A method for identifying a highway access point and a method for troubleshooting road traffic safety hazards

Abstract

The present invention provides a method for identifying a highway access point and a method for checking road traffic safety hazards, and belongs to the field of road safety technology. The method for checking safety hazards is to construct a knowledge system for checking road traffic safety hazards at highway access points, based on standardized data collection, preliminary work of cleaning road sections, calibrating pile numbers, and checking road section calibration, to realize intelligent identification of access points, and then carry out standardized checking of safety hazards, and generate conclusions for checking road traffic safety hazards at highway access points. The knowledge system for checking road traffic safety hazards at highway access points of the present invention collects data through front-end intelligent equipment, completes the processes of cleaning road sections, calibrating pile numbers, and calibrating checking road sections, realizes highway access point identification, performs visual checking based on images, and checks road traffic safety hazards at highway access points from different aspects such as road conditions, traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distance, and generates hidden danger checking results.

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 highway access point and a method for troubleshooting road traffic safety hazards. Background Art

[0002] my country has vigorously carried out road infrastructure construction. Due to restrictions such as project planning and factory and mine construction, it is difficult to avoid the connection of rural roads, factory and mine entrances and self-built roads to the main road in actual road construction, which is easy to form access points. The angle and slope of the access points to the main road do not meet the standards, the traffic infrastructure is missing, and the sight distance is insufficient. Highway access points are accident-prone points. The access points are hidden and lack traffic language prompts. Vehicles do not slow down when passing through the access points and are easily blocked by sight distance, causing collisions, resulting in a high accident rate and mortality rate at highway access points. Therefore, access points are taken as key road traffic safety hazard inspection content.

[0003] Existing technical solutions:

[0004] The invention patent with the patent number: CN202111005220.X proposes a method for checking road traffic safety hazards in all scenarios. Based on the data collected by intelligent equipment, the patent constructs a knowledge system for checking hidden dangers in all scenarios for flat intersections and steep slopes. The system involves checking hidden dangers in road planning and design, and traffic infrastructure configuration, and completes the full-scenario road traffic safety hidden dangers. However, the patent lacks the construction of a knowledge system for checking hidden dangers in the specific scenario of highway access points and the analysis of hidden dangers in the full scenario.

[0005] The patent number: CN201210426533.7 provides a method and system for identifying road sections with traffic safety hazards. The patent mainly combines traffic accident data and map data to determine the sections with traffic safety hazards where traffic accidents have occurred, but does not conduct road traffic safety hazard inspections on the determined sections with traffic safety hazards.

[0006] In general, the current technical solutions focus on determining whether there are safety hazards in the road section as a whole, but lack the inspection of road traffic safety hazards in the specific scenario of highway access points. The inspection methods also lack theoretical support, and lack the identification and classification of highway access points and detailed analysis of internal hazard points. The inspection results are difficult to effectively promote relevant departments to carry out road traffic safety hazard inspections at highway access points. Summary of the invention

[0007] The present invention solves the above technical problems by providing a method for identifying highway access points and a method for checking road traffic safety hazards. The method determines the location of the access points by identifying the right-side and double-side highway access points, and forms a road traffic safety hazard checking system for highway access points.

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

[0009] A method for identifying a highway access point includes a method for identifying a right access point, and the method for identifying a right access point includes the following steps:

[0010] Step 1: According to GPS positioning, determine the location coordinates of the acquisition vehicle located at the center of the one-way lane. i (x i ,y i );

[0011] Step 2: According to the known lane width, determine the intersection coordinates of the collected vehicle and the right road edge.

[0012] Step3: Judgment Among them, x i represents the horizontal coordinate of the collected vehicle; l represents the distance between the road edge and the collected vehicle detected by the road edge detection method; Represents the horizontal coordinate of the intersection point from the collected vehicle to the right road edge determined based on the known lane width:

[0013] like If it is established, then enter i=i+m and execute Step 1, where m represents the distance of the collected vehicle's forward interval;

[0014] like If it is not true, it means that the road edge detection method has not detected the road edge and the road edge is disconnected, then go to Step 4;

[0015] Step 4: Temporarily confirm One point for access;

[0016] Step 5: According to GPS positioning, collect the vehicle and continue to move forward at the location of the access point to locate the coordinates

[0017] Step 6: Collect the intersection coordinates of the vehicle and the right road edge.

