresponding first appearance times, and the identifiers of different vehicles at the exit of the road and their corresponding first appearance times will pass the exit of the road first, and then pass all The vehicle at the entrance of the road is determined to be the first vehicle.
  • a method for the first device with processing function to determine the first vehicle is provided, that is, the first vehicle is determined by vehicle information collected by multiple devices with processing function.
  • the first device with processing function obtains the identifiers of different vehicles passing through the entrance of the road and the corresponding first appearance times respectively, and obtains the first appearance time sent by the second device with processing function.
  • Three information wherein, the third information includes the identifiers of different vehicles passing through the middle section of the road and the corresponding first appearance times obtained by the device for processing the second communication function; the first has the processing
  • the functional device will pass the road first according to the identifiers of different vehicles passing through the entrance of the road and their corresponding first appearance times, as well as the identifiers of different vehicles passing through the middle section of the road and their corresponding first appearance times. After the entrance of the road, a vehicle passing through the middle section of the road is determined to be the first vehicle.
  • a method for the first device with processing function to determine the first vehicle is provided, that is, the first vehicle is determined by vehicle information collected by multiple devices with processing function.
  • the vehicles running on the monitored road include the first vehicle and other vehicles, and the method further includes: sending second information to the other vehicles, and the second information is used for notification The other vehicle safely avoids the first vehicle.
  • the second information in addition to sending the first information to the first vehicle to notify the first vehicle of the error driving information, the second information is also sent to other vehicles, so that all vehicles are received. Other vehicles mentioned in the second information are processed for safe avoidance, which more effectively improves traffic safety.
  • the other vehicles may be one vehicle or multiple vehicles.
  • the second information can be sent to all other vehicles on the road according to the actual situation, and the second information can also be sent to some other vehicles on the road, which is more practical. powerful.
  • the second information includes one or more of the following parameters: the logo, color, brand, model, and size of the first vehicle.
  • the method further includes: reporting the first vehicle to a cloud server.
  • the RSU root reports the first vehicle to the cloud server.
  • the central processing unit reports the first vehicle to the cloud server.
  • reporting the first vehicle to the cloud server can enable the cloud server to record illegal information, request manual assistance as soon as possible, and call rescue resources as soon as possible when the vehicle collides.
  • the cloud server is a server operated by the government or a third party and used for traffic safety management.
  • the method is executed by the roadside unit RSU.
  • an embodiment of the present application provides a method for safe driving monitoring, including:
  • the safe driving process includes adjusting the driving direction of the vehicle or pulling to the side.
  • the driver adjusting the driving direction of the vehicle includes the driver actively adjusting the driving direction of the vehicle according to road conditions, or the driver adjusting the driving direction of the vehicle according to the route provided by the vehicle navigation system.
  • the difference between the current driving direction of the vehicle and the driving direction of the lane refers to a vehicle whose absolute value of the included angle between the driving direction and the driving direction of the lane is greater than or equal to the first threshold.
  • the vehicle when the vehicle is running, if there is a first vehicle on the current road, the vehicle will receive the first information notified from the processing device that executes the first aspect, and further proceed according to the first information. Prompts and warnings, so as to deal with safe driving and reduce driving safety risks.
  • the method for prompting the driver to perform safe driving processing includes one or more of the following methods: voice prompting the driver to perform safe driving processing; or popping up on the operation display screen for safe driving Processing notice; or remind the driver to handle safe driving by way of seat vibration.
  • the embodiments of the present application provide multiple methods for informing the driver to drive safely, which is more intelligent.
  • the driver if the driver is not detected to perform the safe driving process within the first time, the driver is again prompted to perform the safe driving process; or the driver is not detected to perform the safe driving process within the first time.
  • the safe driving process starts the automatic driving mode.
  • the method before the vehicle receives the first information, the method further includes: the vehicle determines at least two positioning information at different times; and the vehicle sends the at least two positioning information to An apparatus for performing the method described in the first aspect above.
  • the first message further includes the positioning information and the driving direction of the first vehicle, and the driving route is re-determined according to the positioning information and the driving direction.
  • the current vehicle location can be better determined, and the driving route can be re-determined according to the driving direction.
  • an embodiment of the present application provides a method for safe driving monitoring, including:
  • the safe driving processing includes re-planning the driving route or pulling to the side.
  • the driver re-planning the route includes the driver actively planning the route according to road conditions, or the driver re-planning the route according to the route provided by the vehicle navigation system.
  • the re-planning the route also includes emergency avoidance of the first vehicle.
  • the first vehicle is a vehicle whose absolute value of the included angle between the driving direction and the driving direction of the lane is greater than or equal to a first threshold.
  • the vehicle when the vehicle is running, if there is a first vehicle on the current road, the vehicle will receive the first information notified from the processing device that executes the first aspect, and further proceed according to the first information. Prompts and warnings, so as to deal with safe driving and reduce driving safety risks.
  • the method for prompting the driver to perform safe driving processing includes one or more of the following methods: voice prompting the driver to perform safe driving processing; or popping up on the operation display screen for safe driving Processing notice; or remind the driver to handle safe driving by way of seat vibration.
  • the embodiments of the present application provide multiple methods for informing the driver to drive safely, which is more intelligent.
  • the driver if the driver is not detected to perform the safe driving process within the first time, the driver is again prompted to perform the safe driving process; or the driver is not detected to perform the safe driving process within the first time.
  • the safe driving process starts the automatic driving mode.
  • the method before the vehicle receives the first information, the method further includes: the vehicle determines at least two positioning information at different times; and the vehicle sends the at least two positioning information to An apparatus for performing the method described in the first aspect above.
  • the first message further includes the positioning information and the driving direction of the first vehicle, and the driving route is re-determined according to the positioning information and the driving direction.
  • the current vehicle location can be better determined, and the driving route can be re-determined according to the driving direction.
  • an embodiment of the present application further provides an RSU, which may be used to perform the operations in the first aspect and any possible implementation manners of the first aspect.
  • the RSU may include modules or units for performing the operations in the first aspect or any possible implementation of the first aspect.
  • it includes a communication module and a processing module.
  • an embodiment of the present application also provides a vehicle, which can be used to implement the technical solutions provided in any one of the above-mentioned second to third aspects or in any possible implementation manner.
  • the vehicle may include modules or units for performing various operations in the foregoing second aspect or any possible implementation of the second aspect.
  • it includes a communication module and a processing module.
  • the embodiments of the present application provide a chip system, including a processor, and optionally a memory; wherein the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the The RSU of the chip system executes any method in the first aspect or any possible implementation of the first aspect; or makes a vehicle installed with the chip system execute any one or any possible aspect of the second aspect to the third aspect above Implement the technical solutions provided by the mode.
  • an embodiment of the present application provides a road detection system, which includes a roadside unit RSU and a vehicle.
  • the RSU can be used to implement any one of the methods in the first aspect or the first aspect;
  • the vehicle can be used to implement any one of the methods in the second aspect or the second aspect.
  • an embodiment of the present application provides a road detection system, which includes a roadside unit RSU, a central processing device, and a vehicle.
  • the RSU and the central processing unit cooperate to execute any method in the first aspect or the first aspect; the vehicle can be used to execute any one of the foregoing second aspect to the third aspect or any possible implementation manner.
  • the embodiments of the present application provide a computer program product.
  • the computer program product includes: computer program code.
  • the computer program code When the computer program code is run by the monitoring module, processing module, transceiver, or processor of the RSU, the RSU can execute the above Any method of the first aspect or any possible implementation of the first aspect.
  • an embodiment of the present application provides a computer program product.
  • the computer program product includes: computer program code.
  • the computer program code is executed by the communication module, processing module or transceiver, or processor of the vehicle, the vehicle executes the foregoing The technical solution provided by any one of the second aspect to the third aspect or any possible implementation manner.
  • an embodiment of the present application provides a computer-readable storage medium.
  • the computer-readable storage medium stores a program.
  • the program makes the RSU execute the first aspect or any of the possible implementations of the first aspect. method.
  • the embodiments of the present application provide a computer-readable storage medium, and the computer-readable storage medium stores a program, and the program makes the vehicle execute any one of the above-mentioned second to third aspects or any possible implementation manner The technical solution provided.
  • FIG. 1 is a schematic diagram of a safe driving monitoring method provided by an embodiment of this application.
  • FIG. 2 is a scene architecture diagram of the first safe driving monitoring system provided by an embodiment of the application
  • FIG. 3 is a hardware structure diagram of an RSU provided by an embodiment of the application.
  • FIG. 4 is a scene architecture diagram of a second safe driving monitoring system provided by an embodiment of the application.
  • FIG. 5 is a schematic flowchart of the first method for monitoring safe driving according to an embodiment of this application.
  • FIG. 6 is a schematic diagram of a scene of safe driving monitoring based on the determination method 2 corresponding to the RSU provided by this application;
  • FIG. 7 is a schematic diagram of a scene of safe driving monitoring based on the determination method 3 corresponding to the RSU provided by this application;
  • FIG. 8 is a schematic diagram of the process of safe driving monitoring based on the determination method 3 corresponding to the RSU provided by this application;
  • FIG. 9 is a schematic flowchart of the second method of safe driving monitoring provided by this application.
  • FIG. 10 is a schematic diagram of the application process for safe driving monitoring based on the determination method 3 corresponding to the central processing unit;
  • FIG. 11 is a schematic diagram of the first safe driving monitoring device provided by this application.
  • Fig. 12 is a schematic diagram of the second safe driving monitoring device provided by this application.
  • one way is for the vehicle to detect the driving direction of the vehicle through at least one sensor installed by itself, and after determining that the driving direction of the vehicle is wrong, it prompts the driver in the vehicle of the current driving direction mistake.
  • the sensor in the vehicle fails, or the driver turns off the automatic detection function of the vehicle, the vehicle cannot promptly notify the driver when the vehicle is traveling in an error. It is easy to cause safety hazards.
  • Another way is to capture the passing vehicles through the road camera device, and then send the captured vehicle driving photos to the traffic processing department.
  • the traffic processing department artificially determines the vehicle with the wrong direction from the captured vehicle driving photos. .
  • the subsequent notification of the vehicle in the wrong direction and the deduction of points and other violations will undoubtedly require a lot of manpower and material resources, and it is impossible to notify the vehicle in the wrong direction in time and effectively, so that the vehicle in the wrong direction will be notified. It still poses a safety hazard to the road where it is located.
  • an embodiment of the present application provides a method for safe driving monitoring, which is used to effectively perform road detection.
  • LTE long term evolution
  • WiMAX worldwide interoperability for microwave access
  • 5G fifth generation of the future
  • NR new radio access technology
  • 6G systems future communication systems, such as 6G systems.
  • a device with a communication function is mainly used to communicate with the vehicle to interact with the vehicle when there is a vehicle driving in the wrong direction on the road. , Promptly and effectively notify the vehicles on the road, so as to better improve road safety.
  • the method for safe driving monitoring includes the following steps:
  • Step 100 Obtain a driving direction of a vehicle traveling on a monitored road, where the monitored road includes at least one lane.
  • Step 101 When there is a first vehicle among the vehicles running on the monitored road, first information is sent to the first vehicle, and the first information is used to notify the first vehicle that the current direction of travel is wrong, and the The first vehicle is a vehicle whose driving direction is different from the driving direction of the lane in which it is located.
  • the device with communication function described in the embodiments of the present application may be a single device or a combination of at least two devices, and is not specifically limited to the following.
  • the processing device for the specific communication function is an RSU, and the RSU can connect to the sensor through a wired connection or a Bluetooth connection or a cellular network to obtain information in the sensor.
  • the RSU When the RSU has a processing function, the RSU can perform data processing on the acquired data to obtain a processing result.
  • the RSU may assist in processing the acquired data information and the like through the central processing unit.
  • the processing device with communication function is an RSU integrated with sensors, for example, the RSU integrates one or more of sensors such as a camera, a radar, and a GPS receiver.
  • the RSU acquires the information in the sensor according to its integrated sensor, processes the data, obtains the result of the processing, and sends the first information to the vehicle according to the result of the processing.
  • the processing device is an RSU and a sensor
  • the method for safe driving monitoring provided in the embodiment of the present application is executed by the RSU and the sensor in cooperation, for example, the sensor includes One or more of camera, radar, GPS receiver.
  • the RSU in the above-mentioned device 1 to device 3 has a processing function
  • the RSU can perform data processing on the acquired data to obtain a processing result.
  • the RSU may assist in processing the acquired data information and the like through the central processing unit.
  • RSU electronic toll collection
  • DSRC dedicated short-range communication
  • the RSU is mainly used to detect passing vehicles, find vehicles in the wrong direction in time, and give safe driving notifications to the passing vehicles, thereby triggering the safe driving processing of the vehicles that have received the notification. That is to say, the RSU and the vehicle based on the road detection scheme provided by the embodiment of the present application, the applied scene is a safe driving scene, and the communication interaction with the vehicle is realized in a true sense.
  • the embodiments of the present application provide a variety of detection systems for road detection, which are not specifically limited to the following.
  • the device with communication function is an RSU for introduction. It should be understood that the device with communication function is not limited to the RSU, and may also be Other devices with communication functions.
  • the safe driving monitoring system includes a collection device 200, an RSU 201 and a vehicle 202.
  • the collection device 200 is installed on a pole on the side of the road and includes a camera, at least one sensor, and a communication device, etc., and is responsible for collecting vehicle-related information such as driving directions, driving speeds, and license plate numbers of vehicles within the management range. It is also used to send the collected vehicle-related information to the bound RSU through a communication mode of Bluetooth, wired connection or wireless transmission.
  • the collection device 200 in the embodiment of the present application may be an overall name that includes a camera, at least one sensor, and a communication device.
  • the camera, at least one sensor, and a communication device exist independently.
  • the three devices are collectively referred to as the collection device 200; alternatively, the collection device 200 in the embodiment of the present application may be a device that integrates a camera, at least one sensor, and a communication device.
  • RSU201 installed on a pole on the side of the road, has the ability to analyze and process information and communicate with other devices. The ability to collect road and vehicle information is not ruled out in the future.
  • the RSU is responsible for receiving the collected vehicle-related information sent by the collecting device 200, and the RSU is also used for receiving real-time traffic information such as traffic signal and road condition information issued by the application server, and dynamically broadcast to relevant vehicles , Avoid or reduce traffic accidents, and improve traffic efficiency.
  • the simple structure of the RSU200 can be as shown in Figure 3, including an antenna module 300 (such as a high-gain directional beam control read-write antenna module), a radio frequency control module 301, a processing module 302, a storage module 303, and a transceiver module 304.
  • the antenna module 300 is a microwave transceiver module, responsible for signal and data transmission/reception, modulation/demodulation, encoding/decoding, encryption/decryption, and the radio frequency controller 301 controls the transmission and reception of data and processing upwards.
  • the module of bit machine to send and receive information.
  • the vehicle 201 may be an ordinary vehicle or a comprehensive system (ie, an intelligent vehicle) that integrates functions such as environment perception, planning and decision-making, and multi-level assisted driving.
  • the intelligent vehicle shown is equipped with television cameras, electronic computers, and automatic control systems, which intensively use computers, modern sensing, information fusion, communication, artificial intelligence and automatic control technologies, and are a typical high-tech complex.
