A method for identifying road sections passing through villages and towns and a method for checking road traffic safety hazards

Abstract

The present invention provides a method for identifying a road section passing through a village and a town and a method for checking road traffic safety hazards, and belongs to the field of road safety technology. The method for checking hidden dangers includes constructing a knowledge system for checking road traffic safety hazards in a road section passing through a village and a town, establishing standardized data collection, completing data cleaning of the road section to be checked, completing calibration of road section road pile numbers and road section information, confirming the scene of the road section passing through a village and a town, creating a standardized method for checking safety hazards in the road section passing through a village and a town, and forming a conclusion for checking road traffic safety hazards in the road section passing through a village and a town. The present invention aims at the problems existing in the current method for checking road traffic safety hazards in the road section passing through a village and a town, constructs a knowledge system for checking road traffic safety hazards in the road section passing through a village and a town, cleans the road section and calibrates the pile numbers and the road section based on standardized data collection, identifies and determines the checking scene through data algorithm, conducts standardized checking of safety hazards, and generates a conclusion for checking road traffic safety hazards in the road section passing through a village and a town.

Description

Technical Field

[0001] The present invention belongs to the technical field of road safety, and in particular relates to a method for identifying a road section passing through a village or town and a method for troubleshooting road traffic safety hazards. Background Art

[0002] In recent years, with the acceleration of the process of urban-rural integration, rural transportation has shown new changes and trends. In addition, the relatively weak rural traffic safety management, lack of road facilities and relatively poor safety awareness of the masses have led to frequent traffic accidents on rural roads passing through villages and towns. As a special type of road, there are many pedestrians and vehicles crossing the road frequently, and the driving direction is uncertain, which leads to a high accident rate and mortality rate on the roads passing through villages and towns. The Ministry of Public Security has identified the roads passing through villages and towns as one of the key sections for road traffic safety hazard inspection, requiring that the safety protection of the roads passing through villages and towns be improved, and concentrated inspection and rectification actions be carried out on the roads passing through villages and towns.

[0003] The article “Countermeasures for preventing and controlling traffic accidents on rural roads passing through villages and towns and at level crossings” (Sun Guanglin, Road Traffic Management, 2021, (02): 26-29) in the journal Road Traffic Management analyzes the characteristics of accidents and the pain points of prevention and control on rural roads passing through villages and towns. Most of the articles mention prevention and control measures and ideas after the accident, but lack an overall investigation process and method for roads passing through villages and towns.

[0004] The article “Research on the Investigation and Management of Traffic Safety Risks on Road Sections Passing Through Villages and Towns in Rural Areas” (Hu Yanbin, Zhou Zhiqiang; Road Traffic Management, 2021, (09): 34-35) in the journal Road Traffic Management, focuses on human on-site inspections to investigate the traffic safety facilities on the roads. This solution requires personnel to arrive at the site for investigation, and the investigation is not comprehensive enough.

[0005] The patent number CN202111005220.X discloses a full-scenario road traffic safety hazard inspection method and inspection system. For various scenarios, various front-end devices are used to collect road condition information, and pictures are used to determine whether there are safety hazards on the road section. The patent specifically describes the road safety hazard inspection process, but does not involve the system's data processing, including road section cleaning, pile number calibration and road section calibration, and does not have an identification algorithm for passing through villages and towns.

[0006] In general, the current inspection of road traffic safety hazards on sections passing through villages and towns focuses on personnel arriving at the scene to determine whether there are safety hazards on the road section as a whole. The inspection method lacks theoretical support and a detailed analysis of the detailed hazard points within the sections passing through villages and towns. The inspection results are difficult to effectively promote relevant departments to carry out road traffic safety hazard inspections on sections passing through villages and towns. Summary of the invention

[0007] The present invention provides a method for identifying road sections passing through villages and towns and a method for checking road traffic safety hazards. The method for identifying road sections passing through villages and towns is designed to determine the starting and ending positions of the road sections passing through villages and towns, and a knowledge system for checking road traffic safety hazards in the road sections passing through villages and towns is constructed. Based on standardized data collection, the road sections are cleaned and the pile numbers and road sections are calibrated. After identifying and determining the checking scene, standardized checking of safety hazards is carried out, and a conclusion on checking road traffic safety hazards in the road sections passing through villages and towns is generated, so as to solve the above-mentioned problems of the prior art.

