CN115690196A - Highway driving vehicle collision point positioning application based on edge function and inpogon function - Google Patents
Highway driving vehicle collision point positioning application based on edge function and inpogon functionDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及交通运输安全工程领域，特别涉及一种基于边沿函数和inpolygon函数的高速公路行驶车辆碰撞点定位应用。The invention relates to the field of transportation safety engineering, in particular to an application for locating collision points of expressway vehicles based on edge functions and inpolygon functions.
背景技术Background technique
本发明为《CN 205644987 U一种基于GPS和GSM平台的高速公路车载群导航系统》、《CN 206862372 U一种高速公路行驶车辆的厘米级在线定位装置》、《CN 211827263 U一种基于实物和数字的高速公路运动车辆仿真模型》补充和外延。The present invention is "CN 205644987 U a kind of expressway car group navigation system based on GPS and GSM platform", "CN 206862372 U a kind of centimeter-level online positioning device for expressway driving vehicles", "CN 211827263 U a kind of based on physical objects and Supplement and extension of digital expressway moving vehicle simulation model.
现在的汽车碰撞试验场，对于撞点判断都采用摄像机主视、俯视角度高速摄影法，随后逐帧图像识别，根据图像上的交点用以判断撞击的点位置、时间和形变等参数，由于受到场地限制，一般该试验都设置于室内，且设备投资成本过高，由于存在摄像机广角镜头的鱼眼效应和视角局限，所得到的精度也不高，更无法实现在线不同部位碰撞的路测值获取。The current automobile crash test field adopts the high-speed photography method of camera main view and top view angle for the judgment of the collision point, and then recognizes the image frame by frame, and judges the position, time, deformation and other parameters of the collision point according to the intersection point on the image. Generally, the test is set up indoors, and the equipment investment cost is too high. Due to the fisheye effect of the camera's wide-angle lens and the limited viewing angle, the accuracy obtained is not high, and it is impossible to obtain the road test value of different parts of the line.
任何物体的碰撞都可视为二个以上物体的时空交集。The collision of any object can be regarded as the space-time intersection of two or more objects.
中学数学我们就学过：二次函数y=ax2+bx+c、直线方程式、椭圆方程式、双曲线、抛物线方程式…,当二个以上方程式产生交点值时，该交点值则满足所有方程的解值。We have learned mathematics in middle school: quadratic function y=ax2 +bx+c, straight line equation, ellipse equation, hyperbola, parabola equation... When two or more equations produce an intersection value, the intersection value satisfies the solution of all equations value.
在CAD软件中，预置了许多图形的数字模块，如设计人员想要按比例画出一车辆的俯视图时，按下图形模板按钮（假设为椭圆形），此时系统后台图形模块便会调出椭圆形的函数方程式：f(x,y)=x2/a2+y2/b2，(焦点在x轴，a>b>0)；当人们完成按下、拖曳、释放鼠标键系列操作动作后，系统便会自然采集到了a、b等背景数值，从而确立所设计的椭圆的形态和尺寸，形成的矢量图在等比例放大、缩小或旋转等情形下都不会失真。In CAD software, many graphic digital modules are preset. For example, when a designer wants to draw a top view of a vehicle in proportion, he presses the graphic template button (assumed to be an ellipse), and then the system background graphic module will be adjusted. The function equation of the ellipse: f(x,y)=x2 /a2 +y2 /b2 , (the focus is on the x-axis, a>b>0); when people finish pressing, dragging and releasing the mouse button After a series of operations, the system will naturally collect background values such as a, b, etc., thereby establishing the shape and size of the designed ellipse, and the formed vector diagram will not be distorted in situations such as zooming in, zooming out, or rotating in equal proportions.
在高速公路建造和汽车制造中，都采用了的CAD设计（见图1、图2），不难看出数字化时代，无论是高速公路，还是行驶在高速公路上的车，都可以视作复合、分段、多重函数式组合应用，同时车-车碰撞、车-路碰撞、车体跃出道路事件，也满足数字集合架构，符合inpolygon函数的应用条件。In highway construction and automobile manufacturing, state-of-the-art CAD design is used (see Figure 1 and Figure 2). Segmented, multi-functional combination applications, while car-car collisions, car-road collisions, and car body jumping out of the road events also meet the digital set architecture and meet the application conditions of the inpolygon function.