  • the collection device 200 and the RSU 201 in the embodiment of the present application may be installed on the same pole on the side of the road or on different poles, which is not limited in the embodiment of the present application.
  • the safe driving monitoring system includes a collection device 400, a central processing unit 401, an RSU 402, and a vehicle 403.
  • the collection device 400 installed on a pole on the roadside, includes a camera, at least one sensor, and a communication device. It is responsible for collecting vehicle-related information such as the driving direction, driving speed, and license plate number of the vehicles within the management range, and is also used for The collected vehicle-related information is sent to the bound RSU and/or the central processing unit through a communication mode of Bluetooth, wired connection or wireless transmission.
  • the collection device 400 in the embodiment of the present application may be an overall name provided with a camera, at least one sensor, and a communication device.
  • the camera, at least one sensor, and communication device exist independently, and the three devices are collectively referred to as the collection device 400; or, the collection device 401 in the embodiment of the present application may be a camera, at least one sensor, and The device after the communication device is integrated.
  • the central processing unit 401 may be installed on a pole on the side of the road or in the cloud, and has the ability to analyze and process information and communicate with other devices. Wherein, the central processing unit 401 is responsible for receiving the collected vehicle-related information sent by the collecting device 400, analyzing the vehicle-related information, and analyzing and processing the abnormal vehicle based on the vehicle-related information. The result is sent to the RSU.
  • the RSU402 is installed on a pole on the side of the road and has communication capabilities.
  • the RSU is responsible for receiving the collected vehicle-related information sent by the central processing unit 401, and the RSU is also used for receiving traffic signals and application servers.
  • Real-time traffic information such as road condition information is delivered and dynamically broadcast to relevant vehicles to avoid or reduce traffic accidents and improve traffic efficiency.
  • the vehicle 403 may be an ordinary vehicle or a comprehensive system (ie, a smart vehicle) that integrates functions such as environment perception, planning and decision-making, and multi-level driving assistance.
  • the intelligent vehicle is equipped with television cameras, electronic computers, and automatic control systems, which intensively use computers, modern sensing, information fusion, communication, artificial intelligence and automatic control technologies, and are a typical high-tech complex.
  • the collection device and the RSU in the embodiment of the present application may be installed on the same pole on the side of the road or on different poles, which is not limited in the embodiment of the present application.
  • FIGS. 2 and 4 are only simplified schematic diagrams for ease of understanding and examples.
  • the safe driving monitoring system may also include other equipment or other collection devices, which are not shown in FIGS. 2 and 4.
  • ETC is an electronic toll collection system that does not stop and is currently the most advanced road and bridge toll collection method in the world.
  • the computer networking technology is used for background settlement processing with the bank, so that the vehicle does not need to pass the road and bridge toll station.
  • ETC dedicated lanes are used for vehicles equipped with ETC on-board devices, using electronic toll collection methods.
  • OBU a device installed on the vehicle, in the ETC system, the OBU and the RSU erected on the roadside communicate with each other through microwaves.
  • microwave communication is used between the OBU and the RSU, just like a contactless card.
  • it recognizes the true and false, obtains the model, calculates the rate, and deducts the toll, which means that the RSU passes
  • the OBU communicates with the IC card for reading and writing.
  • the term "at least one" in the embodiments of the present application refers to one or more, and “multiple” refers to two or more than two.
  • “And/or” describes the association relationship of the associated objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A alone exists, A and B exist at the same time, and B exists alone, where A , B can be singular or plural.
  • the character “/” generally indicates that the associated objects before and after are in an "or” relationship.
  • the following at least one item (item) or similar expressions refer to any combination of these items, including any combination of single item (item) or plural items (item).
  • at least one item (a) of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple .
  • an embodiment of the present application provides a method for monitoring safe driving.
  • an embodiment of the present application provides a method for monitoring safe driving.
  • the specific process includes:
  • Step 500 The collection device monitors the vehicles running on the monitored road to obtain vehicle collection information.
  • the monitoring range of the collection device and the RSU bound to the collection device have been determined.
  • the monitoring range of the RSU is the same as the monitoring range of the bound collection device.
  • the vehicle collection information includes one or more of the heading direction of the vehicle, the color of the vehicle, the identification of the vehicle, the size of the vehicle, the model of the vehicle, and the speed of the vehicle,
  • the vehicle collection information in the embodiments of the present application may include other content, which is not specifically limited.
  • Step 501 The collection device sends the collected vehicle collection information to the RSU.
  • Step 502 The RSU analyzes the collected information received, and determines whether there is a first vehicle whose driving direction is different from the driving direction of the lane in which there is a vehicle traveling on the monitored road.
  • the first vehicle whose driving direction is different from the driving direction of the lane may refer to the vehicle whose absolute value of the included angle between the driving direction and the driving direction of the lane is greater than or equal to the first threshold.
  • the first threshold may be 90 degrees, 120 degrees, or the like.
  • a vehicle traveling backward on the road is referred to as the first vehicle.
  • the RSU in the embodiment of the present application may determine the lane driving direction of the road according to the driving direction of the lane displayed on the electronic map of the lane.
  • the RSU described in the embodiment of the present application may have multiple ways to determine the driving direction of the lane, which are not specifically limited to the following:
  • the driving direction of the lane is determined according to the driving direction of the lane displayed on the electronic map corresponding to the lane.
  • the driving direction of the lane is acquired by radar and/or sensors.
  • the driving direction of the lane is issued by the cloud server; the driving direction of the lane is determined according to the driving direction of the lane set in advance.
  • the driving direction of the lane is determined according to the driving direction of the vehicles passing through the lane obtained in history, and the number of the vehicles is greater than or equal to the second threshold.
  • the RSU performs big data analysis according to the driving direction of at least one vehicle passing through the road acquired in history, and determines the driving direction with the highest coincidence rate as the driving direction of the road.
  • Lane driving direction; or the RSU analyzes the driving direction of at least one vehicle passing through the road acquired in history, and determines the driving direction not less than the preset analysis value as the lane driving direction of the road.
  • the RSU analyzes all the driving directions of the obtained lane, and the analysis result is that 33% of all driving directions are left. Turn, 66% of the driving direction is forward, and only 1% of the driving direction is U-turn. Among them, the proportion of the driving direction being left turn and the proportion of driving direction being forward reach the preset analysis value of 20%. Therefore, it can be determined that the driving direction of the lane is left turn plus forward, that is, the vehicle can be on the lane 1 You can also go forward by turning left.
  • the road in the embodiment of the present application may include at least one lane, and the RSU may perform big data analysis on each lane included in the road according to the lane conditions of the road, so that when the road is When multiple lanes are included, the driving direction of each lane is determined respectively.
  • Step 503 After the RSU determines that the first vehicle exists, the RSU sends first information to the first vehicle.
  • the RSU may also report related information of the first vehicle to a cloud server after determining that the first vehicle exists, and the cloud server may be a government or A server operated by a third party is used for traffic safety management, such as a server operated by a traffic bureau, etc., so as to promptly remind the traffic police to process the first vehicle.
  • a cloud server may be a government or A server operated by a third party is used for traffic safety management, such as a server operated by a traffic bureau, etc., so as to promptly remind the traffic police to process the first vehicle.
  • the first vehicle is a vehicle whose driving direction is different from the driving direction of the lane, and the first information is used to notify that the first vehicle is driving on the wrong road; and/or the first vehicle is driving on the wrong road; A piece of information is used to notify that the first vehicle is traveling in the wrong direction on the current road.
  • Step 504 The first vehicle receives first information from the RSU.
  • Step 505 The first vehicle notifies the driver in the first vehicle to perform safe driving processing according to the first information.
  • the safe driving processing in the embodiment of the present application includes but is not limited to pulling over, driving away immediately, driving in the correct direction, and so on.
  • the RSU determines the first vehicle, which are specifically not limited to the following.
  • Determination method 1 The RSU determines a vehicle whose driving direction is inconsistent with the driving direction of the lane of the road as the first vehicle.
  • the RSU in the embodiment of the present application collects information of vehicles passing through the road to obtain the driving direction of the vehicle, and then compares the driving direction of the vehicle with the driving direction of the lane. Thereby, it is determined whether there is a first vehicle among the vehicles passing the road.
  • Determination method 2 The RSU will also receive positioning information sent at least two different times for vehicles driving on the road within the monitoring range, and the RSU determines the first vehicle based on the received at least two positioning information.
  • the positioning information is obtained by a global positioning system GPS receiver.
  • the RSU receives two positioning information, namely positioning information 1 and positioning information 2, where the positioning information carries the time when the vehicle 1 collected the positioning information.
  • the position displayed by the positioning information 1 is the position shown at point A on the road, and the collection time of the vehicle 1 carried by the positioning information 1 is 1:20:29, and the position displayed by the positioning information 2 is the The position shown at point B on the road, and the collection time of the vehicle 1 carried by the positioning information 2 is 1:19:02.
  • the driving direction of the lane of the road where the vehicle is located is the direction from A to B. Therefore, the RSU can determine that the vehicle passes through point B first, and then passes through point A according to the two received positioning information, then the RSU It can be determined that the vehicle travel direction is B to A, which is opposite to the lane travel direction. Therefore, the vehicle is determined to be the first vehicle.
  • the RSU determines the first vehicle according to the vehicle collection information sent by the at least one other RSU. Among them, for ease of description, the embodiment of the present application selects the information collected by two RSUs to determine the situation of the first vehicle for introduction.
  • the two RSUs are the first RSU and the second RSU, respectively.
  • the first RSU obtains the identifiers of different vehicles passing through the middle section of the road and the corresponding first appearance times, and obtains the third information sent by the second RSU; wherein, the The third information includes the identifications of different vehicles passing the exit of the road and the corresponding first appearance times obtained by the second RSU; according to the identifications of different vehicles passing the middle section of the road and the corresponding first appearances respectively The appearance time, the identification of different vehicles passing the exit of the road and the corresponding first appearance time respectively, determine the vehicle that first passes the exit of the road and then passes through the middle section of the road as the first vehicle.
  • the first RSU obtains the identifiers of different vehicles passing through the entrance of the road and the corresponding first appearance times respectively, and obtains the third information sent by the second RSU; wherein, the first RSU The three information includes the identifiers of different vehicles passing the exit of the road and the corresponding first appearance times obtained by the second RSU; according to the identifiers of different vehicles passing the entrance of the road and the corresponding first appearance times respectively , And the identifications of different vehicles passing the exit of the road and the corresponding first appearance time respectively, the vehicle that first passes the exit of the road and then the entrance of the road is determined as the first vehicle.
  • the first RSU obtains the identifiers of different vehicles passing through the entrance of the road and the corresponding first appearance times respectively, and obtains the third information sent by the second RSU; wherein, the first RSU The three information includes the identifiers of different vehicles passing through the middle section of the road and the corresponding first appearance times obtained by the second RSU; according to the identifiers of different vehicles passing through the entrance of the road and the corresponding first appearances respectively.
  • the high-speed section scene shown in FIG. 7 is selected for introduction. It is assumed that the first RSU is used to monitor the traffic at the entrance of the high-speed section, and the second RSU is used to monitor the exit of the high-speed section. Traffic.
  • the first appearance time of the identification of the vehicle A collected by the second RSU is 1:36:26
  • the first RSU collected the identification of the vehicle A
  • the first appearance time of the identification is 1:39:10
  • the second RSU sends the collected identification of the vehicle A and the first appearance time 1:36:26 to the first RSU, then the first RSU
  • the first RSU monitors the high-speed road section entrance, and the second RSU monitors the high-speed road section exit. It should pass the first RSU first and then the second RSU. Therefore, the first RSU may determine that the vehicle A is in a reverse direction, and the vehicle A is the first vehicle.
  • the method flow of safe driving monitoring based on the determination method 3 is as follows;
  • step 800 the first RSU collects the identifiers of different vehicles passing through the entrance of the road and the corresponding first appearance times respectively.
  • Step 801 The second RSU collects the identifiers of different vehicles passing the exit of the road and the corresponding first appearance times respectively.
  • Step 802 The second RSU determines third information, and the third information includes the identifiers of different vehicles passing the exit of the road and the corresponding first appearance times obtained by the second RSU.
  • the third information only carries vehicle information newly added to the vehicle collected last time.
  • Step 803 The second RSU sends the third information to the first RSU.
  • the first RSU receives the third information.
  • the first RSU is based on the identifiers of different vehicles passing through the entrance of the road and the corresponding first appearance times, and different vehicles passing the exit of the road.
  • the logo of and the corresponding first appearance time are compared.
  • Step 805 The first RSU determines whether there is a vehicle that first passes the exit of the road and then passes the entrance of the road.
  • step 806 the first RSU determines a vehicle that first passes the exit of the road and then passes the entrance of the road as the first vehicle.
  • Step 807 The first RSU sends first information to the first vehicle, where the first information is used to notify the first vehicle of a driving error.
  • Step 808 After receiving the first information, the vehicle 1 performs safe driving processing.
  • the RSU after determining that the first vehicle exists, the RSU also sends second information to vehicles on the road other than the first vehicle, and the second information is used to notify The other vehicle safely avoids the first vehicle.
  • the second information includes one or more of the following parameters:
  • the identifier of the first vehicle, the first information, and the attribute information of the first vehicle
  • the attribute information of the first vehicle includes one or more of the following vehicle attributes:
  • the color of the first vehicle the brand of the first vehicle, the model of the first vehicle, and the size of the first vehicle.
  • an embodiment of the present application also provides another method for monitoring safe driving.
  • the method for monitoring safe driving provided by an embodiment of the present application has a specific process.
  • Step 900 The collection device monitors the vehicles running on the monitored road to obtain vehicle collection information.
  • step 500 For the specific content, refer to step 500 above, which is a concise description and will not be repeated here.
  • Step 901 The collection device sends the collected vehicle collection information to the central processing device.
  • step 902 the central processing device analyzes the collected information received, and determines whether there is a first vehicle whose driving direction is different from the driving direction of the lane in which there is a vehicle driving on the monitored road.
  • the first vehicle whose driving direction is different from the driving direction of the lane may mean that the angle between the driving direction and the current lane is greater than or equal to plus or minus 90°. This is called the first vehicle.
  • step 502 For the manner in which the central processing device determines the driving direction of the lane, refer to the above step 502, which is a succinct description and will not be repeated here.
  • Step 903 After the central processing device determines that the first vehicle exists, the central processing device notifies the RSU of the information of the first vehicle.
  • the central processing device may also report relevant information of the first vehicle to the traffic processing agency after determining that the first vehicle exists, so as to promptly remind The traffic police handles the first vehicle.
  • the first vehicle is a vehicle whose driving direction is different from the driving direction of the lane, and the first information is used to notify that the first vehicle is driving on the wrong road; and/or the first vehicle is driving on the wrong road; A piece of information is used to notify that the first vehicle is traveling in the wrong direction on the current road.
  • Step 904 After receiving the information of the first vehicle sent by the central processing unit, the RSU sends the first information to the first vehicle.
  • Step 905 The first vehicle receives first information from the RSU.
  • Step 906 The first vehicle notifies the driver in the first vehicle to perform safe driving processing according to the first information.
  • the safe driving processing in the embodiment of the present application includes but is not limited to pulling over, driving away immediately, driving in the correct direction, and so on.
