CN113380034B - Accident positioning method and apparatus, electronic device, and computer-readable storage medium - Google Patents
Accident positioning method and apparatus, electronic device, and computer-readable storage medium Download PDFInfo
- Publication number
- CN113380034B CN113380034B CN202110646332.7A CN202110646332A CN113380034B CN 113380034 B CN113380034 B CN 113380034B CN 202110646332 A CN202110646332 A CN 202110646332A CN 113380034 B CN113380034 B CN 113380034B
- Authority
- CN
- China
- Prior art keywords
- road
- accident
- lane
- information
- accident vehicle
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
-
- 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
-
- 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
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
-
- 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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
Abstract
The application discloses an accident positioning method and device, an electronic device and a computer readable storage medium, wherein the method comprises the following steps: receiving accident information monitored by a road side unit in a preset monitoring range; determining lane information in a road where an accident vehicle is located according to the accident information and a preset road matching set, wherein the preset road matching set prestores an incidence relation between a road side unit and the road, an incidence relation between the road and the lane and an incidence relation between the road and a crossing; determining an influence range caused by the accident vehicle according to the lane information in the road where the accident vehicle is located; and issuing accident state information to the target vehicles within the influence range. The accident positioning method can quickly and accurately determine the influence range of the accident vehicle according to the preset road matching set, so that the reminding message is sent to related personnel in the influence range, and the pertinence and the effectiveness of sending the accident notification are improved.
Description
Technical Field
The present application relates to the field of road traffic technologies, and in particular, to an accident positioning method and apparatus, an electronic device, and a computer-readable storage medium.
Background
The detection and early warning of traffic accidents in road traffic safety are particularly important. At present, the way of confirming the road accident is mainly to rely on the driver who meets the accident to actively alarm or arrange a video monitoring system in a key monitoring area, rely on personnel in a monitoring center to identify and judge the accident occurrence from a monitoring picture, and then issue traffic accident information in the modes of traffic broadcasting and the like to remind related personnel to plan a travel route in advance.
However, the inventor finds that the accident notification method has a large coverage area, is not targeted, and often cannot effectively remind people.
Disclosure of Invention
The embodiment of the application provides an accident positioning method and device, electronic equipment and a computer readable storage medium, so as to improve the pertinence and effectiveness of accident positioning.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides an accident positioning method, where the method includes:
receiving accident information monitored by a road side unit in a preset monitoring range;
determining lane information in a road where an accident vehicle is located according to the accident information and a preset road matching set, wherein the preset road matching set prestores an incidence relation between a road side unit and the road, an incidence relation between the road and the lane and an incidence relation between the road and a road junction;
determining an influence range caused by the accident vehicle according to the lane information in the road where the accident vehicle is located;
and issuing accident state information to the target vehicles within the influence range.
Optionally, the accident information includes a position of an accident vehicle and a roadside unit identifier, and determining lane information in a road where the accident vehicle is located according to the accident information and a preset road matching set includes:
determining a target road, a target lane and a corresponding intersection of the target road where the accident vehicle is located according to the position of the accident vehicle, the road side unit identification, and the incidence relation between the road side unit and the road, the incidence relation between the road and the lane and the incidence relation between the road and the intersection which are prestored in the preset road matching set;
and taking the target road, the target lane and the intersection corresponding to the target road where the accident vehicle is located as the lane information of the road where the accident vehicle is located.
Optionally, the determining a target road and a target lane where the accident vehicle is located according to the position and the road side unit identifier of the accident vehicle, and the pre-stored association relationship between the road side unit and the road, the association relationship between the road and the lane, and the association relationship between the road and the intersection in the preset road matching set includes:
determining a target road where the accident vehicle is located according to the position of the accident vehicle, the road side unit identification and the association relationship between the road side equipment and the road prestored in the preset road matching set;
determining a lane corresponding to the target road according to the association relationship between the road and the lane pre-stored in the preset road matching set;
and determining a target lane where the accident vehicle is located according to the position of the accident vehicle and the lane corresponding to the target road.
Optionally, the intersection includes an entrance, and the determining, according to the lane information in the road where the accident vehicle is located, the influence range caused by the accident vehicle includes:
determining an upstream entrance in an intersection corresponding to the target road according to the target road where the accident vehicle is located;
determining an associated road corresponding to the upstream entrance according to an association relation between a road and a crossing pre-stored in the preset road matching set;
and determining the influence range caused by the accident vehicle according to the associated road corresponding to the upstream entrance.
Optionally, the intersection includes an exit, and the determining the influence range of the accident vehicle according to the matching result includes:
determining a downstream exit in an intersection corresponding to the target road according to the target road where the accident vehicle is located;
determining an associated road corresponding to the downstream exit according to an association relation between a road and an intersection pre-stored in the preset road matching set;
and determining the influence range caused by the accident vehicle according to the associated road corresponding to the downstream exit.
