CN102779420B - Road traffic event automatic detection method based on real-time vehicle-mounted GPS (global position system) data - Google Patents

Abstract

Translated fromChinese

基于实时车载GPS数据的道路交通事件自动检测方法，属于道路交通事件技术领域。它解决了采用固定基础设施检测交通事件，存在的安装成本昂贵和检测范围受限的问题。它的车载GPS接收机用于实现接收其所处位置的坐标信息，并将该坐标信息发送给个人数码助理的步骤；个人数码助理用于实现计算获得车辆四角的坐标信息，并将该车辆的四角坐标、车辆的海拔高度、车辆行驶速度、车辆行驶方向、车载GPS接收机接收坐标信息的时间及车辆ID发送给网关服务器的步骤；网关服务器用于实现存储接收到的所有个人数码助理发送的信息的步骤，还用于实现根据所述信息获得相应车辆所在路段的道路交通事件的步骤。本发明适用于道路交通事件的自动检测。

An automatic detection method for road traffic incidents based on real-time vehicle GPS data belongs to the technical field of road traffic incidents. It solves the problems of expensive installation cost and limited detection range when using fixed infrastructure to detect traffic incidents. Its vehicle-mounted GPS receiver is used to realize the steps of receiving the coordinate information of its location and sending the coordinate information to the personal digital assistant; the personal digital assistant is used to realize the calculation and obtain the coordinate information of the four corners of the vehicle, and send the The four-corner coordinates, the altitude of the vehicle, the speed of the vehicle, the direction of the vehicle, the time when the vehicle GPS receiver receives the coordinate information, and the steps of sending the vehicle ID to the gateway server; the gateway server is used to store all received information sent by the personal digital assistant The step of providing information is also used to realize the step of obtaining road traffic events of the road section where the corresponding vehicle is located according to the information. The invention is suitable for automatic detection of road traffic events.

Description

Translated fromChinese

基于实时车载GPS数据的道路交通事件自动检测方法Automatic detection method of road traffic incidents based on real-time vehicle GPS data

技术领域technical field

本发明涉及一种基于实时车载GPS数据的道路交通事件自动检测方法，属于道路交通事件技术领域。The invention relates to an automatic detection method for road traffic incidents based on real-time vehicle-mounted GPS data, and belongs to the technical field of road traffic incidents.

背景技术Background technique

道路交通量的快速增加，导致了各种社会、环境和经济问题。交通事件的发生通常导致和加剧了交通阻塞。交通事件是指发生时间或地点不可准确预测的、造成道路通行能力临时下降的事情，包括：交通事故、车辆抛锚、货物洒落等。交通事件的发生，如果能够得到快速的检测，就有利于得到快速的消除，进而降低事件路段的交通拥挤。因此，智能交通系统ITS领域中关于事件自动检测方法的研究十分广泛。The rapid increase in road traffic has resulted in various social, environmental and economic problems. The occurrence of traffic incidents usually causes and exacerbates traffic jams. Traffic incidents refer to things that cannot be accurately predicted at the time or place of occurrence and cause a temporary decrease in road traffic capacity, including: traffic accidents, vehicle breakdowns, cargo spills, etc. If the occurrence of a traffic incident can be quickly detected, it will be beneficial to be eliminated quickly, thereby reducing the traffic congestion on the incident road section. Therefore, the research on automatic event detection methods in the field of intelligent transportation system ITS is very extensive.

除了基于视频摄像的交通事件检测方法以外，其它的交通事件自动检测方法并非能够直接检测事件，而是要通过它们对交通流的影响进行间接检测。基于视频成像的事件检测方法，又由于需要在固定地点安装视频检测设备，造成安装成本昂贵和检测范围十分受限的缺点。Except for the traffic incident detection method based on video camera, other traffic incident automatic detection methods are not able to directly detect incidents, but to conduct indirect detection through their impact on traffic flow. The event detection method based on video imaging needs to install video detection equipment at a fixed location, resulting in the disadvantages of high installation cost and very limited detection range.

目前，为对交通事件进行自动检测而采用的收集数据的方法主要分为2类：（1）安装在车外的固定基础设施传感器，例如感应线圈、地磁仪和视频摄像机；（2）车内信息检测装置，例如车载GPS。由于各种固定检测器都具有自身的技术局限性和适用条件，并且安装和管理固定交通数据检测设备的工作十分复杂，将造成费用十分昂贵。随着GPS定位技术的进步，GPS的定位精确度已得到了极大的提升，安装成本也得到了较大下降，这使得车载GPS得到了广泛的应用。Currently, the methods of collecting data for automatic detection of traffic incidents are mainly divided into two categories: (1) fixed infrastructure sensors installed outside the vehicle, such as induction coils, magnetometers, and video cameras; (2) in-vehicle Information detection device, such as car GPS. Since various fixed detectors have their own technical limitations and applicable conditions, and the work of installing and managing fixed traffic data detection equipment is very complicated, it will result in very expensive costs. With the advancement of GPS positioning technology, the positioning accuracy of GPS has been greatly improved, and the installation cost has also been greatly reduced, which makes the vehicle GPS widely used.

发明内容Contents of the invention

本发明是为了解决采用固定基础设施检测交通事件，存在的安装成本昂贵和检测范围受限的问题，提供一种基于实时车载GPS数据的道路交通事件自动检测方法。The invention aims to solve the problems of high installation cost and limited detection range when using fixed infrastructure to detect traffic incidents, and provides an automatic detection method for road traffic incidents based on real-time vehicle-mounted GPS data.