  • the central processing device may determine the first vehicle in multiple ways, which are not specifically limited to the following.
  • Determination method 1 The central processing device determines a vehicle whose driving direction is inconsistent with the driving direction of the lane of the road as the first vehicle.
  • the central processing device in the embodiment of the present application collects information of vehicles passing through the road to obtain the driving direction of the vehicle, and then compares the driving direction of the vehicle with the driving direction of the lane. Yes, so as to determine whether there is a first vehicle among the vehicles passing the road.
  • Determination method 2 The central processing device also receives positioning information sent at different times by vehicles driving on the road within the monitoring range, and the central processing device determines the first vehicle based on the received at least two positioning information.
  • Determination method 3 The central processing device determines the first vehicle according to the collection information of the vehicle sent by the at least one other collection device. Among them, for the convenience of description, the embodiment of the present application selects the information collected by two collection devices to determine the situation of the first vehicle for introduction.
  • the two collection devices are the first collection device and the second collection device.
  • the first collection device is bound to the first RSU, and the second collection device is bound to the second RSU.
  • the central processing device receives from the first collection device the identifiers of different vehicles passing through the middle section of the road and the corresponding first appearance times respectively; and receives from the The second collection device acquires the identifiers of different vehicles passing through the exits of the road and the corresponding first appearance times; the central processing device according to the identifiers of different vehicles passing through the middle section of the road and the corresponding first appearance times, and The identifiers of different vehicles passing the exit of the road and the corresponding first appearance time respectively, the vehicle that first passes the exit of the road and then passes through the middle section of the road is determined as the first vehicle.
  • the central processing device receives from the first collection device the identifiers of different vehicles passing through the entrance of the road and their respective first appearance times; and receives the information from the first collection device.
  • the second collection device acquires the identifications of different vehicles passing through the exit of the road and their corresponding first appearance times; the central processing device obtains the identifications of different vehicles passing through the entrance of the road and the corresponding first appearance times and the corresponding first appearance times respectively.
  • the identifications of different vehicles at the exits of the road and the corresponding first appearance times respectively, the vehicle that first passes the exit of the road and then passes the entrance of the road is determined as the first vehicle.
  • the central processing device receives from the first collection device the identifiers of different vehicles passing through the entrance of the road and their respective first appearance times; and receives the information from the first collection device.
  • the second collection device acquires the identifications of different vehicles passing through the middle section of the road and the corresponding first appearance times; the central processing device obtains the identifications of different vehicles passing through the entrance of the road and the corresponding first appearance times and passing times respectively;
  • the identifications of different vehicles on the middle section of the road and the corresponding first appearance times respectively determine that the vehicle that first passes the middle section of the road and then passes through the entrance of the road is determined as the first vehicle.
  • the process of the method for the central processing device to perform safe driving monitoring based on the determination method 3 is as follows:
  • Step 1000 The first collection device collects the identifiers of different vehicles passing through the entrance of the road and the corresponding first appearance times respectively, and sends them to the central processing device.
  • Step 1001 The second collection device collects the identifiers of different vehicles passing the exit of the road and the corresponding first appearance times respectively, and sends them to the central processing device.
  • the information sent by the first collection device and the second collection device to the central processing device may only carry information relative to the previous collection.
  • the newly added vehicle information of the arriving vehicle may only carry information relative to the previous collection.
  • Step 1002 The central processing device receives from the first collection device the identifiers of different vehicles passing through the entrance of the road and the corresponding first appearance times; Different vehicle identifiers on the middle section of the road and their respective first appearance times.
  • step 1003 the central processing device compares the identifiers of different vehicles passing through the entrance of the road and their corresponding first appearance times, and the identifiers of different vehicles passing the exit of the road and their corresponding first appearance times.
  • Step 1004 The central processing device determines whether there is a vehicle that first passes the exit of the road and then passes the entrance of the road.
  • step 1005 the central processing device determines a vehicle that first passes the exit of the road and then passes the entrance of the road as the first vehicle.
  • Step 1006 The central processing device sends the information of the first vehicle to the first RSU.
  • the central processing device may also send the information of the first vehicle to the second RSU; or send the information of the first vehicle to the first RSU and the second RSU.
  • Step 1007 After receiving the first vehicle information, the first RSU and/or the second RSU sends first information to the first vehicle, where the first information is used to notify the first vehicle to drive mistake.
  • Step 1008 After receiving the first information, the vehicle 1 performs safe driving processing.
  • the first vehicle to notify the driver of safe driving according to the first information
  • the specific methods are not limited to the following.
  • Notification method 1 The vehicle voice prompts the driver in the vehicle to perform safe driving processing.
  • the first vehicle after the first vehicle receives the first information, it determines that an error has occurred in its current driving direction, and the first vehicle activates the voice notification function to broadcast by voice, Notify the driver of the vehicle to handle safe driving.
  • the first vehicle after the first vehicle receives the first information, it determines that its current driving direction is wrong, then the first vehicle triggers a specific ringtone to notify the driver of the vehicle to proceed Safe driving processing, so that the driver knows that the current driving direction is wrong after hearing a specific ringtone, and promptly performs safe driving processing.
  • Notification method 2 The vehicle pops up a notification for safe driving processing in the operation display screen of the vehicle.
  • the first vehicle after the first vehicle has received the first information, it determines that an error has occurred in its current driving direction, and a message for safe driving will pop up on the display screen of the first vehicle.
  • the notification informs the driver of the vehicle to perform safe driving processing, so that the driver knows that the current driving direction is wrong after seeing the first information notified by the display screen, and promptly performs safe driving processing.
  • Notification method 3 The vehicle notifies the driver in the vehicle to perform safe driving processing by way of seat vibration.
  • the first vehicle after the first vehicle receives the first information, it determines that an error has occurred in its current driving direction, and the first vehicle activates the seat vibration function. In this way, the driver of the vehicle is notified to proceed with safe driving.
  • Notification method 4 The vehicle notifies the driver in the vehicle to perform safe driving processing by honking the whistle.
  • the way of whistling can also effectively play the role of notification to other vehicles.
  • the foregoing realization devices include hardware structures and/or software units corresponding to the respective functions.
  • the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software-driven hardware depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the present invention.
  • an embodiment of the present invention is a device for monitoring safe driving.
  • the device for monitoring safe driving includes a processor 1100, a memory 1101, and a transceiver 1102;
  • the processor 1100 is responsible for managing the bus architecture and general processing, and the memory 1101 may store data used by the processor 1100 when performing operations.
  • the transceiver 1102 is used to receive and send data under the control of the processor 1100 for data communication with the memory 1101.
  • the bus architecture may include any number of interconnected buses and bridges. Specifically, one or more processors represented by the processor 1100 and various circuits of the memory represented by the memory 1101 are linked together.
  • the bus architecture can also link various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are all known in the art, and therefore, will not be further described herein.
  • the bus interface provides the interface.
  • the processor 1100 is responsible for managing the bus architecture and general processing, and the memory 1101 may store data used by the processor 1100 when performing operations.
  • the process disclosed in the embodiment of the present invention may be applied to the processor 1100 or implemented by the processor 1100.
  • each step of the safe driving monitoring process can be completed by processing the integrated logic circuit of hardware in 1100 or instructions in the form of software.
  • the processor 1100 may be a general-purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the embodiments of the present invention.
  • the general-purpose processor may be a microprocessor or any conventional processor or the like.
  • the steps of the method disclosed in the embodiments of the present invention may be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor.
  • the software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers.
  • the storage medium is located in the memory 1101, and the processor 1100 reads the information in the memory 1101, and completes the steps of the signal processing flow in combination with its hardware.
  • the processor 1100 when the safe driving monitoring device is an RSU, the processor 1100 is configured to read the program in the memory 1101 and execute the RSU execution in S500-S505 as shown in FIG. 5 Or execute the method flow executed by the RSU in S800-S808 as shown in FIG. 8; execute the method flow executed by the RSU in S900-S906 as shown in FIG. 9; execute as shown in FIG. The flow of the method executed by the RSU described in S1000-S1008.
  • the processor 1100 when the safe driving monitoring device is a central processing unit, the processor 1100 is configured to read the program in the memory 1101 to execute the central processing unit in S900-S906 as shown in FIG. The process of the method executed by the processor; the process of the method executed by the central processor in S1000-S1008 shown in FIG. 10 is executed.
  • the processor 1100 when the safe driving monitoring device is a vehicle, the processor 1100 is configured to read the program in the memory 1101 to execute the execution of the vehicle in S500-S505 as shown in FIG. 5 Method flow; or execute the method flow executed by the vehicle in S800-S808 as shown in FIG. 8; execute the method flow executed by the vehicle in S900-S906 as shown in FIG. 9; execute S1000 as shown in FIG. -The flow of the method executed by the RSU described in S1008.
  • the present invention provides a device for safe driving monitoring.
  • the device includes a communication module 1200 and a processing module 1201.
  • the communication module 1200 and the processing module 1201 are used to execute:
  • the communication module 1200 is configured to obtain the driving direction of a vehicle traveling on a monitored road, where the monitored road includes at least one lane;
  • the processing module 1201 is configured to send first information to the first vehicle when there is a first vehicle among the vehicles traveling on the monitored road, and the first information is used to notify the first vehicle that the first vehicle is currently traveling The direction is wrong, wherein the first vehicle is a vehicle whose driving direction is different from the driving direction of the lane in which it is located.
  • the first vehicle is a vehicle whose absolute value of the included angle between the driving direction and the driving direction of the lane is greater than or equal to a first threshold.
  • the first threshold value is 90 degrees.
  • processing module 1201 is specifically configured to:
  • the positioning information is obtained by a GPS receiver of a global positioning system.
  • processing module 1201 is further configured to:
  • the direction of the vehicle traveling on the monitoring road is determined according to the heading direction of the vehicle traveling on the monitoring road, wherein the heading direction of the vehicle traveling on the monitoring road is determined by sensor information.
  • processing module 1201 is specifically configured to:
  • the third information includes the passing information obtained by the second RSU.
  • processing module 1201 is specifically configured to:
  • the identifications of different vehicles passing through the entrance of the road and their corresponding first appearance times and obtain the third information sent by the second RSU; wherein, the third information includes the passing information obtained by the second RSU.
  • the identifications of different vehicles at the exits of the road and the corresponding first appearance times according to the identifications of different vehicles passing through the entrance of the road and the corresponding first appearance times, as well as the identifications and identifications of different vehicles passing the exit of the road For the respective first appearance times, the vehicle that first passes the exit of the road and then passes the entrance of the road is determined as the first vehicle.
  • processing module 1201 is specifically configured to:
  • the identifications of different vehicles passing through the entrance of the road and their corresponding first appearance times and obtain the third information sent by the second RSU; wherein, the third information includes the passing information obtained by the second RSU.
  • the identifications of different vehicles in the middle section of the road and the corresponding first appearance times according to the identifications of different vehicles passing through the entrance of the road and the corresponding first appearance times, and the identification of different vehicles passing through the middle section of the road
  • the vehicle that first passes the entrance of the road and then passes through the middle section of the road is determined as the first vehicle.
  • the communication module 1200 is specifically configured to:
  • the driving direction of the lane is determined according to the preset driving direction of the lane.
  • the communication module 1200 is specifically configured to:
  • the driving direction of the lane is issued by the cloud server.
  • the communication module 1200 is specifically configured to:
  • the driving direction of the lane on the monitored road is acquired; the driving direction of the lane is acquired by radar and/or sensors.
  • the communication module 1200 is specifically configured to:
  • the driving direction of the lane is determined according to the driving direction of the lane displayed on the electronic map corresponding to the lane.
  • the communication module 1200 is specifically configured to:
  • the driving direction of the lane is determined according to the driving direction of the vehicles passing through the lane obtained in history, and the number of the vehicles is greater than or equal to the second threshold.
  • the driving direction of the lane on the monitored road is determined according to the driving direction of the vehicle with the highest coincidence rate passing through the lane obtained in history, and the number of the vehicles is greater than or equal to a second threshold.
  • the driving direction of the lane on the monitored road is determined according to the driving direction of vehicles passing through the lane that is greater than or equal to a preset analysis value, and the number of the vehicles is greater than or equal to The second threshold, the preset analysis value is used to determine whether to determine the driving direction of the vehicle as the driving direction of the lane.
  • processing module 1201 is further configured to:
  • the second information includes one or more of the following parameters:
  • the logo, color, brand, model, and size of the first vehicle is the logo, color, brand, model, and size of the first vehicle.
  • processing module 1201 is further configured to:
  • the communication module 1200 and the processing module 1201 are used to execute the central processing unit in S800-S806 as shown in FIG. 8 Execution method flow; execute the method flow executed by the central processing unit described in S900-S908 as shown in FIG. 9.
  • the communication module 1200 and the processing module 1201 are used to execute:
  • the communication module 1200 is configured to receive a first message
  • the processing module 1201 is configured to prompt the driver to perform safe driving processing when the first message is used to indicate that the current driving direction of the vehicle is different from the driving direction of the lane where the vehicle is located.
  • the communication module 1200 and the processing module 1201 are used to execute the following content:
  • the communication module 1200 is configured to receive a first message
  • the processing module 1201 is configured to prompt the driver to perform safe driving processing when the first information informs that there is a first vehicle in the lane; the first vehicle is a vehicle whose driving direction is different from the driving direction of the lane.
  • the first vehicle is a vehicle whose absolute value of the included angle between the driving direction and the driving direction of the lane is greater than or equal to a first threshold.
  • the first threshold value is 90 degrees.
  • the communication module 1200 is specifically configured to:
  • the road value When the road value has a first vehicle and the vehicle is the first vehicle, receive the first information notified by the RSU; or when the road value has a first vehicle and the vehicle is not the first vehicle When the vehicle is in a vehicle, the second information notified by the RSU is received.
  • the first information is used to notify the vehicle of a driving error; or the second information is used to notify the vehicle to safely avoid the first vehicle.
  • processing module 1201 is specifically configured to:
  • processing module 1201 is further configured to:
  • processing module 1201 is further configured to:
  • the automatic driving mode is activated.
  • processing module 1201 is further configured to:
  • the functions of the communication module 1200 and the processing module 1201 shown in FIG. 12 may be executed by the processor 1100 running a program in the memory 1101, or executed by the processor 1100 alone.
  • various aspects of the safe driving monitoring method provided by the embodiments of the present invention may also be implemented in the form of a program product, which includes program code, and when the program code runs on a computer device, The program code is used to make the computer device execute the steps in the safe driving monitoring method according to various exemplary embodiments of the present invention described in this specification.
  • the program product can use any combination of one or more readable media.
  • the readable medium may be a readable signal medium or a readable storage medium.
  • the readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Type programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • the program product for safe driving monitoring may adopt a portable compact disk read-only memory (CD-ROM) and include program code, and may run on a server device.
  • CD-ROM portable compact disk read-only memory
  • the program product of the present invention is not limited to this.
  • the readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with a communication transmission, device or device.
  • the readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and readable program code is carried therein. This propagated data signal can take many forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the readable signal medium may also be any readable medium other than a readable storage medium, and the readable medium may send, propagate, or transmit a program for use by or in combination with a periodic network action system, apparatus, or device.
  • the program code contained on the readable medium can be transmitted by any suitable medium, including, but not limited to, wireless, wired, optical cable, RF, etc., or any suitable combination of the above.
