An intelligent traffic control system during tunnel construction based on digital twin

Abstract

The present invention discloses an intelligent traffic control system during tunnel construction based on digital twin, including a data acquisition unit for collecting information on vehicle control, an early warning analysis unit for integrating and processing various information obtained by the data acquisition unit, and a display scheduling unit for visually presenting the calculation results of the early warning analysis unit. The present invention collects vehicle positioning data based on UWB, construction progress data of each working face of the tunnel, signal light position data, and real-time camera monitoring data through a multi-source data acquisition unit, analyzes vehicle running speed, regional distribution, and meeting behavior according to vehicle traffic rules and traffic management plans, and obtains recommended vehicle scheduling plans; dispatching instructions are issued through the large screen of the monitoring center, signal lights in the tunnel, and on-board information boards to achieve intelligent control of tunnel traffic, and solve the dilemma of "invisible, uncontrollable, and unadjustable" traffic in the tunnel during the construction of the pilot tunnel in the extra-long tunnel.

Description

Technical Field

[0001] The present invention relates to the technical field of highway tunnel construction management, and in particular to an intelligent traffic control system during tunnel construction based on digital twins. Background Art

[0002] Extra-long tunnels have great advantages in overcoming terrain obstacles such as high mountains and canyons, shortening spatial distances, and improving the quality of land transportation operations. With the improvement of tunnel construction level and the upgrading of technical equipment, more and more extra-long tunnels are being built and used in areas with complex terrain, landforms, and geological conditions, such as the Gotthard Base Tunnel in Switzerland with a length of 16.9 km, the Dapingli Tunnel in Gansu with a length of 12.3 km, the Zhongnanshan Tunnel in Qinling Mountains in Shaanxi with a length of 18.0 km, and the Tianshan Shengli Tunnel of the Wuwei Expressway in Xinjiang under construction with a length of 22.1 km, which will become the world's longest highway tunnel after completion.

[0003] Setting up a parallel middle guide tunnel between the two main tunnels is a special extra-long tunnel construction plan with many advantages. The middle guide tunnel often uses the TBM method, which has a faster progress and can provide advanced geological forecasts for the main tunnel and explore the engineering geology and hydrogeology in front of the tunnel. The middle guide tunnel, in conjunction with the cross tunnel, can increase the main tunnel construction working surface, realize the "long tunnel short hit" of the extra-long tunnel, speed up the main tunnel construction progress, and effectively shorten the construction period. During the operation period, the middle guide tunnel can also be used as a disaster prevention and rescue channel to improve the tunnel safety service level. The middle guide tunnel solution is being increasingly used in the construction of extra-long tunnels.

[0004] However, the adoption of the middle guide tunnel construction plan and the simultaneous construction of multiple working faces in the main tunnel will lead to complex logistics organization in the tunnel and increased difficulty in construction management. During the peak construction period, there are dozens of TBM working faces in the middle guide tunnel and drilling and blasting working faces in the main tunnel. There are many vehicles for material transportation, blasting slag, construction management, mechanical equipment, etc. Due to the lack of visual integrated management methods, it is impossible to grasp the driving speed, location distribution and working status of vehicles in the tunnel; visibility in the tunnel is low, and the sight distance of the level crossing near the working face is poor. In addition, the turning radius of engineering vehicles is large, which is prone to congestion; the space in the middle guide tunnel is small, and engineering vehicles can only pass in the passing lane area, reverse to avoid danger, and the traffic organization efficiency is low. The above problems put forward high requirements on the level of traffic organization and management during the tunnel construction period, and traditional traffic control methods can no longer meet them. Summary of the invention

[0005] Based on the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide an intelligent traffic control system during tunnel construction based on digital twins, so as to realize intelligent control of tunnel traffic and solve the dilemma of "invisible, uncontrollable and unadjustable" traffic in the tunnel during the construction of the pilot tunnel in the extra-long tunnel.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical measures:

[0007] A tunnel construction period traffic intelligent control system based on digital twins, including a data acquisition unit, an early warning analysis unit and a display scheduling unit; the data acquisition unit is used to collect information on vehicle control, and the data acquisition unit includes: a vehicle positioning module, which is composed of a positioning tag, a positioning base station, a synchronization controller, a server and a computing unit; a BIM environment simulation module, which is used to design the tunnel into a BIM model, convert it into a lightweight tunnel three-dimensional model, form a digital twin three-dimensional model of the tunnel project, and present it visually in the system as the basic environment for vehicle three-dimensional display: a construction progress management module, which is used to integrate the route pile numbers of each working face by connecting the progress data of the engineering construction management platform, obtain the actual spatial position of the working face, thereby constructing a drivable space in the tunnel, and providing a basis for subsequent statistical analysis and early warning scheduling analysis of vehicles; the early warning analysis unit is used to integrate and process various information obtained by the data acquisition unit, calculate various indicators according to control requirements, and present them visually; the early warning analysis unit includes: a vehicle positioning display module, which is used to construct a coordinate system of the tunnel environment where the vehicle is located, extract the vehicle coordinate data in the vehicle positioning module, and present the construction progress The pile number data of each working face extracted from the speed management module are parsed and converted, mapped to the three-dimensional rectangular coordinate system of the tunnel, integrated and displayed in two or three dimensions; the vehicle statistical analysis module is used to obtain the coordinates of the vehicle in the vehicle positioning display module and the vehicle type attributes carried by the vehicle positioning module, count the number of vehicles in the tunnel, and analyze the historical number; the vehicle early warning and scheduling module includes vehicle speeding warning, working face overcrowding warning, middle guide tunnel meeting scheduling and middle guide tunnel exclusive scheduling; the display scheduling unit is used to visualize the calculation results of the early warning analysis unit, The display and dispatching unit includes: a large screen module of the monitoring center, which is used to project the traffic control information of the display and dispatching unit onto the large monitoring screen of the tunnel construction and management center, and display vehicle positioning, historical data, vehicle type, vehicle distribution status, vehicle speeding, overcrowding at the working face, congestion at the middle guide tunnel, signal light status and timing, and tracking video monitoring in the form of a permanent information board; an on-board information board module, which is used to deploy an information board APP on the driver's mobile phone to publish information on whether the vehicle is currently speeding, the time to pass the level crossing, and whether it should go to the working face, so as to realize the execution of the analysis results of the early warning analysis unit.

[0008] Preferably, the vehicle statistics analysis module is also used to analyze the distribution status of various types of vehicles. The distribution status refers to the number statistics of various types of vehicles at specific locations. By analyzing the total number, historical number and distribution status of vehicles in the tunnel, it assists tunnel construction managers in optimizing the operation arrangements of various types of vehicles and mechanical equipment and optimizing the quality of traffic organization in the tunnel.

[0009] Furthermore, the vehicle speeding warning calculates the real-time speed of the vehicle according to the vehicle coordinates and compares it with the speed limit of various types of vehicles traveling in the tunnel. If the vehicle exceeds the speed limit, it will be prompted in the large screen module of the monitoring center, and the driver will be prompted to slow down through the on-board information board module; the working face overcrowding warning includes the left and right tunnel working face areas. When the face is blasted, a threshold value for the number of vehicles on the working face is set. After exceeding the value, the system will issue a prompt to the dispatch center to temporarily suspend the dispatch of additional vehicles to the working face to alleviate the traffic pressure in the tunnel; the middle guide tunnel meeting dispatch uses the positions of the two vehicles and the traffic priority to prompt low-authority vehicles to wait in front of the passing lane in advance, and sends the instruction to the driver through the on-board information board module; the middle guide tunnel exclusive dispatch recognizes special equipment entering the middle guide tunnel area, and issues a stop instruction to the current level intersection and the front level intersection through the signal light management module, prohibiting vehicles from continuing to enter the middle guide tunnel area.

[0010] Optionally, the traffic light management module in the early warning analysis unit has the functions of automatic timing calculation for level crossings and timing calculation for intermediate guide tunnels; the automatic timing calculation for level crossings defines different passing times according to the type attributes of vehicles passing through the level crossings, thereby improving the traffic capacity of the level crossings; the intermediate guide tunnel timing calculation obtains the result of the intermediate guide tunnel meeting scheduling analysis in the vehicle early warning scheduling module, and returns the remaining time for low-authority vehicles to wait in front of the passing lane in advance.