本发明所述基于实时车载GPS数据的道路交通事件自动检测方法，它基于个人数码助理、车载GPS接收机和网关服务器实现，该道路交通事件自动检测方法包括如下步骤：The road traffic event automatic detection method based on real-time vehicle-mounted GPS data of the present invention, it realizes based on personal digital assistant, vehicle-mounted GPS receiver and gateway server, this road traffic event automatic detection method comprises the following steps:

车载GPS接收机用于实现接收其所处位置的坐标信息，并将该坐标信息发送给个人数码助理的步骤；The vehicle-mounted GPS receiver is used to realize the steps of receiving the coordinate information of its location and sending the coordinate information to the personal digital assistant;

个人数码助理用于实现计算获得车辆四角的坐标信息，并将该车辆的四角坐标、车辆的海拔高度、车辆行驶速度、车辆行驶方向、车载GPS接收机接收坐标信息的时间及车辆ID发送给网关服务器的步骤；The personal digital assistant is used to realize the calculation and obtain the coordinate information of the four corners of the vehicle, and send the four corner coordinates of the vehicle, the altitude of the vehicle, the speed of the vehicle, the direction of the vehicle, the time when the vehicle GPS receiver receives the coordinate information and the vehicle ID to the gateway server steps;

网关服务器用于实现存储接收到的所有个人数码助理发送的信息的步骤，还用于实现根据所述信息获得相应车辆所在路段的道路交通事件的步骤。The gateway server is used to realize the step of storing all the received information sent by the personal digital assistant, and also realize the step of obtaining the road traffic event of the road section where the corresponding vehicle is located according to the information.

网关服务器用于实现存储接收到的所有个人数码助理发送的信息的步骤，还用于实现根据所述信息获得相应车辆所在路段的道路交通事件的步骤的具体过程为：The gateway server is used to realize the step of storing all received information sent by the personal digital assistant, and is also used to realize the step of obtaining the road traffic event of the road section where the corresponding vehicle is located according to the information. The specific process is as follows:

步骤一：将待检测道路根据道路的等级划分为等长的路段，每个路段所占的区域通过坐标来表示；根据车流的方向将所述道路为上游方向和下游方向，根据接收到的每个车辆四角的坐标信息确定相应车辆当前所处的路段；Step 1: Divide the road to be detected into road sections of equal length according to the grade of the road, and the area occupied by each road section is represented by coordinates; according to the direction of traffic flow, the road is divided into upstream and downstream directions, The coordinate information of the four corners of a vehicle determines the road section where the corresponding vehicle is currently located;

步骤二：根据接收到的每个待检测的路段中的所有车辆行驶方向和车辆行驶速度信息，计算获得相应待检测的路段的给定车流方向上当前车辆的平均行驶速度；Step 2: According to the received information of all vehicle traveling directions and vehicle traveling speeds in each road section to be detected, calculate and obtain the average traveling speed of the current vehicle in a given traffic flow direction of the corresponding road section to be detected;

步骤三：将步骤二中获得的当前车辆的平均行驶速度与相似环境条件下该路段的平均车速进行比较，当当前车辆的平均行驶速度低于相似环境条件下该路段的平均车速超过预设定的标定阈值，则将该路段作为标定路段；Step 3: Compare the average speed of the current vehicle obtained instep 2 with the average speed of the road section under similar environmental conditions. When the average speed of the current vehicle is lower than the average speed of the road section under similar environmental conditions, it exceeds the preset The calibration threshold value of , then this road segment is used as the calibration road segment;

步骤四：将标定路段的当前车辆的平均行驶速度与其相邻路段的平均车速进行比较，选择速度最低的路段作为优先处理路段；Step 4: Compare the average speed of the current vehicle on the calibrated road section with the average speed of its adjacent road sections, and select the road section with the lowest speed as the priority road section;

步骤五：将优先处理路段的车辆的平均行驶速度与前后两个相邻路段的平均车速比较，若行驶方向前方相邻路段的车速高于优先处理路段及行驶方向后方相邻路段的车速超过预设定的阻塞阈值，则将优先处理路段作为疑似阻塞路段；Step 5: Compare the average speed of the vehicle on the priority road section with the average speed of the two adjacent road sections before and after the driving direction. If the set blocking threshold is set, the road segment will be prioritized as a suspected blocked road segment;

步骤六：将疑似阻塞路段分为10个子路段，将10个子路段按照步骤二直至步骤五中最后判定获得疑似阻塞路段的方式，确定阻塞子路段；Step 6: Divide the suspected blocked road section into 10 sub-road sections, and determine the blocked sub-road section according to the manner in which the suspected blocked road section is finally determined insteps 2 to 5;

步骤七：识别阻塞子路段中所有具有如下特性之一的异常车辆：Step 7: Identify all abnormal vehicles with one of the following characteristics in the blocked sub-segment:

七一、车速低于该阻塞子路段的平均车速；71. The speed of the vehicle is lower than the average speed of the blocked sub-section;

七二、处于停止状态；72. In a stopped state;

七三、车头朝向与当前车流方向相反；73. The direction of the front of the vehicle is opposite to the direction of the current traffic flow;

七四、位置离阻塞子路段的起始位置靠近；74. The position is close to the starting position of the blocking sub-section;

步骤八：由地图数据进行判断，该阻塞子路段是否包含需要停车的地点或者离需要停车的地点距离小于预设定的停靠阈值，如果是，进入到步骤九；否则，进入到步骤十；Step 8: Judging by the map data, whether the blocked sub-section contains a place where parking is required or the distance from the place where parking is required is less than a preset stop threshold, if yes, go to step 9; otherwise, go to step 10;

步骤九：根据需要停车的地点的类型，确定该需要停车的地点会造成的阻塞时间，若超过阻塞时间后，步骤七中识别获得的异常车辆行为依然存在，进入步骤十；Step 9: Determine the blocking time caused by the parking location according to the type of parking location. If the blocking time exceeds the blocking time, the abnormal vehicle behavior identified in step 7 still exists, and proceed to step 10;

步骤十：判断阻塞子路段中是否发生如下情况之一：Step 10: Determine whether one of the following conditions occurs in the blocked sub-section:

十一、在阻塞子路段中，所有车辆的平均速度都低于正常条件下的该子路段的平均车速超过预设定的低速阈值；11. In the blocked sub-section, the average speed of all vehicles is lower than the average speed of the sub-section under normal conditions and exceeds the preset low speed threshold;

十二、在阻塞子路段中，车辆的平均速度下降的速率超过预设定的下降阈值，从而导致异常停车；12. In the blocked sub-section, the average speed of the vehicle drops at a rate exceeding the preset drop threshold, resulting in abnormal parking;

十三、在阻塞子路段中某一车辆的一个角的坐标与相邻车辆的边界的距离小于2米；13. The distance between the coordinates of a corner of a certain vehicle and the boundary of adjacent vehicles in the blocked subsection is less than 2 meters;

步骤十一：暂停五分钟，然后再计算该阻塞子路段的平均车速，如果未发生变化，则将网关服务器中的地图数据上，标示该阻塞子路段为交通事件路段，并触发警报。Step 11: Pause for five minutes, and then calculate the average vehicle speed of the blocked sub-section. If there is no change, mark the blocked sub-section as a traffic incident section on the map data in the gateway server, and trigger an alarm.