  • the program code used to perform the operations of the present invention can be written in any combination of one or more programming languages.
  • the programming languages include object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural styles. Programming language-such as "C" language or similar programming language.
  • the program code can be executed entirely on the user's computing device, partly on the user's device, executed as an independent software package, partly on the user's computing device and partly executed on the remote computing device, or entirely on the remote computing device or server Executed on.
  • the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device.
  • LAN local area network
  • WAN wide area network
  • the embodiment of the present application also provides a storage medium readable by a computing device for a safe driving monitoring method, that is, the content is not lost after a power failure.
  • the storage medium stores a software program, including program code.
  • the program code runs on a computing device, the software program can implement any of the above embodiments of the present application when it is read and executed by one or more processors. Communication transmission scheme.
  • this application may take the form of a computer program product on a computer-usable or computer-readable storage medium, which has a computer-usable or computer-readable program code implemented in the medium to be used or used by the instruction execution system. Used in conjunction with the instruction execution system.
  • a computer-usable or computer-readable medium can be any medium that can contain, store, communicate, transmit, or transmit a program for use by an instruction execution system, apparatus, or device, or in combination with an instruction execution system, Device or equipment use.

Abstract

一种安全驾驶监测的方法和装置，用以提供有效进行安全驾驶监测的方法。方法包括：获取在监测道路上行驶的车辆的行驶方向，其中，监测道路包括至少一条车道（S100）；当在监测道路上行驶的车辆中，存在第一车辆时，向第一车辆发送第一信息，第一信息用于通知第一车辆当前行驶方向错误，其中，第一车辆为行驶方向与所在车道的行驶方向不同的车辆（S101）。在识别出存在第一车辆后，通过向第一车辆发送用于通知第一车辆行驶错误的第一信息，能够及时有效的对错误驾驶的车辆进行提示和告警，减少行车安全风险。

Description

一种安全驾驶监测的方法和装置 技术领域
本发明涉及交通检测技术领域，特别涉及一种安全驾驶监测的方法和装置。
背景技术
在道路驾驶中，车辆行驶方向错误会带来巨大的安全隐患，甚至可能直接导致一定的致命事故。例如，驾驶员从高速公路的服务站出发时，有可能行驶方向错误，在高速公路上逆行，并且驾驶员可能无法及时发现自己逆行，从而发生安全事故。
而目前在道路行驶过程中，一种方式为车辆通过自身安装的至少一个传感器，对所述车辆的行驶方向进行检测，在确定自身行驶方向发生错误后，提示所述车辆中的驾驶员当前行驶方向错误。但该种方式中，若所述车辆中的传感器发生故障，或者所述驾驶员关闭所述车辆的自动检测功能，则所述车辆无法在车辆行驶方向发生错误时及时通知所述驾驶员，从而容易造成安全隐患。
另一种方式为，通过所述道路上安装摄像装置对来往车辆进行抓拍，然后将抓拍到的车辆行驶照片发送给交通处理部门，交通处理部门人为的从抓拍到的车辆行驶照片中确定行驶方向错误的车辆，后续对所述行驶方向错误的车辆进行通知以及扣分等违规处理。但在实际道路行驶过程中，行驶方向错误的车辆可能随时会造成道路中交通事故的发生，该种方式依旧无法在车辆行驶方向发生错误时及时通知所述驾驶员，且需要消耗大量的人力物力。
综上，目前并没有针对行驶方向错误的车辆及时有效的通知方式。
发明内容
本申请提供一种安全驾驶监测的方法和装置，用以识别出行驶方向错误的车辆并及时地通知，提升道路行驶的安全。
应理解，本申请实施例中提供的进行安全驾驶监测的方法可以由处理装置执行，所述处理装置的情况有多种，可以是单独的装置，也可以是至少两个装置的组合。
在一种可能的实现方式中，所述处理装置为路侧单元(road side unit，RSU)，本申请实施例提供的进行安全驾驶监测的方法由所述RSU执行。
具体的，所述RSU执行时，所述RSU通过有线连接或者蓝牙连接或者蜂窝网路连接传感器，获取传感器中的信息，进行数据的处理，得到处理的结果，并根据所述处理结果向车辆发送第一信息。
在一种可能的实现方式中，所述处理装置为集成了传感器的RSU，本申请实施例提供的进行安全驾驶监测的方法由所述集成传感器的RSU执行，例如，所述RSU集成了摄像头、雷达、GPS接收器等传感器中的一种或多种。
具体的，所述RSU执行时，所述RSU根据自身集成的传感器，获取传感器中的信息，进行数据的处理，得到处理的结果，并根据所述处理结果向车辆发送第一信息。
在一种可能的实现方式中，所述处理装置为RSU与传感器，本申请实施例提供的进行安全驾驶监测的方法由所述RSU与所述传感器协同执行，例如，所述传感器包括摄像头、 雷达、全球定位系统(global positioning system，GPS)接收器中的一种或多种。
具体的，所述RSU执行时，所述RSU根据外置的传感器，获取传感器中的信息，进行数据的处理，得到处理的结果，并根据所述处理结果向车辆发送第一信息。
在一种可能的实现中，所述处理装置为中央处理装置，且所述RSU为独立的。
具体的，当所述中央处理器执行时，所述RSU通过有线连接或者蓝牙连接或者蜂窝网路连接传感器，获取传感器中的信息，发送给中央处理器，由中央处理器进行数据的处理，所述中央处理器将处理的结果发送给所述RSU。进一步由所述RSU向车辆发送第一信息。
在一种可能的实现中，所述处理装置为中央处理装置，且所述RSU为独立的。
具体的，当所述中央处理器执行时，所述中央处理器通过有线连接或者蓝牙连接或者蜂窝网路连接传感器，获取传感器中的信息，并根据获取到的信息进行数据的处理，所述中央处理器将处理的结果发送给所述RSU。进一步由所述RSU向车辆发送第一信息。
在一种可能的实现中，所述处理装置为中央处理装置，且所述RSU自身集成了传感器。
具体的，当所述中央处理器执行时，所述RSU根据自身集成的传感器，获取信息，发送给中央处理器，由中央处理器进行数据的处理，所述中央处理器将处理的结果发送给所述RSU，进一步由所述RSU向车辆发送第一信息。
在一种可能的实现中，所述处理装置为中央处理装置。
具体的，当所述中央处理器执行时，所述RSU通过有线连接或者蓝牙连接或者蜂窝网路连接外置的传感器，获取传感器中的信息，发送给中央处理器，由中央处理器进行数据的处理，所述中央处理器将处理的结果发送给所述RSU，进一步由所述RSU向车辆发送第一信息。
在一种可能的实现中，所述处理装置为中央处理装置。
具体的，当所述中央处理器执行时，所述中央处理器通过有线连接或者蓝牙连接或者蜂窝网路连接外置的传感器，获取传感器中的信息，发送给中央处理器，由中央处理器进行数据的处理，所述中央处理器将处理的结果发送给所述RSU，进一步由所述RSU向车辆发送第一信息。
需要说明的是，本申请中所述RSU向车辆发送第一信息时，还可将所述第一信息发送给其他RSU，其中，所述RSU与所述其他RSU进行通信的过程可能经过中央处理器，也可能不经过所述中央处理器，本申请实施例中并不进行限定。本申请发送的数据可以是原始的数据，也可以是经过RSU处理的数据。另外，所述RSU也可以由具有通信功能的其他装置替代，本申请在此不进行限定。
所述处理该安全驾驶监测的装置可以是所述RSU(所述RSU可以为集成了传感器的RSU)或者所述中央处理器的整机，也可以是所述RSU或者所述中央处理器的部分器件，例如无线通信功能相关的芯片，如系统芯片、通信芯片或射频芯片。其中，系统芯片也称为片上系统，或称为SoC芯片。通信芯片可以包括射频处理芯片和基带处理芯片的一种或多种。基带处理芯片有时也称为调制解调器(modem)或基带处理器。在物理实现中，通信芯片可集成在SoC芯片内部，也可以不与SoC芯片集成。例如，基带处理芯片集成在SoC芯片中，射频处理芯片不与SoC芯片集成。
第一方面，本申请实施例提供一种安全驾驶监测的方法，包括：
获取在监测道路上行驶的车辆的行驶方向，其中，所述监测道路包括至少一条车道；当在监测道路上行驶的车辆中，存在第一车辆时，向所述第一车辆发送第一信息，所述第一信息用于通知所述第一车辆当前行驶方向错误，其中，所述第一车辆为行驶方向与所在车道的行驶方向不同的车辆。
其中，可选的，当上述方法是由RSU执行时，所述RSU负责获取在监测道路上行驶的车辆的行驶方向，并在检测到第一车辆时，向所述第一车辆发送所述第一信息。
可选的，当上述方法由中央处理器执行时，所述RSU负责获取在监测道路上行驶的车辆的行驶方向，并将获取到的信息上传所述中央处理器，所述中央处理器根据RSU上传的信息，进行数据处理，并把处理结果发送给所述RSU，当所述RSU根据所述处理结果确定检测到第一车辆时，向所述第一车辆发送所述第一信息。
基于上述方法，在识别出存在第一车辆后，通过向所述第一车辆发送用于通知所述第一车辆行驶错误的第一信息，能够及时有效的对错误驾驶的车辆进行提示和告警，减少行车安全风险。
在一种可能的实现方式中，所述第一车辆为行驶方向与所述车道的行驶方向的夹角的绝对值大于或等于第一阈值的车辆。
基于上述方法，本申请实施例提供了一种根据车辆的行驶方向与车道的行驶方向的夹角大小，来确定所述车辆是否是第一车辆的方法，通过所述第一阈值的设定，可以使算法更简单。
在一种可能的实现方式中，所述第一阈值为90度。
基于上述方法，本申请实施例提供了一种第一阈值的取值，例如所述第一阈值为90度。
在一种可能的实现方式中，根据所述在检测道路上行驶的车辆在至少两个不同时间的定位信息，确定所述在监测道路上行驶的车辆的行驶方向。
其中，可选的，当上述方法是由RSU执行时，所述RSU接收所述在监测道路上行驶的车辆在至少两个不同时间的定位信息，根据接收到的所述至少两个定位信息确定所述车辆的行驶方向。
可选的，当上述方法由中央处理器执行时，所述RSU接收所述在监测道路上行驶的车辆在至少两个不同时间的定位信息，并上传所述中央处理器，所述中央处理器根据RSU上传的信息，确定所述车辆的行驶方向。
基于上述方法，本申请实施例提供了一种基于车辆发送的至少两个定位信息来确定所述车辆是否为第一车辆的方法，通过该方法可以更直观的判断所述车辆的行驶方向。
在一种可能的实现方式中，所述定位信息由全球定位系统GPS接收器获取。
基于上述方法，本申请实施例提供了一种确定所述定位信息的方法，能够快速有效的获取所述定位信息。
在一种可能的实现方式中，所述方法还包括：根据所述在监测道路上行驶的车辆的车头方向，确定所述在监测道路上行驶的车辆的行驶方向，其中，所述在监测道路上行驶的车辆的车头方向由传感器的传感信息确定。
可选的，所述传感器为雷达或摄像头。
在一种可能的实现方式中，所述方法还包括：获取所述监测道路上车道的行驶方向； 所述车道的行驶方向是根据预先设置的车道的行驶方向确定的。
可选的，所述车道的行驶方向是根据预先设置在云端服务器的车道的行驶方向确定的。
基于上述方法，本申请实施例提供了一种确定车道的行驶方向的方法。
在一种可能的实现方式中，所述方法还包括：获取所述监测道路上车道的行驶方向；所述车道的行驶方向是云端服务器下发的。
其中，可选的，当上述方法是由RSU执行时，所述RSU接收所述云端服务器下发的所述车道的行驶方向。
可选的，当上述方法由中央处理器执行时，所述中央处理器接收所述云端服务器下发的所述车道的行驶方向，并将所述车道行驶方向通知给所述RSU。
需要说明的是，本申请中所述云端服务器可以为所述中央处理器。
基于上述方法，本申请实施例提供了一种确定车道的行驶方向的方法，例如，所述车道的行驶方向是云端服务器下发的，可以使驾驶员更明确的确定所述车道的行驶方向。
在一种可能的实现方式中，所述方法还包括：获取所述监测道路上车道的行驶方向；所述车道的行驶方向是通过雷达和/或传感器获取的。
基于上述方法，本申请实施例提供了一种确定车道的行驶方向的方法，例如，是通过雷达和/或传感器获取的，该方法能更加快速简洁的确定所述车道的行驶方向。
在一种可能的实现方式中，所述方法还包括：获取所述监测道路上车道的行驶方向；所述车道的行驶方向是根据所述车道对应的电子地图上显示的车道的行驶方向确定的。
基于上述方法，本申请实施例提供了一种确定车道的行驶方向的方法，例如，根据所述车道对应的电子地图上显示的车道的行驶方向确定的，该方法能够更加简单高效的确定所述车道的行驶方向。
在一种可能的实现方式中，所述方法还包括：获取所述监测道路上车道的行驶方向；所述车道的行驶方向是根据历史获取到的经过所述车道的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值。
其中，可选的，当上述方法是由RSU执行时，所述RSU根据历史获取到的经过所述车道的车辆的行驶方向进行大数据分析，从而确定所述监测道路上车道的行驶方向，所述车辆的数量大于或等于第二阈值。
可选的，当上述方法由中央处理器执行时，所述中央处理器根据历史获取到的经过所述车道的车辆的行驶方向进行大数据分析，得到分析结果，根据所述分析结果确定所述监测道路上车道的行驶方向，并将所述监测道路上的车道的行驶方向通知给所述RSU，所述车辆的数量大于或等于第二阈值。
基于上述方法，本申请实施例提供了一种确定车道的行驶方向的方法，通过大数据分析的方式确定所述车道的行驶方向，与实际交通情况更加贴近。
在一种可能的实现方式中，所述监测道路上车道的行驶方向是根据历史获取到的经过所述车道的重合率最高的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值。
基于上述方法，本申请实施例提供了一种确定车道的行驶方向的方法。