Optionally, the issuing accident status information to the target vehicle within the influence range includes:
and issuing accident state information to one or more of the road display screen, the vehicle owner terminal and the vehicle-mounted navigation equipment within the influence range.
In a second aspect, an embodiment of the present application further provides an accident positioning method, where the method includes:
reporting accident information in a preset monitoring range;
receiving lane information in a road where an accident vehicle is located, which is determined by a cloud server based on the accident information and a preset road matching set, wherein the preset road matching set prestores an incidence relation between a road side unit and the road, an incidence relation between the road and the lane and an incidence relation between the road and a road junction;
and determining the influence range of the road section of the accident vehicle in the road according to the lane information in the road where the accident vehicle is located and the incidence relation between the road and the intersection.
In a third aspect, an embodiment of the present application further provides an accident localization apparatus, where the apparatus is configured to implement any one of the foregoing methods.
In a fourth aspect, an embodiment of the present application further provides an electronic device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform any of the methods described above.
In a fifth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs, which when executed by an electronic device including a plurality of application programs, cause the electronic device to perform any of the methods described above.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: the accident positioning method comprises the steps of firstly receiving accident information monitored by a road side unit in a preset monitoring range; determining lane information in a road where the accident vehicle is located according to the accident information and a preset road matching set, wherein the preset road matching set prestores an incidence relation between a road side unit and the road, an incidence relation between the road and the lane and an incidence relation between the road and a crossing; determining the influence range caused by the accident vehicle according to the lane information in the road where the accident vehicle is located; and issuing accident state information to the target vehicles within the influence range. According to the accident positioning method, the influence range of the accident vehicle can be determined quickly and accurately according to the preset road matching set, so that the reminding message is sent to related personnel in the influence range, and the pertinence and the effectiveness of sending the accident notification are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart of an accident localization method according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a tree structure of a default road matching set according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a relationship among a road, a lane and an intersection according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating another accident localization method according to an embodiment of the present application;
FIG. 5 is a schematic diagram of an accident localization apparatus according to an embodiment of the present application;
FIG. 6 is a schematic view of another accident positioning device according to an embodiment of the present application
Fig. 7 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
An embodiment of the present application provides an accident positioning method, and as shown in fig. 1, a flowchart of the accident positioning method in the embodiment of the present application is provided, where the method at least includes the following steps S110 to S140:
step S110, receiving accident information monitored by the road side unit within a preset monitoring range thereof.
The accident positioning method can be executed by a server deployed at the cloud end, when accident positioning is carried out, accident information in a monitored range can be received from a Road Side Unit firstly, under an actual application scene, the accident information can be acquired through Road Side equipment (RSU) arranged at two sides of a Road, the Road Side equipment can comprise a camera, laser radar positioning equipment and the like, each Road Side equipment has a corresponding monitored Road area, and images of the Road areas are acquired in real time and processed and analyzed, so that whether accidents occur in the monitored Road areas or not and specific positions of the accidents occur can be identified.
And step S120, determining lane information in the road where the accident vehicle is located according to the accident information and a preset road matching set, wherein the preset road matching set prestores the incidence relation between the road side unit and the road, the incidence relation between the road and the lane and the incidence relation between the road and the intersection.
The embodiment of the application establishes a preset road matching set in advance, and the preset road matching set stores the incidence relation between the road side unit and the road, the incidence relation between the road and the lane and the incidence relation between the road and the intersection. For convenience of understanding, as shown in fig. 2, a schematic diagram of a tree structure of a preset road matching set in the embodiment of the present application is provided, and as can be seen from fig. 2, for a roadside device RSU1, a monitored road includes a road a and a road B, so that the roadside device RSU1, the road a and the road B have an association relationship, for the road a, lanes included therein include a lane A1, a lane A2 and a lane A3, and an intersection included therein includes an intersection A1, so that the road a, the lane A1, the lane A2, the lane A3 and the intersection A1 have an association relationship, and so on, in this way, association relationships can be established between all the roadside devices and the monitored road of each roadside device, and between the lane and the intersection included in the road, so as to obtain the preset road matching set of the embodiment of the present application, which is used as a basis for subsequently determining an accident influence range.
Based on the constructed preset road matching set, the accident vehicle information sent by the road side equipment can be retrieved and matched in the preset road matching set, and specifically, the accident vehicle information can be sequentially matched with all levels of nodes of the tree structure of the preset road matching set, so that a matching result is obtained.
Step S130, determining the influence range caused by the accident vehicle according to the lane information in the road where the accident vehicle is located.
After the matching result is obtained, the influence range caused by the accident vehicle can be further determined according to the matching result, and the influence range can include all the area ranges which can influence the vehicle traveling or the vehicle running speed and the like.
And step S140, issuing accident state information to the target vehicles within the influence range.
After the influence range of the accident vehicle is determined, accident state information, such as the specific position of the accident, the accident occurrence time and the like, can be sent to a target vehicle within the influence range according to a certain notification strategy, so that relevant personnel can prepare in advance, adjust travel plans and the like.