个人数码助理使用NMEA协议每3秒钟转换一次接收到的车载GPS接收机发送的坐标信息，并使用NMEA协议处理数据。The personal digital assistant uses the NMEA protocol to convert the received coordinate information sent by the car GPS receiver every 3 seconds, and uses the NMEA protocol to process the data.

个人数码助理给网关服务器发送数据采用XML格式进行编码，通过GPRS方式发送。The data sent by the personal digital assistant to the gateway server is coded in XML format and sent through GPRS.

个人数码助理计算获得车辆四角的坐标信息的方法为：The method for the personal digital assistant to calculate and obtain the coordinate information of the four corners of the vehicle is as follows:

根据车载GPS接收机所处位置的坐标信息，及车载GPS接收机距离车尾的水平距离X1、车载GPS接收机距离车头的水平距离X2、车载GPS接收机与车辆横向两侧的水平距离Y1和Y2，确定当前车辆的四角A、B、C和D的坐标，即A角坐标：A经度、A纬度；B角坐标：B经度、B纬度；C角坐标：C经度、C纬度；D角坐标：D经度、D纬度。According to the coordinate information of the location of the vehicle-mounted GPS receiver, the horizontal distance X1 between the vehicle-mounted GPS receiver and the rear of the vehicle, the horizontal distance X2 between the vehicle-mounted GPS receiver and the front of the vehicle, the horizontal distance Y1 and Y1 between the vehicle-mounted GPS receiver and the lateral sides of the vehicle Y2, determine the coordinates of the four corners A, B, C and D of the current vehicle, that is, the A corner coordinates: A longitude, A latitude; B corner coordinates: B longitude, B latitude; C corner coordinates: C longitude, C latitude; D corner Coordinates: D Longitude, D Latitude.

所述步骤一中将待检测道路根据道路的等级划分为等长的路段，所述等长的路段为500米。In the first step, the road to be detected is divided into road sections of equal length according to the grade of the road, and the road sections of equal length are 500 meters.

本发明的优点是：本发明方法的实施，能够使得道路交通事件的检测准确率得到极大提升，同时由于GPS的数据检测方法无需安装固定检测基础设施，因此检测范围较广，同时安装和维护成本较低，能够满足高速公路、城市主要道路的交通事件的快速检测。The advantages of the present invention are: the implementation of the method of the present invention can greatly improve the detection accuracy of road traffic incidents, and at the same time, because the GPS data detection method does not need to install a fixed detection infrastructure, the detection range is relatively wide, and it is easy to install and maintain at the same time. The cost is low, and it can meet the rapid detection of traffic incidents on highways and major urban roads.

本发明所述检测方法，有助于提高道路交通事件的快速检测和紧急处置，从而提高道路交通运行的安全和畅通特性。The detection method of the invention helps to improve the rapid detection and emergency treatment of road traffic incidents, thereby improving the safety and smoothness of road traffic operation.

本发明所述检测方法还适用于对所有装载有车载GPS接收机的车辆进行道路交通时间的自动检测。The detection method of the invention is also suitable for automatic detection of road traffic time for all vehicles equipped with vehicle-mounted GPS receivers.

附图说明Description of drawings

图1为本发明方法所基于的硬件原理示意图；Fig. 1 is a schematic diagram of the hardware principle based on the method of the present invention;

图2为实施方式四中车辆四角的坐标示意图；Fig. 2 is a schematic diagram of the coordinates of the four corners of the vehicle in Embodiment 4;

图3为将待检测道路根据道路的等级划分为等长的路段的划分示意图；Fig. 3 is a schematic diagram of dividing the road to be detected into road sections of equal length according to the grade of the road;

图4为阻塞子路段的形态示意图。Fig. 4 is a schematic diagram of the shape of the blocked sub-section.

具体实施方式Detailed ways

具体实施方式一：下面结合图1至图4说明本实施方式，本实施方式所述基于实时车载GPS数据的道路交通事件自动检测方法，它基于个人数码助理1、车载GPS接收机2和网关服务器3实现，该道路交通事件自动检测方法包括如下步骤：Specific embodiment one: below in conjunction with Fig. 1 to Fig. 4 illustrate present embodiment, the road traffic event automatic detection method based on real-time vehicle-mounted GPS data described in this embodiment, it is based on personaldigital assistant 1, vehicle-mountedGPS receiver 2 andgateway server 3 realizes, this road traffic event automatic detection method comprises the steps:

车载GPS接收机2用于实现接收其所处位置的坐标信息，并将该坐标信息发送给个人数码助理1的步骤；The vehicle-mountedGPS receiver 2 is used to realize the steps of receiving the coordinate information of its location and sending the coordinate information to the personaldigital assistant 1;

个人数码助理1用于实现计算获得车辆四角的坐标信息，并将该车辆的四角坐标、车辆的海拔高度、车辆行驶速度、车辆行驶方向、车载GPS接收机2接收坐标信息的时间及车辆ID发送给网关服务器3的步骤；The personaldigital assistant 1 is used to realize the calculation and obtain the coordinate information of the four corners of the vehicle, and send the four corner coordinates of the vehicle, the altitude of the vehicle, the driving speed of the vehicle, the driving direction of the vehicle, the time when the vehicle-mountedGPS receiver 2 receives the coordinate information, and the vehicle ID Steps togateway server 3;

网关服务器3用于实现存储接收到的所有个人数码助理1发送的信息的步骤，还用于实现根据所述信息获得相应车辆所在路段的道路交通事件的步骤。Thegateway server 3 is used for realizing the step of storing all received information sent by the personaldigital assistant 1 , and also for realizing the step of obtaining road traffic events of the road section where the corresponding vehicle is located according to the information.