在一种可能的实现方式中，所述监测道路上车道的行驶方向是根据历史获取到的经过所述车道的大于或等于预设分析值的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值，所述预设分析值用于确定是否将所述车辆的行驶方向确定为所述车道的行驶方向。
基于上述方法，本申请实施例提供了一种确定车道的行驶方向的方法，例如，通过大数据分析的方式确定所述车道的行驶方向，准确性更强。
在一种可能的实现方式中，所述具有处理功能的装置通过下列方式确定存在所述第一车辆：所述第一具有处理功能的装置获取经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间，以及获取第二具有处理功能的装置发送的第三信息；其中，所述第三信息中包含所述第二具有处理功能的装置获取到的经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间；所述第一具有处理功能的装置根据经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间，将先经过所述道路的出口，后经过所述道路的中间路段的车辆确定为所述第一车辆。
基于上述方法，提供了一种所述第一具有处理功能的装置确定所述第一车辆的方法，即通过多个具有处理功能的装置采集到的车辆信息确定所述第一车辆。
在一种可能的实现方式中，所述第一处理通信功能的装置获取经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间，以及获取第二RSU发送的第三信息；其中，所述第三信息中包含所述第二具有处理功能的装置获取到的经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间；所述第一具有处理功能的装置根据经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间，将先经过所述道路的出口，后经过所述道路的入口的车辆确定为所述第一车辆。
基于上述方法，提供了一种所述第一具有处理功能的装置确定所述第一车辆的方法，即通过多个具有处理功能的装置采集到的车辆信息确定所述第一车辆。
在一种可能的实现方式中，所述第一具有处理功能的装置获取经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间，以及获取第二具有处理功能的装置发送的第三信息；其中，所述第三信息中包含所述第二处理通信功能的装置获取到的经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间；所述第一具有处理功能的装置根据经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间，将先经过所述道路的入口，后经过所述道路的中间路段的车辆确定为所述第一车辆。
基于上述方法，提供了一种所述第一具有处理功能的装置确定所述第一车辆的方法，即通过多个具有处理功能的装置采集到的车辆信息确定所述第一车辆。
在一种可能的实现方式中，所述在监测道路上行驶的车辆包括第一车辆和其他车辆，所述方法还包括：向所述其他车辆发送第二信息，所述第二信息用于通知所述其他车辆安全避让所述第一车辆。
基于上述方法，本申请实施例中除了向所述第一车辆发送所述第一信息，通知所述第一车辆错误行驶信息外，还向其他车辆发送所述第二信息，从而使接收到所述第二信息的其他车辆，进行安全避让处理，更加有效提升了交通安全性。
在一种可能的实现方式中，其他车辆可以是一个车辆也可以是多个车辆。
基于上述方法，本申请实施例中可以根据实际情况向所述道路中所有的其他车辆发送所述第二信息，也可以向所述道路中的部分其他车辆发送所述第二信息，实用性更强。
在一种可能的实现方式中，所述第二信息包括下列参数中的一个或多个：所述第一车 辆的标识、颜色、品牌、型号、大小。
基于上述方法，可以使其他车辆在接收到所述第二信息后，根据所述第二信息中包含的信息，能够更直观的了解到所述第一车辆的相关信息，例如，所述第一车辆的颜色、所述第一车辆的标识、所述第一车辆的型号等，从而更快的根据所述第二信息判断道路中的所述第一车辆信息，及时的进行避让。
在一种可能的实现方式中，所述方法还包括：将所述第一车辆上报云端服务器。
其中，可选的，当上述方法是由RSU执行时，所述RSU根将所述第一车辆上报云端服务器。
可选的，当上述方法由中央处理器执行时，所述中央处理器将所述第一车辆上报云端服务器。
基于上述方法，将所述第一车辆上报云端服务器可以使所述云端服务器记录违法信息，可以尽快请求人工帮助，在车辆发生碰撞时，尽快调用救援资源。其中，所述云端服务器为政府或第三方运营的服务器，用于交通安全管理。在一种可能的实现方式中，所述方法由路侧单元RSU执行。
第二方面，本申请实施例提供一种安全驾驶监测的方法，包括：
接收第一消息；在所述第一消息用于指示当前车辆行驶方向与所在车道的行驶方向不同时，提示驾驶员进行安全驾驶处理。
其中，所述安全驾驶处理包括调整车辆的行驶方向或靠边停车。所述驾驶员调整车辆的行驶方向包括驾驶员根据道路情况主动调整车辆的行驶方向，或者所述驾驶员根据所述车辆导航系统提供的路线调整车辆的行驶方向。
在一种可能的实现方式中，当前车辆行驶方向与所在车道的行驶方向不同是指行驶方向与所在车道的行驶方向的夹角的绝对值大于或等于第一阈值的车辆。
基于上述方法，车辆在行驶过程中，若当前道路中存在第一车辆，则所述车辆会接收到来自执行上述第一方面的处理装置通知的第一信息，进一步根据所述第一信息，进行提示和告警，从而进行安全驾驶处理，减少行车安全风险。
在一种可能的实现方式中，所述提示驾驶员进行安全驾驶处理的方式包括下列方式中的一种或多种：语音提示驾驶员进行安全驾驶处理；或在操作显示屏中弹出进行安全驾驶处理的通知；或通过座椅震动的方式提示驾驶员进行安全驾驶处理。
基于上述方法，本申请实施例提供了多种通知驾驶员进行安全驾驶的方法，更加智能。
在一种可能的实现方式中，在第一时间内未检测到驾驶员进行所述安全驾驶处理，则再次提示所述驾驶员进行安全驾驶处理；或在第一时间内未检测到驾驶员进行所述安全驾驶处理，则启动自动驾驶模式。
基于上述方法，本申请实施例中若所述驾驶员接收到安全驾驶的通知后，并没有及时的进行安全驾驶处理，为了更有效的提醒驾驶员进行安全驾驶处理，提供了重复提醒，以及考虑到驾驶员醉驾或者身体不适等情况，无法及时根据车辆的通知进行安全驾驶处理，启动自动驾驶模式的方案，适应性更强。
在一种可能的实现方式中，所述车辆接收到所述第一信息之前，还包括：所述车辆确定至少两个不同时间的定位信息；所述车辆将所述至少两个定位信息发送给执行上述第一方面所述方法的装置。
在一种可能的实现方式中，所述第一消息还包括第一车辆的定位信息和行驶方向，根据所述定位信息和所述行驶方向重新确定驾驶路线。
基于上述方法，当所述第一消息中还包含所述第一车辆的定位信息和行驶方向时，能够更好的确定当前车辆所在位置，并根据所述行驶方向重新确定驾驶路线。
第三方面，本申请实施例提供一种安全驾驶监测的方法，包括：
接收第一信息；在所述第一信息用于在所在车道存在第一车辆时，提示驾驶员进行安全驾驶处理；所述第一车辆为行驶方向与所在车道的行驶方向不同的车辆。其中，所述安全驾驶处理包括重新规划驾驶路线或靠边停车。
其中，所述驾驶员重新规划路线包括驾驶员根据道路情况主动进行路线规划，或者所述驾驶员根据所述车辆导航系统提供的路线重新规划路线。
另外，所述重新规划路线还包括对所述第一车辆进行紧急避让。
在一种可能的实现方式中，所述第一车辆为行驶方向与所在车道的行驶方向的夹角的绝对值大于或等于第一阈值的车辆。
基于上述方法，车辆在行驶过程中，若当前道路中存在第一车辆，则所述车辆会接收到来自执行上述第一方面的处理装置通知的第一信息，进一步根据所述第一信息，进行提示和告警，从而进行安全驾驶处理，减少行车安全风险。
在一种可能的实现方式中，所述提示驾驶员进行安全驾驶处理的方式包括下列方式中的一种或多种：语音提示驾驶员进行安全驾驶处理；或在操作显示屏中弹出进行安全驾驶处理的通知；或通过座椅震动的方式提示驾驶员进行安全驾驶处理。
基于上述方法，本申请实施例提供了多种通知驾驶员进行安全驾驶的方法，更加智能。
在一种可能的实现方式中，在第一时间内未检测到驾驶员进行所述安全驾驶处理，则再次提示所述驾驶员进行安全驾驶处理；或在第一时间内未检测到驾驶员进行所述安全驾驶处理，则启动自动驾驶模式。
基于上述方法，本申请实施例中若所述驾驶员接收到安全驾驶的通知后，并没有及时的进行安全驾驶处理，为了更有效的提醒驾驶员进行安全驾驶处理，提供了重复提醒，以及考虑到驾驶员醉驾或者身体不适等情况，无法及时根据车辆的通知进行安全驾驶处理，启动自动驾驶模式的方案，适应性更强。
在一种可能的实现方式中，所述车辆接收到所述第一信息之前，还包括：所述车辆确定至少两个不同时间的定位信息；所述车辆将所述至少两个定位信息发送给执行上述第一方面所述方法的装置。
在一种可能的实现方式中，所述第一消息还包括第一车辆的定位信息和行驶方向，根据所述定位信息和所述行驶方向重新确定驾驶路线。
基于上述方法，当所述第一消息中还包含所述第一车辆的定位信息和行驶方向时，能够更好的确定当前车辆所在位置，并根据所述行驶方向重新确定驾驶路线。
第四方面，本申请实施例还提供一种RSU，该RSU可以用来执行上述第一方面及第一方面的任意可能的实现方式中的操作。例如，RSU可以包括用于执行上述第一方面或第一方面的任意可能的实现方式中的各个操作的模块或单元。比如包括通信模块和处理模块。
第五方面，本申请实施例还提供一种车辆，该车辆可以用来执行上述第二方面至第三 方面任一方面或任一可能的实施方式所提供的技术方案。例如，车辆可以包括用于执行上述第二方面或第二方面的任意可能的实现方式中的各个操作的模块或单元。比如包括通信模块和处理模块。
第六方面，本申请实施例提供了一种芯片系统，包括处理器，可选的还包括存储器；其中，存储器用于存储计算机程序，处理器用于从存储器中调用并运行计算机程序，使得安装有芯片系统的RSU执行上述第一方面或第一方面的任意可能的实现方式中的任一方法；或使得安装有芯片系统的车辆执行上述第二方面至第三方面任一方面或任一可能的实施方式所提供的技术方案。
第七方面，本申请实施例提供一种道路检测系统，该系统包括路侧单元RSU和车辆。其中，RSU可以用于执行上述第一方面或第一方面中的任意一种方法；车辆可以用于执行上述第二方面或第二方面中的任意一种方法。
第八方面，本申请实施例提供一种道路检测系统，该系统包括路侧单元RSU、中央处理装置和车辆。其中，RSU以及所述中央处理装置协同执行上述第一方面或第一方面中的任意一种方法；车辆可以用于执行上述第二方面至第三方面任一方面或任一可能的实施方式所提供的技术方案。
第九方面，本申请实施例提供了一种计算机程序产品，计算机程序产品包括：计算机程序代码，当计算机程序代码被RSU的监控模块、处理模块或收发器、处理器运行时，使得RSU执行上述第一方面或第一方面的任意可能的实现方式中的任一方法。
第十方面，本申请实施例提供了一种计算机程序产品，计算机程序产品包括：计算机程序代码，当计算机程序代码被车辆的通信模块、处理模块或收发器、处理器运行时，使得车辆执行上述第二方面至第三方面任一方面或任一可能的实施方式所提供的技术方案。
第十一方面，本申请实施例提供了一种计算机可读存储介质，计算机可读存储介质存储有程序，程序使得RSU执行上述第一方面或第一方面的任意可能的实现方式中的任一方法。
第十二方面，本申请实施例提供了一种计算机可读存储介质，计算机可读存储介质存储有程序，程序使得车辆执行上述第二方面至第三方面任一方面或任一可能的实施方式所提供的技术方案。
附图说明
图1为本申请实施例提供的一种安全驾驶监测的方法示意图；
图2为本申请实施例提供的第一种安全驾驶监测系统场景架构图；
图3为本申请实施例提供的一种RSU硬件结构图；
图4为本申请实施例提供的第二种安全驾驶监测系统场景架构图；
图5为本申请实施例提供的第一种安全驾驶监测的方法流程示意图；
图6为本申请提供的基于RSU对应的确定方式2进行安全驾驶监测的场景示意图；
图7为本申请提供的基于RSU对应的确定方式3进行安全驾驶监测的场景示意图；
图8为本申请提供的基于RSU对应的确定方式3进行安全驾驶监测的流程示意图；
图9为本申请提供的第二种安全驾驶监测的方法流程示意图；
图10为本申请基于中央处理器对应的确定方式3进行安全驾驶监测的流程示意图；
图11为本申请提供的第一种安全驾驶监测的装置示意图；
图12为本申请提供的第二种安全驾驶监测的装置示意图。
具体实施方式
在道路驾驶中，驶入错误的道路可能会带来巨大的安全隐患，甚至可能直接导致一定的致命事故。因此，需要对行驶方向与车道行驶方向不符的车辆进行提醒，从而使行驶方向错误的车辆快速进行纠正，减少潜在的安全风险。
目前在道路行驶过程中，一种方式为车辆通过自身安装的至少一个传感器，对所述车辆的行驶方向进行检测，在确定自身行驶方向发生错误后，提示所述车辆中的驾驶员当前行驶方向错误。但该种方式中，若所述车辆中的传感器发生故障，或者所述驾驶员关闭所述车辆的自动检测功能，则所述车辆无法在车辆行驶方向发生错误时及时通知所述驾驶员，从而容易造成安全隐患。
另一种方式为，通过道路的摄像装置对来往车辆进行抓拍，然后将抓拍到的车辆行驶照片发送给交通处理部门，交通处理部门人为的从抓拍到的车辆行驶照片中确定行驶方向错误的车辆，后续对所述行驶方向错误的车辆进行通知以及扣分等违规处理，这无疑需要耗费大量的人力物力，并且无法及时有效的针对行驶方向错误的车辆进行通知，使所述行驶方向错误的车辆依旧对所在道路造成安全隐患。为解决该问题，本申请实施例提供一种安全驾驶监测的方法，用以有效进行道路检测。
本申请实施例的技术方案可以应用于各种通信系统，例如：长期演进(long term evolution，LTE)系统，全球互联微波接入(worldwide interoperability for microwave access，WiMAX)通信系统，未来的第五代(5th Generation，5G)系统，如新一代无线接入技术(new radio access technology，NR)，及未来的通信系统，如6G系统等。
以5G系统(也可以称为New Radio系统)为例，具体来说，本申请实施例中主要采用具有通信功能的装置与车辆交互通信的方式，用以在道路中存在行驶方向错误的车辆时，及时有效的对所述道路中的车辆进行通知，从而更好的提升道路安全性。
如图1所示，本申请实施例提供的安全驾驶监测的方法，包括下列步骤：
步骤100，获取在监测道路上行驶的车辆的行驶方向，其中，所述监测道路包括至少一条车道。
步骤101，当在监测道路上行驶的车辆中，存在第一车辆时，向所述第一车辆发送第一信息，所述第一信息用于通知所述第一车辆当前行驶方向错误，所述第一车辆为行驶方向与所在车道的行驶方向不同的车辆。
其中，本申请实施例中所述具有通信功能的装置可以是单独的装置，也可以是至少两个装置的组合，具体并不限于下述几种。
装置1：所述具体通信功能的处理装置为RSU，所述RSU可以通过有线连接或者蓝牙连接或者蜂窝网路连接传感器，获取传感器中的信息。
当所述RSU具有处理功能时，所述RSU能够对获取到的数据进行数据的处理，得到处理的结果。
当所述RSU不具有处理功能时，所述RSU可以通过中央处理器辅助处理获取到的数据信息等。
装置2：所述具有通信功能的处理装置为集成了传感器的RSU，例如，所述RSU集成 了摄像头、雷达、GPS接收器等传感器中的一种或多种。所述RSU执行时，所述RSU根据自身集成的传感器，获取传感器中的信息，进行数据的处理，得到处理的结果，并根据所述处理结果向车辆发送第一信息。
装置3：在一种可能的实现方式中，所述处理装置为RSU与传感器，本申请实施例提供的进行安全驾驶监测的方法由所述RSU与所述传感器协同执行，例如，所述传感器包括摄像头、雷达、GPS接收器中的一种或多种。
其中，上述装置1～装置3中的所述RSU具有处理功能时，所述RSU能够对获取到的数据进行数据的处理，得到处理的结果。当所述RSU不具有处理功能时，所述RSU可以通过中央处理器辅助处理获取到的数据信息等。
需要说明的是，目前对于RSU的应用，仅应用在不停车电子收费(electronic toll collection，ETC)系统中，与采用专用短程通信技术(dedicated short range communication，DSRC)技术的车载单元(on board unit，OBU)之间建立微波通讯链路进行通讯，在不停车的情况下，实现车辆身份识别，电子扣费，实现不停车、免取卡，建立无人值守车辆通道。