[0018] Step 7: Judgement Among them, x i+m+1 It indicates the horizontal coordinate of the vehicle that continues to move forward to collect data after determining the access point; l indicates the distance between the road edge and the collected vehicle detected by the road edge detection method; It indicates the horizontal coordinate of the intersection point between the collected vehicle and the right road edge after the access point is determined according to the known lane width;

[0019] like If it is established, then enter i=i+m+n and execute Step 5, where n represents the distance that the collection vehicle travels after determining the access point;

[0020] like If it is not true, it means that the road edge detection method has detected the road edge, and then go to Step 8;

[0021] Step 8: Temporarily confirm Another point for access;

[0022] Step9: Judgment in represents the ordinate of another point of the access point; Indicates the vertical coordinate of a point at the access point;

[0023] like If established, It is the roadside access point;

[0024] like If not, the vehicle continues to move forward and executes Step 1.

[0025] Preferably, a double-side access port identification method is also included, and the double-side access port identification method comprises the following steps:

[0026] S1: The vehicle is driving on the other side of the road, and the right access entrance of the other side of the road is identified according to the right access entrance identification method, which is recorded as in, The coordinates are The coordinates are

[0027] S2:

[0028] S3: Double-sided access.

[0029] The present invention also provides a method for checking road traffic safety hazards at a highway access point, comprising the following steps:

[0030] (1) Relying on relevant road traffic safety standards, a knowledge system for the inspection of road traffic safety hazards at highway access points is established. The inspection of road traffic safety hazards at highway access points involves basic information such as: road name, road section speed limit, access point angle, access point slope, pile number information, number of motor vehicle lanes, as well as traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distance. The actual identification of road traffic safety hazards involves many laws and regulations, so a comprehensive and detailed inspection of road traffic safety hazards at highway access points is conducted;

[0031] (2) Based on the intelligent front-end equipment of vehicle-mounted high-definition cameras, optical sensing systems, GPS measuring instruments, vehicle speed sensors, and altitude measuring instruments, multiple high-definition cameras are deployed on the modified vehicle to collect multi-view high-frequency road image data from different directions such as the left front, front, and right front; the optical sensing system is used to detect the edge of the road; the GPS measuring instrument is used to collect and obtain GPS information during the vehicle's driving process; the vehicle speed sensor is used to measure the vehicle speed information and the altitude measuring instrument is used to measure the altitude during the vehicle's driving process;

[0032] (3) Map the data on the map based on the GPS information of the image; to ensure the uniqueness of the road atlas, clean the sections that need special inspection from the original data according to the inspection content, and determine the starting and ending positions of the inspection sections;

[0033] (4) Based on the markings of highway milestones and 100-meter stakes, the electronic stake numbers are marked on the system map, and each image has specific location information;

[0034] (5) Calibrate the road section according to the task creation information and collected pictures, including: road section name, region, jurisdiction, up and down directions, starting and ending pile numbers, inspection mileage, data collection time, and speed limit;

[0035] (6) Realize intelligent identification of highway access points and clarify the types of access points. Intelligent identification is mainly based on image recognition methods. Highway access points can be divided into two-way two-lane and multi-lane access points according to road conditions. Multi-lane access points can be divided into marked isolation and hard isolation according to the form of central isolation. Hard isolation can be divided into central opening and non-central opening. Finally, all the above types are classified and determined according to the location of the access point as right side and double side. The identification of right side access points and double side access points is identified according to the above method;

[0036] The collected data is cyclically judged through the right-side and double-side access point identification methods, and the type and location information of the highway access point are finally determined to complete the highway access point identification.

[0037] Preferably, the knowledge system for checking road traffic safety hazards at highway access points includes basic information about highway access points and types of hazards existing in corresponding traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distances under different types of access points. It also includes hazard identification standards, location information of hazard checking points, description of hazard content, and suggestions for treatment.

[0038] Preferably, the method further comprises:

[0039] (7) The road traffic safety hazards caused by unscientific access design are checked through the access angle and slope parameters in the road conditions, and the highway access points are divided into different types for inspection using the highway access point identification method; the traffic signs, traffic markings, and safety facilities at the highway access points are related to the type and location of the access points. After constructing the basic information of the access points and clarifying the access point type, the identification standards for the corresponding hidden danger items in the above inspection contents can be clarified; relying on the collected pictures, the road conditions, traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distance of the highway access points are visually checked.

