Method for monitoring vehicles turning right without stopping at intersections

Abstract

A method for monitoring vehicles turning right without stopping at an intersection relates to the technical field of vehicle driving behavior monitoring. The method uses vehicle positioning data obtained by a vehicle-mounted positioning terminal device and collected vehicle driving data to take three consecutive positioning points from the vehicle's driving trajectory line, and then judges whether the vehicle has not stopped during the right turn at the intersection based on the three positioning points and the vehicle driving data. The method provided by the present invention is used to monitor vehicles that should stop during the right turn.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle driving behavior monitoring, and in particular to a method for monitoring a vehicle turning right without stopping at an intersection. Background Art

[0002] Large vehicles have long bodies, large wheelbases, and large blind spots, which can easily cause serious traffic accidents. Among traffic accidents involving large vehicles, accidents caused by the inner wheel blind spot account for more than 70%, with a mortality rate of more than 90%. In order to avoid similar traffic accidents, many cities have promulgated laws and regulations requiring large vehicles to "stop when turning right" in order to reduce the accident rate of large vehicles turning right at intersections.

[0003] There are many studies on the warning system and monitoring system for the blind spots of large vehicles in the prior art. The main method is to monitor and warn the blind spots of large vehicles by combining the front-end detection and warning unit with the back-end remote management equipment. However, there is currently no monitoring method for large vehicles that turn right without stopping, and it is difficult to effectively monitor large vehicles that must stop when turning right. Summary of the invention

[0004] In view of the defects existing in the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a vehicle turning right at an intersection without stopping monitoring method which can monitor the vehicle turning right at an intersection without stopping.

[0005] The present invention provides a method for monitoring a vehicle turning right without stopping at an intersection, wherein the vehicle is equipped with a vehicle-mounted positioning terminal device for collecting positioning data and driving data of the vehicle, and the vehicle-mounted positioning terminal device is equipped with an electronic map, and the method comprises the following specific steps:

[0006] S10: using the vehicle positioning terminal device to obtain the positioning data of the vehicle, and collect the driving direction and speed of the vehicle at each positioning point, and obtain an electronic map of the current geographical area where the vehicle is located according to the current positioning point of the vehicle, and obtain the driving trajectory of the vehicle in the electronic map according to the positioning data of the vehicle;

[0007] S20: taking three consecutive positioning points on the driving trajectory of the vehicle, and defining the three positioning points in chronological order as point P1, point P2, and point P3, wherein point P3 is the current positioning point of the vehicle;

[0008] S30: judging the vehicle according to the positional relationship among point P1, point P2 and point P3 and the driving direction of the vehicle at the three positioning points; if the positional relationship among point P1, point P2 and point P3 satisfies condition 1, condition 2 and condition 3 at the same time, it is determined that the vehicle is making a right turn at the intersection, and the process goes to step S40; otherwise, the process goes to step S50;

[0009] Condition 1: In the electronic map, the angle between the driving direction of the vehicle at point P1 and the due north direction is defined as angle A, and the angle between the driving direction of the vehicle at point P3 and the due north direction is defined as angle B. If the angular difference between angle A and angle B is within the range of 60° to 120°, it is determined that the positional relationship among point P1, point P2, and point P3 satisfies Condition 1;

[0010] Condition 2: In the electronic map, the road where point P1 is located is defined as road P1, and the first intersection ahead of point P1 is found according to the driving direction of the vehicle at point P1;

[0011] If there is only one road on the right side of road P1 at the first intersection ahead of point P1, then this road is defined as road R. Otherwise, the first road on the right side of road P1 at the first intersection ahead of point P1 is defined as road R, and the intersection point of the center line of road P1 and the center line of road R is defined as intersection point P c , if d2 < d0 or d3 < d0, it is determined that the positional relationship among point P1, point P2, and point P3 satisfies Condition 2, where d2 is the distance between point P2 and intersection point P c and d3 is the distance between point P3 and intersection point P c , and d0 is a preset length threshold;

[0012] Condition 3: In the electronic map, draw a straight line L1 passing through point P1 along the driving direction of the vehicle at point P1, draw a straight line L2 passing through point P3 along the driving direction of the vehicle at point P3, draw a straight line L3 passing through point P1 and intersection point P c , draw a straight line L4 passing through point P3 and intersection point P c . If the angle between straight line L1 and straight line L3 is less than 15°, and the angle between straight line L2 and straight line L4 is less than 15°, it is determined that the positional relationship among point P1, point P2, and point P3 satisfies Condition 3;

[0013] S40: Among the three positioning points of point P1, point P2, and point P3, the positioning point closest to intersection point P c is defined as the reference point. If the driving speed of the vehicle at the reference point is greater than 15 km / h, it is determined that the vehicle has not stopped during the implementation of the right-turn at the intersection;

[0014] S50: Loop and execute steps S10 to S40 until the monitoring of non-stop during right-turn ends.