而本申请实施例中，主要使用所述RSU对来往的车辆进行检测，及时发现行驶方向错误的车辆，并对来往的车辆进行安全驾驶通知，从而触发接收到通知的车辆进行安全驾驶处理。也就是说，本申请实施例提供的RSU与车辆基于道路检测的方案，所应用的场景为安全驾驶场景，且真正意义上的实现与车辆的通讯交互。
为便于理解本申请实施例，本申请实施例提供了多种用于进行道路检测的检测系统，具体并不限于下述几种。其中，为方便后续描述，本申请实施例中假设所述具有通信功能的装置为RSU的情况进行介绍，需要理解的是，所述具有通信功能的装置并不局限于是所述RSU，还可以是其他具有通信功能的装置。
安全驾驶监测系统1：
如图2所示，该安全驾驶监测系统包括采集装置200、RSU201和车辆202。
采集装置200，安装于道路路边的杆子上，包括摄像机、至少一种传感器以及通信装置等，负责采集管理范围内的来往车辆的行驶方向、行驶速度、车牌号等车辆相关信息。还用于通过蓝牙、有线连接或者无线传输中的一种通信方式，将采集到的所述车辆相关信息发送给绑定的RSU。其中，需要说明的是，本申请实施例中所述采集装置200可以为具备摄像机，至少一种传感器以及通信装置的整体命名，例如，所述摄像机，至少一种传感器以及通信装置分别独立存在，将三个装置整体称为采集装置200；或者，本申请实施例中所述采集装置200可以是将摄像机，至少一张传感器以及通信装置集成在一起后的装置。
RSU201，安装于道路路边的杆子上，具有对信息分析处理以及与其他装置进行通信的能力，后续并不排除对道路以及车辆信息的采集能力。其中，所述RSU负责接收所述采集装置200发送的采集到的车辆相关信息，所述RSU还用于接收交通信号机以及应用服务器下发的路况信息等实时交通信息，并动态播报给相关车辆，避免或减少交通事故，提升交通通行效率。其中，所述RSU200的简易构造可以如图3所示，包括天线模块300(例如高增益定向束控读写天线模块)、射频控制模块301、处理模块302、存储模块303以及收发模块304等组成。其中，所述天线模块300是一个微波收发模块，负责信号和数据的发送/接收、调制/解调、编码/解码、加密/解密，所述射频控制器301是控制发射和接收数据 以及处理向上位机收发信息的模块。
车辆201，可以是普通车辆或者是一个集环境感知、规划决策、多等级辅助驾驶等功能于一体的综合系统(即智能车辆)。其中，所示智能车辆上装有电视摄像机、电子计算机和自动操纵系统等装置，集中运用了计算机、现代传感、信息融合、通讯、人工智能及自动控制等技术，是典型的高新技术综合体。
需要说明的是，本申请实施例中所述采集装置200与所述RSU201可以安装在道路路边的同一杆子上，也可以安装在不同的杆子上，本申请实施例对此不进行限定。
安全驾驶监测系统2：
如图4所示，该安全驾驶监测系统包括采集装置400、中央处理器401、RSU402、和车辆403。
采集装置400，安装于道路路边的杆子上，包括摄像机、至少一种传感器以及通信装置等，负责采集管理范围内的来往车辆的行驶方向、行驶速度、车牌号等车辆相关信息，还用于通过蓝牙、有线连接或者无线传输中的一种通信方式，将采集到的所述车辆相关信息发送给绑定RSU和/或中央处理器。其中，需要说明的是，本申请实施例中所述采集装置400可以为具备摄像机，至少一种传感器以及通信装置的整体命名。例如，所述摄像机，至少一种传感器以及通信装置分别独立存在，将三个装置整体称为采集装置400；或者，本申请实施例中所述采集装置401可以是将摄像机，至少一张传感器以及通信装置集成在一起后的装置。
中央处理器401，可以为安装于道路路边的杆子上的，也可以为云端，具有对信息分析处理以及与其他装置进行通信的能力。其中，所述中央处理器401负责接收所述采集装置400发送的采集到的车辆相关信息，对所述车辆相关信息进行分析，在根据所述车辆相关信息确定出存在异常车辆后，将分析处理结果发送给所述RSU。
RSU402，安装于道路路边的杆子上，具有通信能力，其中，所述RSU负责接收所述中央处理装置401发送的采集到的车辆相关信息，所述RSU还用于接收交通信号机以及应用服务器下发的路况信息等实时交通信息，并动态播报给相关车辆，避免或减少交通事故，提升交通通行效率。
车辆403，可以是普通车辆或者是一个集环境感知、规划决策、多等级辅助驾驶等功能于一体的综合系统(即智能车辆)。其中，所述智能车辆上装有电视摄像机、电子计算机和自动操纵系统等装置，集中运用了计算机、现代传感、信息融合、通讯、人工智能及自动控制等技术，是典型的高新技术综合体。
需要说明的是，本申请实施例中所述采集装置与所述RSU可以安装在道路路边的同一杆子上，也可以安装在不同的杆子上，本申请实施例对此不进行限定。
其中，本申请实施例描述的系统架构以及业务场景是为了更加清楚的说明本申请实施例的技术方案，并不构成对于本申请实施例提供的技术方案的限定，例如，在后续的发展中，所述采集装置与所述RSU可以集成为一体。进一步的，本领域普通技术人员可知，随着网络架构的演变和新业务场景的出现，本申请实施例提供的技术方案对于类似的技术问题，同样适用。应理解，图2以及图4仅为便于理解而示例的简化示意图，该安全驾驶监测系统中还可以包括其他设备或者还可以包括其他采集装置，图2以及图4中未予以画出。
以下再对本申请实施例中涉及的部分用语进行解释说明，以便于理解。
1)ETC，是一种不停车电子收费系统，是目前世界上最先进的路桥收费方式。通过安装在车辆挡风玻璃上的车载电子标签与在收费站ETC车道上的微波天线之间的微波专用短程通讯，利用计算机联网技术与银行进行后台结算处理，从而达到车辆通过路桥收费站不需停车而能交纳路桥费的目的。其中，ETC专用车道是给那些装了ETC车载器的车辆使用的，采用电子收费方式。
2)OBU，一种安装在车辆上的装置，在ETC系统中，OBU与路边架设的RSU，相互之间通过微波进行通讯。当车辆高速通过RSU的时候，OBU和RSU之间用微波通讯，就像非接触卡一样，通过的时候，识别真假，获得车型，计算费率，扣除通行费，也就是说所述RSU通过所述OBU与IC卡进行读写通信。
其中，本申请实施例中的术语“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中，A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。以下至少一项(个)下或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a,b,c,a-b,a-c,b-c,或a-b-c，其中a,b,c可以是单个，也可以是多个。
除非有相反的说明，本申请实施例提及“第一”、“第二”等序数词是用于对多个对象进行区分，不用于限定多个对象的顺序、时序、优先级或者重要程度。此外，本申请实施例和权利要求书及附图中的术语“包括”和“具有”不是排他的。例如，包括了一系列步骤或模块的过程、方法、系统、产品或设备，不限定于已列出的步骤或模块，还可以包括没有列出的步骤或模块。
下面基于上述图2所述的道路检测系统，本申请实施例提供了一种安全驾驶监测的方法，如图5所示，本申请实施例提供的一种安全驾驶监测的方法，具体流程包括：
步骤500，采集装置对监测道路上行驶的车辆进行监控，得到车辆采集信息。
其中，本申请实施例在道路中部署所述采集装置时，已确定所述采集装置的监测范围以及与所述采集装置绑定的RSU。所述RSU监测范围与绑定的所述采集装置的监测范围相同。所述车辆采集信息包括所述车辆的车头方向、所述车辆的颜色、所述车辆的标识、所述车辆的大小、所述车辆的型号、所述车辆的速度中的一种或多种，本申请实施例中所述车辆采集信息可以包含其他内容，具体不进行限定。
步骤501，所述采集装置将采集到的所述车辆采集信息发送给RSU。
步骤502，所述RSU对接收到的所述采集信息进行分析，确定在监测道路上行驶的车辆中是否存在行驶方向与所在车道的行驶方向不同的第一车辆。
本申请实施例中一种可选的方式，行驶方向与所在车道行驶方向不同的第一车辆，可以指行驶方向与所在车道的行驶方向的夹角的绝对值大于或等于第一阈值的车辆。其中，所述第一阈值可以为90度或者120度等。例如，将所述道路中逆行的车辆称为所述第一车辆。
另外，本申请实施例中所述RSU可以根据所述车道的电子地图上显示的车道的行驶方向，确定所述道路的车道行驶方向。
其中，本申请实施例中所述RSU可以有多种确定车道的行驶方向的方式，具体并不限 于下述几种：
车道的行驶方向确定方式1：
所述车道的行驶方向是根据所述车道对应的电子地图上显示的车道的行驶方向确定的。
车道的行驶方向确定方式2：
所述车道的行驶方向是通过雷达和/或传感器获取的。
车道的行驶方向确定方式3：
所述车道的行驶方向是云端服务器下发的；所述车道的行驶方向是根据预先设置的车道的行驶方向确定的。
车道的行驶方向确定方式4：
本申请实施例中所述车道的行驶方向是根据历史获取到的经过所述车道的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值。进一步的，本申请一种可选的方式，所述RSU根据历史获取到的至少一个经过所述道路的车辆的行驶方向，进行大数据分析，将重合率最高的行驶方向确定为所述道路的车道行驶方向的；或者所述RSU对历史获取到的至少一个经过所述道路的车辆的行驶方向进行分析，将不小于预设分析值的行驶方向确定为所述道路的车道行驶方向。
示例性的，假设本申请实施例设置的分析值为20％，则所述RSU对获取到的所述车道的所有行驶方向进行分析，分析结果为所有行驶方向中有33％的行驶方向为左转，有66％的行驶方向为前行，仅有1％的行驶方向为掉头。其中，行驶方向为左转的比例以及行驶方向为前行的比例达到预设分析值20％，因此，可以确定所述车道行驶方向为左转加前行，即车辆在所述车道1上可以进行左转，也可以进行前行。
本申请实施例中一种可选的方式中，若所有行驶方向中没有行驶方向的比例不小于所述分析值，则可以理解为所述车道前方禁止通行。
需要说明的是，本申请实施例中所述道路可以包含至少一条车道，所述RSU可以针对所述道路的车道情况，对所述道路包含的每一条车道进行大数据分析，从而当所述道路包含多个车道时，分别确定每个车道对应的车道行驶方向。
步骤503，当所述RSU确定存在第一车辆后，所述RSU向所述第一车辆发送第一信息。
本申请实施例中一种可选的方式中，所述RSU还可以在确定存在所述第一车辆后，将所述第一车辆的相关信息上报给云端服务器，所述云端服务器可以是政府或者第三方运营的服务器，用于交通安全管理，例如交通局运营的服务器等，从而可以及时的提醒交警对所述第一车辆进行处理。
其中，本申请实施例中所述第一车辆为行驶方向与所在车道行驶方向不同的车辆，所述第一信息用于通知所述第一车辆行驶在错误的道路上；和/或所述第一信息用于通知所述第一车辆在当前道路中行驶方向错误。
步骤504，所述第一车辆接收来自所述RSU的第一信息。
步骤505，所述第一车辆根据所述第一信息通知所述第一车辆中的驾驶员进行安全驾驶处理。
进一步的，本申请实施例中所述安全驾驶处理包括但不限于靠边停车、立即驶离、按照正确方向行驶等。
进一步的，本申请实施例中，所述RSU确定所述第一车辆的方式有多种，具体并不限于下述几种。
确定方式1：所述RSU将行驶方向与所述道路的车道行驶方向不一致的车辆确定为所述第一车辆。
示例性的，本申请实施例中所述RSU对经过所述道路的车辆信息进行采集，得到该车的行驶方向，然后通过将所述车辆的行驶方向与所述车道的行驶方向进行比对，从而确定经过所述道路的车辆中是否存在第一车辆。
确定方式2：所述RSU还会接收到监测范围内的道路上行驶的车辆，在至少两个不同时间发送的定位信息，所述RSU根据接收到的至少两个定位信息确定第一车辆。
其中，所述定位信息由全球定位系统GPS接收器获取。
示例性的，如图6所示，假设所述RSU接收到两个定位信息，分别为定位信息1与定位信息2，其中，定位信息中携带车辆1采集所述定位信息的时间。
所述定位信息1显示的定位为所述道路上A点所示位置，且所述定位信息1携带的车辆1的采集时间为1:20:29，所述定位信息2显示的定位为所述道路上B点所示位置，且所述定位信息2携带的车辆1的采集时间为1:19:02。
其中，所述车辆所在道路的车道行驶方向为A到B的方向，因此，所述RSU根据接收到的两个定位信息可以确定所述车辆先经过B点，然后才经过A，则所述RSU可以确定所述车辆行驶方向为B到A，与所述车道行驶方向相反。因此，所述车辆被确定为第一车辆。
确定方式3：所述RSU根据所述其他至少一个RSU发送的车辆的采集信息，确定所述第一车辆。其中，为方便描述，本申请实施例选取根据两个RSU采集到的信息来确定所述第一车辆的情况进行介绍，两个RSU分别为第一RSU与第二RSU。
本申请一种可选的方式，所述第一RSU获取经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间，以及获取第二RSU发送的第三信息；其中，所述第三信息中包含所述第二RSU获取到的经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间；根据经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间，将先经过所述道路的出口，后经过所述道路的中间路段的车辆确定为所述第一车辆。
本申请一种可选的方式，所述第一RSU获取经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间，以及获取第二RSU发送的第三信息；其中，所述第三信息中包含所述第二RSU获取到的经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间；根据经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间，将先经过所述道路的出口，后经过所述道路的入口的车辆确定为所述第一车辆。
本申请一种可选的方式，所述第一RSU获取经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间，以及获取第二RSU发送的第三信息；其中，所述第三信息中包含所述第二RSU获取到的经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间；根据经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间，将先经过所述道 路的入口，后经过所述道路的中间路段的车辆确定为所述第一车辆。
示例性的，选取如图7所示的高速路段场景进行介绍，假设所述第一RSU用于监控所述高速路段入口处的来往车辆，所述第二RSU用于监控所述高速路段出口处的来往车辆。
其中，所述车辆A在高速路段上行驶过程中，所述第二RSU采集到所述车辆A的标识的首次出现时间为1:36:26，所述第一RSU采集到所述车辆A的标识的首次出现时间为1:39:10，所述第二RSU将采集到的所述车辆A的标识以及首次出现时间1:36:26发送给所述第一RSU，则所述第一RSU通过比对两个时间，可以确定，所述车辆A先经过所述第二RSU，后经过所述第一RSU。
但是，该高速路段中，所述第一RSU监控的为高速路段入口，所述第二RSU监控的为高速路段出口，理应先经过所述第一RSU后经过所述第二RSU。因此，所述第一RSU可以确定所述车辆A存在逆行，所述车辆A为第一车辆。
示例性的，如图8所示，基于所述确定方式3进行安全驾驶监测的方法流程如下；
步骤800，所述第一RSU采集经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间。
步骤801，所述第二RSU采集经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间。
步骤802，所述第二RSU确定第三信息，所述第三信息中包含所述第二RSU获取到的经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间。
本申请实施例一种可选的方式中，为了减少交互的数量和次数，所述第三信息中仅携带相对上一次采集到的车辆新增加的车辆信息。
步骤803，所述第二RSU向所述第一RSU发送所述第三信息。
步骤804，所述第一RSU接收所述第三信息，所述第一RSU根据经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间进行对比。