[0008] To achieve the above purpose, the technical solution of the present invention is:

[0009] A method for identifying a road section passing through a village or town comprises the following steps:

[0010] Step 1: Install the laser ranging sensor 50 cm above the ground and perpendicular to the horizontal plane, where the horizontal plane is the ground surface; the laser ranging sensor is a laser radar with a micro high-speed ranging module group;

[0011] Step 2: The vehicle is driven at a constant speed of 40 km / h along the road, and the laser ranging sensor starts working and collecting data;

[0012] Step 3: Send all the collected information to the computer for statistical analysis;

[0013] Step 4: Observe and judge point A i Under the same transmission distance, data duration t i Is it greater than 0.27s?

[0014] If i <0.27s, let i=i+1, t=t+Δt, where Δt is the data collection time interval, and return to Step 4;

[0015] If i ≥0.27s, it is considered a house;

[0016] Step 5: Observe and judge point A i Whether there are five or more consecutive point data within the last 90 seconds, and the duration t is greater than or equal to 0.27s:

[0017] If yes, then the section is considered as a road section passing through a village or town;

[0018] If not, it is deemed that the section is not a road section passing through a village or town.

[0019] Preferably, in step 4, the default minimum length of the house is 3m, and when the vehicle speed is 40km / h, t≈0.27s.

[0020] The present invention also provides a method for troubleshooting road traffic safety hazards, comprising the following steps:

[0021] (1) Relying on national standards, industry specifications, and departmental documents related to road traffic safety, a knowledge system for the inspection of safety hazards on roads through villages and towns is established, covering basic information, road technical indicators, traffic signs, traffic markings, traffic safety facilities, traffic organization, and scientific and technological control facilities; it also includes the types of inspection items, hazard identification standards, location information of hazard inspection points, hazard content descriptions, hazard pictures, and governance suggestions;

[0022] (2) Road perception and surveying technology based on new multi-dimensional angle sensors, including high-precision Beidou positioning, multi-axis gyroscopes, and the application of big data architecture and analysis technology to form multi-dimensional structured data of the road itself;

[0023] (3) Relying on the images, location, and time-related data automatically collected by the vehicle-side equipment, the road information is digitized and the data is mapped based on the GPS information of the images;

[0024] (4) Use the images of the main camera and the right camera in the front-end acquisition device to identify the road milestones and 100-meter piles through images, and establish electronic pile numbers for each picture to provide a data basis for hidden danger inspection, and can be manually confirmed for a second time;

[0025] (5) When conducting road traffic safety hazard inspections on sections of roads that pass through villages and towns, determine the corresponding starting and ending point information of the sections of roads that pass through villages and towns, and use maps and manual assistance to double-check;

[0026] According to the above method, identify the road section passing through the village and town;

[0027] Based on the image recognition and map, check whether there are archways and village signs around the road to confirm whether it is a road section that passes through a village or town, and mark it on the map;

[0028] 1) Construct a dataset of recognized objects, thereby obtaining a dataset of matting images of archways and village signs;

[0029] 2) Using background learning methods to train and learn, a model for dividing archways and village signs in feature space is generated;

[0030] 3) Import the picture into the background algorithm to identify the scene image;

[0031] 4) Finally, the archway and village signs in the scene image are recognized to obtain the result;

[0032] 5) When a memorial arch is identified, it is considered to be a road section passing through a village or town; when the first village sign is identified, it is considered to be the starting point of the road section passing through a village or town; when the village sign is identified again, it is considered to be the end point of the road section passing through a village or town;

[0033] The collected data is cyclically judged through the data discrimination algorithm of the road section passing through the village and town, and the starting and ending position information of the road section passing through the village and town is finally determined, completing the identification of the road section passing through the village and town at the data level;