具体实施方式二：下面结合图1至图4说明本实施方式，本实施方式为对实施方式一的进一步说明，网关服务器3用于实现存储接收到的所有个人数码助理1发送的信息的步骤，还用于实现根据所述信息获得相应车辆所在路段的道路交通事件的步骤的具体过程为：Embodiment 2: The present embodiment will be described below in conjunction with FIGS. 1 to 4. This embodiment is a further description ofEmbodiment 1. Thegateway server 3 is used to realize the steps of storing all received information sent by the personaldigital assistant 1. The specific process for realizing the step of obtaining the road traffic event of the road section where the corresponding vehicle is located according to the information is as follows:

步骤一：将待检测道路根据道路的等级划分为等长的路段，每个路段所占的区域通过坐标来表示；根据车流的方向将所述道路为上游方向和下游方向，根据接收到的每个车辆四角的坐标信息确定相应车辆当前所处的路段；Step 1: Divide the road to be detected into road sections of equal length according to the grade of the road, and the area occupied by each road section is represented by coordinates; according to the direction of traffic flow, the road is divided into upstream and downstream directions, The coordinate information of the four corners of a vehicle determines the road section where the corresponding vehicle is currently located;

步骤二：根据接收到的每个待检测的路段中的所有车辆行驶方向和车辆行驶速度信息，计算获得相应待检测的路段的给定车流方向上当前车辆的平均行驶速度；Step 2: According to the received information of all vehicle traveling directions and vehicle traveling speeds in each road section to be detected, calculate and obtain the average traveling speed of the current vehicle in a given traffic flow direction of the corresponding road section to be detected;

步骤三：将步骤二中获得的当前车辆的平均行驶速度与相似环境条件下该路段的平均车速进行比较，当当前车辆的平均行驶速度低于相似环境条件下该路段的平均车速超过预设定的标定阈值，则将该路段作为标定路段；Step 3: Compare the average speed of the current vehicle obtained instep 2 with the average speed of the road section under similar environmental conditions. When the average speed of the current vehicle is lower than the average speed of the road section under similar environmental conditions, it exceeds the preset The calibration threshold value of , then this road segment is used as the calibration road segment;

步骤四：将标定路段的当前车辆的平均行驶速度与其相邻路段的平均车速进行比较，选择速度最低的路段作为优先处理路段；Step 4: Compare the average speed of the current vehicle on the calibrated road section with the average speed of its adjacent road sections, and select the road section with the lowest speed as the priority road section;

步骤五：将优先处理路段的车辆的平均行驶速度与前后两个相邻路段的平均车速比较，若行驶方向前方相邻路段的车速高于优先处理路段及行驶方向后方相邻路段的车速超过预设定的阻塞阈值，则将优先处理路段作为疑似阻塞路段；Step 5: Compare the average speed of the vehicle on the priority road section with the average speed of the two adjacent road sections before and after the driving direction. If the set blocking threshold is set, the road segment will be prioritized as a suspected blocked road segment;

步骤六：将疑似阻塞路段分为10个子路段，将10个子路段按照步骤二直至步骤五中最后判定获得疑似阻塞路段的方式，确定阻塞子路段；Step 6: Divide the suspected blocked road section into 10 sub-road sections, and determine the blocked sub-road section according to the manner in which the suspected blocked road section is finally determined insteps 2 to 5;

步骤七：识别阻塞子路段中所有具有如下特性之一的异常车辆：Step 7: Identify all abnormal vehicles with one of the following characteristics in the blocked sub-segment:

七一、车速低于该阻塞子路段的平均车速；71. The speed of the vehicle is lower than the average speed of the blocked sub-section;

七二、处于停止状态；72. In a stopped state;

七三、车头朝向与当前车流方向相反；73. The direction of the front of the vehicle is opposite to the direction of the current traffic flow;

七四、位置离阻塞子路段的起始位置靠近；74. The position is close to the starting position of the blocking sub-section;

步骤八：由地图数据进行判断，该阻塞子路段是否包含需要停车的地点或者离需要停车的地点距离小于预设定的停靠阈值，如果是，进入到步骤九；否则，进入到步骤十；Step 8: Judging by the map data, whether the blocked sub-section contains a place where parking is required or the distance from the place where parking is required is less than a preset stop threshold, if yes, go to step 9; otherwise, go to step 10;

步骤九：根据需要停车的地点的类型，确定该需要停车的地点会造成的阻塞时间，若超过阻塞时间后，步骤七中识别获得的异常车辆行为依然存在，进入步骤十；Step 9: Determine the blocking time caused by the parking location according to the type of parking location. If the blocking time exceeds the blocking time, the abnormal vehicle behavior identified in step 7 still exists, and proceed to step 10;

步骤十：判断阻塞子路段中是否发生如下情况之一：Step 10: Determine whether one of the following conditions occurs in the blocked sub-section:

十一、在阻塞子路段中，所有车辆的平均速度都低于正常条件下的该子路段的平均车速超过预设定的低速阈值；11. In the blocked sub-section, the average speed of all vehicles is lower than the average speed of the sub-section under normal conditions and exceeds the preset low speed threshold;

十二、在阻塞子路段中，车辆的平均速度下降的速率超过预设定的下降阈值，从而导致异常停车；12. In the blocked sub-section, the average speed of the vehicle drops at a rate exceeding the preset drop threshold, resulting in abnormal parking;

十三、在阻塞子路段中某一车辆的一个角的坐标与相邻车辆的边界的距离小于2米；13. The distance between the coordinates of a corner of a certain vehicle and the boundary of adjacent vehicles in the blocked subsection is less than 2 meters;

步骤十一：暂停五分钟，然后再计算该阻塞子路段的平均车速，如果未发生变化，则将网关服务器3中的地图数据上，标示该阻塞子路段为交通事件路段，并触发警报。Step 11: Pause for five minutes, then calculate the average vehicle speed of the blocked sub-section, if there is no change, mark the blocked sub-section as a traffic event section on the map data in thegateway server 3, and trigger an alarm.