[0040] Preferably, the visual troubleshooting step includes:

[0041] 1) Determine the access point location by using the access point identification method, and point the access point identified in the method to the Ri+m (x i+m ,y i+m ) is set as the reference point O (0,0) ;

[0042] 2) Based on the content of the basic information database of the access point, (0,0) The best point O b(x,y) , where x = 0, y = 0, check whether the road conditions have safety hazards;

[0043] 3) According to different access types, determine the best points for checking traffic signs, traffic markings, safety facilities, traffic organization, and traffic safety sight distance. b(x,y) , where x = 0, y = ± l g ,l g The distance or range between the inspection point and the reference point of the traffic sign specified in the relevant standards;

[0044] 4) Determine the best point O b(x,y) The collected pictures below are the best viewing angles for checking road traffic safety hazards;

[0045] 5) Based on the image, confirm whether traffic signs, traffic markings, and safety facilities are missing from the best viewing angle, and whether there are safety hazards in traffic organization and safe sight distance from the best viewing angle:

[0046] If there are no safety hazards at the best viewing angle, the hidden danger inspection for this point is completed;

[0047] If there are safety risks in traffic organization and safe sight distance under the best viewing angle, proceed to 8);

[0048] If traffic signs, traffic markings, and safety facilities are missing from the best viewing angle, you need to enter 8) to confirm the details of traffic signs, traffic markings, and safety facilities for hidden dangers;

[0049] 6) Increase or decrease the adjustment l through manual assistance g Values ​​are used to confirm whether traffic signs, traffic markings, and safety facilities are missing before and after the best inspection points:

[0050] If you adjust l g If no traffic signs, traffic markings or safety facilities are found after the value is reached, they are deemed to be missing and the process goes to 8);

[0051] If you adjust l g If you find traffic signs, traffic markings, or safety facilities after the shift, you need to enter 7) to determine the specific hidden dangers;

[0052] 7) Determine whether traffic signs, traffic markings, and safety facilities are intact (blocking, wear, or damage):

[0053] If complete, it is determined that the traffic signs, traffic markings, and safety facilities do not meet the standards, and proceed to 8);

[0054] If it is incomplete, combine the hidden danger identification results given in 6) and proceed to 8);

[0055] 8) Mark potential safety hazards at locations where they exist;

[0056] 9) Output the hidden danger identification results in the form of picture annotations and text summaries to complete the investigation.

[0057] Preferably, the method further comprises:

[0058] (8) Forming conclusions on the road traffic safety hazard inspection at highway access points, the inspection conclusions including a road traffic safety hazard inspection process report at highway access points, a list of road traffic safety hazard inspections at highway access points, and an overall report based on the hazard inspection.

[0059] The beneficial effects of the present invention are:

[0060] The present invention proposes a road traffic safety hazard inspection method based on the highway access scene, takes the principle of promoting relevant departments to carry out road traffic safety hazard inspection at highway access points, constructs a knowledge system for road traffic safety hazard inspection at highway access points, collects data through front-end intelligent equipment, completes the road section cleaning, pile number calibration, and inspection section calibration processes, realizes highway access point identification, performs visual inspection based on images, conducts road traffic safety hazard inspection at highway access points from different aspects such as road conditions, traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distance, generates hazard inspection results, and further promotes road traffic safety hazard inspection work at highway access points. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is the flow chart of the roadside access point identification algorithm.

[0062] Figure 2 This is a schematic diagram of the algorithm for access points on both sides of the highway.

[0063] Figure 3 It is a schematic diagram of the knowledge system for checking road traffic safety hazards at highway access points.

[0064] Figure 4 It is a technical roadmap for the process of checking road traffic safety hazards at highway access points.

[0065] Figure 5 It is a technical roadmap for the inspection of road traffic safety hazards at highway access points. DETAILED DESCRIPTION

[0066] 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.

[0067] 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.

[0068] See also Figure 1 A method for identifying a right-side access point of a highway comprises the following steps:

[0069] Step 1: According to GPS positioning, determine the location coordinates of the acquisition vehicle located at the center of the one-way lane. i (x i ,yi );

[0070] Step 2: According to the known lane width, determine the intersection coordinates of the collected vehicle and the right road edge.

