A method for low-altitude traffic rescue dispatching under the condition of opening of a highway hard shoulder

Abstract

The application provides a highway hard shoulder opening condition low-altitude traffic rescue scheduling method, mainly including the following steps: collecting and analyzing the real-time traffic conditions of the highway hard shoulder opening section through the gantry monitoring, unmanned aerial vehicle patrol and alarm platform; when detecting that an accident occurs in the hard shoulder area, the system uploads the accident position; the dispatching system dispatches the nearby unmanned aerial vehicle to verify the accident situation, and classifies according to the accident influence degree; according to the accident severity and position, the low-altitude traffic emergency scheduling model is used to determine the grouping number and task type of the unmanned aerial vehicle and the helicopter; after the accident is handled, the rescue group returns to the take-off and landing point, and the decision support task group carries out hard shoulder reopening evaluation to judge whether to continue to open the traffic. If the hard shoulder can continue to open, the system will cancel the emergency response, restore the normal state of the unmanned aerial vehicle and the monitoring equipment, and re-plan the unmanned aerial vehicle patrol task.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of expressway hard shoulder opening and road emergency rescue technology, and particularly relates to a low-altitude traffic rescue dispatching method under the condition of expressway hard shoulder opening. BACKGROUND

[0002] In the expressway system, due to the increasing traffic flow and the growing demand for travel, the existing expressway sections often cannot cope with the surge in traffic flow in a short time or the peak traffic flow in the morning and evening, resulting in the widespread existence of congestion. The opening of the hard shoulder of the expressway is used to improve the efficiency of vehicle traffic. However, the opening of the hard shoulder means that the emergency lane is also used for traffic, which will significantly reduce the emergency rescue capacity of the relevant section, and may result in untimely rescue, thus missing the best rescue time. In recent years, the wide application of unmanned aerial vehicles in various industries, as well as the gradual opening of low-altitude traffic policies, makes the application of low-altitude traffic in rescue scenarios a new solution to the potential emergency rescue problems caused by the opening of the hard shoulder of the expressway. Unmanned aerial vehicles can quickly and accurately detect accidents and transmit the accident site conditions, and the low-altitude rescue formation composed of unmanned aerial vehicles and helicopters can quickly deliver rescue personnel to the accident site. For the problem of emergency rescue under the condition of expressway operation and more importantly the opening of the hard shoulder, it provides a more accurate judgment of the severity of the accident, further improves the efficiency of emergency rescue and reduces the accident casualties.

[0003] A method, device, equipment and medium for dispatching expressway emergency resources (CN117540962A) optimize the traditional expressway rescue mode and the dispatching of rescue personnel and equipment, only study the optimal rescue path of rescue personnel and the planning of rescue stations, the method is relatively basic, only gives the ground dispatching scheme, the dispatching scheme used involves less accident collection and judgment, and cannot better complete the dispatching of rescue resources according to the actual accident situation. In a hard shoulder opening traffic intelligent management and control system (CN218547701U), only the process of releasing the hard shoulder is defined and the related facilities are planned, and the opening condition, operation state and more importantly the safety problem of the hard shoulder are not considered comprehensively, only the opening and closing of the hard shoulder are realized. This study adds unmanned aerial vehicles and helicopters in low-altitude traffic, realizes the judgment of the opening of the hard shoulder of the expressway, real-time monitoring in the opening process, and the dispatching of ground rescue and low-altitude rescue in emergency state, provides technical support for the future normal opening and operation of the hard shoulder in China, and provides a more concrete future application scenario for low-altitude traffic. SUMMARY

[0004] In view of the defects existing in the prior art, the purpose of the present application is to provide a highway hard shoulder opening condition low-altitude traffic rescue scheduling method, device and storage medium, according to the hard shoulder operation characteristics and the emergency rescue demand in the opening process, the characteristics of small flight domain restriction and strong maneuverability of unmanned aerial vehicles and helicopters are used, the accident severity, the occurrence section and the casualty situation are considered, the advantages of the two models are combined to realize low-altitude traffic rescue marshalling flight, and low-altitude traffic rescue scheduling under the condition of highway hard shoulder opening is realized.

[0005] To solve the above technical problems, the present application provides the following technical solutions: by analyzing and processing real-time passenger demand data, dynamically adjusting the modular bus marshalling mode. According to the demand, the initial marshalling of the modular bus and the marshalling interval are generated, and the marshalling type of the modular bus in each interval is determined according to the model solution, so as to realize the dynamic marshalling of the modular bus operation.

[0006] The present application is realized by at least one of the following technical solutions.