步骤805，所述第一RSU确定是否存在先经过所述道路的出口，后经过所述道路的入口的车辆。
步骤806，所述第一RSU将先经过所述道路的出口，后经过所述道路的入口的车辆确定为所述第一车辆。
步骤807，所述第一RSU向所述第一车辆发送第一信息，所述第一信息用于通知所述第一车辆行驶错误。
步骤808，所述车辆1收到所述第一信息后，进行安全驾驶处理。
进一步的，本申请实施例中，所述RSU在确定存在第一车辆后，还向所述道路上的除所述第一车辆以外的其他车辆发送第二信息，所述第二信息用于通知所述其他车辆安全避让所述第一车辆。
所述第二信息包括下列参数中的一个或多个：
所述第一车辆的标识、所述第一信息、所述第一车辆的属性信息；
其中，所述第一车辆的属性信息包括下列车辆属性中的一个或多个：
所述第一车辆的颜色、所述第一车辆的品牌、所述第一车辆的型号、所述第一车辆的大小。
下面基于上述图4所述的道路检测系统，本申请实施例还提供了另一种安全驾驶监测的方法，如图9所示，本申请实施例提供的一种安全驾驶监测的方法，具体流程包括：
步骤900，采集装置对监测道路上行驶的车辆进行监控，得到车辆采集信息。
具体内容详见上述步骤500，为简洁描述，在此不进行赘述。
步骤901，所述采集装置将采集到的所述车辆采集信息发送给中央处理装置。
步骤902，所述中央处理装置对接收到的所述采集信息进行分析，确定在监测道路上行驶的车辆中是否存在行驶方向与所在车道的行驶方向不同的第一车辆。
本申请实施例中一种可选的方式，行驶方向与所在车道行驶方向不同的第一车辆，可以指行驶方向与当前车道角度大于等于正负90°，例如，将所述道路中逆行的车辆称为所述第一车辆。
其中，所述中央处理装置确定所述车道的行驶方向的方式参见上述步骤502，为简洁描述，在此不进行赘述。
步骤903，当所述中央处理装置确定存在第一车辆后，所述中央处理装置将所述第一车辆的信息通知给所述RSU。
本申请实施例中一种可选的方式中，所述中央处理装置还可以在确定存在所述第一车辆后，将所述第一车辆的相关信息上报给交通处理机构，从而可以及时的提醒交警对所述第一车辆进行处理。
其中，本申请实施例中所述第一车辆为行驶方向与所在车道行驶方向不同的车辆，所述第一信息用于通知所述第一车辆行驶在错误的道路上；和/或所述第一信息用于通知所述第一车辆在当前道路中行驶方向错误。
步骤904，所述RSU在接收到所述中央处理装置发送的所述第一车辆的信息后，向所述第一车辆发送第一信息。
步骤905，所述第一车辆接收来自所述RSU的第一信息。
步骤906，所述第一车辆根据所述第一信息通知所述第一车辆中的驾驶员进行安全驾驶处理。
进一步的，本申请实施例中所述安全驾驶处理包括但不限于靠边停车、立即驶离、按照正确方向行驶等。
进一步的，本申请实施例中，所述中央处理装置确定所述第一车辆的方式有多种，具体并不限于下述几种。
确定方式1：所述中央处理装置将行驶方向与所述道路的车道行驶方向不一致的车辆确定为所述第一车辆。
示例性的，本申请实施例中所述中央处理装置对经过所述道路的车辆信息进行采集，得到该车的行驶方向，然后通过将所述车辆的行驶方向与所述车道的行驶方向进行比对，从而确定经过所述道路的车辆中是否存在第一车辆。
确定方式2：所述中央处理装置还会接收到监测范围内的道路上行驶的车辆在不同时间发送的定位信息，所述中央处理装置根据接收到的至少两个定位信息确定第一车辆。
具体内容参见上述图5中对所述RSU对应的确定方式2的描述，为简洁介绍，在此不进行赘述。
确定方式3：所述中央处理装置根据所述其他至少一个采集装置发送的车辆的采集信 息，确定所述第一车辆。其中，为方便描述，本申请实施例选取根据两个采集装置采集到的信息来确定所述第一车辆的情况进行介绍，两个采集装置分别为第一采集装置与第二采集装置，且所述第一采集装置与所述第一RSU绑定，所述第二采集装置与所述第二RSU绑定。
本申请一种可选的方式，所述中央处理装置接收到来自所述第一采集装置获取经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间；以及接收到来自所述第二采集装置获取经过所述道路的出口的不同车辆标识和分别对应的首次出现时间；所述中央处理装置根据经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间，将先经过所述道路的出口，后经过所述道路的中间路段的车辆确定为所述第一车辆。
本申请一种可选的方式，所述中央处理装置接收到来自所述第一采集装置获取经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间；以及接收到来自所述第二采集装置获取经过所述道路的出口的不同车辆标识和分别对应的首次出现时间；所述中央处理装置根据经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间，将先经过所述道路的出口，后经过所述道路的入口的车辆确定为所述第一车辆。
本申请一种可选的方式，所述中央处理装置接收到来自所述第一采集装置获取经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间；以及接收到来自所述第二采集装置获取经过所述道路的中间路段的不同车辆标识和分别对应的首次出现时间；所述中央处理装置根据经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间，将先经过所述道路的中间路段，后经过所述道路的入口的车辆确定为所述第一车辆。
示例性的，如图10所示，所述中央处理装置基于所述确定方式3进行安全驾驶监测的方法流程如下：
步骤1000，所述第一采集装置采集经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间，并发送给所述中央处理装置。
步骤1001，所述第二采集装置采集经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间，并发送给所述中央处理装置。
本申请实施例一种可选的方式中，为了减少交互的数量和次数，所述第一采集装置以及所述第二采集装置发送给所述中央处理装置的信息中可以仅携带相对上一次采集到的车辆新增加的车辆信息。
步骤1002，所述中央处理装置接收来自所述第一采集装置获取经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间；以及接收到来自所述第二采集装置获取经过所述道路的中间路段的不同车辆标识和分别对应的首次出现时间。
步骤1003，所述中央处理装置根据经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间进行对比。
步骤1004，所述中央处理装置确定是否存在先经过所述道路的出口，后经过所述道路的入口的车辆。
步骤1005，所述中央处理装置将先经过所述道路的出口，后经过所述道路的入口的车 辆确定为所述第一车辆。
步骤1006，所述中央处理装置将所述第一车辆的信息发送给所述第一RSU。
其中，所述中央处理装置也可以将所述第一车辆的信息发送给所述第二RSU；或者将所述第一车辆的信息发送给所述第一RSU和所述第二RSU。
步骤1007，所述第一RSU和/或所述第二RSU接收到所述第一车辆信息后向所述第一车辆发送第一信息，所述第一信息用于通知所述第一车辆行驶错误。
步骤1008，所述车辆1收到所述第一信息后，进行安全驾驶处理。
进一步的，本申请实施例中，所述第一车辆根据所述第一信息通知驾驶员进行安全驾驶的方式有多种，具体并不限于下述几种。
通知方式1：所述车辆语音提示所述车辆中的驾驶员进行安全驾驶处理。
示例性的，本申请实施例中，所述第一车辆在接收到所述第一信息后，确定自身当前行驶方向发生错误，则所述第一车辆启动语音通知功能，通过语音播报的方式，通知该车辆的驾驶员进行安全驾驶处理。
示例性的，本申请实施例中，所述第一车辆在接收到所述第一信息后，确定自身当前行驶方向发生错误，则所述第一车辆触发特定铃声，通知该车辆的驾驶员进行安全驾驶处理，从而使所述驾驶员在听到特定的铃声后，知晓当前行驶方向错误，及时的进行安全驾驶处理。
通知方式2：所述车辆在所述车辆中的操作显示屏中弹出进行安全驾驶处理的通知。
示例性的，本申请实施例中，所述第一车辆在接收到所述第一信息后，确定自身当前行驶方向发生错误，则在所述第一车辆的显示屏中弹出进行安全驾驶处理的通知，通知该车辆的驾驶员进行安全驾驶处理，从而使所述驾驶员在看到所述显示屏通知的第一信息后，知晓当前行驶方向错误，及时的进行安全驾驶处理。
通知方式3：所述车辆通过座椅震动的方式通知所述车辆中的驾驶员进行安全驾驶处理。
示例性的，本申请实施例中，所述第一车辆在接收到所述第一信息后，确定自身当前行驶方向发生错误，则所述第一车辆启动座椅震动功能，通过座椅震动的方式，通知该车辆的驾驶员进行安全驾驶处理。
通知方式4：所述车辆通过鸣笛的方式通知所述车辆中的驾驶员进行安全驾驶处理。
其中，通过鸣笛的方式也能有效的起到对其他车辆的通知作用。
通过上述对本申请方案的介绍，可以理解的是，上述实现各设备为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件单元。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本发明能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
如图11所示，本发明实施例一种安全驾驶监测的装置，该安全驾驶监测的装置包括处理器1100、存储器1101和收发机1102；
处理器1100负责管理总线架构和通常的处理，存储器1101可以存储处理器1100在执行操作时所使用的数据。收发机1102用于在处理器1100的控制下接收和发送数据与存储 器1101进行数据通信。
总线架构可以包括任意数量的互联的总线和桥，具体由处理器1100代表的一个或多个处理器和存储器1101代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。处理器1100负责管理总线架构和通常的处理，存储器1101可以存储处理器1100在执行操作时所使用的数据。
本发明实施例揭示的流程，可以应用于处理器1100中，或者由处理器1100实现。在实现过程中，安全驾驶监测的流程的各步骤可以通过处理1100中的硬件的集成逻辑电路或者软件形式的指令完成。处理器1100可以是通用处理器、数字信号处理器、专用集成电路、现场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本发明实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1101，处理器1100读取存储器1101中的信息，结合其硬件完成信号处理流程的步骤。
本申请一种可选的方式，当所述安全驾驶监测的装置为RSU时，处理器1100用于读取存储器1101中的程序并以执行如图5所示的S500-S505中所述RSU执行的方法流程；或执行如图8所示的S800-S808中所述RSU执行的方法流程；执行如图9所示的S900-S906中所述RSU执行的方法流程；执行如图10所示的S1000-S1008中所述RSU执行的方法流程。
本申请一种可选的方式，当所述安全驾驶监测的装置为中央处理器时，处理器1100用于读取存储器1101中的程序以执行如图9所示的S900-S906中所述中央处理器执行的方法流程；执行如图10所示的S1000-S1008中所述中央处理器执行的方法流程。
本申请一种可选的方式，当所述安全驾驶监测的装置为车辆时，处理器1100用于读取存储器1101中的程序以执行如图5所示的S500-S505中所述车辆执行的方法流程；或执行如图8所示的S800-S808中所述车辆执行的方法流程；执行如图9所示的S900-S906中所述车辆执行的方法流程；执行如图10所示的S1000-S1008中所述RSU执行的方法流程。
如图12所示，本发明提供一种安全驾驶监测的装置，所述装置包括通信模块1200和处理模块1201。
本申请一种可选的方式，当所述安全驾驶监测的装置为RSU时，所述通信模块1200和处理模块1201用于执行：
所述通信模块1200，用于获取在监测道路上行驶的车辆的行驶方向，其中，所述监测道路包括至少一条车道；
所述处理模块1201，用于当在监测道路上行驶的车辆中，存在第一车辆时，向所述第一车辆发送第一信息，所述第一信息用于通知所述第一车辆当前行驶方向错误，其中，所述第一车辆为行驶方向与所在车道的行驶方向不同的车辆。
在一种实现方式中，所述第一车辆为行驶方向与所在车道的行驶方向的夹角的绝对值大于或等于第一阈值的车辆。
在一种实现方式中，所述第一阈值为90度。
在一种实现方式中，所述处理模块1201具体用于：
根据所述在检测道路上行驶的车辆在至少两个不同时间的定位信息，确定所述在监测道路上行驶的车辆的行驶方向。
在一种实现方式中，所述定位信息由全球定位系统GPS接收器获取。
在一种实现方式中，所述处理模块1201还用于：
根据所述在监测道路上行驶的车辆的车头方向，确定所述在监测道路上行驶的车辆的行驶方向，其中，所述在监测道路上行驶的车辆的车头方向由传感器的传感信息确定。
在一种实现方式中，所述处理模块1201具体用于：
获取经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间，以及获取第二RSU发送的第三信息；其中，所述第三信息中包含所述第二RSU获取到的经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间；根据经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间，将先经过所述道路的出口，后经过所述道路的中间路段的车辆确定为所述第一车辆。
在一种实现方式中，所述处理模块1201具体用于：
获取经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间，以及获取第二RSU发送的第三信息；其中，所述第三信息中包含所述第二RSU获取到的经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间；根据经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的出口的不同车辆的标识和分别对应的首次出现时间，将先经过所述道路的出口，后经过所述道路的入口的车辆确定为所述第一车辆。
在一种实现方式中，所述处理模块1201具体用于：
获取经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间，以及获取第二RSU发送的第三信息；其中，所述第三信息中包含所述第二RSU获取到的经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间；根据经过所述道路的入口的不同车辆的标识和分别对应的首次出现时间、以及经过所述道路的中间路段的不同车辆的标识和分别对应的首次出现时间，将先经过所述道路的入口，后经过所述道路的中间路段的车辆确定为所述第一车辆。
在一种实现方式中，所述通信模块1200具体用于：
获取所述监测道路上车道的行驶方向；所述车道的行驶方向是根据预先设置的车道的行驶方向确定的。
在一种实现方式中，所述通信模块1200具体用于：
获取所述监测道路上车道的行驶方向；所述车道的行驶方向是云端服务器下发的。
在一种实现方式中，所述通信模块1200具体用于：
获取所述监测道路上车道的行驶方向；所述车道的行驶方向是通过雷达和/或传感器获取的。
在一种实现方式中，所述通信模块1200具体用于：
获取所述监测道路上车道的行驶方向；所述车道的行驶方向是根据所述车道对应的电子地图上显示的车道的行驶方向确定的。
在一种实现方式中，所述通信模块1200具体用于：
获取所述监测道路上车道的行驶方向；所述车道的行驶方向是根据历史获取到的经过所述车道的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值。
在一种实现方式中，述监测道路上车道的行驶方向是根据历史获取到的经过所述车道的重合率最高的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值。