[0071] Step3: Judgment Among them, x i represents the horizontal coordinate of the collected vehicle; l represents the distance between the road edge and the collected vehicle detected by the road edge detection method; Represents the horizontal coordinate of the intersection point from the collected vehicle to the right road edge determined based on the known lane width:

[0072] like If it is established, then enter i=i+m and execute Step 1, where m represents the distance of the collected vehicle's forward interval;

[0073] like If it is not true, it means that the road edge detection method has not detected the road edge and the road edge is disconnected, then go to Step 4;

[0074] Step 4: Temporarily confirm One point for access;

[0075] Step 5: According to GPS positioning, collect the vehicle and continue to move forward at the location of the access point to locate the coordinates

[0076] Step 6: Collect the intersection coordinates of the vehicle and the right road edge.

[0077] Step 7: Judgement Among them, x i+m+1 It indicates the horizontal coordinate of the vehicle that continues to move forward to collect data after determining the access point; l indicates the distance between the road edge and the collected vehicle detected by the road edge detection method; Indicates the horizontal coordinate of the intersection point from the collection vehicle to the right road edge determined by the known lane width after the access point is determined;

[0078] like If it is established, then enter i=i+m+n and execute Step 5, where n represents the distance that the collection vehicle travels after determining the access point;

[0079] like If it is not true, it means that the road edge detection method has detected the road edge, and then go to Step 8;

[0080] Step 8: Temporarily confirm Another point for access;

[0081] Step9: Judgment in represents the ordinate of another point of the access point; Indicates the vertical coordinate of a point at the access point;

[0082] like If established, It is the roadside access point;

[0083] like If not, the vehicle continues to move forward and executes Step 1.

[0084] 3.25 means that the width of Class II lanes on Class IV highways determined in Chapter 4.0.2 of the "Technical Standards for Rural Highway Engineering with Small Traffic Volume" is 3.25 meters.

[0085] See also Figure 2 A method for identifying access points on both sides of a highway comprises the following steps:

[0086] S1: The vehicle is driving on the other side of the road, and the right access entrance of the other side of the road is identified according to the right access entrance identification method, which is recorded as in, The coordinates are The coordinates are

[0087] S2:

[0088] S3: Double-sided access.

[0089] See also Figure 3 and Figure 4 A method for checking road traffic safety hazards at a highway access point comprises the following steps:

[0090] (1) Relying on relevant road traffic safety standards, a knowledge system for the inspection of road traffic safety hazards at highway access points is established. The inspection of road traffic safety hazards at highway access points involves basic information such as: road name, road section speed limit, access point angle, access point slope, pile number information, number of motor vehicle lanes, as well as traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distance. The actual identification of road traffic safety hazards involves many laws and regulations, so a comprehensive and detailed inspection of road traffic safety hazards at highway access points is conducted;

[0091] This knowledge system includes the basic information of highway access points and the types of hidden dangers that may exist in the corresponding traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distances under different types of access points. It also includes hidden danger identification standards, location information of hidden danger inspection points, description of hidden danger content and treatment suggestions. The types of highway access points can be divided into 14 categories, namely, two-way two-lane right opening, two-way two-lane double-side opening, two-way two-lane right branch, two-way two-lane double-side branch, multi-lane central marking isolated right opening, multi-lane central marking isolated double-side opening, multi-lane central marking isolated right branch, multi-lane central marking isolated double-side branch, multi-lane central hard isolation without opening right opening, Multi-lane central hard isolation with no opening on the right side branch, multi-lane central hard isolation with opening on the right side, multi-lane central hard isolation with opening on both sides, multi-lane central hard isolation with opening on the right side branch, multi-lane central hard isolation with opening on both sides branch; check traffic markings including oncoming lane dividing line, same-direction lane dividing line, deceleration vibration marking line, pedestrian crossing line, yield line, non-motor vehicle lane line, pedestrian crossing warning marking line; check traffic signs including intersection warning signs and yield signs; safety facilities including speed bumps, crossing posts (warning posts), traffic lights (including yellow flashing lights); traffic organization is mainly channelization design; safe sight distance is whether there is any obstruction within the parking sight distance from the main road to the access entrance.

[0092] The knowledge system for checking road traffic safety hazards at highway access points constructed by the present invention is not limited to the determination of whether there are hazards at highway access points. More importantly, it is to determine the location information of road traffic safety hazard points and analyze the hazards, thereby ensuring the integrity, standardization and accuracy of the inspection of road conditions, traffic signs, traffic markings, safety facilities, traffic organization and safe sight distance hazards at highway access points.