According to the accident positioning method, the influence range of the accident vehicle can be determined quickly and accurately according to the preset road matching set, so that the reminding message is sent to related personnel in the influence range, and the pertinence and the effectiveness of sending the accident notification are improved.
In an embodiment of the application, the accident information includes a position of an accident vehicle and a roadside unit identifier, and the determining, according to the accident information and a preset road matching set, lane information in a road where the accident vehicle is located includes: determining a target road, a target lane and a corresponding intersection of the target road where the accident vehicle is located according to the position of the accident vehicle, the road side unit identification, and the pre-stored incidence relation between the road side unit and the road, the incidence relation between the road and the lane and the incidence relation between the road and the intersection in the preset road matching set; and taking the target road, the target lane and the intersection corresponding to the target road where the accident vehicle is located as the lane information of the road where the accident vehicle is located.
The accident information of the embodiment of the application specifically can include the position and the road side unit identification of the accident vehicle, when the position and the road side unit identification of the accident vehicle are matched with the preset road matching set, the accident vehicle information and the road side unit identification can be matched with all levels of nodes of a tree structure formed by the preset road matching set shown in figure 2, such as road side equipment nodes, road nodes, lane nodes, intersection nodes and the like step by step, so that a target road where the accident vehicle is located, a target lane and intersection setting conditions on the target road are determined.
Specifically, the position of the accident vehicle received in the embodiment of the present application may refer to longitude and latitude coordinates of the position of the accident vehicle, and for each road node, lane node, and the like stored in the preset road matching set, the longitude and latitude range corresponding to each road node and the longitude and latitude range of each lane node may be correspondingly stored, so that by comparing the longitude and latitude coordinates of the position of the accident vehicle with the longitude and latitude ranges of each road node and each lane node, it may be determined on which lane of which road the accident vehicle is specifically located, and intersection setting conditions and the like on the road.
In an embodiment of the application, the determining a target road and a target lane where the accident vehicle is located according to the position of the accident vehicle, the road side unit identifier, and an association relationship between a road side unit and a road, an association relationship between a road and a lane, and an association relationship between a road and an intersection, which are pre-stored in the preset road matching set, includes: determining a target road where the accident vehicle is located according to the position of the accident vehicle, the road side unit identification and the association relationship between road side equipment and the road prestored in the preset road matching set; determining a lane corresponding to the target road according to the association relationship between the road and the lane pre-stored in the preset road matching set; and determining a target lane where the accident vehicle is located according to the position of the accident vehicle and the lane corresponding to the target road.
For the tree structure formed by the preset road matching set in the above embodiment, the road side device may be regarded as a primary node, the road monitored by the road side device may be regarded as a secondary node, and the lanes and intersections included in the road may be regarded as tertiary nodes, etc.
Because the accident vehicle information received by the embodiment of the application is collected and reported by the road side equipment, when the accident vehicle information is matched step by step, the matching of the first-level nodes can be firstly carried out, namely the accident information is determined to be reported by which road side equipment according to the received road side unit identification. And then, further matching secondary nodes, namely determining all roads monitored by the road side equipment and the latitude and longitude ranges of the roads according to the incidence relation between the road side equipment and the roads stored in the preset road matching set, and determining the target road where the accident vehicle is located by combining the latitude and longitude coordinates of the accident vehicle.
After the target road is determined, further performing three-level node matching, namely determining all lanes contained in the target road and longitude and latitude ranges of the lanes according to the incidence relation between the road and the lanes stored in the preset road matching set, and determining the target lane where the accident vehicle is located by combining the longitude and latitude coordinates of the accident vehicle.
Because the data volume stored in the preset road matching set is very large, the number of times of searching and matching can be greatly reduced, the matching efficiency is improved and the efficiency of accident notification is further improved by the step-by-step matching mode.
In one embodiment of the present application, the intersection includes an entrance, and the determining the influence range caused by the accident vehicle according to the lane information in the road where the accident vehicle is located includes: determining an upstream entrance in an intersection corresponding to the target road according to the target road where the accident vehicle is located; determining an associated road corresponding to the upstream entrance according to an association relationship between a road and a crossing pre-stored in the preset road matching set; and determining the influence range caused by the accident vehicle according to the associated road corresponding to the upstream entrance.
The intersection of the embodiment of the present application may include an entrance, and when the influence range of the accident vehicle is determined according to the target road where the accident vehicle is located, the target lane, and the intersection included in the target road, an upstream entrance may be determined in the intersection corresponding to the target road according to the position of the accident vehicle, and the definition of the "upstream entrance" in the embodiment of the present application may be understood as follows: if a vehicle enters from a certain entrance corresponding to a target road and is likely to pass through the position of the accident vehicle, the entrance can be regarded as an upstream entrance. Correspondingly, if a vehicle enters from a certain entrance corresponding to the target road and cannot pass through the position where the accident vehicle is located, the entrance can be regarded as a downstream entrance.