[0011] Furthermore, the video surveillance management module in the data acquisition unit obtains the positioning data of the camera, records the location characteristics of the camera, including the left and right holes or the middle guide hole numbers, and the pile numbers, parses and records the camera number list, and obtains the video stream of each camera through the data interface; the video surveillance management module in the early warning analysis unit retrieves the nearest camera according to the coordinates of the key vehicle; the video surveillance management module in the display scheduling unit presents the video of the camera to realize automatic tracking and monitoring of the key vehicles.

[0012] From the above, the digital twin-based intelligent traffic control system for tunnel construction period of the present invention collects UWB-based vehicle positioning data, construction progress data of each working face of the tunnel, signal light position data, real-time camera monitoring data, etc. through a multi-source data acquisition unit; then according to the vehicle traffic rules and traffic management plan, the vehicle running speed, regional distribution, meeting behavior, etc. are analyzed to obtain a recommended vehicle dispatch plan; finally, dispatch instructions are issued through the large screen of the monitoring center, signal lights in the tunnel and on-board information boards, so as to realize intelligent control of tunnel traffic and solve the dilemma of "invisible, uncontrollable and unadjustable" traffic in the tunnel during the construction of the pilot tunnel in the extra-long tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 It is a structural schematic diagram of the intelligent traffic control system during tunnel construction period based on digital twin of the present invention;

[0015] Figure 2 It is the three-dimensional rectangular coordinate system diagram of the tunnel;

[0016] Figure 3 Integrate presentation graphics for construction progress and vehicle positioning. DETAILED DESCRIPTION

[0017] 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.

[0018] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0019] like Figures 1 to 3 As shown, the digital twin-based intelligent traffic control system for tunnel construction period of the present invention includes: a data acquisition unit, an early warning analysis unit and a display scheduling unit, and all units are connected to a high-performance graphics workstation for data exchange and processing.

[0020] The data acquisition unit of the present invention mainly collects information on vehicle control. The factors that affect vehicle behavior are mainly three categories: vehicle, environment and people. By setting up a vehicle positioning module, a BIM environment simulation module, a construction progress management module, a signal light management module and a video monitoring management module, various types of data on vehicles, environments and people are collected respectively to provide basic data for subsequent analysis and calculation.

[0021] The vehicle positioning module can adopt the UWB (Ultra Wide Band) positioning system, which is composed of positioning tags, positioning base stations, synchronization controllers, servers and computing units. Different from ordinary UWB positioning systems, the present invention optimizes the positioning system in combination with the characteristics of tunnel construction, which is reflected in: the positioning tag adds vehicle type attributes to distinguish multi-functional double-headed flatbed trucks, explosive transport trucks, concrete tank trucks, mechanical equipment, slag trucks, small inspection commuter vehicles and special equipment, so as to support the analysis and calculation of subsequent different vehicle encounter avoidance scheduling behaviors.

[0022] The BIM environment simulation module converts the tunnel design BIM model into a lightweight tunnel 3D model, forming a digital twin 3D model of the tunnel project, which is visualized in the system as the basic environment for vehicle 3D display. Lightweighting is reflected in the selection of tunnel secondary lining and pavement models that only retain vehicle-accessible locations based on vehicle traffic characteristics and feature values, ignoring other elements to ensure smooth system operation.

[0023] The construction progress management module connects to the progress data of the engineering construction management platform, integrates the route pile number Ki of each working face, obtains the actual spatial position of the working face, and thus constructs the drivable space in the tunnel, providing a basis for subsequent vehicle statistical analysis and early warning scheduling analysis.

[0024] The traffic light management module consists of three sub-functions: data collection unit, early warning analysis unit, and display scheduling unit. Under the data collection unit, the number and location of the traffic lights are defined. According to the actual scheduling needs, the traffic lights are installed at the intersections with high traffic density and serious route interweaving.