[0015] The method for monitoring vehicles turning right without stopping at an intersection provided by the present invention utilizes vehicle positioning data and vehicle driving data obtained by a vehicle-mounted positioning terminal device, combined with road intersection information obtained from an electronic map, to determine whether the vehicle has made a right turn at the intersection through the positional relationship between three consecutive positioning points of the vehicle, and then determines whether the vehicle has stopped during the right turn at the intersection in combination with the vehicle driving data, thereby effectively monitoring vehicles that should have stopped but did not. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of a method for determining a right turn of a vehicle in a method for monitoring a vehicle turning right without stopping at an intersection according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited to the embodiments, and all similar structures and similar variations of the present invention should be included in the protection scope of the present invention. The use of directions such as up, down, front, back, left, and right in the present invention is only for the convenience of description and is not a limitation on the technical solution of the present invention.

[0018] like Figure 1 As shown, a method for monitoring a vehicle turning right without stopping at an intersection provided by an embodiment of the present invention, wherein the vehicle is equipped with an on-board positioning terminal device for collecting positioning data and driving data of the vehicle, and the on-board positioning terminal device is equipped with an electronic map, and the specific steps of the method are as follows:

[0019] S10: using the vehicle positioning terminal device to obtain the positioning data of the vehicle, and collect the driving direction and speed of the vehicle at each positioning point, and obtain an electronic map of the current geographical area where the vehicle is located according to the current positioning point of the vehicle, and obtain the driving trajectory of the vehicle in the electronic map according to the positioning data of the vehicle;

[0020] S20: taking three consecutive positioning points on the driving trajectory of the vehicle, and defining the three positioning points in chronological order as point P1, point P2, and point P3, wherein point P3 is the current positioning point of the vehicle;

[0021] The interval between vehicle positioning terminal equipment obtaining vehicle positioning points is usually 5 to 10 seconds to obtain a positioning point;

[0022] S30: judging the vehicle according to the positional relationship among point P1, point P2 and point P3 and the driving direction of the vehicle at the three positioning points; if the positional relationship among point P1, point P2 and point P3 satisfies condition 1, condition 2 and condition 3 at the same time, it is determined that the vehicle is making a right turn at the intersection, and the process goes to step S40; otherwise, the process goes to step S50;

[0023] Condition 1: In the electronic map, the angle between the driving direction of the vehicle at point P1 and the due north direction is defined as angle A, and the angle between the driving direction of the vehicle at point P3 and the due north direction is defined as angle B. If the angular difference between angle A and angle B is within the range of 60° to 120°, it is determined that the positional relationship among point P1, point P2, and point P3 satisfies Condition 1;

[0024] Condition 2: In the electronic map, the road where point P1 is located is defined as road P1, and the first intersection ahead of point P1 is found according to the driving direction of the vehicle at point P1;

[0025] If there is only one road on the right side of road P1 at the first intersection ahead of point P1, then this road is defined as road R. Otherwise, the first road on the right side of road P1 at the first intersection ahead of point P1 is defined as road R, and the intersection point of the center line of road P1 and the center line of road R is defined as intersection point P c , if d2 < d0 or d3 < d0, it is determined that the positional relationship among point P1, point P2, and point P3 satisfies Condition 2, where d2 is the distance between point P2 and intersection point P c and d3 is the distance between point P3 and intersection point P c and d0 is a preset length threshold, and the set value of d0 is preferably 30 meters;

[0026] Condition 3: In the electronic map, draw a straight line L1 passing through point P1 along the driving direction of the vehicle at point P1, draw a straight line L2 passing through point P3 along the driving direction of the vehicle at point P3, and draw a straight line L3 passing through point P1 and intersection point P c , and draw a straight line L4 passing through point P3 and intersection point P c . If the angle between straight line L1 and straight line L3 is less than 15°, and the angle between straight line L2 and straight line L4 is less than 15°, it is determined that the positional relationship among point P1, point P2, and point P3 satisfies Condition 3;

[0027] S40: Among the three positioning points P1, P2, and P3, the positioning point closest to intersection point P c is defined as the reference point. If the driving speed of the vehicle at the reference point is greater than 15 km / h, it is determined that the vehicle has not stopped during the right-turn driving at the intersection;

[0028] S50: Loop through steps S10 to S40 until the monitoring of no stop during right turn ends.

[0029] In the embodiment of the present invention, if it is determined in step S40 that the vehicle has not stopped during the right-turn driving at the intersection, a warning audio of no stop during the right turn at the intersection is played through the vehicle voice playback device.

Claims

1. A method for monitoring vehicles turning right without stopping at intersections, wherein the vehicle is equipped with a vehicle-mounted positioning terminal device for collecting vehicle positioning data and driving data, and the vehicle-mounted positioning terminal device is equipped with an electronic map, characterized in that: The specific steps of this method are as follows: S10: using the vehicle positioning terminal device to obtain the positioning data of the vehicle, and collect the driving direction and speed of the vehicle at each positioning point, and obtain an electronic map of the current geographical area where the vehicle is located according to the current positioning point of the vehicle, and obtain the driving trajectory of the vehicle in the electronic map according to the positioning data of the vehicle; S20: taking three consecutive positioning points on the driving trajectory of the vehicle, and defining the three positioning points in chronological order as point P1, point P2, and point P3, wherein point P3 is the current positioning point of the vehicle; S30: The vehicle is judged according to the positional relationship among point P1, point P2, and point P3 and the driving direction of the vehicle at the three positioning points. If the positional relationship among point P1, point P2, and point P3 satisfies condition 1, condition 2, and condition 3 at the same time, it is determined that the vehicle is making a right turn at the intersection, and the process goes to step S40; otherwise, the process goes to step S50； Condition 1: In the electronic map, the angle between the vehicle's driving direction at point P1 and the true north direction is defined as angle A, and the angle between the vehicle's driving direction at point P3 and the true north direction is defined as angle B. If the angle difference between angle A and angle B is within the range of 60° to 120°, it is determined that the positional relationship between points P1, P2, and P3 meets condition 1; Condition 2: In the electronic map, the road where point P1 is located is defined as road P1, and the first intersection in front of point P1 is found according to the driving direction of the vehicle at point P1; If there is only one road on the right side of road P1 at the first intersection in front of point P1, then this road is defined as road R. Otherwise, the first road on the right side of road P1 at the first intersection in front of point P1 is defined as road R, and the intersection point of the center line of road P1 and the center line of road R is defined as intersection point P c , if d2 < d0 or d3 < d0, it is determined that the positional relationship among point P1, point P2, and point P3 satisfies condition 2, where d2 is the distance between point P2 and intersection point P c , d3 is the distance between point P3 and intersection point P c , and d0 is a preset length threshold; Condition 3: In the electronic map, draw a straight line L1 passing through point P1 along the direction of the vehicle at point P1, draw a straight line L2 passing through point P3 along the direction of the vehicle at point P3, and draw a straight line passing through point P1 and intersection point P c Draw a straight line L3 through point P3 and the intersection point P c If the angle between the straight line L1 and the straight line L3 is less than 15°, and the angle between the straight line L2 and the straight line L4 is less than 15°, then it is determined that the positional relationship between the point P1, the point P2, and the point P3 meets condition 3; S40: The three positioning points P1, P2 and P3 are located at a distance from the intersection point P c The nearest positioning point is defined as the reference point. If the vehicle's driving speed at the reference point is greater than 15 km / h, it is determined that the vehicle did not stop during the right turn at the intersection. S50: Execute steps S10 to S40 in a loop until the monitoring of right turn without stopping is completed.

2. The method for monitoring vehicles turning right without stopping at an intersection according to claim 1, characterized in that: If it is determined in step S40 that the vehicle did not stop during the right turn at the intersection, a warning audio that the vehicle did not stop while turning right at the intersection is played through the vehicle voice playback device.

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