For an upstream entrance on a target road, if a vehicle enters from the upstream entrance and is likely to pass through the position of an accident vehicle, traffic congestion may be caused or even traffic is not allowed, and therefore, for vehicles to enter the target road from the upstream entrance, all vehicles may be affected by the accident vehicle, and after the upstream entrance is determined, the roads connected with the upstream entrance, that is, the associated roads of the target road, may be determined according to the association relationship between the roads and intersections stored in the preset road matching set, that is, the vehicles on the associated roads may be affected by the accident vehicle if the vehicles are to enter the target road from the upstream entrance.
It should be noted that there are usually multiple lanes on the target road, and the position of the accident vehicle may occupy only one lane, for example, taking two lanes (lane A1, lane A2) as an example, if the target lane where the accident vehicle is located is lane A1, although the vehicle may still travel to lane A2 after entering from the upstream entrance of the target road, since in this case, it is equivalent to changing two lanes into one lane, in case of a large traffic flow, there is a high possibility that a certain degree of traffic jam may be caused, so this case may also be used as the affected object. For easy understanding, as shown in fig. 3, a schematic diagram of a relationship among a road, a lane and an intersection in the embodiment of the present application is provided.
In one embodiment of the present application, the intersection includes an exit, and the determining the influence range of the accident vehicle according to the matching result includes: determining a downstream exit in an intersection corresponding to the target road according to the target road where the accident vehicle is located; determining an associated road corresponding to the downstream exit according to an association relation between a road and an intersection pre-stored in the preset road matching set; and determining the influence range caused by the accident vehicle according to the associated road corresponding to the downstream exit.
Based on the above embodiment, the intersection of the embodiment of the present application may further include an exit, when determining the influence range of the accident vehicle, a downstream exit may be determined in the intersection corresponding to the target road according to the position of the accident vehicle, and the definition of the "downstream exit" in the embodiment of the present application may be understood as: if the vehicle exits from an exit corresponding to the target road, and is likely to pass through the location of the vehicle in the accident, the exit is considered as a downstream exit. Correspondingly, if the vehicle exits from a certain exit corresponding to the target road and cannot pass through the position where the accident vehicle is located, the exit can be regarded as a downstream exit.
For a downstream exit on the target road, if the vehicle exits from the downstream exit and is likely to pass through the position of the accident vehicle, traffic congestion may be caused or even the vehicle may not pass through, and therefore, for the vehicle that is going to exit from the downstream exit on the target road, the vehicle may be affected by the accident vehicle, and after the downstream exit is determined, it may be further determined according to the association relationship between the road and the intersection stored in the preset road matching set, which is the road connected to the downstream exit, that is, which of the associated roads, that is, the vehicle on the associated roads may be affected by the accident vehicle if the vehicle is going to exit from the downstream exit on the target road.
Of course, many road structures in an actual road scene are meshed, so that the embodiment may have many associated roads determined based on an upstream entrance and a downstream exit, and the coverage range is wide, so that in order to make subsequent notification of accident information more pertinent, the embodiment of the present application may preset a threshold range for the distance to the accident vehicle, and if the distance between the vehicle on the associated road and the position of the accident vehicle is within the threshold range, the vehicle may be used as an affected object, and if the distance between the vehicle on the associated road and the position of the accident vehicle is not within the threshold range, the vehicle may not be used as an affected object. For example, a vehicle on a related road within 5 km of a square circle may be an affected object with the position of the accident vehicle as a center, and a vehicle on a related road outside 5 km of a square circle may pass through the position of the accident vehicle, but the affected object is less likely because the distance is long.
In one embodiment of the present application, the issuing accident status information to the target vehicles within the influence range includes: and issuing accident state information to one or more of the road display screen, the vehicle owner terminal and the vehicle-mounted navigation equipment within the influence range.
After the influence range of the accident vehicle is determined, the vehicle within the influence range can send out the notice of the accident state information, and specifically, the following notice methods can be adopted in the embodiment of the present application:
1) Because the display screens which are commonly used by roads are generally arranged at two sides of the existing road at intervals, the accident state information can be sent to the road display screens within the influence range for displaying or broadcasting, so that related personnel can know the accident condition in front of the road in time;
2) On the premise that relevant information of the owner terminal, such as the mobile phone number of an owner, can be acquired, accident state information can be sent to the owner terminal within the influence range in a short message mode;
3) On the premise that the map navigation function of the vehicle-mounted navigation equipment is started by a vehicle owner, accident state information can be sent to the vehicle-mounted navigation equipment, on one hand, the vehicle-mounted navigation equipment can display the accident state information such as an accident position on a corresponding position of a map, on the other hand, a travel route can be planned for the vehicle owner again according to the position of an accident vehicle, and travel experience of a user is improved.
Of course, the above notification manners are only exemplary descriptions of the embodiments of the present application, and in practical applications, those skilled in the art may flexibly set other notification manners according to actual requirements, which is not exemplified herein.