[0025] The early warning analysis unit of the present invention mainly integrates and processes various information obtained by the data acquisition unit, calculates various indicators according to the management and control requirements, and performs visual display. A vehicle positioning display module, a vehicle statistical analysis module, a vehicle early warning scheduling management module, a signal light management module and a video monitoring management module are set up.

[0026] The vehicle positioning display module first needs to construct a coordinate system for the tunnel environment where the vehicle is located. The coordinate system can be constructed as a three-dimensional rectangular coordinate system: the coordinate origin O is the entrance of the central guide tunnel, the coordinate X-axis is the axis of the tunnel central guide tunnel route, the coordinate Y-axis is the tangent of the tunnel axis, and the coordinate Z-axis is the vertical direction. By constructing a three-dimensional rectangular coordinate system, the horizontal curves and vertical curves of the tunnel route design line can be simplified into numerical values, and the complex tunnel engineering environment can be abstracted, thereby simplifying calculations and improving system operation efficiency. Through the construction of a three-dimensional coordinate system, the unification of tunnel models, construction progress, vehicle positioning, camera and signal light positioning can be achieved, which provides a basis for further calculations. The three-dimensional rectangular coordinate system of the tunnel is as follows: Figure 2 shown.

[0027] Furthermore, the vehicle positioning display module is also used to extract the vehicle coordinate data in the vehicle positioning module, calculate the actual position of the vehicle, map it to the tunnel three-dimensional rectangular coordinate system through coordinate conversion calculation, and use the lightweight three-dimensional model obtained by the BIM environment simulation module for accurate visualization. In addition, the pile number data of each working surface extracted from the construction progress management module is analyzed and converted in the same way, mapped to the tunnel three-dimensional rectangular coordinate system, and integrated and displayed in two or three dimensions, such as Figure 3 The vehicle positioning display module can integrate and display the tunnel construction status and the vehicle operation status in the tunnel, thus providing a visual decision-making basis for construction managers and solving the dilemma of being "invisible" in the tunnel.

[0028] The vehicle statistics analysis module obtains the coordinates of the vehicles in the vehicle positioning display module and the vehicle type attributes carried by the vehicle positioning module, counts the number of vehicles in the tunnel, and analyzes the historical number. Furthermore, the distribution status of various types of vehicles can be analyzed. The distribution status refers to the number statistics of various types of vehicles at specific locations. By analyzing the total number, historical number, and distribution status of vehicles in the tunnel, tunnel construction managers can be assisted in optimizing the operation arrangements of various types of vehicles and mechanical equipment, thereby optimizing the quality of traffic organization in the tunnel.

[0029] The vehicle warning and dispatching module includes four main functions, namely vehicle speeding warning, working face overcrowding warning, middle guide tunnel meeting dispatch and middle guide tunnel exclusive dispatch.

[0030] The vehicle speeding warning calculates the real-time speed of the vehicle based on the vehicle coordinates and compares it with the speed limit of various vehicles in the tunnel. When a vehicle exceeds the speed limit, a prompt will be displayed on the large screen module of the monitoring center, and the driver will be prompted to slow down through the on-board information board module to ensure traffic safety.

[0031] The overcrowding warning for the working face refers to the situation in the left and right tunnel working faces where, after the face is blasted, a large number of slag trucks will enter and exit the area, which may cause queues for loading and cause traffic jams. Based on construction management experience, a threshold for the number of vehicles on the working face is set. When the threshold is exceeded, the system will issue a prompt to the dispatch center to temporarily suspend the dispatch of additional vehicles to the working face, thereby alleviating traffic pressure in the tunnel and ensuring safe and smooth traffic.

[0032] The mid-guide tunnel meeting dispatch refers to the fact that due to lack of communication, poor sight distance and other reasons, concrete tankers, mechanical equipment, and slag trucks will meet in the non-passing zone of the mid-guide tunnel and cannot pass. They need to reverse and move to the passing zone, which is inefficient. The vehicle early warning dispatch module prompts low-authority vehicles to wait in front of the passing zone in advance based on the positions of the two vehicles and the priority of passage, and sends the instruction to the driver through the on-board information board module, thereby ensuring the smooth passage of high-authority vehicles and improving traffic organization efficiency.