[0034] (6) Create a standardized method for checking safety hazards on roads that pass through villages and towns. Based on the established knowledge system for checking road traffic safety hazards, check road traffic safety hazards on roads that pass through villages and towns from different aspects, including road technical indicators, traffic signs, traffic markings, traffic safety facilities, traffic organization, and scientific and technological control facilities;

[0035] (7) Form conclusions on the inspection of road traffic safety hazards on sections of roads passing through villages and towns, including a report on the inspection process of road traffic safety hazards on sections of roads passing through villages and towns, a list of safety hazards on sections of roads passing through villages and towns, and an overall report based on the inspection of hazards.

[0036] Preferably, the basic information in step (1) includes road section speed limit, lane allocation, and isolation form; and the road technical indicators include sight distance, cross-section design, and turning radius.

[0037] Preferably, the traffic signs in step (1) include village signs for the up and down directions, speed limit signs and speed limit release signs; the traffic organization includes the mixed traffic of heavy freight vehicles on the road section and the surrounding special attention points; and at the same time, the scientific and technological control facilities are checked.

[0038] Preferably, the step (2) is based on intelligent front-end equipment, by deploying multiple high-definition cameras on the modified vehicle to collect multi-view high-frequency road image data from different directions such as the left front, the front, and the right front; using a GPS measuring instrument to collect and obtain GPS information of the vehicle's driving process; using a speed sensor to measure the vehicle speed information; using a drone to obtain a topographic view; and using a laser ranging sensor to collect sensing distance data.

[0039] Preferably, in the step (4), when performing manual secondary confirmation, it includes manually finding an image with any milestone in the main image, taking the right camera image in the acquisition device as the reference, and pressing a button to calibrate the milestone in the lower center position. The image is assigned the electronic stake number displayed in the image. According to the stake number information, the background automatically calculates the stake numbers corresponding to all images and determines the uplink and downlink directions; calibrates the basic information of the road, including the name of the section, the area to which it belongs, the jurisdiction unit, the uplink direction, the downlink direction, the speed limit, the starting and ending point coordinates, the mileage checked, the data collection time, the number of motor vehicle lanes, the presence or absence of a central divider, the form of the central divider, the presence or absence of a non-motor vehicle lane, the form of motor vehicle and non-motor vehicle separation, the width of the motor vehicle lane, and the width of the non-motor vehicle lane.

[0040] Preferably, the steps for checking road safety hazards on the road section passing through villages and towns in step (6) are as follows:

[0041] Construct a basic information database containing traffic signs, traffic markings, safety facilities, safe sight distance, traffic organization safety hazard inspection and basic information of the road section to be inspected and import it into the computer system background. Based on the intelligently collected image data and the above scene recognition steps, determine the starting point or end point of the road section passing through the village and town as the reference point P o , combining intelligent algorithms with human assistance to determine the best viewing angle for road hazard inspection best , where P best =P o ±l s , l s The distance or range between the inspection points of traffic signs, traffic markings, safety facilities, and traffic organization specified in national standards and the reference point; select the relevant data of the image of the hidden danger inspection target point, conduct hidden danger inspection on the road technical indicators, traffic signs, traffic markings, safety facilities, and traffic organization, and manually increase or decrease the adjustment l s value, confirm the hidden danger details at the point, manually select the inspection items, the hidden danger standards are automatically generated, and the hidden danger content details are entered and illustrated.

[0042] Preferably, the road traffic safety hazard inspection process report for sections passing through villages and towns summarizes the inspection results of technical indicators, traffic signs, traffic markings, traffic safety facilities, traffic organization, and scientific and technological control facilities of the sections passing through villages and towns, and its role is to ensure the integrity and correctness of the inspection process; the safety hazard list for sections passing through villages and towns and the overall report based on the hazard inspection analyze the existing hazard contents from part to whole, and its role is to view the hazard inspection conclusions within different permissions and scopes in response to different user business needs.

