A method and device for planning a driving path of a traffic accident tow truck integrated with a UAV

Abstract

The application provides a traffic accident tow truck driving path planning method and device of a fusion unmanned aerial vehicle, based on an unmanned aerial vehicle collecting congestion road images where an accident vehicle is located; an image analysis method is used to distinguish vehicles in the images, a semantic segmentation unit is used to segment the obtained road images to obtain lane areas; a grid is matched with a binary image, and the grid is valued; for a pure white grid, different symbols are given according to the lane where the pure white grid is located; the grid is subjected to coordinate analysis to judge a driving route and a lane changing process, if a starting point to an accident vehicle occurrence is connected to form a line, the line is regarded as a passable path; the passable path S x is subjected to comparative analysis, x is the number of turns, when x is the minimum, S x is the optimal path. The application improves the efficiency of tow truck operation without destroying the original traffic rules of the road, and uses unmanned aerial vehicle technology to make the application more real-time and accurate.

Description

Technical Field

[0001] This invention belongs to the field of transportation, specifically relating to a method and device for planning the driving path of a tow truck involved in a traffic accident, which integrates unmanned aerial vehicles (UAVs). Background Technology

[0002] With the surge in private car ownership, drivers often encounter traffic jams. One reason for these jams is vehicle collisions that render vehicles immobile, increasing traffic congestion time and blocking lanes. Even when traffic police arrive at the scene, rescue vehicles cannot reach the scene in time due to road blockages.

[0003] To alleviate congestion as quickly as possible, route planning for trailers is necessary. Currently, existing technologies for vehicle route planning fall into two categories: one is autonomous driving, relying on GPS (Global Positioning System), and the other utilizes onboard digital cameras to provide dynamic route planning. Both methods suffer from a problem: when an accident occurs ahead and vehicles cannot move, congestion information must be manually transmitted to GPS, preventing real-time access to congestion conditions and information. This invention, however, utilizes drone technology for real-time image capture and data processing, effectively solving this problem.

[0004] Furthermore, existing technologies commonly use road signal control equipment and voice warnings to other vehicles to give way, adjusting road traffic to minimize obstacles for rescue vehicles and ensure they reach their destination promptly. In contrast, this invention collects road information to find the optimal feasible path within the road without disrupting its original operational patterns.

[0005] Alternatively, some tow trucks may use the strategy of driving against traffic to quickly reach their destination in order to bypass congested areas. However, this method poses certain safety hazards. This invention plans routes for tow trucks without violating traffic rules, enabling them to quickly reach their destination for rescue while avoiding the safety hazards associated with driving against traffic. Summary of the Invention

[0006] Purpose of the invention: To address the shortcomings of existing technologies, this invention proposes a method and device for planning the driving path of a tow truck involved in a traffic accident, which integrates unmanned aerial vehicles (UAVs).

[0007] Technical Solution: This invention provides a method for planning the driving path of a tow truck involved in a traffic accident, which integrates unmanned aerial vehicles (UAVs), specifically including the following steps:

[0008] (1) Based on images of congested roads where the accident vehicle was located, collected by drones;

[0009] (2) Distinguish vehicles in the image using an image analysis method, where a semantic segmentation unit segments the acquired road image to obtain a lane region; the grid is matched with the binarized image, and the grid is assigned a value;

[0010] (3) For a pure white grid, different symbols are assigned according to the lane where the pure white grid is located;

[0011] (4) Coordinate analysis is performed on the grids to determine the driving route and lane changing process. If the starting point and the location of the accident vehicle are connected in a line, the line is regarded as a passable path;

[0012] (5) Comparative analysis is performed on the passable path S x , where x is the number of turns. When x is the minimum, S x is the optimal path.

[0013] Further, the implementation process of step (1) is as follows:

[0014] Acquire the road image of the lane on the congested road where the accident vehicle is located, collect road images 500-1200m behind the accident vehicle, ensure that the collected road images are clear and capture the conditions of vehicles on the road.

[0015] Further, the implementation process of step (2) is as follows:

[0016] Gridding processing is performed on the specific congested road section. The specific congested road section is divided transversely by the number of lanes and longitudinally by a set distance to obtain a plurality of grid unit road sections, which are divided into i columns and j rows in total;

[0017] The grid is matched with the binarized image. If the proportion of the black area in the grid is ≥50%, the grid is assigned as pure black; if the proportion of the black area in the grid is <50%, the grid is assigned as pure white.