[0033] Exclusive dispatching of the middle guide tunnel means that due to the huge size of special equipment, it will occupy the entire space of the middle guide tunnel and cannot pass other vehicles. The vehicle early warning dispatching module can identify special equipment entering the middle guide tunnel area, and through the signal light management module, issue a stop command to the current level crossing and the next level crossing, prohibiting vehicles from continuing to enter the middle guide tunnel area, thereby ensuring the normal passage of special equipment, avoiding dangerous reversing actions in the tunnel, and ensuring safe and smooth traffic.

[0034] The signal management module under the early warning analysis unit has the functions of automatic timing calculation for level crossings and intermediate tunnel timing calculation. The automatic timing calculation for level crossings defines different passing times according to the type attributes of vehicles passing through the level crossing, thereby improving the traffic capacity of the level crossing. The intermediate tunnel timing calculation obtains the results of the intermediate tunnel meeting scheduling analysis in the vehicle early warning scheduling module, and returns the remaining time for low-authority vehicles to wait in front of the passing lane in advance. Furthermore, the instructions are issued to the corresponding signal lights through the functions under the display scheduling unit.

[0035] The video surveillance management module consists of three sub-functions under the data acquisition unit, the early warning analysis unit, and the display scheduling unit. Under the data acquisition unit, obtain the positioning data of the camera and record the location characteristics of the camera, including the left and right tunnel or middle guide tunnel number, and the pile number Km. Parse and record the camera number list. Obtain the video stream of each camera through the data interface. Under the early warning analysis unit, retrieve the nearest camera according to the coordinates of the key vehicle. Under the display scheduling unit, present the video of the camera. Through the video surveillance management module, automatic tracking and monitoring of key vehicles can be achieved.

[0036] The display and scheduling unit of the present invention mainly visualizes the calculation results of the early warning analysis unit, and releases information to the construction managers of the monitoring center, the drivers in the tunnel, and the construction workers by setting up a large screen module of the monitoring center, a vehicle-mounted information board module, a traffic light management module, and a video monitoring management module.

[0037] The large-screen module of the monitoring center is mainly used to project the traffic control information of the display dispatching unit onto the monitoring screen of the tunnel construction management center. It displays vehicle positioning, historical data, vehicle type, vehicle distribution status, vehicle speeding, overcrowding on the working surface, congestion in the middle guide tunnel, signal light status and timing, and tracking video monitoring in the form of a permanent information board.

[0038] The signal light management module of the display dispatching unit publishes the signal light control signal to the level crossing signal lights in the tunnel, including the level crossing signal lights and the passing lane signal lights, thereby realizing the vehicle operation management.

[0039] The on-board information board module refers to the information board APP deployed on the driver's mobile phone, which publishes information such as whether the vehicle is currently speeding, the time to pass the level crossing, whether it should go to the work face, etc., thereby realizing the execution of the analysis results of the early warning analysis unit.

[0040] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. An intelligent traffic control system during tunnel construction based on digital twin, characterized in that: It includes data collection unit, early warning analysis unit and display scheduling unit; The data collection unit is used to collect information on vehicle control, and the data collection unit includes: The vehicle positioning module consists of a positioning tag, a positioning base station, a synchronization controller, a server and a computing unit; The BIM environment simulation module is used to convert the tunnel design into a BIM model, which is then converted into a lightweight tunnel 3D model to form a digital twin 3D model of the tunnel project. This model is visualized in the system and serves as the basic environment for the 3D display of vehicles: The construction progress management module is used to connect to the progress data of the engineering construction management platform, integrate the route pile numbers of each working face, obtain the actual spatial position of the working face, and thus construct the drivable space in the tunnel, providing a basis for the subsequent statistical analysis and early warning dispatch analysis of vehicles; The early warning analysis unit is used to integrate and process various information obtained by the data collection unit, calculate various indicators according to management and control requirements, and perform visual display; the early warning analysis unit includes: The vehicle positioning display module is used to construct a coordinate system of the tunnel environment where the vehicle is located, extract the vehicle coordinate data in the vehicle positioning module, parse and convert the pile number data of each working surface extracted in the construction progress management module, map it to the three-dimensional rectangular coordinate system of the tunnel, and perform integration and two-dimensional and three-dimensional display; A vehicle statistics analysis module is used to count the number of vehicles in the tunnel and analyze the historical number according to the coordinates of the vehicles obtained from the vehicle positioning display module and the vehicle type attributes carried by the vehicle positioning module; Vehicle warning and dispatching module, including vehicle speeding warning, working face overcrowding warning, mid-guide tunnel meeting dispatch and mid-guide tunnel exclusive dispatch; The display scheduling unit is used to visually present the calculation result of the early warning analysis unit, and the display scheduling unit includes: The large screen module of the monitoring center is used to project the traffic control information of the display dispatching unit onto the monitoring screen of the tunnel construction management center. In the form of a permanent information board, it displays vehicle positioning, historical data, vehicle type, vehicle distribution status, vehicle speeding, overcrowding at the working face, congestion in the middle guide tunnel, signal light status and timing, and tracking video monitoring; The vehicle-mounted information board module is used for the information board APP deployed on the driver's mobile phone to publish information such as whether the vehicle is currently speeding, the time to pass the level crossing, and whether it should go to the work face, so as to realize the execution of the analysis results of the early warning analysis unit.

2. According to claim 1, the intelligent traffic control system during tunnel construction based on digital twin is characterized in that: The vehicle statistics analysis module is also used to analyze the distribution status of various types of vehicles. The distribution status refers to the number statistics of various types of vehicles at specific locations. By analyzing the total number, historical number and distribution status of vehicles in the tunnel, it assists tunnel construction managers in optimizing the operation arrangements of various types of vehicles and mechanical equipment and optimizing the quality of traffic organization in the tunnel.

3. The intelligent traffic control system during tunnel construction period based on digital twin according to claim 1 is characterized in that: The vehicle speeding warning calculates the real-time speed of the vehicle according to the vehicle coordinates and compares it with the speed limit of various vehicles in the tunnel. If the vehicle exceeds the speed limit, it will be prompted on the large screen module of the monitoring center, and the driver will be prompted to slow down through the on-board information board module; The overcrowding warning of the working face includes setting a threshold of the number of vehicles on the working face in the left and right tunnel working faces after the blasting of the face. When the threshold is exceeded, the system will issue a prompt to the dispatch center to temporarily suspend the dispatch of additional vehicles to the working face to ease the traffic pressure in the tunnel. The mid-guide tunnel meeting dispatching system prompts low-authority vehicles to wait in front of the passing lane in advance based on the positions of the two vehicles and the traffic priority, and sends the instruction to the driver through the on-board information board module; The exclusive dispatching of the middle guide tunnel identifies the special equipment entering the middle guide tunnel area, and issues a stop command to the current level crossing and the next level crossing through the signal light management module, prohibiting the vehicle from continuing to enter the middle guide tunnel area.

4. According to claim 1, the intelligent traffic control system during tunnel construction based on digital twin is characterized in that: The traffic light management module in the early warning analysis unit has the functions of automatic timing calculation for level crossings and timing calculation for intermediate guide tunnels; the automatic timing calculation for level crossings defines different passing times according to the type attributes of vehicles passing through the level crossings to improve the traffic capacity of the level crossings; the intermediate guide tunnel timing calculation obtains the results of the intermediate guide tunnel meeting scheduling analysis in the vehicle early warning scheduling module, and returns the remaining time for low-authority vehicles to wait in front of the passing lane in advance.

5. According to claim 1, the intelligent traffic control system during tunnel construction based on digital twin is characterized in that: The video monitoring management module in the data acquisition unit obtains the positioning data of the camera, records the location characteristics of the camera, including the number of the left and right holes or the middle guide hole, and the pile number, parses and records the camera number list, and obtains the video stream of each camera through the data interface; The video monitoring management module in the early warning analysis unit retrieves the nearest camera according to the coordinates of the key vehicle; The video monitoring management module under the display scheduling unit presents the video of the camera to realize automatic tracking and monitoring of key vehicles.

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