[0093] (2) Based on the intelligent front-end equipment of vehicle-mounted high-definition camera, optical sensing system (including optical sensing device, differential filter, classifier), GPS measuring instrument, vehicle speed sensor, and altitude measuring instrument, multiple high-definition cameras are deployed on the modified vehicle to collect multi-view high-frequency road image data from different directions such as the left front, front, and right front; the optical sensing system is used to detect the edge of the road; the GPS measuring instrument is used to collect and obtain GPS information during the vehicle's driving process; the vehicle speed sensor is used to measure the vehicle speed information and the altitude measuring instrument is used to measure the altitude during the vehicle's driving process;

[0094] After the above information is collected, it is stored in the corresponding equipment storage center respectively, and time tags are used to match different data features to build standardized collection data, providing a data basis for subsequent highway access identification and safety hazard inspection.

[0095] (3) Map the data based on the GPS information of the image. The collected road image data is likely to be repetitive. To ensure the uniqueness of the road atlas, the sections that need to be specially inspected are manually cleaned from the original data according to the inspection content, and the starting and ending positions of the inspection sections are determined.

[0096] (4) Based on the markings of highway milestones and 100-meter stakes, the electronic stake numbers are marked on the system map, and each image has specific location information;

[0097] Use the images of the main camera and the right camera in the front-end acquisition device, manually find an image with any milestone in the main image, take the right camera image in the acquisition device as the reference, indicate the stake number information, and set a milestone every 1000m on the right side of the road and a 100-meter stake every 100m between each milestone according to the setting rule. The system automatically calculates the electronic stake number information of each image, that is, assigns the electronic stake number shown in the image. Based on the stake number information, the background automatically determines the up and down directions.

[0098] (5) Calibrate the road section according to the task creation information and collected pictures, including: road section name, region, jurisdiction, up and down directions, starting and ending pile numbers, inspection mileage, data collection time, and speed limit;

[0099] (6) Realize intelligent identification of highway access points and clarify the types of access points. Intelligent identification is mainly based on image recognition methods. Highway access points can be divided into two-way two-lane and multi-lane access points according to road conditions. Multi-lane access points can be divided into marked isolation and hard isolation according to the form of central isolation. Hard isolation can be divided into central opening and non-central opening. Finally, all the above types are classified and determined according to the location of the access point as right side and double side. The right side access point identification method and double side access point identification method are identified according to the above method;

[0100] The collected data is cyclically judged through the right-side and double-side access point identification methods, and the type and location information of the highway access point are finally determined to complete the highway access point identification.

[0101] After the location of the access point is determined, the access point that directly connects the unit door to the main road is identified as an opening through image data. Rural roads and roads built by factories and mines are used to solve local traffic problems, and the access points with service functions as the main function are branches.

[0102] Furthermore, the knowledge system for checking road traffic safety hazards at highway access points includes basic information about highway access points and types of hazards existing in traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distances corresponding to different types of access points. It also includes hazard identification standards, location information of hazard checking points, description of hazard content, and suggestions for treatment.

[0103] Furthermore, the method for checking road traffic safety hazards at highway access points also includes:

[0104] (7) The road traffic safety hazard inspection method for highway access points is based on the constructed knowledge system for safety hazard inspection. The road traffic safety hazard inspection work is carried out at the highway access points from different aspects such as road conditions, traffic signs, traffic markings, safety facilities, traffic organization and safe sight distance.

[0105] Firstly, the potential road traffic safety hazards caused by unscientific access design are checked through the access angle and slope parameters in the road conditions, and the highway accesses are divided into different types for inspection using the highway access identification method; secondly, the traffic signs, traffic markings, and safety facilities at the highway accesses are related to the type and location of the accesses. After constructing the basic information of the access and clarifying the type of access, the identification standards for the corresponding potential hazards of the above-mentioned inspection contents can be clarified; finally, the road conditions, traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distance of the highway accesses are visually checked based on the collected pictures.