[0043] The beneficial effects of the present invention are:

[0044] The present invention is based on the principle of promoting relevant departments to carry out road traffic safety hazard inspection on sections passing through villages and towns, constructs a knowledge system for road traffic safety hazard inspection on sections passing through villages and towns, collects data through front-end intelligent equipment, completes the establishment of scenes of sections passing through villages and towns, conducts visual inspection based on images, inspects road traffic safety hazard on sections passing through villages and towns from different aspects such as road technical indicators (sight distance, turning radius), traffic signs, traffic markings, traffic safety facilities, traffic organization, and scientific and technological control facilities, generates hazard inspection results, and further promotes the work of road traffic safety hazard inspection on sections passing through villages and towns. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural schematic diagram of the present invention.

[0046] Figure 2 This is a flow chart of the data discrimination algorithm for roads passing through villages and towns.

[0047] Figure 3 It is a statistical analysis chart.

[0048] Figure 4 It is a schematic diagram of the data analysis and judgment results.

[0049] Figure 5 It is a technical route for checking traffic safety hazards on roads passing through villages and towns. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0052] Example 1

[0053] See also Figure 1 A method for checking hidden dangers of road traffic safety comprises the following steps:

[0054] (1) Relying on national standards, industry specifications, and departmental documents related to road traffic safety, a knowledge system for the inspection of safety hazards on roads through villages and towns is constructed, covering basic information (speed limits on sections, lane allocation, and isolation forms), road technical indicators (sight distance, cross-section design, and turning radius), traffic signs, traffic markings, traffic safety facilities, traffic organization, and scientific and technological control facilities; it also includes inspection item types, hazard identification standards, hazard inspection point location information, hazard content descriptions, hazard pictures, and governance suggestions;

[0055] The traffic signs include village signs for the up and down directions, speed limit signs and speed limit removal signs; the traffic organization includes the mixed traffic of heavy freight vehicles on the road section and the surrounding special attention points; at the same time, the technological control facilities (traffic lights, monitoring equipment) are checked.

[0056] The knowledge system for checking road traffic safety hazards on sections passing through villages and towns constructed by the present invention is not limited to the identification of whether there are hazards on sections passing through villages and towns. More importantly, it is to determine the location information of safety hazard points on the sections and analyze the hazards, thereby ensuring the integrity and standardization of the hazard inspection on sections passing through villages and towns.

[0057] (2) Road perception and surveying technology based on new multi-dimensional angle sensors, including high-precision Beidou positioning, multi-axis gyroscopes, and the application of big data architecture and analysis technology to form multi-dimensional structured data of the road itself; based on intelligent front-end equipment, by deploying multiple high-definition cameras on the modified vehicle, multi-view high-frequency road image data is collected from different directions such as the left front, front, and right front; GPS information of the vehicle driving process is collected using a GPS measuring instrument; vehicle speed information is measured using a vehicle speed sensor; terrain top view is obtained using drone photography; and sensor distance data is collected using a laser ranging sensor. After the above information is collected, it is stored in the corresponding equipment storage center respectively, and different data features are matched using time tags to construct standardized collection data, providing a data basis for subsequent scene confirmation of road sections through villages and towns and road traffic safety hazard inspections.

[0058] (3) Relying on the images, location, and time-related data collected automatically by the vehicle-side equipment, the road information is digitized, and the data is mapped on the map based on the GPS information of the image; when conducting an investigation, the collected road image data is likely to be repetitive, and in order to ensure the uniqueness of the road atlas for investigation, the road section needs to be cleaned. This step uses manual cleaning, and according to the investigation content, the road sections that need special investigation are manually cleaned from the original data.