[0018] Further, the implementation process of step (3) is as follows:

[0019] If the pure white grid is located in the left lane, the display symbol of the grid is ┏; if the pure white grid is located in the middle lane, the display symbol of the grid is 丅; if the pure white grid is located in the right lane, the display symbol of the grid is ┛.

[0020] Further, the implementation process of step (4) is as follows:

[0021] The driving route and lane changing process are determined. If the starting point and the location of the accident vehicle are connected in a line, the line is regarded as a passable path: the intersection where the accident handling vehicle enters the congested road is recorded as the starting point, and the coordinates of each segmentation point are set as When i n+1 -i n ≤1 / 2, j n+1 -j nWhen ≤1, the two points are connected by a straight line, and each movement j n+1 -j n ≥0, S x Let x be a passable path, and x be the number of lane changes. The process for determining lane changes at three adjacent dividing points is as follows:

[0022]

[0023] Among them, S x A passable path; v i,j is the coordinate parameter of the dividing point; i is the number of lanes; j is the number of grid rows.

[0024] Furthermore, the set distance is 8m.

[0025] Based on the same inventive concept, the present invention also provides an apparatus comprising a memory and a processor, wherein:

[0026] Memory is used to store computer programs that can run on a processor;

[0027] The processor is configured to, while running the computer program, execute the steps of the traffic accident trailer driving path planning method fused with unmanned aerial vehicles as described above.

[0028] Based on the same inventive concept, the present invention also provides a storage medium storing a computer program, which, when executed by at least one processor, implements the steps of the traffic accident trailer driving path planning method fused with unmanned aerial vehicles as described above.

[0029] Beneficial effects: Compared with the prior art, the beneficial effects of the present invention are: the present invention improves the efficiency of towing operations without disrupting the original traffic rules of the road, and by utilizing drone technology, the present invention is more real-time and accurate. Attached Figure Description

[0030] Figure 1 This is a flowchart of the method of the present invention;

[0031] Figure 2 For lane grid segmentation images;

[0032] Figure 3 The image after binarization and value assignment of the road image;

[0033] Figure 4 This is a schematic diagram of feasible routes for trailers. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings.

[0035] The present invention provides a traffic accident towing vehicle driving path planning method integrating an unmanned aerial vehicle, as Figure 1 shown, comprising the following steps:

[0036] Step 1: Acquire a road image of the congested road where the accident vehicle is located through an unmanned aerial vehicle image acquisition module.

[0037] When the unmanned aerial vehicle image acquisition module acquires the road image of the congested road where the accident vehicle is located, it shall collect road images 1 kilometer behind the accident vehicle, ensure the collected road images are clear, select appropriate resolution and area size for the collected road images, so as to capture the vehicle conditions on the road.

[0038] Step 2: Distinguish vehicles in the image by image analysis method, and a semantic segmentation unit segments the acquired road image to obtain a lane area; a binarization processing unit is used to eliminate the image of the background area.

[0039] As Figure 2 shown, gridding processing is performed on the specific congested road section, the specific congested road section is divided transversely by the number of the lanes and longitudinally by 8m, so as to obtain a plurality of grid unit road sections, which are divided into i columns and j rows in total; wherein the number of columns is the number of lanes.

[0040] As Figure 3 shown, the grids are matched with the binarized image, if the black area proportion in the grid is ≥50%, the grid is assigned as pure black; if the black area proportion in the grid is <50%, the grid is assigned as pure white.

[0041] Step 3: For the pure white grids, different symbols are assigned according to the lane where the pure white grid is located.

[0042] As Figure 4 shown, if the pure white grid is located in the left lane, the grid displays the symbol ┏, and the vehicle can continue to go straight or enter the middle lane; if the pure white grid is located in the middle lane, the grid displays the symbol 丅, and the vehicle can continue to go straight or enter the left and right lanes; if the pure white grid is located in the right lane, the grid displays the symbol ┛, and the vehicle can continue to go straight or enter the middle lane.

[0043] Step 4: Perform coordinate analysis on the grids, judge the driving route and lane changing process, and if a line is formed by connecting the starting point to the accident vehicle occurrence place, the line is taken as a passable path.

[0044] The intersection where the accident handling vehicle drives into the congested road is recorded as the starting point, and the coordinates of each segmentation point are set as

[0045] Step S402: When i n+1 -i n ≤1 / 2, j n+1 -jn When ≤1, the two points are connected by a straight line, and each movement j n+1 -j n ≥0, S x Let S be a passable path, and x be the number of lane changes; for passable path S... x Comparative analysis, where x represents the number of turns, shows that when x is minimized, S... x This is the optimal path.

[0046] The process for determining lane changes at three adjacent dividing points is as follows:

[0047]

[0048] Among them, S x A passable path; v i,j is the coordinate parameter of the dividing point; i is the number of lanes; j is the number of grid rows.

[0049] like Figure 4 As shown, For a road.

[0050] Based on the same inventive concept, the present invention also provides an apparatus comprising a memory and a processor, wherein:

[0051] Memory is used to store computer programs that can run on a processor;

[0052] The processor is configured to, while running the computer program, execute the steps of the traffic accident trailer driving path planning method fused with unmanned aerial vehicles as described above.

[0053] Based on the same inventive concept, the present invention also provides a storage medium storing a computer program, which, when executed by at least one processor, implements the steps of the traffic accident trailer driving path planning method fused with unmanned aerial vehicles as described above.

[0054] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A method for planning the driving path of a tow truck involved in a traffic accident, incorporating unmanned aerial vehicles (UAVs), characterized in that, Includes the following steps: (1) Images of congested roads where the accident vehicle was located were collected using drones; (2) Vehicles in the image are distinguished by image analysis, and the obtained road image is segmented by the semantic segmentation unit to obtain the lane area; Match the grid to the binarized image and assign values ​​to the grid; (3) For pure white grids, different symbols are assigned according to the lane where the pure white grid is located; (4) Perform coordinate analysis on the grid to determine the driving route and lane change process. If the starting point to the location where the accident occurred is connected to form a line, it is considered a passable path. (5) For passable paths Comparative analysis, For the number of lane changes, when At its minimum, This is the optimal path; The implementation process of step (3) is as follows: If the pure white grid is located in the left lane, the grid display symbol is: Vehicles continue straight or enter the middle lane; if the pure white grid is in the middle lane, the grid display symbol is [symbol missing]. Vehicles may continue straight or enter the left or right lanes; if the pure white grid is located in the right lane, the grid display symbol will be [symbol missing]. Vehicles may continue straight or enter the middle lane; The implementation process of step (4) is as follows: Determine the driving route and lane-changing process. If the starting point to the location where the accident occurred forms a straight line, then it is considered a passable path: Take the intersection where the accident-handling vehicle entered the congested road as the starting point, and set the coordinates of each dividing point as... ,in, ;when , When; the two points are connected by a straight line, each movement , This is a passable path. This represents the number of lane changes; the process for determining lane changes at three adjacent dividing points is as follows: ; in, This is a passable path; is the coordinate parameter of the dividing point; i is the number of lanes; j is the number of grid rows.

2. The method for planning the driving path of a tow truck involved in a traffic accident, which integrates unmanned aerial vehicles (UAVs), as described in claim 1, is characterized in that... The implementation process of step (1) is as follows: Acquire road images of the congested lane where the accident vehicle is located, and collect road images 500-1200m behind the accident vehicle, ensuring that the collected road images are clear and capture the situation of vehicles on the road.

3. The method for planning the driving path of a tow truck involved in a traffic accident, which integrates unmanned aerial vehicles (UAVs), as described in claim 1, is characterized in that... The implementation process of step (2) is as follows: The specific congested road segment is divided into grids by dividing the congested road segment horizontally by the number of lanes and vertically by a set distance, resulting in multiple grid unit road segments, with a total of i columns and j rows; Match the grid to the binarized image. If the black area in the grid accounts for more than or equal to 50%, then the grid is assigned the value of pure black. If the black area accounts for less than 50% of the grid, the grid is assigned the value of pure white.

4. The method for planning the driving path of a tow truck involved in a traffic accident, which integrates unmanned aerial vehicles (UAVs), as described in claim 3, is characterized in that... The set distance is 8m.

5. A device, characterized in that, Includes memory and processor, wherein: Memory is used to store computer programs that can run on a processor; A processor, configured to, while running the computer program, perform the steps of the method for planning the driving path of a traffic accident trailer using a fusion drone as described in any one of claims 1 to 4.

6. A storage medium, characterized in that, The storage medium stores a computer program that, when executed by at least one processor, implements the steps of the traffic accident towing vehicle driving path planning method according to any one of claims 1 to 4.

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