[0106] See also Figure 5 , the visual troubleshooting step includes:

[0107] 1) Determine the access point location by using the access point identification method, and point the access point identified in the method to the Ri+m (x i+m ,y i+m ) is set as the reference point O (0,0) ;

[0108] 2) Based on the content of the basic information database of the access point, (0,0) The best point O b(x,y) , where x = 0, y = 0, check whether the road conditions (including the slope of the access point and the access angle) pose any safety hazard;

[0109] 3) According to different access types, determine the best points for checking traffic signs, traffic markings, safety facilities, traffic organization, and traffic safety sight distance. b(x,y) , where x = 0, y = ± l g ,l g The distance or range between the inspection point and the reference point of the traffic sign specified in the relevant standards;

[0110] For example, the intersection warning sign has different positions according to different speed limits. Assuming the speed limit is 80 kilometers per hour, the warning sign is 80 meters ahead and the best point needs to be checked back 80 meters, then y = -80, that is, O b(0,-80) .

[0111] 4) Determine the best point Ob(x,y) The collected pictures below are the best viewing angles for checking road traffic safety hazards;

[0112] 5) Based on the image, confirm whether traffic signs, traffic markings, and safety facilities are missing from the best viewing angle, and whether there are safety hazards in traffic organization and safe sight distance from the best viewing angle:

[0113] If there are no safety hazards at the best viewing angle, the hidden danger inspection for this point is completed;

[0114] If there are safety risks in traffic organization and safe sight distance under the best viewing angle, proceed to 8);

[0115] If traffic signs, traffic markings, and safety facilities are missing from the best viewing angle, you need to enter 8) to confirm the details of traffic signs, traffic markings, and safety facilities for hidden dangers;

[0116] 6) Increase or decrease the adjustment l through manual assistance g Values ​​are used to confirm whether traffic signs, traffic markings, and safety facilities are missing before and after the best inspection points:

[0117] If you adjust l g If no traffic signs, traffic markings or safety facilities are found after the value is reached, they are deemed to be missing and the process goes to 8);

[0118] If you adjust l g If you find traffic signs, traffic markings, or safety facilities after the shift, you need to enter 7) to determine the specific hidden dangers;

[0119] 7) Determine whether traffic signs, traffic markings, and safety facilities are intact (blocking, wear, or damage):

[0120] If complete, it is determined that the traffic signs, traffic markings, and safety facilities do not meet the standards, and proceed to 8);

[0121] If it is incomplete, combine the hidden danger identification results given in 6) and proceed to 8);

[0122] 8) Mark potential safety hazards at locations where they exist;

[0123] 9) Output the hidden danger identification results in the form of picture annotations and text summaries to complete the investigation.

[0124] The intelligent inspection of road traffic safety hazards at highway access points combines intelligent algorithms with manual assistance to determine the best viewing angle for hazard inspection at highway access points, selects image-related data of target points for hazard inspection, first identifies hazards using deep image recognition technology, and assists with manual judgment to ensure a comprehensive inspection of road traffic safety hazards at highway access points, and annotates hazards discovered during the inspection in the form of picture tags, making it easier to attach hazard-annotated pictures to the inspection report and display the inspection results in a visual form.

[0125] (8) Forming conclusions on the road traffic safety hazard inspection at highway access points, the inspection conclusions including a road traffic safety hazard inspection process report at highway access points, a list of road traffic safety hazard inspections at highway access points, and an overall report based on the hazard inspection.

[0126] In order to achieve hidden danger investigation conclusions for different users, the present invention defines a hierarchical investigation report: including a road traffic safety hidden danger investigation process report for highway access points, a safety hidden danger list for highway access points, and an overall report based on hidden danger investigation. The road traffic safety hidden danger investigation process report for highway access points can summarize the results of the inspection of road conditions, traffic signs, traffic markings, safety facilities and safe sight distance, and traffic organization at highway access points. Its function is to ensure the integrity and correctness of the investigation process; the safety hidden danger list for highway access points and the overall report based on hidden danger investigation analyze the existing hidden danger contents from part to whole. Its function is to view the hidden danger investigation conclusions in different permissions and scopes according to different user business needs. The above-mentioned investigation report defined in the present invention is based on the investigation report format requirements in the investigation work specifications, which is convenient for reporting the investigation conclusions to relevant departments in the road traffic safety hidden danger investigation work, and for the subsequent safety hidden danger management.

[0127] The present invention has the following beneficial effects:

[0128] 1. Based on the review of laws, regulations and specifications related to highway access safety, the present invention constructs a knowledge system for the inspection of road traffic safety hazards at highway access points. Guided by the business procedures for the inspection of road traffic safety hazards of relevant departments, the present invention standardizes the inspection process of road traffic safety hazards at highway access points from data collection, road section cleaning, pile number calibration, inspection section calibration, access point identification, hazard inspection to hazard conclusion generation.