[0059] (4) Use the images of the main camera and the right camera in the front-end acquisition device to identify the road milestones and 100-meter piles through images, and establish electronic pile numbers for each picture to provide a data basis for hidden danger inspection, and can be manually confirmed for a second time;

[0060] In the main image, manually find an image with any milestone, take the right camera image in the acquisition device as the reference, press the button in the lower center to calibrate the milestone. The image is assigned the electronic stake number shown in the image. According to the stake number information, the background automatically calculates the stake numbers corresponding to all images and determines the up and down directions. Calibrate the basic information of the road, including the name of the section, the area to which it belongs, the jurisdiction unit, the up direction, the down direction, the speed limit (km / h), the coordinates of the start and end points, the mileage of the inspection, the data collection time, the number of motor vehicle lanes (two-way), whether there is a central divider, the form of the central divider, whether there is a non-motor vehicle lane, the form of separation between motor vehicles and non-motor vehicles, the width of the motor vehicle lane (m), and the width of the non-motor vehicle lane (m).

[0061] (5) When conducting road traffic safety hazard inspections on sections of roads that pass through villages and towns, determine the corresponding starting and ending point information of the sections of roads that pass through villages and towns, and use maps and manual assistance to double-check;

[0062] See also Figure 2 , Figure 2A method for identifying a road section passing through a village or town, comprising the following steps:

[0063] Step 1: Install the laser ranging sensor 50 cm above the ground and perpendicular to the horizontal plane, where the horizontal plane is the ground surface; the laser ranging sensor is a laser radar with a micro high-speed ranging module group;

[0064] Step 2: The vehicle is driven at a constant speed of 40 km / h along the road, and the laser ranging sensor starts working and collecting data;

[0065] Step 3: Send all the collected information to the computer for statistical analysis; Figure 3 , Figure 3 This is a statistical analysis chart of the data;

[0066] Step 4: Observe and judge point A i Under the same transmission distance, data duration t i Is it greater than 0.27s?

[0067] If i <0.27s, let i=i+1, t=t+Δt, where Δt is the data collection time interval, and return to Step 4;

[0068] If i ≥0.27s, it is considered a house;

[0069] The default minimum house length is 3m, and when the vehicle speed is 40km / h, t≈0.27s

[0070] Step 5: Observe and judge point A i Whether there are five or more consecutive point data within the last 90 seconds, and the duration t is greater than or equal to 0.27s:

[0071] If yes, then the section is considered as a road section passing through a village or town;

[0072] If not, it is deemed that the section is not a road section passing through a village or town.

[0073] See also Figure 4 , Figure 4 This is a schematic diagram of the data analysis results. Based on the image recognition and the map, check whether there are archways and village signs around the road to confirm whether it is a road section that passes through a village or town, and mark it on the map;

[0074] 1) Construct a dataset of recognized objects to obtain a dataset of archways and village signs;

[0075] 2) Using background learning methods to train and learn, a model for dividing archways and village signs in feature space is generated;

[0076] 3) Import the picture into the background algorithm to identify the scene image;

[0077] 4) Finally, the archway and village signs in the scene image are recognized to obtain the result;

[0078] 5) When a memorial arch is identified, it is considered to be a road section passing through a village or town; when the first village sign is identified, it is considered to be the starting point of the road section passing through a village or town; when the village sign is identified again, it is considered to be the end point of the road section passing through a village or town;

[0079] The collected data is cyclically judged through the data discrimination algorithm of the road section passing through the village and town, and the starting and ending position information of the road section passing through the village and town is finally determined, completing the identification of the road section passing through the village and town at the data level;

[0080] Based on the road sections that pass through villages and towns determined by data, image recognition is combined with deep image recognition technology to identify the road sections determined by data, and the map is used to check the surrounding conditions of the road sections and confirm the scenes to further confirm the scenes.