In one embodiment of the present application, prior to matching the location of the accident vehicle and the roadside unit identification to a preset road matching set, the method further comprises: determining whether accident vehicle information is received more than twice within a preset time interval; and if so, performing duplicate removal processing on the received accident vehicle information so as to match the accident vehicle information subjected to duplicate removal processing with a preset road matching set.
As described above, the accident vehicle information in the embodiment of the present application mainly originates from road side devices, and in order to improve availability and stability of the road side devices, when the road side devices are actually deployed, two or more road side devices may be deployed for a same road area, that is, there may be an overlapping area in the road areas monitored by the two or more road side devices, and then if an accident occurs in the overlapping area, the multiple road side devices may collect accident vehicle information and report the accident vehicle information, so that a problem that the accident vehicle information is received multiple times for the same accident may occur.
Based on this, in order to avoid processing the accident vehicle information of the same accident for multiple times, the embodiment of the application may determine in advance whether multiple identical accident vehicle information is received within a certain time when the accident vehicle information is received, where the identical accident vehicle information mainly refers to that the positions of the accident vehicles are identical, and the road side unit identifiers are different because they are generally reported by different road side devices. For example, if the accident vehicle information reported by the two roadside devices is received within 1 minute, and the positions of the accident vehicles are compared to find that the accident vehicle information is the same, the accident vehicle information reported by the two roadside devices is specific to the same accident, so that one-time processing is performed, resource waste caused by multiple processing is avoided, and troubles caused by frequent notification to related personnel are also avoided.
The embodiment of the present application further provides an accident positioning method, where the method at least includes the following steps S410 to S430:
step S410, reporting accident information in a preset monitoring range;
step S420, receiving lane information in a road where an accident vehicle is located, which is determined by a cloud server based on the accident information and a preset road matching set, wherein the preset road matching set prestores an incidence relation between a road side unit and the road, an incidence relation between the road and the lane, and an incidence relation between the road and a road junction;
and step S430, determining the influence range of the road section of the accident vehicle in the road according to the lane information of the road where the accident vehicle is located and the incidence relation between the road and the intersection.
The accident positioning method can be executed by road side equipment, the road side equipment can comprise a camera, laser radar positioning equipment and the like, each road side equipment is provided with a corresponding monitored road area, and whether an accident happens to the monitored road area or not and the specific position of the accident can be identified by acquiring images of the road area in real time, processing and analyzing the images.
When the road side equipment identifies that an accident occurs, the identified accident information is uploaded to the cloud server to be processed, and the cloud server can determine lane information in a road where an accident vehicle is located according to the accident information and a preset road matching set.
The roadside device can locally store the association relationship between the road and the intersection, and after receiving the lane information in the road where the accident vehicle is located, which is returned by the receiving cloud, the influence range of the road section of the accident vehicle in the road, namely which road section of which road is influenced, can be further determined, so that the reminding message is sent to the target vehicle in the influence range.
Based on the above embodiments, it should be noted that the accident positioning method of the present application may be implemented by the roadside device to monitor a part of the steps, such as the accident information, and implemented by the cloud server to process the accident information and issue the accident status information, or implemented by the roadside device alone, how to deploy the method is specific, and those skilled in the art may set the method flexibly according to actual needs.
An accident positioning apparatus 500 is provided in the embodiment of the present application, and as shown in fig. 5, a schematic structural diagram of an accident positioning apparatus in the embodiment of the present application is provided, where the apparatus 500 includes: a first receiving unit 510, a first determining unit 520, a second determining unit 530, and a sending unit 540, wherein:
a first receiving unit 510, configured to receive accident information monitored by a roadside unit within a preset monitoring range of the roadside unit;
a first determining unit 520, configured to determine lane information in a road where an accident vehicle is located according to the accident information and a preset road matching set, where the preset road matching set prestores an association relationship between a road side unit and the road, an association relationship between the road and the lane, and an association relationship between the road and an intersection;
a second determining unit 530, configured to determine, according to lane information in a road where the accident vehicle is located, an influence range caused by the accident vehicle;
and the issuing unit 540 is configured to issue the accident status information to the target vehicle within the influence range.
In an embodiment of the application, the accident information includes a location of an accident vehicle and a road side unit identifier, and the first determining unit 520 is specifically configured to: determining a target road, a target lane and a corresponding intersection of the target road where the accident vehicle is located according to the position of the accident vehicle, the road side unit identification, and the incidence relation between the road side unit and the road, the incidence relation between the road and the lane and the incidence relation between the road and the intersection which are prestored in the preset road matching set; and taking the target road, the target lane and the intersection corresponding to the target road where the accident vehicle is located as the lane information of the road where the accident vehicle is located.