[0129] 2. The present invention proposes a comprehensive inspection of highway access points, including road conditions, traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distance.

[0130] 3. The present invention constructs a troubleshooting knowledge system based on national standards, industry standards, and departmental regulations to provide theoretical support.

[0131] 4. Based on the safety hazard investigation method designed by the present invention, different levels of hazard investigation reports are formulated, and the results can promote relevant departments to carry out safety hazard investigation and management work.

[0132] 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 highway access point, characterized in that: The invention comprises a right side access port identification method, wherein the right side access port identification method comprises the following steps: Step 1: According to GPS positioning, determine the location coordinates of the acquisition vehicle located at the center of the one-way lane. i (x i ,y i ); Step 2: According to the known lane width, determine the intersection coordinates of the collected vehicle and the right road edge. Step3: Judgment Among them, x i represents the horizontal coordinate of the collected vehicle; l represents the distance between the road edge and the collected vehicle detected by the road edge detection method; x Ri Represents the horizontal coordinate of the intersection point from the collected vehicle to the right road edge determined based on the known lane width: like If it is established, then enter i=i+m and execute Step 1, where m represents the distance of the collected vehicle's forward interval; like If it is not true, it means that the road edge detection method has not detected the road edge and the road edge is disconnected, then go to Step 4; Step 4: Temporarily confirm One point for access; Step 5: According to GPS positioning, collect the vehicle and continue to move forward at the location of the access point to locate the coordinates Step 6: Collect the intersection coordinates of the vehicle and the right road edge. Step 7: Judgement Among them, x i+m+1 It indicates the horizontal coordinate of the vehicle that continues to move forward to collect data after determining the access point; l indicates the distance between the road edge and the collected vehicle detected by the road edge detection method; It indicates the horizontal coordinate of the intersection point between the collected vehicle and the right road edge after the access point is determined according to the known lane width; like If it is established, then enter i=i+m+n and execute Step 5, where n represents the distance that the vehicle travels after determining the access point; like If it is not true, it means that the road edge detection method has detected the road edge, and then go to Step 8; Step 8: Temporarily confirm Another point for access; Step9: Judgment in represents the ordinate of another point of the access point; Indicates the vertical coordinate of a point at the access point; like If established, It is the roadside access point; like If not, the vehicle continues to move forward and executes Step 1.

2. The method for identifying a highway access point according to claim 1, characterized in that: The invention also includes a double-side access port identification method, wherein the double-side access port identification method comprises the following steps: S1: The vehicle is driving on the other side of the road, and the right access entrance of the other side of the road is identified according to the right access entrance identification method, which is recorded as Among them, α Li+m The coordinates are The coordinates are S2: S3: Double-sided access.

3. A method for checking road traffic safety hazards at highway access points, characterized in that: The following steps are involved: (1) Construct a knowledge system for the inspection of road traffic safety hazards at highway access points. The inspection of road traffic safety hazards at highway access points involves basic information such as road name, road section speed limit, access point angle, access point slope, pile number information, number of motor vehicle lanes, as well as traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distance. The actual identification of road traffic safety hazards involves many laws and regulations, so a comprehensive and detailed inspection of road traffic safety hazards at highway access points is conducted; (2) Based on the intelligent front-end equipment of vehicle-mounted high-definition cameras, optical sensing systems, GPS measuring instruments, vehicle speed sensors, and altitude measuring instruments, multiple high-definition cameras are deployed on the modified vehicle to collect multi-view high-frequency road image data from different directions such as the left front, front, and right front; the optical sensing system is used to detect the edge of the road; the GPS measuring instrument is used to collect and obtain GPS information during the vehicle's driving process; the vehicle speed sensor is used to measure the vehicle speed information and the altitude measuring instrument is used to measure the altitude during the vehicle's driving process; (3) Map the data on the map based on the GPS information of the image; to ensure the uniqueness of the road atlas, clean the sections that need special inspection from the original data according to the inspection content, and determine the starting and ending positions of the inspection sections; (4) Based on the markings of highway milestones and 100-meter stakes, the electronic stake numbers are marked on the system map, and each image has specific location information; (5) Calibrate the road section according to the task creation information and collected pictures, including: road section name, region, jurisdiction, up and down directions, starting and ending pile numbers, inspection mileage, data collection time, and speed limit; (6) Realize intelligent identification of highway access points, clarify access point types, and intelligent identification is performed based on image recognition methods. Highway access points are divided into two-way two-lane and multi-lane access points according to road conditions. Multi-lane access points are further divided into line isolation and hard isolation according to the form of central isolation. Hard isolation is further divided into central opening and central non-opening. Finally, all the above types are classified and determined according to the location of the access points as right side and double side. The right side access point is identified by the method described in claim 1, and the double side access point is identified by the method described in claim 2. The collected data is cyclically judged through the right-side and double-side access point identification methods, and the type and location information of the highway access point are finally determined to complete the highway access point identification.

4. The method for checking road traffic safety hazards at highway access points according to claim 3 is characterized in that: The knowledge system for checking road traffic safety hazards at highway access points includes basic information about highway access points and types of hazards existing in traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distances corresponding to different types of access points. It also includes hazard identification standards, location information of hazard checking points, description of hazard content, and suggestions for treatment.

5. The method for checking road traffic safety hazards at highway access points according to claim 3 is characterized in that: The method further comprises: (7) The road traffic safety hazards caused by unscientific access design are checked through the access angle and slope parameters in the road conditions, and the highway access points are divided into different types for inspection using the highway access point identification method; the traffic signs, traffic markings, and safety facilities at the highway access points are related to the type and location of the access points. After constructing the basic information of the access points and clarifying the access point type, the identification standards for the corresponding hidden danger items in the above inspection contents can be clarified; relying on the collected pictures, the road conditions, traffic signs, traffic markings, safety facilities, traffic organization, and safe sight distance of the highway access points are visually checked.

6. The method for checking road traffic safety hazards at highway access points according to claim 5 is characterized in that: The visual troubleshooting steps include: 1) Determine the access point location by using the access point identification method, and point the access point identified in the method to the Ri+m (x i+m ,y i+m ) is set as the reference point O (0,0) ; 2) Based on the content of the basic information database of the access point, (0,0) The best point O b(x,y) , where x = 0, y = 0, check whether the road conditions have safety hazards; 3) According to different access types, determine the best points for checking traffic signs, traffic markings, safety facilities, traffic organization, and traffic safety sight distance. b(x,y) , where x = 0, y = ± l g ,l g The distance or range between the inspection point and the reference point of the standard traffic sign; 4) Determine the best point O b(x,y) The collected pictures below are the best viewing angles for checking road traffic safety hazards; 5) Based on the image, confirm whether traffic signs, traffic markings, and safety facilities are missing from the best viewing angle, and whether there are safety hazards in traffic organization and safe sight distance from the best viewing angle: If there are no safety hazards at the best viewing angle, the hidden danger inspection for this point is completed; If there are safety risks in traffic organization and safe sight distance under the best viewing angle, proceed to 8); If traffic signs, traffic markings, and safety facilities are missing from the best viewing angle, you need to enter 8) to confirm the details of traffic signs, traffic markings, and safety facilities for hidden dangers; 6) Increase or decrease the adjustment l through manual assistance g Values ​​are used to confirm whether traffic signs, traffic markings, and safety facilities are missing before and after the best inspection points: If you adjust l g If no traffic signs, traffic markings or safety facilities are found after the value is reached, they are deemed to be missing and the process goes to 8); If you adjust l g If you find traffic signs, traffic markings, or safety facilities after the shift, you need to enter 7) to determine the specific hidden dangers; 7) Determine whether traffic signs, traffic markings, and safety facilities are intact, including any obstruction, wear, or damage: If complete, it is determined that the traffic signs, traffic markings, and safety facilities do not meet the standards, and proceed to 8); If it is incomplete, combine the hidden danger identification results given in 6) and proceed to 8); 8) Mark potential safety hazards at locations where they exist; 9) Output the hidden danger identification results in the form of picture annotations and text summaries to complete the investigation.

7. The method for checking road traffic safety hazards at highway access points according to claim 6 is characterized in that: The method further comprises: (8) Forming conclusions on the road traffic safety hazard inspection at highway access points, the inspection conclusions including a road traffic safety hazard inspection process report at highway access points, a list of road traffic safety hazard inspections at highway access points, and an overall report based on the hazard inspection.

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