发明内容Contents of the invention
针对传统技术手段存在缺陷，本发明运用逆向工程、基础函数和数字集合原理，旨在提出一种基于边沿函数和inpolygon函数的高速公路行驶车辆碰撞点定位应用。Aiming at the defects of the traditional technical means, the present invention uses reverse engineering, basic functions and digital set principles to propose an application for locating collision points of expressway vehicles based on edge functions and inpolygon functions.
本发明解决问题所采用的技术方案是: 一种基于边沿函数和inpolygon函数的高速公路行驶车辆碰撞点定位应用，包括道路事发点定位、车体撞点定位以及车体跃出道路点定位三部分，The technical solution adopted in the present invention to solve the problem is: a collision point positioning application for vehicles traveling on expressways based on edge functions and inpolygon functions, including three parts: road accident point positioning, vehicle body collision point positioning and vehicle body jumping out of the road point positioning ,
所述的道路事发点定位是指：道路座标体系中，车-车碰撞时的初始点座标位置，车-路碰撞时的初始点座标位置；The location of the road accident point refers to: in the road coordinate system, the coordinate position of the initial point when the car-vehicle collides, and the coordinate position of the initial point when the car-road collides;
所述的车体撞点定位是指：车体座标体系中，车辆边沿在车-车碰撞、车-路碰撞时的初始点座标位置；The vehicle body collision point positioning refers to: in the vehicle body coordinate system, the initial point coordinate position of the vehicle edge during vehicle-vehicle collision or vehicle-road collision;
所述车体跃出道路点定位是指：在道路座标体系中，车体边沿函数与道路隔离带外侧面边沿函数之间的交点座标。The positioning of the point where the vehicle body jumps out of the road refers to: in the road coordinate system, the coordinates of the intersection between the edge function of the vehicle body and the edge function on the outer side of the road median.
所述的边沿函数，包括道路边沿函数和车体边沿函数，车体边沿函数是指：出厂车辆（非改装）俯视图中最外沿封闭线条的函数化，道路边沿函数是指：道路二边隔离带的内外二侧面（含临时设置的正向封道隔离墩）的函数化。Said edge function includes road edge function and car body edge function. The car body edge function refers to: the functionalization of the outermost closed line in the top view of the ex-factory vehicle (non-modified), and the road edge function refers to: the separation of two sides of the road Functionalization of the inner and outer sides of the belt (including the temporarily set forward road closure isolation pier).
所述的边沿函数可以是独立的整体函数，也可以是由不同分段函数组合形成的复合函数。The marginal function may be an independent integral function, or a composite function formed by combining different segmental functions.
所述的车-车碰撞时的初始点座标是指：道路座标体系中，二个以上车体边沿函数之间的交点座标。The initial point coordinates at the time of vehicle-vehicle collision refer to the intersection coordinates between two or more vehicle body edge functions in the road coordinate system.
所述车-路碰撞时的初始点座标是指：道路座标体系中，车体边沿函数与道路隔离带内侧面边沿函数之间的交点座标。The initial point coordinates during the vehicle-road collision refer to the coordinates of the intersection between the vehicle body edge function and the inner side edge function of the road median in the road coordinate system.
包括以下步骤：Include the following steps:
A. 将CAD车辆设计图中，俯视图里的车体边沿线条函数化；A. Functionalize the car body edge lines in the top view in the CAD vehicle design drawing;
B. 将CAD道路设计图中，俯视图隔离带内外侧面边沿线条函数化；B. Functionalize the inner and outer side edge lines of the isolation zone in the top view in the CAD road design drawing;
C．建立车体座标体系中的函数化矢量车型图库；C． Establish a library of functionalized vector models in the car body coordinate system;
D. 建立道路座标体系中的高速公路数字函数地图；D. Establish the highway digital function map in the road coordinate system;
E．建立座标采集、inpolygon函数后台管理系统运行，确立车-车碰撞、车-路碰撞、车体跃出道路事发点座标，车体碰撞点和部位；E． Establish coordinate collection and inpolygon function background management system operation, establish car-car collision, car-road collision, car body jumping off the road accident point coordinates, car body collision point and location;
F. 事发点周边监控及车辆上行车记录仪摄像头追踪；F. Surveillance around the incident site and camera tracking on the vehicle’s driving recorder;
G. 后台管理运行系统的数据图像映射和云端上传；G. Data image mapping and cloud upload of the background management operating system;
H. 事发点周边车辆预警。H. Early warning of vehicles around the incident site.
本发明运用逆向工程、基础函数和数字集合原理，不但把道路座标体系、车体座标体系合并为一个车路协同的运营体系，而且将尘封于档案的高速公路建造和汽车制造、设计历史数据予以了充分挖掘；在节省道路建造、管理、运营、维护成本的同时，也节省了车辆本身的制造成本；符合当今大数据时代的社会需求。The present invention uses the principle of reverse engineering, basic functions and digital sets, not only to combine the road coordinate system and vehicle body coordinate system into a vehicle-road collaborative operation system, but also to seal the history of expressway construction, automobile manufacturing and design in archives. The data has been fully excavated; while saving the cost of road construction, management, operation and maintenance, it also saves the manufacturing cost of the vehicle itself; it meets the social needs of today's big data era.
附图说明Description of drawings
图1为高速公路现状（全景）示意图；Figure 1 is a schematic diagram of the current situation (panorama) of the expressway;
图2为高速公路现状（局放）示意图；Figure 2 is a schematic diagram of the current situation (partial discharge) of the expressway;
图3、4、5、6为本发明数字集合架构示意图；3, 4, 5, and 6 are schematic diagrams of the digital set architecture of the present invention;
图7为整车出厂标准产品主视图（卡车）；Figure 7 is the front view of the standard product of the whole vehicle (truck);
图8为整车出厂标准产品俯视图（卡车）；Figure 8 is a top view of the standard product of the whole vehicle (truck);
图9为整车出厂标准产品主视图（客车）；Figure 9 is the front view of the standard product of the whole vehicle (passenger car);
图10为整车出厂标准产品俯视图（客车）；Figure 10 is the top view of the standard product of the whole vehicle (passenger car);
图11为本发明标准产品俯视边沿函数图（卡车）；Fig. 11 is a top view edge function diagram (truck) of the standard product of the present invention;
图12为本发明标准产品俯视边沿函数图（客车）；Fig. 12 is a top view edge function diagram (passenger car) of the standard product of the present invention;
图13为本发明高速公路结构示意图（模型）；Fig. 13 is a schematic diagram (model) of the highway structure of the present invention;
图14为本发明高速公路边沿函数图（模型）。Fig. 14 is a highway edge function diagram (model) of the present invention.
具体实施方式Detailed ways
图3-图6为本发明数字集合架构示意图：Figure 3-Figure 6 is a schematic diagram of the digital set architecture of the present invention:
图3表述为在某一时段(t)内，A、B是前后行驶在高速公路C上的二辆车，A车-B车关联；Figure 3 shows that in a certain period of time (t), A and B are two cars driving on the expressway C before and after, and the A car-B car is related;
A车体（椭圆）函数式: f(xA,yA)=xA2/aA2+yA2/bA2A body (ellipse) function formula: f(xA, yA )=xA2 /aA2 +yA2 /bA2
B车体（椭圆）函数式: f(xB,yB)=xB2/aB2+yB2/bB2B body (ellipse) function formula: f(xB, yB )=xB2 /aB2 +yB2 /bB2
C高速公路函数式: f(xC,yC)C expressway function: f(xC, yC )
数字集合关联: f(xC,yC)= {f(xA,yA),f(xB,yB)}Number set association: f(xC, yC )= {f(xA, yA ),f(xB, yB )}
事件关联：正常行驶（或堵车）Event correlation: normal driving (or traffic jam)
图4表述为在某一时段(t)内，A、B是前后行驶在高速公路C上的二辆车，A车-B车碰撞；Figure 4 shows that in a certain period of time (t), A and B are two cars driving on the expressway C before and after, and the A car-B car collides;
A车体（椭圆）函数式: f(xA,yA)=xA2/aA2+yA2/bA2A body (ellipse) function formula: f(xA, yA )=xA2 /aA2 +yA2 /bA2
B车体（椭圆）函数式: f(xB,yB)=xB2/aB2+yB2/bB2B body (ellipse) function formula: f(xB, yB )=xB2 /aB2 +yB2 /bB2
C高速公路函数式: f(xC,yC)C expressway function: f(xC, yC )
数字集合关联:f(xC,yC)={f(xA,yA),f(xB,yB)}且f(xA,yA)∩f(xB,yB) 撞点座标:xA=xByA=yBNumber set association: f(xC, yC )={f(xA, yA ),f(xB, yB )} and f(xA, yA )∩f(xB, yB ) Collision point coordinates: xA =xB yA =yB
事件关联：B车追尾A车Event correlation: car B rear-ends car A
图5表述为在某一时段(t)内，A车行驶在高速公路C上，A车-C道路碰撞；Figure 5 shows that in a certain period of time (t), car A is driving on expressway C, and car A-C collides with the road;
A车体（椭圆）函数式: f(xA,yA)=xA2/aA2+yA2/bA2A body (ellipse) function formula: f(xA, yA )=xA2 /aA2 +yA2 /bA2
C高速公路函数式: f(xC,yC)C expressway function: f(xC, yC )
数字集合关联:f(xA,yA)∩f(xC,yC) 撞点座标：xA=xCyA=yCNumber set association: f(xA, yA )∩f(xC, yC ) Collision point coordinates: xA =xC yA =yC
事件关联：A车撞击隔离带Event connection: Car A hits the isolation belt
图6表述为在某一时段(t)内，A车行驶在高速公路C上，A车体跃出C道路；Figure 6 shows that in a certain period of time (t), car A is driving on expressway C, and car body A jumps out of road C;
A车体（椭圆）函数式: f(xA,yA)=xA2/aA2+yA2/bA2A body (ellipse) function formula: f(xA, yA )=xA2 /aA2 +yA2 /bA2
C高速公路矢量图数字式: f(xC,yC)C highway vector diagram digital: f(xC, yC )
数字集合关联: f(xA,yA) ∉f(xC,yC)Number set association: f(xA, yA ) ∉f(xC, yC )
事件关联：A车穿越隔离带Event related: A car crosses the isolation zone
基于数字集合理论，本发明采用inpolygon函数（位于多边形区域边缘内部或边缘上的点），将上述车体与道路关联事件转化为逻辑门电路，继而得出撞点座标信号。Based on the digital set theory, the present invention adopts the inpolygon function (points located inside or on the edge of the polygonal area) to convert the above-mentioned car body and road related events into logic gate circuits, and then obtain the coordinate signal of the collision point.
以图13、图14所示作为本发明最佳实施例具体阐述实施方式：Shown in Fig. 13 and Fig. 14 as the best embodiment of the present invention, the implementation mode is specifically described:
CAD从函数式到线条图，再由线条图到CAM、CNC实物加工出来，本发明再从实物回到函数式，犹如3D打印从数字到实物，再通过3D激光扫描再回到数字，这便是数字化革命带来的逆向工程，虽然会有精度误差，但都是在毫米级别，汽车的整体制造精度在毫米级，高速公路的建造精度在厘米级，故本发明的精度也应在厘米级范围。CAD goes from functional formula to line drawing, and then from line drawing to CAM and CNC to process the real object. The present invention returns the real object to the functional formula, just like 3D printing from digital to real object, and then back to digital through 3D laser scanning, which is convenient It is reverse engineering brought about by the digital revolution. Although there will be precision errors, they are all at the millimeter level. The overall manufacturing accuracy of automobiles is at the millimeter level, and the construction accuracy of expressways is at the centimeter level. Therefore, the accuracy of the present invention should also be at the centimeter level. scope.
目前，无论手机还是车载导航仪普遍采用的是北斗(GPS)卫星+差分修正法，以地面静态标准座标值来修正动态卫星偏差值（即以地基定位修正天基定位）。At present, the Beidou (GPS) satellite + differential correction method is generally used in both mobile phones and car navigators, and the dynamic satellite deviation value is corrected with the ground static standard coordinate value (that is, the space-based positioning is corrected by ground-based positioning).
而本发明与上述系列专利都是基于地基定位出发，既然高速公路本身是采用了卫星静态多次测量建造的，那么为何不能直接采用精度在厘米级高速公路作为行驶车辆的静态参照物，而去重复接受来自几千公里的卫星授时定位，动态信号和远距离都会存在信号干扰和衰减因素。However, the present invention and the above-mentioned series of patents are based on ground-based positioning. Since the expressway itself is built using multiple static satellite measurements, why can’t it directly use the expressway with centimeter-level accuracy as the static reference object for driving vehicles instead of Repeatedly receiving satellite timing and positioning from thousands of kilometers, there will be signal interference and attenuation factors in dynamic signals and long distances.
本发明与上述系列专利应用的方法是：卫星定方向，地面定精度。比如当不需要了解对面反方向车道时，采用矢量法过滤，便可以轻易的切换（见图2）。The method used by the present invention and the above-mentioned series of patents is: the satellite determines the direction, and the ground determines the accuracy. For example, when there is no need to know the opposite lane, it can be easily switched by using the vector method to filter (see Figure 2).
本发明运用车体边沿函数和道路边沿函数的交集法，来确定高速公路行驶车辆碰撞点定位，无须投入重大资金成本，利用大数据就能解决现有技术存在的弊端，工作效率将极大提高。The invention uses the intersection method of the vehicle body edge function and the road edge function to determine the location of the collision point of the vehicle traveling on the expressway, without investing a large capital cost, and can solve the drawbacks of the existing technology by using big data, and the work efficiency will be greatly improved .
如：传统路政管理部门的道路采样大都是采用摄像视频显示，依赖于人力视觉巡视、电话上报进行屏幕图像切换，反应迟缓，在显示屏幕墙上远距离调取的视频分辨率低下，其视角同样存在盲区，管理人员劳动强度非常高（每天要巡视几千桢）。本发明在高速公路发生碰撞事故时，系统的弹窗功能可自动弹出道路碰撞点座标、自动转向相关路段摄像头、自动调取事发现场周边各车的行车记录仪摄像头图像，无需繁琐的人工操作，从而节省大量的社会成本！For example, the road sampling of the traditional road management department mostly adopts camera video display, relying on human visual inspection, telephone reporting to switch screen images, slow response, low resolution of video retrieved from a long distance on the display screen wall, and the same viewing angle There are blind spots, and the labor intensity of managers is very high (thousands of frames are inspected every day). In the event of a collision accident on the expressway, the pop-up window function of the system can automatically pop up the coordinates of the road collision point, automatically turn to the camera on the relevant road section, and automatically retrieve the images of the driving recorder cameras of the cars around the scene of the accident without cumbersome manual work. operation, thereby saving a lot of social costs!
现代科技使得AR、VR、网络游戏业得到了极大提高，网上具有函数转换器、函数绘图器的软件厂家和种类有许多，如：Mathematica，Matlab，Python等厂，具体方法有描点法、直线法、曲线法、切点法等，其原理在于尽可能近似原始函数值，由于高速公路是以公里为计量单位，而车体则是以米为计量单位，二者相差千倍，将道路与车体座标体系合并为一个运行座标体系后，道路的边沿函数相对于车体来说几乎是直线方程式：y=kx+b。Modern technology has greatly improved the AR, VR, and online game industries. There are many software manufacturers and types with function converters and function plotters on the Internet, such as: Mathematica, Matlab, Python and other factories. The specific methods include point drawing, straight line method, curve method, tangent point method, etc., the principle of which is to approximate the original function value as much as possible. Since the expressway uses kilometers as the measurement unit, while the car body uses meters as the measurement unit, the difference between the two is a thousand times. After the car body coordinate system is merged into one running coordinate system, the edge function of the road is almost a straight line equation relative to the car body: y=kx+b.
犹如蚂蚁爬在大象身上，车体实际是行驶在呈曲平面的高速公路上（见图13），虽然存在着曲面坡度的高度差问题，但是在Δt时间段，Δs距离内，当α＜3°时，按tgα≈sinα定义，车体与道路切点始终处于近视等高线上，所以当合并为一个运行座标体系后，平面座标与曲平面座标，相对误差精度存在，但不会很大。Just like an ant crawling on an elephant, the car body is actually driving on a curved expressway (see Figure 13). Although there is a problem of height difference in the slope of the curved surface, in the Δt time period and within the Δs distance, when α< At 3°, according to the definition of tgα≈sinα, the tangent point between the car body and the road is always on the contour line of myopia, so when combined into a running coordinate system, the relative error accuracy of the plane coordinates and the curved plane coordinates exists, but It won't be very big.
以上所述仅为本发明的一较佳实施例，不能以其限定本发明的保护范围, 本发明还可有其他的结构变化,只要是依本发明的保护范围所作的均等变化与修饰,均应属本发明涵盖的范围内。The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention cannot be limited by it. The present invention also has other structural changes, as long as it is an equal change and modification made according to the protection scope of the present invention. Should belong to the scope covered by the present invention.
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