In an embodiment of the present application, the first determining unit 520 is specifically configured to: determining a target road where the accident vehicle is located according to the position of the accident vehicle, the road side unit identification and the association relationship between the road side equipment and the road prestored in the preset road matching set; determining a lane corresponding to the target road according to the association relationship between the road and the lane pre-stored in the preset road matching set; and determining a target lane where the accident vehicle is located according to the position of the accident vehicle and the lane corresponding to the target road.
In an embodiment of the present application, the intersection includes an entrance, and the second determining unit 530 is specifically configured to: determining an upstream entrance in an intersection corresponding to the target road according to the target road where the accident vehicle is located; determining an associated road corresponding to the upstream entrance according to an association relation between a road and a crossing pre-stored in the preset road matching set; and determining the influence range caused by the accident vehicle according to the associated road corresponding to the upstream entrance.
In an embodiment of the present application, the intersection includes an exit, and the second determining unit 530 is specifically configured to: determining a downstream exit in an intersection corresponding to the target road according to the target road where the accident vehicle is located; determining an associated road corresponding to the downstream exit according to an association relation between a road and an intersection pre-stored in the preset road matching set; and determining the influence range caused by the accident vehicle according to the associated road corresponding to the downstream exit.
In an embodiment of the present application, the issuing unit 540 is specifically configured to: and issuing accident state information to one or more of the road display screen, the vehicle owner terminal and the vehicle-mounted navigation equipment within the influence range.
An accident localization apparatus 600 is further provided in the embodiment of the present application, as shown in fig. 6, which provides a schematic structural diagram of another accident localization apparatus in the embodiment of the present application, and the apparatus 600 includes: a reporting unit 610, a second receiving unit 620, and a third determining unit 630, wherein:
a reporting unit 610, configured to report accident information within a preset monitoring range;
a second receiving unit 620, configured to receive lane information in a road where an accident vehicle is located, where the lane information is determined by the cloud server based on the accident information and a preset road matching set, where the preset road matching set prestores an association relationship between a road side unit and the road, an association relationship between the road and the lane, and an association relationship between the road and an intersection;
the third determining unit 630 determines the influence range of the road segment of the accident vehicle in the road according to the lane information of the road in which the accident vehicle is located and the association relationship between the road and the intersection.
It can be understood that the above accident positioning apparatus can implement the steps of the accident positioning method executed by the clearing server in the foregoing embodiment, and the related explanations about the accident positioning method are applicable to the accident positioning apparatus, and are not described herein again.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 7, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 7, but this does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the accident positioning device on the logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
receiving accident information monitored by a road side unit in a preset monitoring range;
determining lane information in a road where an accident vehicle is located according to the accident information and a preset road matching set, wherein the preset road matching set prestores an incidence relation between a road side unit and the road, an incidence relation between the road and the lane and an incidence relation between the road and a crossing;
determining an influence range caused by the accident vehicle according to the lane information in the road where the accident vehicle is located;
and issuing accident state information to the target vehicles within the influence range.
Or, for performing the following operations:
reporting accident information in a preset monitoring range;
receiving lane information in a road where an accident vehicle is located, which is determined by a cloud server based on the accident information and a preset road matching set, wherein the preset road matching set prestores an incidence relation between a road side unit and the road, an incidence relation between the road and the lane and an incidence relation between the road and a road junction;
and determining the influence range of the road section of the accident vehicle in the road according to the lane information of the road in which the accident vehicle is positioned and the incidence relation between the road and the intersection.
The method performed by the accident localization apparatus according to the embodiment shown in fig. 1 or fig. 4 of the present application may be implemented in or by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in ram, flash, rom, prom, or eprom, registers, etc. as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and combines hardware thereof to complete the steps of the method.
The electronic device may further execute the method executed by the accident localization apparatus in fig. 1 or fig. 4, and implement the function of the accident localization apparatus in the embodiment shown in fig. 1 or fig. 4, which is not described herein again.
Embodiments of the present application also provide a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by an electronic device including a plurality of application programs, enable the electronic device to perform the method performed by the accident localization apparatus in the embodiment shown in fig. 1 or fig. 4, and are specifically configured to perform:
receiving accident information monitored by a road side unit in a preset monitoring range;
determining lane information in a road where an accident vehicle is located according to the accident information and a preset road matching set, wherein the preset road matching set prestores an incidence relation between a road side unit and the road, an incidence relation between the road and the lane and an incidence relation between the road and a road junction;
determining an influence range caused by the accident vehicle according to the lane information in the road where the accident vehicle is located;
and issuing accident state information to the target vehicles within the influence range.