本实施方式中，通过分析车载GPS数据，能够检测不同路段上的异常交通样式和车辆行为。它采用了多层的方式：第一阶段，识别异常交通样式路段，进而将异常路段划分为更小的路段，从而分离出可能发生事件的路段；第二阶段，进行了车载GPS数据的层次分析，使用基于知识的规则，在异常路段范围内检测异常车辆行为的发生。In this embodiment, by analyzing the vehicle-mounted GPS data, it is possible to detect abnormal traffic patterns and vehicle behaviors on different road sections. It adopts a multi-layered approach: in the first stage, abnormal traffic patterns are identified, and then abnormal road sections are divided into smaller road sections, so as to separate the road sections where incidents may occur; in the second stage, a hierarchical analysis of vehicle GPS data is carried out , using knowledge-based rules to detect the occurrence of abnormal vehicle behavior within the range of abnormal road segments.

本发明方法运行的软件和硬件环境如下：The software and hardware environment that the inventive method operates are as follows:

硬件环境：Hardware environment:

个人数码助理PDA，运行微软Pocket PC2003操作系统，支持GPRS通信；Personal digital assistant PDA, running Microsoft Pocket PC2003 operating system, supporting GPRS communication;

车载GPS接收机，支持广域扩充系统WAAS和差分全球定位系统DGPS；Vehicle-mounted GPS receiver, supporting Wide Area Extension System WAAS and Differential Global Positioning System DGPS;

网关服务器，拥有静态IP地址，能够处理车辆GPS数据。Gateway server, with a static IP address, capable of processing vehicle GPS data.

软件环境：Software Environment:

PDA应用程序：采用NMEA协议转换接收到的GPS信号，计算车辆经纬坐标，将数据传给网关服务器；PDA application program: use NMEA protocol to convert the received GPS signal, calculate the latitude and longitude coordinates of the vehicle, and transmit the data to the gateway server;

网关服务器3：Gateway server 3:

1）、SQL Server 2000数据库服务器，存储车辆数据；1), SQL Server 2000 database server to store vehicle data;

2）、微软MapPoint2006，用于车辆跟踪、显示和地图数据参照；2), Microsoft MapPoint2006, used for vehicle tracking, display and map data reference;

3）、检测方法应用程序，包含检测算法、知识库，并且能够与数据库服务器和MapPoint地图服务器进行交互。3) Detection method application program, including detection algorithm, knowledge base, and capable of interacting with database server and MapPoint map server.

对交通事件的分类：Classification of traffic incidents:

识别交通样式是十分困难的，但是识别个体车辆行为更为困难，因为它依赖于时间、速度、道路类型和驾驶员等多方面因素。交通样式是个体车辆行为的集计表现，诸如某一路段的平均车速和总车辆数。异常车辆行为通常代表了以下类型的事件：Identifying traffic patterns is difficult, but identifying individual vehicle behavior is even more difficult because it depends on factors such as time, speed, road type, and driver. A traffic pattern is an aggregate representation of individual vehicle behavior, such as the average speed and total number of vehicles on a road segment. Unusual vehicle behavior typically represents the following types of events:

车与车碰撞：Car-to-car collision:

追尾、迎头碰撞、侧撞、侧面刮擦、小角度碰撞及多车连撞；Rear collision, head-on collision, side collision, side scrape, small-angle collision and multi-vehicle collision;

车与物碰撞：Vehicle-to-object collision:

车辆与路边物体碰撞，诸如线杆、防撞护栏、树木等。The vehicle collides with roadside objects such as utility poles, crash barriers, trees, etc.

其它事件：Other events:

车辆故障导致的路边或路中停车。On-street or on-street parking due to vehicle breakdown.

步骤一至步骤六中，实现了对导致阻塞的交通事件的检测，该方法基于逐个击破的方法，主要分为两个主要阶段：Insteps 1 to 6, the detection of traffic events that lead to congestion is realized. This method is based on the method of breaking down one by one, and is mainly divided into two main stages:

第一阶段：首先，将道路划分为路段，每个路段的长度定义依赖于道路的等级。例如，高速公路500m一段。如图3所示。Phase 1: First, the road is divided into segments, and the length of each segment is defined depending on the class of the road. For example, a 500m section of a highway. As shown in Figure 3.

路段所占据的区域用坐标来表示。路段拥有上游和下游，代表车流的走向。车辆的行驶方向用于确定它们是否处于某一路段的上游或下游。车辆当前的坐标用于确定它们当前所处的路段。The area occupied by the road segment is represented by coordinates. Road sections have upstream and downstream, which represent the direction of traffic flow. The direction of travel of vehicles is used to determine whether they are upstream or downstream of a road segment. The current coordinates of the vehicles are used to determine the road segment they are currently on.

步骤三中，如果当前路段当前车辆的平均行驶速度较大程度的低于一般情况下的平均车速，则将该路段标定，等待进一步分析。InStep 3, if the average speed of the current vehicle on the current road section is relatively lower than the average speed in general, the road section is calibrated and awaits further analysis.

步骤五中，疑似阻塞路段作为目前判断获得的最低车速路段，其前面相邻路段的车速远高于该最低车速路段。In Step 5, the suspected blocked road section is used as the lowest speed section currently judged, and the speed of the adjacent road section in front of it is much higher than the lowest speed section.

步骤六中，将疑似阻塞路段分为10个更小的子路段，按照步骤二至步骤五中的判断方法，可以获得10个子路段中的阻塞子路段。In step 6, the suspected blocked road section is divided into 10 smaller sub-road sections, and the blocked sub-road section in the 10 sub-road sections can be obtained according to the judgment methods insteps 2 to 5.

在步骤五中，获取疑似阻塞路段的前后两路段的平均车速，是为了判断该疑似阻塞路段是否发生了事件或者仅仅是正常的拥堵。如果仅仅是普通的拥堵，那么3条路段的平均车速应该比较接近。然而，如果发生的是交通事件，疑似阻塞路段前面的相邻路段车速应该比疑似阻塞路段和其后面相邻路段的车速更快，而且拥有较少车辆。如图4所示。In step 5, the average vehicle speed of the two road sections before and after the suspected blocked road section is obtained to determine whether an incident or normal congestion has occurred on the suspected blocked road section. If it is just ordinary congestion, then the average speed of the three road sections should be relatively close. However, if a traffic incident occurs, the speed of the adjacent road segment in front of the suspected blocked road segment should be faster than the speed of the suspected blocked road segment and the adjacent road segment behind it, and there should be fewer vehicles. As shown in Figure 4.

步骤六的具体步骤为：The specific steps of step six are:

步骤六一：根据接收到的每个待检测的子路段中的所有车辆行驶方向和车辆行驶速度信息，计算获得相应待检测的子路段的给定车流方向上当前车辆的平均行驶速度；Step 61: According to the received information on the traveling direction and speed of all vehicles in each sub-road section to be detected, calculate and obtain the average speed of the current vehicle in the given traffic flow direction of the corresponding sub-road section to be detected;

步骤六二：将步骤六一中获得的当前车辆的平均行驶速度与相似环境条件下该子路段的平均车速进行比较，当当前车辆的平均行驶速度低于相似环境条件下该子路段的平均车速超过预设定的标定阈值，则将该子路段作为标定子路段；Step 62: Compare the average speed of the current vehicle obtained in step 61 with the average speed of the sub-section under similar environmental conditions, when the average speed of the current vehicle is lower than the average speed of the sub-section under similar environmental conditions If it exceeds the preset calibration threshold, the sub-section will be used as a calibration sub-section;

步骤六三：将标定子路段的当前车辆的平均行驶速度与其相邻子路段的平均车速进行比较，选择速度最低的子路段作为优先处理子路段；Step six three: compare the average speed of the current vehicle on the marked sub-section with the average speed of its adjacent sub-sections, and select the sub-section with the lowest speed as the priority sub-section;

步骤六四：将优先处理子路段的车辆的平均行驶速度与前后两个相邻子路段的平均车速比较，若行驶方向前方相邻子路段的车速高于优先处理子路段及行驶方向后方相邻子路段的车速超过预设定的阻塞阈值，则将优先处理子路段作为阻塞子路段。Step 64: Compare the average speed of the vehicle on the priority sub-section with the average speed of the two adjacent sub-sections. If the speed of the adjacent sub-section in the direction of travel is higher than that of the sub-section prior to processing and the adjacent sub-section in the direction of travel If the vehicle speed of a sub-section exceeds the preset blocking threshold, the sub-section will be prioritized as a blocked sub-section.

第二阶段：本阶段采用层次分析的方法，分析阻塞子路段内车辆的数据，从而识别车辆异常行为。The second stage: In this stage, the method of hierarchical analysis is used to analyze the data of the vehicles in the blocked sub-sections, so as to identify the abnormal behavior of the vehicles.

步骤八用来判断阻塞子路段内是否存在如信号灯或路口等需要停车的地点，或者离这些地点较近。Step 8 is used to determine whether there are places that need to stop such as signal lights or intersections in the blocked sub-section, or whether they are close to these places.

步骤九中，针对阻塞子路段内存在需要停车的地点或者离这些地点较近的情况，对是否超过阻塞时间的判断，信号灯大约等待1分钟，无信号控制交叉口可能等待5分钟。In step 9, if there are places that need to stop in the blocked sub-section or are close to these places, to judge whether the blocking time is exceeded, the signal light waits for about 1 minute, and the non-signal control intersection may wait for 5 minutes.

步骤十的十二中，对车辆平均速度下降速率的判断，比如高速路段上车辆速度在2-3秒内从120km/h下降到8km/h，会认为是异常状况。In step 10 and 12, the judgment on the average vehicle speed drop rate, such as the vehicle speed dropping from 120km/h to 8km/h within 2-3 seconds on a high-speed section, will be considered as an abnormal situation.

具体实施方式三：本实施方式为对实施方式一或二的进一步说明，本实施方式所述个人数码助理1使用NMEA协议每3秒钟转换一次接收到的车载GPS接收机2发送的坐标信息，并使用NMEA协议处理数据。Specific embodiment three: this embodiment is a further description of embodiment one or two, the personaldigital assistant 1 described in this embodiment uses the NMEA protocol to convert the received coordinate information sent by the vehicle-mountedGPS receiver 2 every 3 seconds, And use the NMEA protocol to process the data.

具体实施方式四：本实施方式为对实施方式一、二或三的进一步说明，本实施方式所述个人数码助理1给网关服务器3发送数据采用XML格式进行编码，通过GPRS方式发送。Embodiment 4: This embodiment is a further description ofEmbodiment 1, 2 or 3. The data sent byPDA 1 togateway server 3 in this embodiment is encoded in XML format and sent via GPRS.

具体实施方式五：下面结合图2说明本实施方式，本实施方式为对实施方式一、二、三或四的进一步说明，本实施方式所述个人数码助理1计算获得车辆四角的坐标信息的方法为：Specific embodiment five: the present embodiment is described below in conjunction with Fig. 2, and this embodiment is the further explanation to embodiment one, two, three or four, the method that personaldigital assistant 1 described in this embodiment calculates and obtains the coordinate information of vehicle four corners for:

根据车载GPS接收机2所处位置的坐标信息，及车载GPS接收机2距离车尾的水平距离X1、车载GPS接收机2距离车头的水平距离X2、车载GPS接收机2与车辆横向两侧的水平距离Y1和Y2，确定当前车辆的四角A、B、C和D的坐标，即A角坐标：A经度、A纬度；B角坐标：B经度、B纬度；C角坐标：C经度、C纬度；D角坐标：D经度、D纬度。According to the coordinate information of the position of the vehicle-mountedGPS receiver 2, and the horizontal distance X1 of the vehicle-mountedGPS receiver 2 from the rear of the vehicle, the horizontal distance X2 of the vehicle-mountedGPS receiver 2 from the front of the vehicle, and the distance between the vehicle-mountedGPS receiver 2 and the lateral sides of the vehicle The horizontal distance Y1 and Y2 determine the coordinates of the four corners A, B, C and D of the current vehicle, that is, the coordinates of corner A: A longitude, A latitude; the coordinates of B corner: B longitude, B latitude; the coordinates of C corner: C longitude, C Latitude; D angle coordinates: D longitude, D latitude.

本实施方式中，对车载GPS接收机2进行数据处理的方法如下：In the present embodiment, the method that vehicle-mountedGPS receiver 2 is carried out data processing is as follows:

车载GPS接收机2与个人数码助理1PDA相连接，放置在车辆中一个安全、显见的位置。PDA应用程序将接收到的GPS信号每3秒钟转换一次，然后使用NMEA协议确定车辆的位置、速度、行驶方向和GPS信号的原始时间与信号质量。由于车载GPS接收机2所收到的位置坐标信息，仅仅是接收机的实际位置，因此还需要计算车辆四角的精确坐标，从而才能确定车辆所占有的区域。The vehicle-mountedGPS receiver 2 is connected with the personal digital assistant 1PDA, and is placed in a safe and visible position in the vehicle. The PDA application converts the received GPS signal every 3 seconds, and then uses the NMEA protocol to determine the vehicle's position, speed, direction of travel, and the original time and signal quality of the GPS signal. Since the position coordinate information received by the vehicle-mountedGPS receiver 2 is only the actual position of the receiver, it is necessary to calculate the precise coordinates of the four corners of the vehicle, so as to determine the area occupied by the vehicle.

车辆边界定义：Vehicle boundary definition:

PDA应用程序需要车辆的长度、宽度、高度信息以及车载GPS接收机的位置信息，从而计算车辆四角，即图2所示的A、B、C、D四个位置的精确坐标。为了计算车辆四个角的坐标，需要计算图2中的X1、X2、Y1和Y2的长度。The PDA application program needs the length, width, height information of the vehicle and the location information of the on-board GPS receiver to calculate the four corners of the vehicle, that is, the precise coordinates of the four positions A, B, C, and D shown in Figure 2. In order to calculate the coordinates of the four corners of the vehicle, it is necessary to calculate the lengths of X1, X2, Y1 and Y2 in FIG. 2 .

确定车辆所占有的区域大小依赖于车辆自身的大小。车辆占有区域的计算有助于计算车辆之间的实际距离，针对于检测不同车辆行为，例如碰撞是十分重要的信息。经过计算，PDA应用程序得到了车辆四角的精确坐标，该精确坐标采用WGS-84格式。这些计算的坐标信息，连同车辆海拔高度、速度、行驶方向、时间以及车辆唯一ID，都以3秒钟的时间间隔，不断发送给网关服务器。服务器在车辆数据库中存储文件，使用者可以不断的访问这些文件。Determining the size of the area occupied by a vehicle depends on the size of the vehicle itself. The calculation of vehicle occupancy area helps to calculate the actual distance between vehicles, which is very important information for detecting different vehicle behaviors, such as collisions. After calculation, the PDA application obtains the precise coordinates of the four corners of the vehicle in WGS-84 format. These calculated coordinate information, together with the vehicle's altitude, speed, driving direction, time and unique ID of the vehicle, are continuously sent to the gateway server at intervals of 3 seconds. The server stores files in the vehicle database, which users can access continuously.

具体实施方式六：下面结合图3说明本实施方式，本实施方式为对实施方式一、二、三、四或五的进一步说明，本实施方式所述步骤一中将待检测道路根据道路的等级划分为等长的路段，所述等长的路段为500米。Specific embodiment six: the present embodiment is described below in conjunction with Fig. 3, and this embodiment is a further description to embodiment one, two, three, four or five, and in the step one described in this embodiment, the road to be detected is classified according to the grade of the road Divided into road sections of equal length, the said road section of equal length is 500 meters.

以下对具体情形下的判断情况举例进行说明：The following are examples of judgments in specific situations:

一、对追尾事故的鉴别：1. Identification of rear-end collision accidents:

假定一辆车追尾了另外一辆车，并且停在了路上。在步骤七中，首先分析该路段内车辆的GPS数据，从而获得车辆的加速度和行驶方向。在追尾的情况下，车速下降非常快。此外，车辆会发生一定程度的旋转，从而导致行驶方向改变。在步骤八中，地图数据的审查结果表明，该路段内没有需要经常停车的地点，因此步骤九被跳过。由于车辆互相碰撞，步骤十中会检测到车辆的某个角的坐标之间的距离会在危险距离以内。此时，车辆加速度异常、驾驶方向异常的车辆被标定为可能的碰撞车辆。步骤十一会继续检测一段时间，如果这种异常交通条件没有发生变化，则很可能是发生了碰撞事件。Suppose a car rear-ends another car and stops on the road. In step seven, first analyze the GPS data of the vehicle in the road section, so as to obtain the acceleration and driving direction of the vehicle. In the case of a rear-end collision, the vehicle speed drops very quickly. In addition, the vehicle will rotate to some extent, causing a change in the direction of travel. In step eight, the result of the review of the map data shows that there is no place that requires frequent parking in the road section, so step nine is skipped. Since the vehicles collide with each other, it will be detected in step ten that the distance between the coordinates of a certain corner of the vehicle will be within the danger distance. At this time, the vehicle with abnormal vehicle acceleration and abnormal driving direction is calibrated as a possible collision vehicle. Step eleven will continue to detect for a period of time, if this abnormal traffic condition does not change, it is likely that a collision has occurred.

二、侧撞事故鉴别：2. Identification of side collision accidents:

一辆车撞在了另一辆车的侧面，导致非正常停车。One car hit the side of another, causing it to stop improperly.

首先检测车辆的异常加速度或方向的变化；First detect abnormal acceleration or direction changes of the vehicle;

然后根据地图数据，确定该路段是否包含或邻近某一需要经常停车地点。如果没有，进入步骤十。如果有诸如交叉口等经常停车地点，则进入步骤九；Then, according to the map data, it is determined whether the road section contains or is adjacent to a certain frequent parking place. If not, go to step ten. If there are frequent parking places such as intersections, go to step nine;

步骤九：在等待周期过后，如果该路段交通条件仍旧没有发生变化，则进入步骤十；Step 9: After the waiting period, if the traffic condition of the road section still does not change, go to Step 10;

步骤十：由于车辆碰撞，因此存在车辆某个角之间的坐标发生重叠。此时，异常减速、重叠角坐标以及行驶方向异常改变的车辆将会被标定为事故车辆；Step 10: Due to the vehicle collision, the coordinates of some corners of the vehicles overlap. At this time, vehicles with abnormal deceleration, overlapping angular coordinates, and abnormal changes in driving direction will be marked as accident vehicles;

步骤十一：继续观察一定时间，如果交通条件未发生变化，则激活事故警报。Step eleven: Continue to observe for a certain period of time, and activate the accident alarm if the traffic conditions do not change.

三、车辆抛锚或与物体相撞：3. The vehicle breaks down or collides with an object:

车辆抛锚在路中，原因可能是机器故障或与路边物体相撞。The vehicle is stuck in the middle of the road, possibly due to a malfunction of the machine or a collision with a roadside object.

步骤七：单独一个车辆在某个路段内没有加速度，路段内其它车辆行驶方向发生微小改变；Step 7: A single vehicle has no acceleration in a certain road section, and the driving direction of other vehicles in the road section changes slightly;

步骤八：跳过；Step eight: Skip;

步骤九：跳过；Step Nine: Skip;

步骤十：没有识别出碰撞事故；Step 10: no collision accident is identified;

步骤十一：交通条件在一定时间内仍旧没有变化。Step eleven: the traffic condition remains unchanged within a certain period of time.

单独一个车辆在某个路段内没有加速度，以及一定时间内行驶方向发生一定的改变，表示该车辆抛锚在路中。If a single vehicle has no acceleration in a certain road section, and the driving direction changes within a certain period of time, it means that the vehicle has broken down on the road.

Claims (5)

1. the road traffic accident automatic testing method based on real-time vehicle GPS data, it is realized based on personal digital assistant (1), GPS receiver (2) and gateway server (3), and this road traffic accident automatic testing method comprises the steps:

GPS receiver (2) is for realizing the coordinate information that receives its present position, and this coordinate information sent to the step of personal digital assistant (1);

Personal digital assistant (1) calculates for realizing the coordinate information that obtains four jiaos, vehicle, and the sea level elevation of the four angular coordinate of this vehicle, vehicle, Vehicle Speed, vehicle heading, GPS receiver (2) are received to the time of coordinate information and the step that vehicle ID sends to gateway server (3);

The step of the information that gateway server (3) sends for all personal digital assistants (1) that realize storing received and arrive, also for realizing according to the step of the road traffic accident in section, described information acquisition corresponding vehicle place;

It is characterized in that: the step of the information that gateway server (3) sends for all personal digital assistants (1) that realize storing received and arrive, for realizing according to the detailed process of the step of the road traffic accident in section, described information acquisition corresponding vehicle place is also:

Step 1: be isometric section by road to be detected according to the grade classification of road, shared region, each section represents by coordinate; According to the direction of wagon flow, by described road, be updrift side and downstream direction, according to the coordinate information of four jiaos, each vehicle receiving, determine the current residing section of corresponding vehicle;

Step 2: according to all vehicle headings in each section to be detected receiving and Vehicle Speed information, calculate the average overall travel speed of the fooled vehicle in front of given wagon flow direction that obtains corresponding section to be detected;

Step 3: the average overall travel speed when vehicle in front obtaining in step 2 is compared to the average speed in this section under similar environmental baseline, when when the average overall travel speed of vehicle in front lower than similar environmental baseline under the average speed in this section surpass the demarcation threshold value presetting, using this section as demarcating section;

Step 4: the average speed that the average overall travel speed when vehicle in front of demarcating section is adjacent to section compares, the minimum section of selection speed is as priority processing section;

Step 5: by the average speed comparison in the average overall travel speed of the vehicle in priority processing section and former and later two adjacent sections, if the speed of a motor vehicle in adjacent section, travel direction the place ahead surpasses higher than the speed of a motor vehicle in the adjacent section in priority processing section and travel direction rear the obstruction threshold value presetting, using priority processing section as doubtful congested link;

Step 6: doubtful congested link is divided into 10 sub-sections, by 10 sub-sections according to step 2 until finally in step 5 judge the mode that obtains doubtful congested link, determine occluder section;

Step 7: all abnormal vehicles with one of following characteristic in identification occluder section:

The July 1st, the speed of a motor vehicle are lower than the average speed in this occluder section;

Seven or two, in halted state;

Seven or three, headstock towards with current wagon flow opposite direction;

Seven or four, position is close from the reference position in occluder section;

Step 8: judged by map datum, whether this occluder section comprises the place that needs stop or the distance location stopping from needs is less than the stop threshold value presetting, and if so, enters into step 9; Otherwise, enter into step 10;

Step 9: the type in the place of stopping as required, determine the blocking time that this place that need to stop can be caused, if surpass after blocking time, the abnormal vehicle behavior that in step 7, identification obtains still exists, and enters step 10;

Step 10: judge whether one of following situation occurs in occluder section:

11,, in occluder section, the average velocity of all vehicles all surpasses lower than the average speed in this sub-section under normal condition the low speed threshold value presetting;

12,, in occluder section, the speed that the average velocity of vehicle declines surpasses the falling-threshold value presetting, thereby causes exception parking;

13, in occluder section, the distance on a certain vehicle coordinate at angle and the border of adjacent vehicle is less than 2 meters;

Step 11: suspend five minutes, and then calculate the average speed in this occluder section, if do not changed,, by the map datum in gateway server (3), indicating this occluder section is traffic events section, and triggers alarm.

2. the road traffic accident automatic testing method based on real-time vehicle GPS data according to claim 1, it is characterized in that: personal digital assistant (1) uses the coordinate information of NMEA agreement GPS receiver (2) transmission that conversion once receives in every 3 seconds, and uses NMEA protocol processes data.

3. the road traffic accident automatic testing method based on real-time vehicle GPS data according to claim 1, is characterized in that: personal digital assistant (1) sends data acquisition to gateway server (3) and encodes with XML form, by GPRS mode, sends.

4. the road traffic accident automatic testing method based on real-time vehicle GPS data according to claim 1, is characterized in that: the method that personal digital assistant (1) calculates the coordinate information that obtains four jiaos, vehicle is:

According to the coordinate information of GPS receiver (2) present position, and GPS receiver (2) apart from the horizontal range X1 of the tailstock, GPS receiver (2) apart from the horizontal range X2 of headstock, GPS receiver (2) horizontal range Y1 and the Y2 with lateral direction of car both sides, determine the coordinate as four jiaos of A, B, C and D of vehicle in front, i.e. A angular coordinate: A longitude, A latitude; B angular coordinate: B longitude, B latitude; C angular coordinate: C longitude, C latitude; D angular coordinate: D longitude, D latitude.

5. the road traffic accident automatic testing method based on real-time vehicle GPS data according to claim 1, is characterized in that: in described step 1, by road to be detected, according to the grade classification of road, be isometric section, described isometric section is 500 meters.

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