在一种实现方式中，所述监测道路上车道的行驶方向是根据历史获取到的经过所述车道的大于或等于预设分析值的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值，所述预设分析值用于确定是否将所述车辆的行驶方向确定为所述车道的行驶方向。
在一种实现方式中，所述处理模块1201还用于：
向所述其他车辆发送第二信息，所述第二信息用于通知所述其他车辆安全避让所述第一车辆。
在一种实现方式中，所述第二信息包括下列参数中的一个或多个：
所述第一车辆的标识、颜色、品牌、型号、大小。
在一种实现方式中，所述处理模块1201还用于：
将所述第一车辆上报云端服务器。
本申请一种可选的方式，当所述安全驾驶监测的装置为中央处理器时，所述通信模块1200和处理模块1201用于执行如图8所示的S800-S806中所述中央处理器执行的方法流程；执行如图9所示的S900-S908中所述中央处理器执行的方法流程。
本申请一种可选的方式，当所述安全驾驶监测的装置为车辆时，所述通信模块1200和处理模块1201用于执行：
所述通信模块1200，用于接收第一消息；
所述处理模块1201，用于在所述第一消息用于指示当前车辆行驶方向与所在车道的行驶方向不同时，提示驾驶员进行安全驾驶处理。
本申请实施例中一种可选的方式中，所述通信模块1200和处理模块1201用于执行下列内容：
所述通信模块1200，用于接收第一消息；
所述处理模块1201，用于在所述第一信息通知在所在车道存在第一车辆时，提示驾驶员进行安全驾驶处理；所述第一车辆为行驶方向与所在车道的行驶方向不同的车辆。
在一种实现方式中，所述第一车辆为行驶方向与所在车道的行驶方向的夹角的绝对值大于或等于第一阈值的车辆。
在一种实现方式中，所述第一阈值为90度。
在一种实现方式中，所述通信模块1200具体用于：
当所述道路值存在第一车辆，且所述车辆为第一车辆时，接收所述RSU通知的所述第一信息；或当所述道路值存在第一车辆，且所述车辆不是第一车辆时，接收所述RSU通知的所述第二信息。
在一种实现方式中，所述第一信息用于通知所述车辆行驶错误；或所述第二信息用于通知所述车辆安全避让第一车辆。
在一种实现方式中，所述处理模块1201具体用于：
语音提示所述车辆中的驾驶员进行安全驾驶处理；或在所述车辆中的操作显示屏中弹出进行安全驾驶处理的通知；或通过座椅震动的方式通知所述车辆中的驾驶员进行安全驾驶处理。
在一种实现方式中，所述处理模块1201还用于：
在第一时间内未检测到驾驶员调整车辆的行驶方向，再次通知所述车辆中的驾驶员进行安全驾驶处理。
在一种实现方式中，所述处理模块1201还用于：
在第一时间内未检测到驾驶员调整车辆的行驶方向，启动自动驾驶模式。
在一种实现方式中，所述处理模块1201还用于：
确定至少两个不同时间分别对应的定位信息；将所述至少两个定位信息发送给所述RSU。
上述图12所示的通信模块1200和处理模块1201的功能可以由处理器1100运行存储器1101中的程序执行，或者由处理器1100单独执行。
在一些可能的实施方式中，本发明实施例提供的安全驾驶监测的方法的各个方面还可以实现为一种程序产品的形式，其包括程序代码，当所述程序代码在计算机设备上运行时，所述程序代码用于使所述计算机设备执行本说明书中描述的根据本发明各种示例性实施方式的安全驾驶监测的方法中的步骤。
所述程序产品可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
根据本发明的实施方式的用于安全驾驶监测的程序产品，其可以采用便携式紧凑盘只读存储器(CD-ROM)并包括程序代码，并可以在服务器设备上运行。然而，本发明的程序产品不限于此，在本文件中，可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被通信传输、装置或者器件使用或者与其结合使用。
可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了可读程序代码。这种传播的数据信号可以采用多种形式，包括——但不限于——电磁信号、光信号或上述的任意合适的组合。可读信号介质还可以是可读存储介质以外的任何可读介质，该可读介质可以发送、传播或者传输用于由周期网络动作系统、装置或者器件使用或者与其结合使用的程序。
可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于——无线、有线、光缆、RF等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言的任意组合来编写用于执行本发明操作的程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、C++等，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计 算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。在涉及远程计算设备的情形中，远程计算设备可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算设备，或者，可以连接到外部计算设备。
本申请实施例针对安全驾驶监测的方法还提供一种计算设备可读存储介质，即断电后内容不丢失。该存储介质中存储软件程序，包括程序代码，当所述程序代码在计算设备上运行时，该软件程序在被一个或多个处理器读取并执行时可实现本申请实施例上面任何一种通信传输的方案。
以上参照示出根据本申请实施例的方法、装置(系统)和/或计算机程序产品的框图和/或流程图描述本申请。应理解，可以通过计算机程序指令来实现框图和/或流程图示图的一个块以及框图和/或流程图示图的块的组合。可以将这些计算机程序指令提供给通用计算机、专用计算机的处理器和/或其它可编程数据处理装置，以产生机器，使得经由计算机处理器和/或其它可编程数据处理装置执行的指令创建用于实现框图和/或流程图块中所指定的功能/动作的方法。
相应地，还可以用硬件和/或软件(包括固件、驻留软件、微码等)来实施本申请。更进一步地，本申请可以采取计算机可使用或计算机可读存储介质上的计算机程序产品的形式，其具有在介质中实现的计算机可使用或计算机可读程序代码，以由指令执行系统来使用或结合指令执行系统而使用。在本申请上下文中，计算机可使用或计算机可读介质可以是任意介质，其可以包含、存储、通信、传输、或传送程序，以由指令执行系统、装置或设备使用，或结合指令执行系统、装置或设备使用。
本申请结合多个流程图详细描述了多个实施例，但应理解，这些流程图及其相应的实施例的相关描述仅为便于理解而示例，不应对本申请构成任何限定。各流程图中的每一个步骤并不一定是必须要执行的，例如有些步骤是可以跳过的。并且，各个步骤的执行顺序也不是固定不变的，也不限于图中所示，各个步骤的执行顺序应以其功能和内在逻辑确定。
本申请描述的多个实施例之间可以任意组合或步骤之间相互交叉执行，各个实施例的执行顺序和各个实施例的步骤之间的执行顺序均不是固定不变的，也不限于图中所示，各个实施例的执行顺序和各个实施例的各个步骤的交叉执行顺序应以其功能和内在逻辑确定。
尽管结合具体特征及其实施例对本申请进行了描述，显而易见的，在不脱离本申请的精神和范围的情况下，可对其进行各种修改和组合。相应地，本说明书和附图仅仅是所附权利要求所界定的本申请的示例性说明，且视为已覆盖本申请范围内的任意和所有修改、变化、组合或等同物。显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包括这些改动和变型在内。

Claims (35)

  1. 一种安全驾驶监测的方法，其特征在于，所述方法包括：
    获取在监测道路上行驶的车辆的行驶方向，其中，所述监测道路包括至少一条车道；
    当在监测道路上行驶的车辆中，存在第一车辆时，向所述第一车辆发送第一信息，所述第一信息用于通知所述第一车辆当前行驶方向错误，其中，所述第一车辆为行驶方向与所在车道的行驶方向不同的车辆。
  2. 根据权利要求1所述的方法，其特征在于，所述第一车辆为行驶方向与所在车道的行驶方向的夹角的绝对值大于或等于第一阈值的车辆。
  3. 根据权利要求2所述的方法，其特征在于，所述第一阈值为90度。
  4. 根据权利要求1～3任一项所述的方法，其特征在于，所述获取在监测道路上行驶的车辆的行驶方向，具体包括：
    根据所述在检测道路上行驶的车辆在至少两个不同时间的定位信息，确定所述在监测道路上行驶的车辆的行驶方向。
  5. 根据权利要求1～3任一项所述的方法，其特征在于，所述方法还包括：
    根据所述在监测道路上行驶的车辆的车头方向，确定所述在监测道路上行驶的车辆的行驶方向，其中，所述在监测道路上行驶的车辆的车头方向由传感器的传感信息确定。
  6. 根据权利要求1～3任一项所述的方法，其特征在于，所述方法还包括：
    获取所述监测道路上车道的行驶方向；所述车道的行驶方向是根据预先设置的车道的行驶方向确定的。
  7. 根据权利要求1～3任一项所述的方法，其特征在于，所述方法还包括：
    获取所述监测道路上车道的行驶方向；
    所述车道的行驶方向是根据所述车道对应的电子地图上显示的车道的行驶方向确定的。
  8. 根据权利要求1～3任一项所述的方法，其特征在于，所述方法还包括：
    获取所述监测道路上车道的行驶方向；
    所述车道的行驶方向是根据历史获取到的经过所述车道的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值。
  9. 根据权利要求8所述的方法，其特征在于，所述监测道路上车道的行驶方向是根据历史获取到的经过所述车道的重合率最高的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值。
  10. 根据权利要求8所述的方法，其特征在于，所述监测道路上车道的行驶方向是根据历史获取到的经过所述车道的大于或等于预设分析值的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值，所述预设分析值用于确定是否将所述车辆的行驶方向确定为所述车道的行驶方向。
  11. 根据权利要求1～10任一项所述的方法，其特征在于，所述在监测道路上行驶的车辆包括第一车辆和其他车辆，所述方法还包括：
    向所述其他车辆发送第二信息，所述第二信息用于通知所述其他车辆安全避让所述第一车辆，其中，所述第二信息携带下列信息中的一种或多种：所述第一车辆的标识、颜色、品牌、型号、大小。
  12. 根据权利要求1～11任一项所述的方法，其特征在于，所述方法由路侧单元RSU执行。
  13. 一种安全驾驶监测的方法，其特征在于，该方法包括：
    接收第一消息；
    在所述第一消息用于指示当前车辆行驶方向与所在车道的行驶方向不同时，提示驾驶员调整车辆行驶方向。
  14. 一种安全驾驶监测的方法，其特征在于，该方法包括：
    接收第一信息；在所述第一信息通知在所在车道存在第一车辆时，提示驾驶员调整车辆的行驶方向；所述第一车辆为行驶方向与所在车道的行驶方向不同的车辆。
  15. 根据权利要求13或14所述的方法，其特征在于，所述方法还包括：在第一时间内未检测到驾驶员调整车辆的行驶方向，启动自动驾驶模式。
  16. 根据权利要求13或14所述的方法，其特征在于，所述方法还包括：
    所述第一消息还包括第一车辆的定位信息和行驶方向，根据所述定位信息和所述行驶方向重新确定驾驶路线。
  17. 一种安全驾驶监测的装置，其特征在于，包括：
    通信模块，用于获取在监测道路上行驶的车辆的行驶方向，其中，所述监测道路包括至少一条车道；
    处理模块，当在监测道路上行驶的车辆中，存在第一车辆时，向所述第一车辆发送第一信息，所述第一信息用于通知所述第一车辆当前行驶方向错误，其中，所述第一车辆为行驶方向与所在车道的行驶方向不同的车辆。
  18. 根据权利要求17所述的装置，其特征在于，所述第一车辆为行驶方向与所在车道的行驶方向的夹角的绝对值大于或等于第一阈值的车辆。
  19. 根据权利要求18所述的装置，其特征在于，所述第一阈值为90度。
  20. 根据权利要求17～19任一项所述的装置，其特征在于，所述处理模块具体用于：
    根据所述在检测道路上行驶的车辆在至少两个不同时间的定位信息，确定所述在监测道路上行驶的车辆的行驶方向。
  21. 根据权利要求17～19所述的装置，其特征在于，所述处理模块还用于：
    根据所述在监测道路上行驶的车辆的车头方向，确定所述在监测道路上行驶的车辆的行驶方向，其中，所述在监测道路上行驶的车辆的车头方向由传感器的传感信息确定。
  22. 根据权利要求17～19任一项所述的装置，其特征在于，所述通信模块具体用于：
    获取所述监测道路上车道的行驶方向；所述车道的行驶方向是根据预先设置的车道的行驶方向确定的。
  23. 根据权利要求17～19任一项所述的装置，其特征在于，所述通信模块具体用于：
    获取所述监测道路上车道的行驶方向；所述车道的行驶方向是根据所述车道对应的电子地图上显示的车道的行驶方向确定的。
  24. 根据权利要求17～19任一项所述的装置，其特征在于，所述通信模块具体用于：
    获取所述监测道路上车道的行驶方向；所述车道的行驶方向是根据历史获取到的经过所述车道的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值。
  25. 根据权利要求24所述的装置，其特征在于，所述监测道路上车道的行驶方向是根据历史获取到的经过所述车道的重合率最高的车辆的行驶方向确定的，所述车辆的数量 大于或等于第二阈值。
  26. 根据权利要求24所述的装置，其特征在于，所述监测道路上车道的行驶方向是根据历史获取到的经过所述车道的大于或等于预设分析值的车辆的行驶方向确定的，所述车辆的数量大于或等于第二阈值，所述预设分析值用于确定是否将所述车辆的行驶方向确定为所述车道的行驶方向。
  27. 根据权利要求17～26所述的装置，其特征在于，所述处理模块还用于：
    向所述其他车辆发送第二信息，所述第二信息用于通知所述其他车辆安全避让所述第一车辆，其中，所述第二信息携带下列参数中的一个或多个：
    所述第一车辆的标识、颜色、品牌、型号、大小。
  28. 根据权利要求17～27任一项所述的装置，其特征在于，所述装置为路侧单元RSU。
  29. 一种车辆，其特征在于，包括：
    通信模块，用于接收第一消息；
    处理模块，用于在所述第一消息用于指示当前车辆行驶方向与所在车道的行驶方向不同时，提示驾驶员调整车辆行驶方向。
  30. 一种车辆，其特征在于，包括：
    通信模块，用于接收第一消息；
    处理模块，用于在所述第一信息用于在所在车道存在第一车辆时，提示驾驶员调整车辆的行驶方向；所述第一车辆为行驶方向与所在车道的行驶方向不同的车辆。
  31. 根据权利要求29或30所述的车辆，其特征在于，所述处理模块还用于：
    在第一时间内未检测到驾驶员调整车辆的行驶方向，启动自动驾驶模式。
  32. 根据权利要求29或30所述的车辆，其特征在于，所述处理模块还用于：
    所述第一消息还包括第一车辆的定位信息和行驶方向，根据所述定位信息和所述行驶方向重新确定驾驶路线。
  33. 一种安全驾驶监测的装置，其特征在于，包括：一个或多个处理器；存储器；收发器；
    所述存储器，用于存储一个或多个程序以及数据信息；其中所述一个或多个程序包括指令；
    所述处理器，用于根据所述存储器中的至少一个或多个程序，执行如权利要求1～12中任一项所述的方法。
  34. 一种安全驾驶监测的装置，其特征在于，包括：一个或多个处理器；存储器；收发器；
    所述存储器，用于存储一个或多个程序以及数据信息；其中所述一个或多个程序包括指令；
    所述处理器，用于根据所述存储器中的至少一个或多个程序，执行如权利要求13～16中任一项所述的方法。
  35. 一种计算机可读存储介质，其特征在于，包括计算机指令，当所述计算机指令在RSU上运行时，使得所述具有通信功能的装置执行如权利要求1～12中任一所述的方法步骤；或当所述计算机指令在车辆上运行时，使得所述车辆执行如权利要求13～16中任一所述的方法步骤。
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