Or, for performing the following operations:
reporting accident information in a preset monitoring range;
receiving lane information in a road where an accident vehicle is located, which is determined by a cloud server based on the accident information and a preset road matching set, wherein the preset road matching set prestores an incidence relation between a road side unit and the road, an incidence relation between the road and the lane and an incidence relation between the road and a road junction;
and determining the influence range of the road section of the accident vehicle in the road according to the lane information of the road in which the accident vehicle is positioned and the incidence relation between the road and the intersection.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises that element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. An accident localization method, wherein the method comprises:
receiving accident information monitored by a road side unit in a preset monitoring range;
determining lane information in a road where an accident vehicle is located according to the accident information and a preset road matching set, wherein the preset road matching set prestores an incidence relation between a road side unit and the road, an incidence relation between the road and the lane and an incidence relation between the road and a road junction;
the preset road matching set is a tree structure, the tree structure comprises road side equipment nodes, road nodes, lane nodes and intersection nodes, and the determining of the lane information of the road where the accident vehicle is located according to the accident information and the preset road matching set comprises the following steps:
matching the accident information with each level of nodes of the tree structure in sequence;
determining lane information in a road where the accident vehicle is located according to the matching result;
determining an influence range caused by the accident vehicle according to the lane information in the road where the accident vehicle is located;
issuing accident state information to the target vehicle within the influence range;
the tree structure comprises a first-level node, a second-level node and a third-level node, wherein the first-level node comprises a roadside device node, the second-level node comprises a road node, and the third-level node comprises a lane node and a crossing node;
the matching of the accident information and each level of nodes of the tree structure in sequence comprises:
and matching the accident information with nodes at all levels of the tree structure in sequence according to the sequence of a first-level node, a second-level node and a third-level node.
2. The method of claim 1, wherein the accident information comprises a location of an accident vehicle and a roadside unit identifier, and the determining the lane information in the road on which the accident vehicle is located according to the accident information and a preset road matching set comprises:
determining a target road, a target lane and a corresponding intersection of the target road where the accident vehicle is located according to the position of the accident vehicle, the road side unit identification, and the incidence relation between the road side unit and the road, the incidence relation between the road and the lane and the incidence relation between the road and the intersection which are prestored in the preset road matching set;
and taking the target road, the target lane and the intersection corresponding to the target road where the accident vehicle is located as the lane information of the road where the accident vehicle is located.
3. The method of claim 2, wherein the determining the target road and the target lane of the accident vehicle according to the location of the accident vehicle and the rsu identification, and the association relationship between the rsu and the road, the association relationship between the road and the lane, and the association relationship between the road and the intersection, which are pre-stored in the preset road matching set, comprises:
determining a target road where the accident vehicle is located according to the position of the accident vehicle, the road side unit identification and the association relationship between road side equipment and the road prestored in the preset road matching set;
determining a lane corresponding to the target road according to the association relationship between the road and the lane pre-stored in the preset road matching set;
and determining a target lane where the accident vehicle is located according to the position of the accident vehicle and the lane corresponding to the target road.
4. The method of claim 2, wherein the intersection includes an entrance, and wherein determining the area of influence caused by the accident vehicle based on the lane information in the road on which the accident vehicle is located comprises:
determining an upstream entrance in an intersection corresponding to the target road according to the target road where the accident vehicle is located;
determining an associated road corresponding to the upstream entrance according to an association relation between a road and a crossing pre-stored in the preset road matching set;
and determining the influence range caused by the accident vehicle according to the associated road corresponding to the upstream entrance.
5. The method of claim 2, wherein the intersection includes an exit, and wherein determining the area of influence of the accident vehicle based on the matching results comprises:
determining a downstream exit in an intersection corresponding to the target road according to the target road where the accident vehicle is located;
determining an associated road corresponding to the downstream exit according to an association relation between a road and an intersection pre-stored in the preset road matching set;
and determining the influence range caused by the accident vehicle according to the associated road corresponding to the downstream exit.
6. The method according to any one of claims 1 to 5, wherein the issuing accident status information to the target vehicles within the influence range comprises:
and issuing accident state information to one or more of the road display screen, the vehicle owner terminal and the vehicle-mounted navigation equipment within the influence range.
7. An accident localization method, wherein the method comprises:
reporting accident information in a preset monitoring range;
receiving lane information in a road where an accident vehicle is located, which is determined by a cloud server based on the accident information and a preset road matching set, wherein the preset road matching set prestores an incidence relation between a road side unit and the road, an incidence relation between the road and the lane and an incidence relation between the road and a road junction;
the preset road matching set is of a tree structure, the tree structure comprises road side equipment nodes, road nodes, lane nodes and intersection nodes, and the cloud server determines lane information of a road where an accident vehicle is located in the following mode:
matching the accident information with each level of nodes of the tree structure in sequence;
determining lane information in a road where the accident vehicle is located according to the matching result;
determining the influence range of the road section of the accident vehicle in the road according to the lane information of the road in which the accident vehicle is positioned and the incidence relation between the road and the intersection;
the tree structure comprises a first-level node, a second-level node and a third-level node, wherein the first-level node comprises a roadside device node, the second-level node comprises a road node, and the third-level node comprises a lane node and a crossing node;
the matching of the accident information and each level of nodes of the tree structure in sequence comprises:
and matching the accident information with the nodes at all levels of the tree structure in sequence according to the sequence of the first level node, the second level node and the third level node.