[0081] (6) Create a standardized method for checking safety hazards on roads passing through villages and towns. Based on the established knowledge system for checking road traffic safety hazards, check road traffic safety hazards on roads passing through villages and towns from different aspects, including road technical indicators (sight distance, cross-section design, turning radius), traffic signs, traffic markings, traffic safety facilities, traffic organization, and scientific and technological control facilities;

[0082] First, the traffic signs, traffic markings, and safety facilities locations for roads passing through villages and towns are checked through lane width and speed limit parameters in the basic information. After the basic road information database is constructed, the identification standards for the corresponding hidden danger items in the above-mentioned inspection contents can be clarified. The method for checking traffic safety hazards on roads passing through villages and towns relies on intelligently collected pictures to conduct a visual check of the technical indicators of roads passing through villages and towns (sight distance, cross-section design, turning radius), traffic signs, traffic markings, traffic safety facilities, traffic organization, and scientific and technological control facilities. The inspection steps are as follows:

[0083] Construct a basic information database containing traffic signs, traffic markings, safety facilities, safe sight distance, traffic organization safety hazard inspection and basic information of the road section to be inspected and import it into the computer system background. Based on the intelligently collected image data and the above scene recognition steps, determine the starting point or end point of the road section passing through the village and town as the reference point P o , combining intelligent algorithms with human assistance to determine the best viewing angle for road hazard inspection best (where P best =P o ±l s , l sThe distance or range between the inspection points of traffic signs, traffic markings, safety facilities and traffic organization stipulated by national standards and the reference point, select the relevant data of the image of the hidden danger inspection target point, conduct hidden danger inspection on the road technical indicators, traffic signs, traffic markings, safety facilities and traffic organization, and manually increase or decrease the adjustment l s value, confirm the hidden danger details at the point, manually select the inspection items, the hidden danger standards are automatically generated, and the hidden danger content details are entered and illustrated.

[0084] Intelligent inspection of safety hazards on roads passing through villages and towns first identifies hazards using deep image recognition technology, and assists with manual judgment to ensure a comprehensive inspection of safety hazards on roads passing through villages and towns. Hazards found during the inspection are marked with images, which makes it easier to attach the marked images to the inspection report and display the inspection results in a visual form. Figure 5 shown. Figure 5 It is a technical roadmap for checking traffic safety hazards on roads passing through villages and towns.

[0085] (7) Form conclusions on the inspection of road traffic safety hazards on sections of roads passing through villages and towns, including a report on the inspection process of road traffic safety hazards on sections of roads passing through villages and towns, a list of safety hazards on sections of roads passing through villages and towns, and an overall report based on the inspection of hazards.

[0086] The road traffic safety hazard inspection process report for sections passing through villages and towns can summarize the inspection results of technical indicators (sight distance, cross-section design, turning radius), traffic signs, traffic markings, traffic safety facilities, traffic organization, and scientific and technological control facilities of sections passing through villages and towns. Its role is to ensure the integrity and correctness of the inspection process; the safety hazard list for sections passing through villages and towns and the overall report based on the hazard inspection analyze the existing hazard contents from part to whole. Its role is to view the hazard inspection conclusions in different permissions and scopes according to different user business needs. The above-mentioned inspection report defined in the present invention is based on the inspection report format requirements in the inspection work specifications, which is convenient for reporting the inspection conclusions to relevant departments during the road traffic safety hazard inspection work and for the subsequent safety hazard management.

[0087] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for identifying a road section passing through a village or town, characterized in that: The following steps are involved: Step 1: Install the laser ranging sensor 50 cm above the ground and perpendicular to the horizontal plane, where the horizontal plane is the ground surface; the laser ranging sensor is a laser radar with a micro high-speed ranging module group; Step 2: The vehicle is driven at a constant speed of 40 km / h along the road, and the laser ranging sensor starts working and collecting data; Step 3: Send all the collected information to the computer for statistical analysis; Step 4: The default minimum length of the house is 3m. When the vehicle speed is 40km / h, t≈0.27s; observe the judgment point A. i Under the same transmission distance, whether the data duration ti is greater than 0.27s: If i <0.27s, let i=i+1, t=t+Δt, where Δt is the data collection time interval, and return to Step 4; If i ≥0.27s, it is considered a house; Step 5: Observe and judge point A i Whether there are five or more consecutive point data within the last 90 seconds, and the duration t is greater than or equal to 0.27s: If yes, then the section is considered as a road section passing through a village or town; If not, it is deemed that the section is not a road section passing through a village or town.

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