[0007] A low-altitude traffic rescue scheduling method under the condition of highway hard shoulder opening, comprising the following steps:

[0008] S1, collecting and analyzing the real-time traffic operation conditions of the highway hard shoulder opening section through gantry monitoring, unmanned aerial vehicle patrol and alarm platform information;

[0009] S2, detecting the accident occurring in the hard shoulder opening area and uploading the accident position to the dispatching system;

[0010] S3, the dispatching system dispatches the nearby unmanned aerial vehicle to the accident position to verify the accident situation, and according to the accident influence degree and the personnel casualty situation, the accident is divided into slight accident, moderate accident and serious accident;

[0011] S4, according to the accident severity and the accident position, using the low-altitude traffic emergency scheduling model, determining the number of unmanned aerial vehicles and manned helicopters in the decision support task and low-altitude rescue task, and the rescue and patrol tasks of different models;

[0012] S5, after the accident is handled, the low-altitude rescue task marshalling returns to the take-off and landing point, and then the low-altitude decision support task marshalling completes the hard shoulder road reopening evaluation, and judges whether the hard shoulder can continue to be opened for traffic;

[0013] S6, after the hard shoulder continues to be opened for traffic, the system cancels the emergency response, restores the emergency state of the unmanned aerial vehicle and each monitoring device, and the dispatching system re-plans the unmanned aerial vehicle patrol task.

[0014] Further, the low-altitude traffic dispatching center accesses the highway accident alarm system, and real-time acquires the accident and alarm information of the hard shoulder opening section.

[0015] Further, in the hard shoulder open section of the highway, the combination of video monitoring equipment and unmanned aerial vehicle patrol completes the accident monitoring and early warning in the section. According to the hard shoulder open length, traffic flow and historical accident position, different unmanned aerial vehicle patrol task intervals are divided, and finally the unmanned aerial vehicle patrol task in the region is allocated according to the unmanned aerial vehicle inspection scheduling model to ensure the response ability of unmanned aerial vehicle in emergency, including the following steps:

[0016] 3-1 The patrol task interval is defined as the hard shoulder open starting section, the hard shoulder open center section and the hard shoulder open ending section.

[0017] 3-2 The objective function of the unmanned aerial vehicle inspection scheduling model considers minimizing the overall detection and early warning cost, which is defined as follows:

[0018] min∑ ij αA j x ij +βV j p ij

[0019] The constraint conditions include: 1. At least one patrol unmanned aerial vehicle is allocated to each section; 2. The patrol time of unmanned aerial vehicle i cannot exceed its maximum endurance time; 3. The relationship between the patrol time and the patrol path of unmanned aerial vehicle i on section j; 4. Unmanned aerial vehicle i can only patrol when it is allocated to section j; 5. The patrol task of section j needs to cover the entire section length; 6. The minimum remaining power constraint of unmanned aerial vehicle; 7. The emergency demand reservation unmanned aerial vehicle quantity constraint, the corresponding definition of each constraint condition is as follows

[0020]

[0021] For unmanned aerial vehicle i, its patrol task allocation is defined as follows:

[0022]

[0023] For hard shoulder open section j, different section open positions are defined as follows:

[0024]

[0025] For the representation of whether there is other monitoring equipment in the section, its definition is as follows:

[0026]

[0027] For patrol unmanned aerial vehicle i, to ensure the emergency demand, the remaining power requirement is defined as follows:

[0028] E i =μC i

[0029] In the formula, N represents the total number of drones, x ij represents the number of drones i allocated to road section j; y i represents the number of drones i allocated for patrol; m j represents whether road section j has monitoring equipment; p ij represents the patrol path of drone i on road section j, including patrol time or path length; d ij represents the patrol time of drone i on road section j; C i the maximum patrol time of drone i, i.e. the battery endurance time; E i the minimum remaining power requirement of drone i, below which it must return to the take-off platform for charging, μ being the minimum remaining power coefficient; l j represents the length of road section j; T ij the time required by drone i to patrol a unit distance on road section j; A j the potential accident rate of road section j; V j the traffic volume of road section j; α and β represent weight coefficients for balancing the influence of potential accident rate and traffic volume on patrol task allocation; M represents the infinite constant to ensure linearization of the constraint; N represents the total number of drones available to the emergency dispatch system in total; R represents the number of emergency reserve drones;

[0030] 3-3. According to the above steps, the low-altitude traffic emergency dispatch center obtains the traffic operation and accident conditions in the hard shoulder open road section.

[0031] Further, step S2 includes the following steps:

[0032] If the accident occurs through the alarm system synchronization, and the unmanned aerial vehicle patrol system does not alarm, the accident location is determined according to the alarm information, and the unmanned aerial vehicle dispatch sequence is added;

[0033] If the accident is monitored and reported by the unmanned aerial vehicle patrol system, the specific location of the accident reported by the unmanned aerial vehicle is obtained.

[0034] Further, step S3 includes the following steps:

[0035] 6-1. If the accident is synchronized through the alarm system, the precise accident location is obtained according to the alarm information and by dispatching the nearest unmanned aerial vehicle to the accident site, and the severity of the on-site accident is surveyed:

[0036] 6-2. If the accident is discovered by the unmanned aerial vehicle patrol, the unmanned aerial vehicle is dispatched to survey the accident site;

[0037] 6-3. According to the influence range of the accident site and the personnel casualty situation, the severity of the accident follows the formula:

[0038]

[0039] According to the accident information, the accident casualty situation I is defined as follows:

[0040]

[0041] According to the traffic flow information, the road section running congestion situation B is defined as follows:

[0042]

[0043] According to the above formula, the accident severity is defined according to the value of S, which follows the formula:

[0044]

[0045] In the formula, S represents the accident severity, A s represents the accident severity type, L total represents the total number of lanes of the road section, L a represents the number of lanes affected by the accident, I represents the personnel casualty situation, n i represents the number of people corresponding to different casualty situations, B represents the road section running congestion situation, ω1, ω2, ω3 are weight coefficients of each influencing factor;

[0046] According to the above formula, the accident severity is defined according to the value of S, which follows the formula:

[0047]

[0048] 6-4, the UAV reports the verified accident location and accident severity.

[0049] Further, the marshalling machine type of the low-altitude decision support task marshalling is a UAV, and its task is to complete: hard shoulder opening road section closing and vehicle guiding, ground rescue vehicle guiding, completing the hard shoulder opening starting point to the accident point, the accident center point and the accident point to the hard shoulder opening endpoint, and collecting real-time traffic conditions at the three positions.

[0050] Further, the low-altitude rescue task marshalling is divided into UAV and manned helicopter according to the accident severity, if a UAV is needed to participate in the emergency task, the UAV patrol and guiding path planning is planned according to the UAV performance and endurance conditions, if a helicopter flight group is dispatched, it is needed to consider whether personnel transfer or on-site first aid is needed according to the accident rescue demand.

[0051] Further, step S5 includes the following steps:

[0052] If the accident location is located in the l j road section, the UAV and helicopter flight task marshalling of different emergency tasks is determined according to the accident severity;

[0053] Assume conditions are:

[0054] 4) Only one accident occurs in the same period;

[0055] 5) UAV guided vehicles are effective and can be completed within a certain time and ensure safety;

[0056] 6) Medical personnel of the rescue formation can quickly reach the helicopter landing point and ensure the rescue task;

[0057] The low-altitude decision support task formation follows the following formula:

[0058]

[0059] The low-altitude rescue task formation follows the following formula:

[0060]

[0061] In the low-altitude decision support task, the UAV scheduling weight coefficient of different flight tasks follows the formula:

[0062]

[0063] In the low-altitude rescue task, the emergency rescue UAV and helicopter scheduling weight coefficient follows the formula:

[0064]

[0065] In the formula, γ1 represents the low-altitude decision support task, γ2 represents the low-altitude rescue task, u is the road section accident severity constant, n r The basic number of patrol UAVs, n g The basic number of guide UAVs, n s The basic number of accident site surrounding exploration UAVs, n h The basic number of rescue helicopters, which is determined according to the highway grade and emergency rescue requirements.

[0066] Further, step S6 includes the following steps:

[0067] The hard shoulder continues to open determination follows the formula:

[0068]

[0069] Whether all personnel transfer and site cleaning work is completed, the value follows the formula:

[0070]

[0071] According to the above formula, the hard shoulder continues to open determination follows the formula:

[0072]

[0073] wherein Re o represents the decision whether to continue opening the parameter, T i represents whether all personnel transfer and on-site cleaning work are completed, B represents the congestion situation of the road section, L o represents the number of lanes in normal traffic, L total is the total number of lanes, and θ1, θ2 and θ3 are weight coefficients of each determination factor.

[0074] After the hard shoulder of the opened road section continues to be open to traffic, the system cancels the emergency response, restores the emergency state of the unmanned aerial vehicle and each monitoring device, and the scheduling system re-plans the unmanned aerial vehicle inspection task.

[0075] Compared with the prior art, the beneficial effects of the present application are:

[0076] The present application collects the real-time comprehensive operating state of the hard shoulder of the expressway, and according to the operating state of the hard shoulder and the emergency demand, the unmanned aerial vehicle marshalling is used to complete the patrol and emergency scheduling of the opened road section of the hard shoulder. Meanwhile, the unmanned aerial vehicle and helicopter rescue scheduling modes under different accident degrees are designed, the emergency guarantee service of the opened road section of the hard shoulder is provided, and the operating level of the opened road section is greatly improved. The present application can provide a more guaranteed and efficient emergency scheduling scheme for the opened road section of the hard shoulder, improve the transportation efficiency and service benefit of the expressway operation, reduce the emergency response time, and has practical popularization value. BRIEF DESCRIPTION OF DRAWINGS

[0077] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following introduces the drawings of the related technical solutions in the embodiments of the present application or the prior art. It should be understood that the drawings in the following introduction are only for the convenience of clearly describing part of the embodiments in the technical solutions of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0078] Figure 1 Schematic diagram of low-altitude traffic unmanned aerial vehicle patrol of the opened road section of the hard shoulder;

[0079] Figure 2 Schematic diagram of low-altitude traffic unmanned aerial vehicle patrol of the opened road section of the hard shoulder;

[0080] Figure 3 Schematic diagram of low-altitude support task of the opened road section of the hard shoulder;

[0081] Figure 4 Schematic diagram of low-altitude rescue task of the opened road section of the hard shoulder;

[0082] Figure 5After the accident is solved, the hard shoulder continues to be open to traffic, and the unmanned aerial vehicle resumes patrol. DETAILED DESCRIPTION

[0083] The application will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the application are not limited thereto.

[0084] Embodiment 1

[0085] The low-altitude traffic rescue dispatching method under the condition of the open hard shoulder of the expressway in this embodiment includes the following steps:

[0086] S1, through gantry monitoring, unmanned aerial vehicle patrol and alarm platform information, the real-time traffic running status of the open hard shoulder section of the expressway is collected and analyzed, including:

[0087] The low-altitude traffic dispatching center accesses the expressway alarm system to obtain the accident and alarm information of the open hard shoulder section in real time;

[0088] In the open hard shoulder section of the expressway, the combination of video monitoring equipment and unmanned aerial vehicle patrol completes the accident monitoring and early warning in the section, and according to the open hard shoulder length, traffic flow and historical accident position, different unmanned aerial vehicle patrol task intervals are divided. The patrol task interval is defined as the open hard shoulder starting section, the open hard shoulder center section and the open hard shoulder ending section. Finally, according to the dispatching model, the unmanned aerial vehicle patrol tasks in the region are reasonably allocated to ensure the response ability of the unmanned aerial vehicle in emergency situations;

[0089] The objective function of the unmanned aerial vehicle inspection dispatching model mainly considers minimizing the overall detection and early warning cost.

[0090] The expression of the objective function is defined as:

[0091] min∑ ij αA j x ij +βV j p ij

[0092] Further, the constraint conditions include: 1. At least one patrol unmanned aerial vehicle is allocated to each section; 2. The patrol time of unmanned aerial vehicle i cannot exceed its maximum endurance time; 3. The relationship between the patrol time and the patrol path of unmanned aerial vehicle i on section j; 4. Unmanned aerial vehicle i can only patrol when it is allocated to section j; 5. The patrol task of section j needs to cover the entire section length; 6. The minimum remaining power constraint of the unmanned aerial vehicle; 7. The emergency demand reserved unmanned aerial vehicle quantity constraint. The definition is as follows:

[0093]

[0094] For unmanned aerial vehicle i, its patrol task allocation is defined as follows:

[0095]

[0096] For hard shoulder open road section j, different road opening positions are defined as follows:

[0097]

[0098] For the indication of whether there is other monitoring device in the road section, it is defined as follows:

[0099]

[0100] For patrol unmanned aerial vehicle i, to ensure emergency needs, its remaining power requirement is defined as follows:

[0101] E i =μC i

[0102] In the formula, N represents the total number of unmanned aerial vehicles, x ij represents the allocation of unmanned aerial vehicle i to road section j; y i represents the allocation of unmanned aerial vehicle i for patrol; m j represents whether there is a monitoring device in road section j; p ij represents the patrol path of unmanned aerial vehicle i on road section j, including patrol time or path length; d ij represents the patrol time of unmanned aerial vehicle i on road section j; C i represents the maximum patrol time of unmanned aerial vehicle i, i.e. the battery endurance time; E i represents the minimum remaining power requirement of unmanned aerial vehicle i, which must return to the take-off platform for charging when it is lower than this value, and μ is the minimum remaining power coefficient; l j represents the length of road section j; T ij represents the time required by unmanned aerial vehicle i to patrol a unit distance on road section j; A j represents the potential accident rate of road section j; V j represents the traffic volume (pcu / h) of road section j; α and β represent weight coefficients for balancing the influence of potential accident rate and traffic volume on patrol task allocation; M represents an infinite constant to ensure linearization of the constraint; N represents the total number of unmanned aerial vehicles available to the emergency dispatch system in total; and R represents the number of emergency reserved unmanned aerial vehicles.

[0103] According to the above steps, the low-altitude traffic emergency dispatch center obtains the traffic operation and accident conditions in the hard shoulder open road section.

[0104] S2, detect that an accident occurs in the hard shoulder open area, upload the accident location to the dispatch system. If the accident occurs through the alarm system synchronization, and the unmanned aerial vehicle inspection system does not alarm, the accident location is determined according to the alarm information, and the unmanned aerial vehicle dispatch sequence is added; if the accident is monitored and reported by the unmanned aerial vehicle inspection system, the specific location of the accident is reported by the unmanned aerial vehicle.

[0105] S3, the dispatch system dispatches a nearby unmanned aerial vehicle to the accident location to verify the accident situation, and according to the accident influence degree and personnel casualty situation, the accident is divided into minor accident, moderate accident and serious accident; if the accident is synchronized through the alarm system, the nearest unmanned aerial vehicle is dispatched to the accident site to obtain the accurate accident location according to the alarm information, and the severity of the on-site accident is surveyed; if the accident is found by the unmanned aerial vehicle patrol, the unmanned aerial vehicle is dispatched to survey the accident site;

[0106] S4, according to the severity of the accident and the location of the accident, the low-altitude traffic emergency dispatch model is used to determine the number of unmanned aerial vehicles and manned helicopters in the decision support task and low-altitude rescue task, and the rescue, patrol tasks of different models.

[0107] In the low-altitude decision support task formation, the formation model is unmanned aerial vehicle, and the main task is to complete: hard shoulder open road section closure and vehicle guidance, ground rescue vehicle guidance, complete real-time traffic condition collection at three positions from the hard shoulder open start point to the accident point, the accident center point and the accident point to the hard shoulder open end point;

[0108] In the low-altitude rescue task formation, according to the severity of the accident, the rescue task formation is divided into unmanned aerial vehicle and manned helicopter. If unmanned aerial vehicle is needed to participate in emergency task, the unmanned aerial vehicle patrol and guidance path planning is planned according to the performance, endurance and other conditions of the unmanned aerial vehicle. If the helicopter formation is dispatched, it is necessary to consider whether personnel transfer or on-site first aid is needed according to the rescue demand of the accident.

[0109] If the accident location is in the l j According to the severity of the accident, the unmanned aerial vehicle and the helicopter flight task formation of different emergency tasks are determined.

[0110] S5, after the accident is handled, the low-altitude rescue task formation returns to the take-off and landing point, and then the hard shoulder road reopening evaluation is completed by the low-altitude decision support task formation to determine whether the hard shoulder can continue to be opened.

[0111] S6, after the hard shoulder continues to be opened, the system cancels the emergency response, restores the emergency state of the unmanned aerial vehicle and each monitoring device, and the unmanned aerial vehicle patrol task is re-planned by the dispatch system.

[0112] The hard shoulder continues to open and determine the following formula:

[0113]

[0114] T i represents whether all personnel transfer and site cleaning work is completed, and its value follows the formula:

[0115]

[0116] According to the above formula, the hard shoulder continues to open the judgment follows the formula:

[0117]

[0118] where Re o represents the decision whether to continue to open the parameter, B represents the congestion of the road section, L o represents the number of lanes of normal traffic, T i represents whether all personnel transfer and site cleaning work is completed, L total is the total number of lanes, θ1, θ2, θ3 are the weight coefficients of each judgment factor.

[0119] S7, after the hard shoulder continues to open traffic, the system cancels the emergency response, restores the unmanned aerial vehicle and each monitoring device emergency state, and the scheduling system re-plans the unmanned aerial vehicle inspection task.

[0120] Embodiment 2

[0121] Based on embodiment 1, the low-altitude traffic rescue scheduling method under the condition of hard shoulder opening of the expressway in this embodiment includes the following steps:

[0122] S1, through the gantry monitoring, unmanned aerial vehicle patrol and alarm platform information, the real-time traffic running condition of the hard shoulder opening section of the expressway is collected and analyzed, including:

[0123] The low-altitude traffic dispatching center accesses the expressway alarm system, and obtains the accident and alarm information of the hard shoulder opening section in real time;

[0124] In the hard shoulder opening section of the expressway, the combination of video monitoring devices and unmanned aerial vehicle patrol completes the accident monitoring and early warning in the section. According to the hard shoulder opening length, traffic flow and historical accident position, different unmanned aerial vehicle patrol task intervals are divided. The patrol task interval is defined as the hard shoulder opening starting section, the hard shoulder opening center section and the hard shoulder opening ending section. Finally, according to the scheduling model, the unmanned aerial vehicle patrol task in the region is reasonably distributed to ensure the response ability of the unmanned aerial vehicle in emergency;

[0125] The objective function of the unmanned aerial vehicle inspection scheduling model mainly considers the minimization of the overall detection and early warning cost.

[0126] S2, detecting that an accident occurs in the hard shoulder opening area, uploading the accident position to the scheduling system.

[0127] S3, the dispatching system dispatches a nearby unmanned aerial vehicle to the accident location to verify the accident situation, and according to the influence degree and the personnel casualty situation, the accident is divided into a minor accident, a moderate accident and a serious accident.

[0128] The severity of the accident follows the following formula:

[0129]

[0130] According to the accident information, the accident casualty situation I is defined as follows:

[0131]

[0132] According to the traffic information, the road congestion situation B is defined as follows:

[0133]

[0134] According to the above formula, the severity of the accident is defined according to the value of the severity of the accident S, which follows the formula:

[0135]

[0136] In the formula, S represents the severity of the accident, A s represents the severity of the accident type, L total represents the total number of lanes of the road, L a represents the number of lanes affected by the accident, I represents the personnel casualty situation, n s represents the number of people corresponding to different casualty situations, B represents the road congestion situation, ω1, ω2, ω3 are the weight coefficients of each influencing factor. According to the influence range of the accident site and the personnel casualty situation, the unmanned aerial vehicle reports the verified accident location and the severity of the accident.

[0137] S4, according to the severity of the accident and the location of the accident, using the low-altitude traffic emergency dispatching model, determine the number of unmanned aerial vehicles and manned helicopters in the decision support task and low-altitude rescue task, and the number of different models of rescue and patrol tasks.

[0138] In the low-altitude decision support task formation, the formation type is unmanned aerial vehicle, and its main task is to complete: hard shoulder opening road section closing and vehicle guiding, ground rescue vehicle guiding, completing hard shoulder opening starting point to accident point, accident center point and accident point to hard shoulder opening end, three positions to complete real-time traffic condition collection;

[0139] In the low-altitude rescue task formation, according to the severity of the accident, the rescue task formation is divided into unmanned aerial vehicle and manned helicopter, if the unmanned aerial vehicle needs to be dispatched to participate in the emergency task, the unmanned aerial vehicle patrol and guidance path planning is planned according to the performance, endurance and other conditions of the unmanned aerial vehicle. If the helicopter flight group is dispatched, it is necessary to consider whether personnel transfer or on-site first aid is needed according to the accident rescue demand.

[0140] If the accident location is located in the l j According to the severity of the accident, the unmanned aerial vehicle and the helicopter flight task formation of different emergency tasks in the road section are determined.

[0141] The assumption conditions are:

[0142] 1. Only one accident occurs in the same period;

[0143] 2. The unmanned aerial vehicle guidance vehicle is effective and can complete the task within a certain time and ensure safety;

[0144] 3. The medical staff of the rescue formation can quickly arrive at the helicopter take-off point and ensure the rescue task.

[0145] The low-altitude decision support task formation follows the formula:

[0146]

[0147] The low-altitude rescue task formation follows the formula:

[0148]

[0149] γ1 represents the unmanned aerial vehicle dispatch weight coefficient in the low-altitude decision support task of different flight tasks, and its value follows the formula:

[0150]

[0151] γ2 represents the unmanned aerial vehicle and helicopter dispatch weight coefficient in the low-altitude rescue task of emergency rescue, and its value follows the formula:

[0152]

[0153] In the formula, n r The number of patrol unmanned aerial vehicles n g The number of guidance unmanned aerial vehicles n s n represents the number of unmanned aerial vehicles around the accident site, n h n represents the number of rescue helicopters, which is determined according to the highway grade and emergency rescue requirements.

[0154] S5, after the accident is handled, the low-altitude rescue task formation returns to the take-off point, and then the low-altitude decision support task formation completes the hard shoulder road reopening evaluation to determine whether the hard shoulder can continue to be opened to traffic.

[0155] S6, after the hard shoulder continues to open traffic, the system removes the emergency response, restores unmanned aerial vehicle and each monitoring device emergency state, the scheduling system re-plans unmanned aerial vehicle inspection task.

[0156] S7, after the hard shoulder continues to open traffic, the system removes the emergency response, restores unmanned aerial vehicle and each monitoring device emergency state, the scheduling system re-plans unmanned aerial vehicle inspection task.

[0157] A modular bus operation dynamic marshalling device for realizing the low-altitude traffic rescue scheduling method under the condition of opening of the hard shoulder of the expressway, comprising:

[0158] At least one processor;

[0159] At least one memory for storing at least one program.

[0160] Embodiment 3

[0161] The low-altitude traffic rescue scheduling method under the condition of opening of the hard shoulder of the expressway of the embodiment comprises the following steps:

[0162] Step 1, through gantry monitoring, unmanned aerial vehicle patrol and alarm platform information, the real-time traffic running condition of the hard shoulder opening section of the expressway is collected and analyzed, and the unmanned aerial vehicle marshalling is as shown in Figure 1 The take-off and landing platform is located at the midpoint of the hard shoulder opening section, and according to the unmanned aerial vehicle inspection scheduling model, one unmanned aerial vehicle is allocated to the left and right positions of the take-off and landing platform to complete the patrol task.

[0163] Step 2, after an accident occurs in the hard shoulder, as shown in Figure 2 The unmanned aerial vehicle detects that an accident occurs in the hard shoulder opening area, and uploads the accident position to the scheduling system.

[0164] Step 3, the scheduling system dispatches the nearby unmanned aerial vehicle to the accident position to verify the accident situation, and guides the vehicle to pass, as shown in Figure 3 The weight coefficients ω1, ω2 and ω3 are all set to 1. The accident severity is as follows:

[0165] Table 1 accident severity determination table

[0166]

[0167] S4, according to the accident severity and the accident position, the low-altitude traffic emergency scheduling model is used, u, n r , n g , n s and n h values are all set to 1. The number of unmanned aerial vehicles and manned helicopters for decision support task and low-altitude rescue task is determined, and the rescue, patrol tasks of different models are determined, as shown inFigure 4 The UAV and manned helicopter formation of the decision support task and the low-altitude rescue task is as follows:

[0168] Table 2 UAV and manned helicopter formation number of decision support task and low-altitude rescue task

[0169]

[0170] S5, after the accident handling, the low-altitude rescue task formation returns to the take-off and landing point, and then the low-altitude decision support task formation completes the hard shoulder road reopening evaluation, θ3, θ3, θ3 value is set to 1, and the evaluation result is as shown in Table 3.

[0171] Table 3 Hard shoulder road reopening evaluation result

[0172]

[0173]

[0174] S6, after the hard shoulder continues to open the passage, the system cancels the emergency response, restores the unmanned aerial vehicle and each monitoring device emergency state, and the scheduling system re-plans the unmanned aerial vehicle patrol task. According to the unmanned aerial vehicle patrol scheduling model, one unmanned aerial vehicle is allocated to each left and right position of the take-off platform to complete the patrol task. As shown in Figure 5

[0175] The preferred embodiments of the application disclosed above are only used to help explain the application. The preferred embodiments do not describe all the details, and the application is not limited to the specific embodiments described. Obviously, according to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application.​

Claims

1. A method for low-altitude traffic rescue dispatching under the condition of highway hard shoulder opening, characterized in that, The method comprises the following steps: S1, collecting and analyzing the real-time traffic operation conditions of the hard shoulder opening section of the expressway by means of gantry monitoring, unmanned aerial vehicle (UAV) patrol and alarm platform information; S2, detecting an accident occurring in the hard shoulder opening area and uploading the accident position to a dispatching system; S3, the dispatching system dispatches a nearby UAV to the accident position to verify the accident situation, and classifies the accident into a minor accident, a moderate accident and a serious accident according to the influence degree and the personnel casualty situation of the accident; S4, according to the severity and position of the accident, the low-altitude traffic emergency dispatching model is used to determine the number of UAVs and manned helicopters in the decision support task and the low-altitude rescue task, and the rescue and patrol tasks of different types of UAVs; Step S4 comprises the following steps: If the accident location is in the l j th segment, the unmanned aerial vehicles and helicopters are grouped according to the severity of the accident to perform different emergency tasks. For hard shoulder open road sections, different road sections l j The following formula is defined: The following conditions are assumed: 1) only one accident occurs in the same period; 2) the UAV can guide the vehicle effectively and complete the task within a certain time and ensure safety; 3) the medical staff of the rescue team can quickly arrive at the helicopter landing site and ensure the rescue task; The low-altitude decision support task team follows the formula: The low-altitude rescue task team follows the formula: In the low-altitude decision support task, the UAV dispatch weight coefficient of different flight tasks follows the formula: In the low-altitude rescue task, the emergency rescue UAV and helicopter dispatch weight coefficient follows the formula: wherein γ1 represents a low-altitude decision support task, γ2 represents a low-altitude rescue task, u is a road section accident severity constant, and n r The number of patrol UAVs, n g The number of guide UAVs, n s The number of patrol UAVs around the accident site, n h The number of rescue helicopters, n, is determined according to the highway grade and emergency rescue requirements. S5, after the accident is handled, the low-altitude rescue task team returns to the landing site, and then the low-altitude decision support task team completes the hard shoulder reopening evaluation to determine whether the hard shoulder can continue to be opened to traffic; S6, after the hard shoulder continues to be opened to traffic, the system cancels the emergency response, restores the emergency state of the UAV and each monitoring device, and the dispatching system re-plans the UAV patrol task.

2. The method according to claim 1, wherein, The low-altitude traffic dispatching center accesses the expressway accident alarm system to obtain the accident and alarm information of the hard shoulder opening section in real time.

3. The method according to claim 1, wherein, In the hard shoulder opening section of the expressway, the combination of video monitoring devices and UAV patrol completes the accident monitoring and early warning in the section, different UAV patrol task intervals are divided according to the hard shoulder opening length, traffic flow and historical accident position, and finally the UAV patrol task in the region is allocated according to the UAV patrol dispatching model to ensure the response ability of the UAV in emergency situations.

4. The method according to claim 1, wherein, Step S2 comprises: If the accident occurs synchronously through the alarm system and the UAV patrol system does not alarm, the accident position is determined according to the alarm information and added to the UAV dispatch sequence; If the accident is monitored and reported by the UAV patrol system, the UAV reports the specific position of the accident.

5. The method according to claim 1, wherein, Step S3 comprises the following steps: 6-1, if the accident is synchronized through the alarm system, the precise accident position is obtained according to the alarm information and the nearest UAV is dispatched to the accident site to obtain the precise accident position and the severity of the on-site accident is surveyed: 6-2, if the accident is found by the UAV patrol, the UAV is dispatched to the accident site for on-site investigation; 6-3, according to the influence range and personnel casualty situation of the accident site, the severity of the accident follows the formula: According to the accident information, the casualty situation I of the accident is defined as follows: According to the flow information, the road congestion situation B is defined as follows: According to the above formula, the severity of the accident is defined according to the value of the severity S of the accident as follows: where S represents the severity of the accident, A s represents the type of the severity of the accident, L total represents the total number of lanes of the road section, L a represents the number of lanes affected by the accident, I represents the situation of casualties, n i represents the number of people corresponding to different casualty situations, B represents the congestion situation of the road section, and ω1, ω2, and ω3 are weight coefficients of the respective influence factors. 6-4, The UAV reports the verified accident location and the accident severity.

6. The method according to claim 1, wherein, The grouping machine type of the low-altitude decision support task grouping is a UAV, and the task is to complete: closing the open road section of the hard shoulder and guiding the vehicle, guiding the ground rescue vehicle, completing the open start point of the hard shoulder to the accident point, the accident center point, and the accident point to the open end point of the hard shoulder, and collecting real-time traffic conditions at the three positions.

7. The method according to claim 1, wherein, According to the accident severity, the rescue task grouping is divided into a UAV and a manned helicopter. If a UAV is needed to participate in the emergency task, the UAV inspection and guidance path are planned according to the performance and endurance conditions of the UAV. If a helicopter flight group is dispatched, it is necessary to consider whether personnel transfer or on-site first aid is needed according to the accident rescue demand.

8. The method according to any one of claims 1-7, characterized in that, Step S6 includes the following steps: The hard shoulder continues to open the judgment follows the formula: Whether all personnel transfer and on-site cleaning work is completed, the value follows the formula: According to the above formula, the hard shoulder continues to open the judgment follows the formula: where Re o represents the decision whether to continue opening the parameter, T i represents whether all personnel transfer and site cleaning work is completed, B represents the congestion of the road section, L o represents the number of lanes in normal traffic, L total is the total number of lanes, θ1, θ2, θ3 are weight coefficients of each determination factor.

9. The method according to claim 8, wherein, After the hard shoulder continues to open the passage, the system cancels the emergency response, restores the emergency state of the UAV and each monitoring device, and the scheduling system re-plans the UAV inspection task.

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