8. An accident localization apparatus, wherein the apparatus is adapted to carry out the method of any one of claims 1 to 6, or to carry out the method of claim 7.
9. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions that when executed cause the processor to perform the method of any one of claims 1 to 6, or to implement the method of claim 7.
10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of applications, cause the electronic device to perform the method of any of claims 1 to 6 or to implement the method of claim 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110646332.7A CN113380034B (en) | 2021-06-10 | 2021-06-10 | Accident positioning method and apparatus, electronic device, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110646332.7A CN113380034B (en) | 2021-06-10 | 2021-06-10 | Accident positioning method and apparatus, electronic device, and computer-readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113380034A CN113380034A (en) | 2021-09-10 |
| CN113380034B true CN113380034B (en) | 2022-10-14 |
Family
ID=77573687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110646332.7A Active CN113380034B (en) | 2021-06-10 | 2021-06-10 | Accident positioning method and apparatus, electronic device, and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113380034B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113947907A (en) * | 2021-10-28 | 2022-01-18 | 高新兴科技集团股份有限公司 | Vehicle traffic accident early warning method, device, medium and equipment based on V2X |
| CN113781786B (en) * | 2021-11-11 | 2022-02-22 | 中移(上海)信息通信科技有限公司 | Method, device and equipment for confirming unviable area and readable storage medium |
| CN114694397B (en) * | 2022-02-24 | 2024-05-14 | 北京千方科技股份有限公司 | Road early warning method, device, electronic equipment and medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105761500B (en) * | 2016-05-10 | 2019-02-22 | 腾讯科技（深圳）有限公司 | Traffic accident treatment method and traffic accident treatment device |
| CN108806331B (en) * | 2018-06-22 | 2021-02-02 | 安徽科力信息产业有限责任公司 | Method and system for preventing secondary traffic accidents on highway |
| CN111402612A (en) * | 2019-01-03 | 2020-07-10 | 北京嘀嘀无限科技发展有限公司 | Traffic incident notification method and device |
| CN112367343B (en) * | 2019-07-23 | 2022-04-05 | 华为云计算技术有限公司 | Communication method and device |
| CN112216149B (en) * | 2020-09-24 | 2022-10-28 | 武汉飞创智慧科技有限公司 | Method and system for monitoring roadway, intelligent terminal and storage medium |
| CN112633557A (en) * | 2020-12-07 | 2021-04-09 | 浙江吉利控股集团有限公司 | Road safety early warning method and device based on big data, electronic equipment and storage medium |
-
2021
- 2021-06-10 CN CN202110646332.7A patent/CN113380034B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113380034A (en) | 2021-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113380034B (en) | Accident positioning method and apparatus, electronic device, and computer-readable storage medium | |
| US11107356B2 (en) | Cellular network-based assisted driving method and traffic control unit | |
| US12008896B2 (en) | System and method for detection and quantification of irregular traffic congestion | |
| JP7371157B2 (en) | Vehicle monitoring method, device, electronic device, storage medium, computer program, cloud control platform and roadway coordination system | |
| CN107923759B (en) | Method and system for detecting the closing and/or opening of a navigable element | |
| CN110097753B (en) | Secondary accident early warning method, device and system and road monitoring device | |
| JP2022526509A (en) | Operational data analysis methods, equipment, electronic devices and computer storage media | |
| CN103942954B (en) | The analysis and early warning method and its analyzing and alarming system of vehicle parameter information | |
| CN113345258B (en) | Road traffic guarantee method, system, equipment and medium based on edge calculation | |
| CN111462530A (en) | Vehicle management method, vehicle management device and electronic equipment | |
| CN112258838A (en) | Driving risk prompting method and device, storage medium and equipment | |
| CN116564133A (en) | Vehicle early warning method and device for tidal lane and electronic equipment | |
| JP7515554B2 (en) | Road space aggregation perception messages in intelligent transportation systems | |
| CN113194408B (en) | Method, device and equipment for detecting Beidou signal coverage blind area and storage medium | |
| CN118155401A (en) | Road congestion position identification method, equipment and device | |
| CN113012431B (en) | Method and device for detecting highway traffic incident | |
| CN114333382B (en) | Road early warning method and device | |
| CN109935090A (en) | Traffic light regulating system, method, apparatus, mist calculate equipment and storage medium | |
| CN111681415B (en) | Real-time prediction method and system for number of motor vehicles on expressway | |
| Ahmad et al. | Emergency Vehicle Priority Based System | |
| Hayashi et al. | Prioritization of Lane-Specific Traffic Jam Detection for Automotive Navigation Framework Utilizing Suddenness Index and Automatic Threshold Determination | |
| CN116916320A (en) | Internet of vehicles safety communication method, device and equipment | |
| CN114419915A (en) | Vehicle passing method and device, electronic equipment and storage medium | |
| CN118293944A (en) | Vehicle navigation method, device, electronic equipment and storage medium | |
| CN116959253A (en) | Target early warning method and device and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |