CN111696366A - Road accident perception and identification method and system - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及一种道路事故感知识别方法及系统，属于交通事故的检测和安全预警技术领域。The invention relates to a road accident perception and identification method and system, belonging to the technical field of traffic accident detection and safety warning.
背景技术Background technique
高速公路交通事故，相比于普通公路具有损失大、危害重、救援难的特点，而且因为高速公路上有行车速度快且相对封闭的特性，尤其是在雨雪雾等恶劣天气情况下，汽车容易打滑，若前方发生事故时不能给后续车辆提供及时的预警，更容易连环追尾二次交通事故，因此，对于交通事故的检测和预警尤为重要，目前，确认道路发生事故的方式主要依靠遇见事故的司机主动报警或者在重点监控地段布置视频监控系统，依靠在监控中心的人员去从监控画面去识别判断事故的发生。Compared with ordinary highways, highway traffic accidents have the characteristics of large losses, serious harm and difficult rescue, and because highways have the characteristics of fast driving and relatively closed, especially in bad weather conditions such as rain, snow and fog, vehicles It is easy to skid. If the following vehicles cannot be provided with timely warning in the event of an accident ahead, it is more likely to cause a series of rear-end collisions and secondary traffic accidents. Therefore, the detection and early warning of traffic accidents are particularly important. At present, the way to confirm road accidents mainly depends on encountering accidents. The driver of the car will take the initiative to call the police or arrange a video monitoring system in the key monitoring area, and rely on the personnel in the monitoring center to identify and judge the occurrence of the accident from the monitoring screen.
为了能够在事故发生时及时报警，提高道路救援效率，现有的公路报警系统通常采用单节点震动报警的方式，建立无线传感器网路，服务器根据震动传感器检测的震动信号进行判定，判断是否发生道路事故，以及根据震动传感器地址信息或者是利用震动传感器检测的震动信号的振幅大小判断事故发生大致位置。那么，如果震动传感器检测出非道路内部的震动信号，导致判定结果不准确，就可能出现误报警；事故位置依靠震动传感器进行大致判定，定位精度低。In order to alarm in time when an accident occurs and improve the efficiency of road rescue, the existing highway alarm system usually adopts the single-node vibration alarm method to establish a wireless sensor network. The accident, and the approximate location of the accident is determined according to the address information of the vibration sensor or the amplitude of the vibration signal detected by the vibration sensor. Then, if the vibration sensor detects a vibration signal outside the road, resulting in an inaccurate determination result, a false alarm may occur; the location of the accident is roughly determined by the vibration sensor, and the positioning accuracy is low.
因此，现有的确认道路事故发生的方式所存在的问题是：Therefore, the problems with the existing way of confirming the occurrence of road accidents are:
(1)道路事故判定不准确，容易出现误报警，造成救援资源浪费；(1) Inaccurate determination of road accidents, prone to false alarms, and waste of rescue resources;
(2)事故定位精度低，降低了道路救援效率。(2) The accuracy of accident location is low, which reduces the efficiency of road rescue.
发明内容SUMMARY OF THE INVENTION
本发明的目的是提供一种道路事故感知识别方法及系统，解决现有技术中存在的道路事故检测精度低、可靠性差、不能够准确定位的问题。The purpose of the present invention is to provide a road accident perception and recognition method and system to solve the problems of low detection accuracy, poor reliability and inability to accurately locate road accidents in the prior art.
为实现上述目的，本发明的技术方案为：本发明提供了一种道路事故感知识别方法，包括如下步骤：In order to achieve the above purpose, the technical solution of the present invention is as follows: the present invention provides a road accident perception and identification method, comprising the following steps:
1)在道路上间隔布置震动传感器和雷达；1) Deploy vibration sensors and radars at intervals on the road;
2)震动传感器感应震动信息，并将震动信息转换为震动信号，发送至主控单元；2) The vibration sensor senses the vibration information, converts the vibration information into a vibration signal, and sends it to the main control unit;
3)主控单元根据所述震动信号，初步判断是否发生事故，并且得到预判事故位置；如果初步判断发生事故，则发送控制命令，控制所述预判事故位置附近的雷达开启；3) the main control unit preliminarily judges whether an accident has occurred according to the vibration signal, and obtains the prejudgment accident position; if it is preliminarily judged that an accident occurs, it sends a control command to control the radar near the prejudgment accident position to be turned on;
4)雷达开启后，搜索道路范围内的静止目标，并将搜索结果发送至主控单元；4) After the radar is turned on, it searches for stationary targets within the road range, and sends the search results to the main control unit;
5)主控单元根据雷达搜索结果，最终确定是否发生道路事故，并且得到最终事故位置：如果道路范围内搜索到静止目标，则确定发送道路事故，否则，判定未发生道路事故。5) The main control unit finally determines whether a road accident has occurred according to the radar search result, and obtains the final accident location: if a stationary target is searched within the road range, it is determined to send a road accident, otherwise, it is determined that no road accident has occurred.
本发明中主控单元对震动传感器获取的震动信号进行道路事故预判定，如果判断发生事故，则得到预判事故位置，并控制该位置附近的雷达开启，如果雷达在道路范围内检测到静止目标，则确定发生了道路事故。本发明综合了震动检测和雷达技术对道路事故进行了综合判定，从而显著提升了事故检测的精确性和可靠性，并能够快速实现准确定位，为快速进行事故预警和提升道路救援效率提供了帮助，有效降低了二次交通事故发生的概率。In the present invention, the main control unit performs road accident pre-judgment on the vibration signal obtained by the vibration sensor. If it is judged that an accident occurs, the pre-judgment accident position is obtained, and the radar near the position is controlled to be turned on. If the radar detects a stationary target within the road range , a road accident is determined to have occurred. The invention integrates vibration detection and radar technology to comprehensively determine road accidents, thereby significantly improving the accuracy and reliability of accident detection, and can quickly achieve accurate positioning, which provides help for rapid accident early warning and improvement of road rescue efficiency. , effectively reducing the probability of secondary traffic accidents.
进一步的，所述步骤4)中，在道路中无车辆行驶或停止的情况下，通过雷达进行扫描，获取雷达目标区域内的回波信号，作为标准信号进行存储；在道路中发生事故时，雷达开启后，将此时获取的回波信号与所述标准信号进行比对，如果存在的差异大于设定值，则认为在道路范围内搜索到静止目标。Further, in the step 4), when there is no vehicle running or stopping on the road, the radar is scanned to obtain the echo signal in the radar target area and stored as a standard signal; when an accident occurs on the road, After the radar is turned on, the echo signal obtained at this time is compared with the standard signal. If the difference is greater than the set value, it is considered that a stationary target has been searched within the road range.
进一步的，所述步骤4)中，通过雷达成像的方式搜索道路范围内的静止目标。Further, in the step 4), the stationary target within the road range is searched by means of radar imaging.
进一步的，初步判断是否发生事故时，以震动信号最大的震动传感器所处位置为预判事故位置；若相邻两个震动传感器的震动信号强度一致，则以相邻两个震动传感器的中间点为预判事故位置。Further, when preliminarily judging whether an accident has occurred, the position of the vibration sensor with the largest vibration signal is used as the pre-judgment accident position; if the vibration signal strength of two adjacent vibration sensors is the same, the middle point of the two adjacent vibration sensors is used. To predict the location of the accident.
进一步的，所述步骤3)中，主控单元根据所述震动信号，采用训练好的贝叶斯分类器对事故进行预判。Further, in the step 3), the main control unit uses the trained Bayesian classifier to predict the accident according to the vibration signal.
进一步的，所述震动传感器和雷达的安装避开道路碰撞易发生位置。Further, the vibration sensor and the radar are installed to avoid locations where road collisions are likely to occur.
本发明还提供了一种道路事故感知识别系统，在沿车辆行驶方向间隔布置若干个震动传感器和雷达，还包括主控单元，所述若干个震动传感器和雷达与主控单元通信，以实现如下所述的道路事故感知识别方法，包括如下步骤：The present invention also provides a road accident perception and identification system. Several vibration sensors and radars are arranged at intervals along the driving direction of the vehicle, and also includes a main control unit. The several vibration sensors and radars communicate with the main control unit to achieve the following: The road accident perception and identification method includes the following steps:
1)在道路上间隔布置震动传感器和雷达；1) Deploy vibration sensors and radars at intervals on the road;
2)震动传感器感应震动信息，并将震动信息转换为震动信号，发送至主控单元；2) The vibration sensor senses the vibration information, converts the vibration information into a vibration signal, and sends it to the main control unit;
3)主控单元根据所述震动信号，初步判断是否发生事故，并且得到预判事故位置；如果初步判断发生事故，则发送控制命令，控制所述预判事故位置附近的雷达开启；3) the main control unit preliminarily judges whether an accident has occurred according to the vibration signal, and obtains the prejudgment accident position; if it is preliminarily judged that an accident occurs, it sends a control command to control the radar near the prejudgment accident position to be turned on;
4)雷达开启后，搜索道路范围内的静止目标，并将搜索结果发送至主控单元；4) After the radar is turned on, it searches for stationary targets within the road range, and sends the search results to the main control unit;
5)主控单元根据雷达搜索结果，最终确定是否发生道路事故，并且得到最终事故位置：如果道路范围内搜索到静止目标，则确定发送道路事故，否则，判定未发生道路事故。5) The main control unit finally determines whether a road accident has occurred according to the radar search result, and obtains the final accident location: if a stationary target is searched within the road range, it is determined to send a road accident, otherwise, it is determined that no road accident has occurred.
本发明中主控单元对震动传感器获取的震动信号进行道路事故预判定，如果判断发生事故，则得到预判事故位置，并控制该位置附近的雷达开启，如果雷达在道路范围内检测到静止目标，则确定发生了道路事故。本发明综合了震动检测和雷达技术对道路事故进行了综合判定，从而显著提升了事故检测的精确性和可靠性，并能够快速实现准确定位，为快速进行事故预警和提升道路救援效率提供了帮助，有效降低了二次交通事故发生的概率。In the present invention, the main control unit performs road accident pre-judgment on the vibration signal obtained by the vibration sensor. If it is judged that an accident occurs, the pre-judgment accident position is obtained, and the radar near the position is controlled to be turned on. If the radar detects a stationary target within the road range , a road accident is determined to have occurred. The invention integrates vibration detection and radar technology to comprehensively determine road accidents, thereby significantly improving the accuracy and reliability of accident detection, and can quickly achieve accurate positioning, which provides help for rapid accident early warning and improvement of road rescue efficiency. , effectively reducing the probability of secondary traffic accidents.
进一步的，所述步骤4)中，在道路中无车辆行驶或停止的情况下，通过雷达进行扫描，获取雷达目标区域内的回波信号，作为标准信号进行存储；在道路中发生事故时，雷达开启后，将此时获取的回波信号与所述标准信号进行比对，如果存在的差异大于设定值，则认为在道路范围内搜索到静止目标。Further, in the step 4), when there is no vehicle running or stopping on the road, the radar is scanned to obtain the echo signal in the radar target area and stored as a standard signal; when an accident occurs on the road, After the radar is turned on, the echo signal obtained at this time is compared with the standard signal. If the difference is greater than the set value, it is considered that a stationary target has been searched within the road range.
进一步的，所述步骤4)中，通过雷达成像的方式搜索道路范围内的静止目标。Further, in the step 4), the stationary target within the road range is searched by means of radar imaging.
进一步的，初步判断是否发生事故时，以震动信号最大的震动传感器所处位置为预判事故位置；若相邻两个震动传感器的震动信号强度一致，则以相邻两个震动传感器的中间点为预判事故位置。Further, when preliminarily judging whether an accident has occurred, the position of the vibration sensor with the largest vibration signal is used as the pre-judgment accident position; if the vibration signal strength of two adjacent vibration sensors is the same, the middle point of the two adjacent vibration sensors is used. To predict the location of the accident.
进一步的，所述步骤3)中，主控单元根据所述震动信号，采用训练好的贝叶斯分类器对事故进行预判。Further, in the step 3), the main control unit uses the trained Bayesian classifier to predict the accident according to the vibration signal.
进一步的，所述震动传感器和雷达的安装避开道路碰撞易发生位置。Further, the vibration sensor and the radar are installed to avoid locations where road collisions are likely to occur.
进一步的，所述主控单元为服务器。Further, the main control unit is a server.
进一步的，所述道路事故感知识别系统还包括控制节点，所述控制节点包括依次连接的LORA通信模块、控制器和互联网接入模块，所述控制节点通过LORA通信模块与震动传感器、雷达方式通信，所述控制节点通过互联网接入模块连接服务器。Further, the road accident perception and identification system also includes a control node, the control node includes a LORA communication module, a controller and an Internet access module connected in sequence, and the control node communicates with the vibration sensor and the radar through the LORA communication module. , the control node is connected to the server through the Internet access module.
进一步的，所述互联网接入模块包括4G、5G、WIFI通信模块或以太网接入模块。Further, the Internet access module includes a 4G, 5G, WIFI communication module or an Ethernet access module.
附图说明Description of drawings
图1是本发明道路事故感知识别系统实施例中的震动传感器和雷达的一种排布示意图；Fig. 1 is a kind of arrangement schematic diagram of vibration sensor and radar in the embodiment of the road accident perception and recognition system of the present invention;
图2是本发明道路事故感知识别系统实施例中的震动传感器和雷达的另一种排布示意图；2 is another schematic diagram of the arrangement of shock sensors and radars in an embodiment of the road accident perception and recognition system of the present invention;
图3是本发明道路事故感知识别方法实施例中的方法流程示意图；3 is a schematic flowchart of a method in an embodiment of a road accident perception and identification method of the present invention;
图4是本发明道路事故感知识别方法实施例中的一种道路事故情况示意图；4 is a schematic diagram of a road accident situation in the embodiment of the road accident perception and identification method of the present invention;
图5是本发明道路事故感知识别方法实施例中的另一种道路事故情况示意图。FIG. 5 is a schematic diagram of another road accident situation in the embodiment of the road accident perception and identification method of the present invention.
具体实施例specific embodiment
以下实施方式中包含本发明道路事故感知识别系统实施例和道路事故感知识别方法实施例：The following embodiments include the embodiments of the road accident perception and recognition system and the road accident perception and recognition method of the present invention:
高速公路、快速路等具有行车速度快且相对封闭的特性，在出现雨雪雾等恶劣天气时，由于可视距离的缩短、路面状况差等问题，当出现事故时，由于不能给后方车辆提供及时、准确地预警，造成容易发生二次事故。为了能够在事故发生时及时报警，提高道路救援效率，现有的公路报警系统采用震动检测报警的方式，服务器根据震动传感器检测的震动信号进行判定，判断是否发生道路事故，以及根据震动传感器地址信息或者是利用震动传感器检测的震动信号的振幅大小判断事故发生大致位置。Expressways, expressways, etc. have the characteristics of fast driving and relatively closed. In the event of bad weather such as rain, snow and fog, due to problems such as shortened visual distance and poor road conditions, when an accident occurs, it is impossible to provide vehicles behind. Timely and accurate early warning will cause secondary accidents to occur easily. In order to alarm in time when an accident occurs and improve the efficiency of road rescue, the existing highway alarm system adopts the method of vibration detection and alarm. Or use the amplitude of the vibration signal detected by the vibration sensor to determine the approximate location of the accident.
但是，这种方式通常是通过获取震动传感器的地址信息，或者是通过分析震动信号的振幅大小进行定位，并且震动传感器在运行过程中容易受到不相干因素的干扰，导致对于道路事故发生未知的定位精度差，并且容易出现误报警，造成道路救援资源的浪费。However, this method usually locates by obtaining the address information of the vibration sensor or analyzing the amplitude of the vibration signal, and the vibration sensor is easily disturbed by irrelevant factors during operation, resulting in unknown location of road accidents. The accuracy is poor, and false alarms are prone to occur, resulting in a waste of road rescue resources.
因此，需要对道路事故的检测和识别过程进行改进，从而通过一次检测判定过程即可准确地识别事故，并对事故车辆准确定位，这样，才能够在出现道路事故时，及时、准确地对后方车辆进行预警，并且能够准确告知救援人员具体的事故方位，以实现及时、快速救援，加快道路畅通。Therefore, it is necessary to improve the detection and identification process of road accidents, so that the accident can be accurately identified through a single detection and determination process, and the accident vehicle can be accurately located, so that when a road accident occurs, the rear The vehicle gives an early warning and can accurately inform the rescuers of the specific location of the accident, so as to achieve timely and rapid rescue and speed up the road flow.
如图1、2所示，本实施例对道路上的事故检测设置进行了改进，图中道路侧边的圆形代表震动传感器，方形代表雷达，并且针对该设置设计了对应的针对道路事故的识别方法。As shown in Figures 1 and 2, this embodiment improves the accident detection setting on the road. The circle on the side of the road in the figure represents the vibration sensor, the square represents the radar, and a corresponding road accident detection method is designed for this setting. recognition methods.
首先，改造道路中的检测装置设置。本实施例中，除了在道路上间隔布置震动传感器之外，还间隔布置了雷达。其中，震动传感器和雷达设置的间隔可以相同，也可以不同。例如，可以设置为震动传感器1a、震动传感器2a、雷达1a、震动传感器3a、震动传感器4a、雷达2a······或者是，震动传感器1b、雷达1b、震动传感器2b、雷达2b、震动传感器3b、雷达3b······又或者是，震动传感器1c、震动传感器2c、雷达1c、震动传感器3c、雷达2c、震动传感器4c······如图1、2所示，给出了两种不同的振动传感器和雷达的设置方式。First, the detection device settings in the road are modified. In this embodiment, in addition to the vibration sensors arranged at intervals on the road, radars are also arranged at intervals. The intervals set by the vibration sensor and the radar may be the same or different. For example, shock sensor 1a, shock sensor 2a, radar 1a, shock sensor 3a, shock sensor 4a, radar 2a... or shock sensor 1b, radar 1b, shock sensor 2b, radar 2b, shock Sensor 3b, Radar 3b...Or, vibration sensor 1c, vibration sensor 2c, radar 1c, vibration sensor 3c, radar 2c, vibration sensor 4c... As shown in Figs. 1 and 2, Two different vibration sensor and radar setups are given.
上述每个震动传感器和雷达的检测范围可以相同，也可以不同。例如，上述雷达1c的检测范围要大于雷达2c的检测范围。只要震动传感器与雷达的检测范围能够覆盖对应道路范围内，且不存在检测盲区，可以根据需要进行任意方式的设置。另外，所设置的震动传感器、雷达的安装应当尽量避开道路易发生碰撞的位置。The detection range of each of the above-mentioned shock sensors and radars may be the same or different. For example, the detection range of the above-mentioned radar 1c is larger than that of the radar 2c. As long as the detection range of the vibration sensor and the radar can cover the corresponding road range, and there is no detection blind spot, it can be set in any way as needed. In addition, the installation of vibration sensors and radars should avoid collision-prone locations on the road as much as possible.
每个震动传感器、雷达都有对应的编号信息，每个震动传感器、雷达能够通过相应的通信装置，与主控单元通信。本实施方式中，该主控单元可以为服务器，也可以为其他的能够管理若干个震动传感器和雷达的控制装置。本实施方式中，以服务器作为主控单元为例，震动传感器、雷达能够与服务器通信，从而组成了用于道路事故识别的物联网系统。并且，还可以建立控制节点，每个控制节点与若干个震动传感器和雷达通信连接，震动传感器、雷达通过LORA通信方式与该控制节点通信，该控制节点的控制器通过4G/5G/WIFI/以太网接入互联网从而实现与监控中心的服务器的通信过程。由于该通信过程为现有技术，故此处不再赘述。Each vibration sensor and radar has corresponding number information, and each vibration sensor and radar can communicate with the main control unit through a corresponding communication device. In this embodiment, the main control unit may be a server, or may be another control device capable of managing several vibration sensors and radars. In this embodiment, taking the server as the main control unit as an example, the vibration sensor and the radar can communicate with the server, thereby forming an Internet of Things system for road accident identification. In addition, a control node can also be established. Each control node is connected to several vibration sensors and radars. The vibration sensors and radars communicate with the control node through LORA communication. The controller of the control node communicates with the control node through 4G/5G/WIFI/Ethernet. The network is connected to the Internet to realize the communication process with the server of the monitoring center. Since the communication process is in the prior art, it will not be repeated here.
本实施例中，如图3所示，为本实施例中道路事故感知识别方法流程图。下面以震动传感器检测到震动信号的两种不同的情况，对道路事故进行识别的具体过程进行详细说明。In this embodiment, as shown in FIG. 3 , a flowchart of a road accident perception and identification method in this embodiment is shown. The specific process of identifying the road accident is described in detail below by taking two different situations in which the vibration sensor detects the vibration signal.
如图4所示，该禁止通行标志代表事故发生的地点，当发生事故时，距离其最近的震动传感器1a检测到了震动信息，而其他震动传感器并没有检测到震动信息，或者检测到的震动信息较弱，将其作为干扰信号滤除，震动传感器1a立即将检测到的该震动信息转换为震动信号，并通过无线通讯的方式将该震动信号发送至服务器，服务器根据预先设定的判断逻辑对该信号进行判定，初步判断是否发生事故，并且得到预判事故位置。本实施例中，服务器根据震动信号的大小对是否发生事故进行预判，当震动信号大于设定阈值时，判定发生事故，且以震动信号最大的震动传感器所处位置为预判事故位置。如图4所示，事故发生在某个震动传感器对应的位置处，该震动传感器检测到较强的震动信号，而其他相邻的震动传感器并没有检测到，则直接以该震动传感器的检测信息进行初步判定，而这种方式适用于事故正好发生在该震动传感器附近，检测到的震动信号较强，而相邻的其他震动传感器信号相对较弱的情况。As shown in Figure 4, the no-pass sign represents the location of the accident. When an accident occurs, the vibration sensor 1a closest to it detects vibration information, while other vibration sensors do not detect vibration information, or detect vibration information. If it is weak, filter it out as an interference signal, and the vibration sensor 1a immediately converts the detected vibration information into a vibration signal, and sends the vibration signal to the server through wireless communication. The signal is judged, whether an accident has occurred or not, and the pre-judged accident location is obtained. In this embodiment, the server prejudges whether an accident occurs according to the magnitude of the vibration signal. When the vibration signal is greater than the set threshold, an accident is determined, and the location of the vibration sensor with the largest vibration signal is used as the prejudgment accident location. As shown in Figure 4, the accident occurred at the position corresponding to a certain vibration sensor. The vibration sensor detected a strong vibration signal, but other adjacent vibration sensors did not detect it, and the detection information of the vibration sensor was directly used. A preliminary determination is made, and this method is suitable for the situation where the accident happened just near the shock sensor, the detected shock signal is strong, and the signals of other adjacent shock sensors are relatively weak.
如图5所示，如果在事故发生在两个震动传感器之间的道路上时，两个震动传感器都检测到了震动信号时，如果随便以其中的一个震动传感器检测到的震动信号进行判定，可能会由于震动信号相对较弱，造成误判的情况。因此，服务器根据两个震动传感器检测到的震动信号的强弱，判定是否发生道路事故的位置，以震动信号最大的震动传感器所处位置作为预判事故位置。同理，若相邻两个震动传感器的震动信号强度一致，则以相邻两个震动传感器的中间点为预判事故位置。As shown in Figure 5, if the accident occurred on the road between the two shock sensors, when both the shock sensors detected the shock signal, if the vibration signal detected by one of the shock sensors was used for judgment, it may be Because the vibration signal is relatively weak, it will cause misjudgment. Therefore, the server determines whether a road accident occurs according to the strength of the vibration signals detected by the two vibration sensors, and uses the location of the vibration sensor with the largest vibration signal as the predicted accident location. Similarly, if the vibration signal strengths of two adjacent vibration sensors are the same, the midpoint of the two adjacent vibration sensors is used as the predicted accident location.
并且，根据该预判事故位置，可以通过相应的算法设置，从而找到与该事故发生位置最近的雷达。当然，该事故发生位置必须处于该雷达的搜索范围内。Moreover, according to the predicted accident location, a corresponding algorithm can be set to find the radar closest to the accident location. Of course, the accident location must be within the radar's search range.
上述实施方式中，主要是根据震动信号的强弱预判定是否发生道路事故。为了能够更加快速、准确地进行与判定过程，本实施方式中，另外提出了采用训练好的贝叶斯分类器对事故进行预判的方式。In the above-mentioned embodiment, whether a road accident occurs is mainly pre-determined according to the strength of the vibration signal. In order to carry out and determine the process more quickly and accurately, in this embodiment, a method of using a trained Bayesian classifier to predict the accident is additionally proposed.
首先，统计某个时刻路段中发生交通事故的概率，作为先验概率P(X)，然后去统计事故发生时的撞击强度出现的概率作为后验概率P(Y|X)，因为震动幅度的大小与撞击强度呈正相关，由此可以计算出事故与震动强度的联合概率。该联合概率的计算公式为：P(X，Y)＝P(X|Y)P(Y)＝P(Y|X)P(X)，将震动传感器设定一个检测的最低阙值，可以滤除一些幅度较小的震动干扰。运用训练好的贝叶斯分类器做检测时，通过设定好的时间间隔，将信号以为数据包的形式传递到处理模块里，若里面的幅度超过了最低的检测阙值，则将该数据包内的信号的经过采样和量化变为离散信号，根据已经训练好的模型，计算该数据包内该阈值的信号出现的概率，记为后验概率P(Y)，由此可以去计算大于该阙值的信号出现时的概率P(X|Y)，即预判定发生交通事故的概率。First, count the probability of a traffic accident in a road section at a certain moment as the prior probability P(X), and then count the probability of the impact intensity at the time of the accident as the posterior probability P(Y|X). The magnitude is positively correlated with the impact intensity, from which the joint probability of accident and shock intensity can be calculated. The calculation formula of the joint probability is: P(X, Y)=P(X|Y)P(Y)=P(Y|X)P(X), setting the vibration sensor to a minimum detection threshold, you can Filter out some small vibration interference. When using the trained Bayesian classifier for detection, the signal is transmitted to the processing module in the form of data packets through the set time interval. If the amplitude inside exceeds the minimum detection threshold, the data will be The signal in the packet is sampled and quantized into a discrete signal. According to the trained model, the probability of the occurrence of the threshold signal in the data packet is calculated, which is recorded as the posterior probability P(Y). The probability P(X|Y) when the threshold signal appears, that is, the probability of predicting the occurrence of a traffic accident.
在服务器判定发生了事故后，则根据该预判事故位置，找到与该预判事故位置附近的雷达1a，并向该雷达1a发送控制命令，控制雷达1a开启。本实施例中，服务器中存储有每个震动传感器和雷达对应的编号、排布信息。After the server determines that an accident has occurred, it finds a radar 1a near the predicted accident location according to the predicted accident location, and sends a control command to the radar 1a to control the radar 1a to be turned on. In this embodiment, the number and arrangement information corresponding to each vibration sensor and radar are stored in the server.
雷达1a开启后，开始搜索道路范围内的静止目标。本实施例中，雷达搜索道路范围内的静止目标可以通过以下方式实现：在道路中无车辆行驶或停止的情况下，通过雷达进行扫描，获取雷达目标区域内的回波信号，作为标准信号进行存储；在道路中发生事故时，雷达扫描获取的回波信号与该标准信号进行比对，如果存在的差异大于设定值，则认为在道路范围内搜索到静止目标，否则，认为未搜索到静止目标。雷达在完成搜索后，将搜索结果发送至服务器。After the radar 1a is turned on, it starts to search for stationary targets within the road range. In this embodiment, the radar searches for stationary targets within the road range in the following manner: when there is no vehicle running or stopping on the road, scanning is performed by the radar to obtain echo signals in the radar target area, which are used as standard signals for Storage; when an accident occurs on the road, the echo signal obtained by the radar scan is compared with the standard signal. If the difference is greater than the set value, it is considered that a stationary target has been searched within the road range, otherwise, it is considered that no search has been found. stationary target. After the radar completes the search, it sends the search results to the server.
服务器根据雷达的搜索结果，确定是否发生道路事故：如果雷达在道路范围内搜索到静止目标，则最终确定发生道路事故，得到最终的事故位置，并进行后续的道路预警和救援工作；否则，判定未发生道路事故。The server determines whether a road accident has occurred according to the search results of the radar: if the radar searches for a stationary target within the road range, it will finally determine that a road accident has occurred, obtain the final accident location, and carry out subsequent road warning and rescue work; otherwise, determine There were no road accidents.
上述实施方式中，利用雷达进行搜索时，主要是利用回波信号与标准信号的差异判断道路内是否存在静止目标的方式，为了实现更加准确地判断，还提供了另外一种确定道路范围内是否存在静止目标的方式，即通过雷达成像的方式搜索道路范围内的静止目标。例如，在得到预判事故位置后，找到对应的可搜索的雷达，通过雷达成像技术，雷达采集模块采集道路图像，获取道路图像中的点云数据，通过对该点云数据进行分析，分析道路范围内是否存在车辆形状的静止目标，从而实现对道路范围内的静止目标的搜索。In the above-mentioned embodiment, when searching by radar, the difference between the echo signal and the standard signal is mainly used to judge whether there is a stationary target on the road. There is a method of stationary targets, that is, to search for stationary targets within the road range by means of radar imaging. For example, after obtaining the predicted accident location, find the corresponding searchable radar, through radar imaging technology, the radar acquisition module collects road images, obtains point cloud data in the road images, and analyzes the road by analyzing the point cloud data. Whether there is a stationary target in the shape of a vehicle within the range, so as to realize the search for stationary targets within the road range.
作为对上述实施方式的进一步改进的方案，雷达可以包括雷达探测、雷达测距、雷达成像装置的多种并用的方式，以实现上述道路范围内静止目标搜索、定位的目的。As a further improved solution to the above-mentioned embodiment, the radar may include a combination of radar detection, radar ranging, and radar imaging devices to achieve the purpose of searching and locating stationary targets within the above-mentioned road range.
以上所述，仅为本发明的较佳实施例，并不用以限制本发明，本发明的专利保护范围以权利要求书为准，凡是运用本发明的说明书及附图内容所作的等同结构变化，同理均应包含在本发明的保护范围内。The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. The scope of patent protection of the present invention is subject to the claims. Any equivalent structural changes made by using the contents of the description and drawings of the present invention, Similarly, all should be included in the protection scope of the present invention.
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