Two-passenger one-danger vehicle tracking method and system

Abstract

The invention provides a two-passenger one-dangerous vehicle tracking method and system, and the method comprises the steps: determining whether a vehicle is a two-passenger one-dangerous vehicle or not based on an entrance portal, and issuing a vehicle mark for the vehicle if the vehicle is the two-passenger one-dangerous vehicle; in the vehicle driving process, identifying a two-passenger one-danger vehicle based on the roadside equipment, and recording the driving position of the corresponding vehicle based on the vehicle mark; a plurality of continuous driving positions of the same vehicle are constructed into prediction vectors, the prediction vectors are input into a pre-trained prediction regression model, and the prediction regression model outputs the predicted driving position of the corresponding vehicle at the prediction time point; and judging based on the actual driving position of the vehicle at the predicted time point and the predicted driving position of the predicted time point, and determining whether to give an alarm to the vehicle or not. According to the scheme, road section vehicle passing data is analyzed based on ETC portal vehicle transaction flow data, two-passenger one-danger vehicle whole-course tracking is achieved, an alarm can be given in time, and the supervision safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle supervision, and in particular to a method and system for tracking two passenger and one hazardous vehicle. Background Art

[0002] Two passenger and one hazardous vehicle refers to chartered vehicles used for tourism, regular passenger buses of Category III or above, and special road vehicles for transporting dangerous chemicals, fireworks, and civilian explosives.

[0003] Due to the special nature of the transportation of two passenger and one dangerous goods vehicles, once a traffic accident occurs, it often causes serious consequences. Therefore, strengthening supervision is the key to preventing major safety accidents.

[0004] However, existing technologies lack regulatory solutions for passenger and hazardous vehicles. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a method for tracking two passenger and one hazardous vehicle to eliminate or improve one or more defects in the prior art.

[0006] One aspect of the present invention provides a method for tracking a two-passenger and one-hazardous vehicle, the method comprising the steps of: Determine whether the vehicle is a two-passenger and one-hazardous vehicle based on the entrance gantry. If the vehicle is a two-passenger and one-hazardous vehicle, issue a vehicle mark to the vehicle; During the driving process of the vehicle, two passenger vehicles and one hazardous vehicle are identified based on the roadside equipment, and the driving position of the corresponding vehicle is recorded based on the vehicle mark; Constructing a plurality of consecutive driving positions of the same vehicle into a prediction vector, inputting the prediction vector into a pre-trained prediction regression model, and the prediction regression model outputting an estimated driving position of the corresponding vehicle at a prediction time point; A determination is made based on the actual driving position of the vehicle at the predicted time point and the estimated driving position at the predicted time point to determine whether to issue a warning to the vehicle.

[0007] By adopting the above scheme, based on the ETC gantry vehicle transaction flow data, the vehicle traffic data of the road section and the number of vehicles passing by type are analyzed, the traffic information data of two passenger and one hazardous vehicles are extracted, and combined with the traffic flow parameter data, the detection accuracy of hazardous chemicals vehicles based on video analysis is improved, the number of two passenger and one hazardous vehicles in the road section can be accurately identified, the trajectory of two passenger and one hazardous vehicles can be restored, the whole process of two passenger and one hazardous vehicles can be tracked, and when the vehicle deviates from the expected driving path, an alarm is issued in time to improve the safety of supervision.

[0008] In some embodiments of the present invention, in the step of determining whether a vehicle is a two-passenger and one-hazardous goods vehicle based on an entrance gantry, and issuing a vehicle mark for the vehicle if the vehicle is a two-passenger and one-hazardous goods vehicle, a search is performed in a pre-built vehicle database based on the vehicle information of the vehicle. If the corresponding vehicle information is found in the vehicle database, the vehicle is determined to be a two-passenger and one-hazardous goods vehicle, and a vehicle mark is issued to the vehicle.

[0009] In some embodiments of the present invention, in the step of searching in a pre-built vehicle database based on the vehicle information of the vehicle, the on-board unit loaded on the vehicle interacts with the entrance gantry to obtain the vehicle information or capture the vehicle image through the entrance gantry to identify the vehicle's license plate number, and use the license plate number as the vehicle information.

[0010] In some embodiments of the present invention, in the step of determining whether the vehicle is a two-passenger-one-hazardous vehicle based on the entrance gantry, if the vehicle is a two-passenger-one-hazardous vehicle, issuing a vehicle mark for the vehicle, the vehicle information of the vehicle is recorded, and the vehicle status is marked as being in driving state as the vehicle mark.

[0011] In some embodiments of the present invention, in the step of identifying two passenger and one hazardous materials vehicle based on roadside equipment and recording the driving position of the corresponding vehicle based on the vehicle mark, the vehicle information is acquired based on the interaction between the roadside equipment and the vehicle, the vehicle information is matched with the current vehicle mark, and the driving position and current time of the corresponding vehicle are added to the vehicle mark.

[0012] In some embodiments of the present invention, in the step of constructing multiple consecutive driving positions of the same vehicle into a prediction vector, the time intervals of the multiple consecutive driving positions are the same, and the coordinates of each of the multiple consecutive driving positions are used as the value of each dimension in the vector to construct the prediction vector.

[0013] In some embodiments of the present invention, the step of determining whether to issue an alarm to the vehicle based on the actual driving position of the vehicle at the predicted time point and the expected driving position at the predicted time point includes a single-point warning and a section warning. The single-point warning determines whether to issue an alarm based on the driving position at a single predicted time point, and the section warning determines whether to issue an alarm based on a predicted section constructed by the expected driving positions at multiple predicted time points.

[0014] In some embodiments of the present invention, in the step of determining whether to issue an alarm based on the driving position at a single predicted time point, it is determined whether the vehicle has actually passed the predicted driving position at the predicted time point. If so, no alarm is issued. If not, the distance between the actual driving position of the vehicle at the predicted time point and the predicted driving position is calculated. If the distance is greater than a preset distance threshold, an alarm is issued.

[0015] In some embodiments of the present invention, in the step of determining whether to issue an alarm based on a predicted section constructed from estimated driving positions at multiple predicted time points, the estimated driving positions at multiple predicted times are constructed as a predicted section, and it is determined whether the vehicle enters the predicted section within a preset time period after each time the predicted section is constructed. If not, an alarm is issued.

[0016] The second aspect of the present invention also provides a two-passenger and one-hazardous vehicle tracking system, which includes a computer device, the computer device includes a processor and a memory, the memory stores computer instructions, the processor is used to execute the computer instructions stored in the memory, and when the computer instructions are executed by the processor, the system implements the steps implemented by the method described above.

[0017] The third aspect of the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps implemented by the aforementioned two-passenger and one-hazardous vehicle tracking method.

[0018] Additional advantages, purposes, and features of the present invention will be described in part in the following description, and will become apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention can be specifically pointed out and obtained in the specification and the accompanying drawings.

[0019] Those skilled in the art will appreciate that the objectives and advantages that can be achieved with the present invention are not limited to the above specific description, and the above and other objectives that can be achieved by the present invention will be more clearly understood from the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention.

[0021] Figure 1 A schematic diagram of an implementation method of the two-passenger and one-hazardous vehicle tracking method of the present invention; Figure 2 It is a schematic diagram of another implementation method of the two-passenger and one-hazardous vehicle tracking method of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0023] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0024] As one of the most important modes of road transportation, highway transportation plays a supporting role in social and economic development. However, the safety issues of key vehicles such as medium-sized and large passenger buses and dangerous goods vehicles in road traffic are prominent. Therefore, in response to the needs of intelligent traffic monitoring, a system for key vehicle road traffic monitoring and traffic prediction needs to be established to prevent and control major traffic accidents involving key vehicles and avoid major casualties.

[0025] like Figure 1 As shown, the present invention proposes a method for tracking a two-passenger and one-hazardous vehicle, the method comprising the steps of: Step S100, determining whether the vehicle is a two-passenger and one-hazardous vehicle based on the entrance gantry, and if the vehicle is a two-passenger and one-hazardous vehicle, issuing a vehicle mark for the vehicle; During the specific implementation process, the entrance gantry can be an ETC gantry.

[0026] In a specific implementation process, a plurality of gantries are arranged on the road on which the vehicle travels, the entrance gantry is the first gantry through which the vehicle enters the road, and the entrance gantry may be any one of the plurality of gantries.

[0027] In the specific implementation process, the entrance gantry is provided with a camera and a roadside unit (RSU). The camera is connected to the RSU to collect images and transmit the images to the RSU. The RSU interacts with an on-board unit (OBU) provided on the vehicle.

[0028] In the specific implementation process, OBU (On-Board Unit): vehicle-mounted unit, installed on vehicles, used to communicate with RSU, obtain traffic information, provide location services, etc. In ETC (Electronic Toll Collection System), OBU is a key device for identifying vehicles, recording traffic information, sending and receiving data, and processing transactions.

[0029] RSU (Roadside Unit): A roadside unit installed beside the road or on a gantry for communicating with OBUs, collecting traffic information, and controlling traffic lights. It is a communication device deployed along the road that can receive and send wireless signals and communicate with passing vehicles in real time.

[0030] The interaction between OBU and RSU is mainly carried out in the following two ways: Internet of Vehicles Communications: With the help of mobile communication networks such as 4G and 5G, communication between OBU and RSU is achieved. The on-board equipment is connected to the mobile communication network through a SIM card and communicates with the RSU through the Internet. This communication method has high speed and reliability and is suitable for long-distance communication.

[0031] Radio Frequency Communications: OBU and RSU communicate via radio signals, independent of mobile communication networks, and can use technologies such as Bluetooth, Wi-Fi, and DSRC (Dedicated Short-Range Communications) for communication. This communication method is suitable for short-range communication and has a lower transmission rate but higher real-time performance.

[0032] In the specific implementation process, when determining whether a vehicle is a two-passenger and one-hazardous vehicle based on the entrance gantry, the staff at the gantry can manually judge. If it is identified as a two-passenger and one-hazardous vehicle, a tag will be issued. The tag uses technologies such as Bluetooth, Wi-Fi and DSRC (Dedicated Short-Range Communications) to communicate with the roadside unit.

[0033] In some embodiments of the present invention, vehicle information is recorded in the tag.

[0034] Step S200, during the driving process of the vehicle, two passenger vehicles and one hazardous vehicle are identified based on the roadside equipment, and the driving position of the corresponding vehicle is recorded based on the vehicle mark; In some embodiments of the present invention, the roadside equipment is installed on one side of the road, and the roadside equipment includes a camera and a roadside unit. The camera is connected to the RSU to collect images and transmit the images to the RSU. The RSU interacts with an on-board unit (OBU) set in the vehicle.

[0035] Step S300, constructing a plurality of consecutive driving positions of the same vehicle into a prediction vector, inputting the prediction vector into a pre-trained prediction regression model, and the prediction regression model outputs an estimated driving position of the corresponding vehicle at a prediction time point; In some embodiments of the present invention, the prediction regression model is a model using a graph neural network-time series algorithm (GCN-LSTM), which is a composite model that combines a graph convolutional neural network (GCN) and a long short-term memory neural network (LSTM). This model performs well in processing time series prediction problems with graph structured data because it can simultaneously capture the spatial dependency in the graph structure and the temporal dependency in the time series; Specifically, GCN is a convolutional neural network model for processing graph-structured data. It extracts the feature representation of nodes by performing local convolution operations on the graph, and updates the representation of each node by aggregating the information of neighboring nodes; LSTM is a recurrent neural network model for processing sequence data, which controls the flow of information and the update of memory through three gated units (input gate, forget gate, and output gate). Its calculation process includes steps such as input gate, forget gate, output gate, new memory, cell state update, and hidden state update.

[0036] By adopting the above scheme, the time dimension is used to accurately extract the temporal characteristics of the real-time traffic status, and the spatial dimension is used to accurately characterize the spatial characteristics of the road network.

[0037] Step S400, determining whether to issue an alarm to the vehicle based on the actual driving position of the vehicle at the predicted time point and the estimated driving position at the predicted time point.

[0038] In a specific implementation process, the warning method may be a method of sending a message from the roadside unit to the vehicle-mounted unit.

[0039] By adopting the above scheme, based on the ETC gantry vehicle transaction flow data, the vehicle traffic data of the road section and the number of vehicles passing by type are analyzed, the traffic information data of two passenger and one hazardous vehicles are extracted, and combined with the traffic flow parameter data, the detection accuracy of hazardous chemicals vehicles based on video analysis is improved, the number of two passenger and one hazardous vehicles in the road section can be accurately identified, the trajectory of two passenger and one hazardous vehicles can be restored, the whole process of two passenger and one hazardous vehicles can be tracked, and when the vehicle deviates from the expected driving path, an alarm is issued in time to improve the safety of supervision.

[0040] This solution is based on the highway toll network and monitoring network systems and equipment. By analyzing the historical data and real-time incremental data of two passenger and one hazardous vehicles in the toll network and the monitoring network, a traffic model for two passenger and one hazardous vehicles is established. It can monitor the vehicle traffic in real time and predict the vehicle traffic at the next monitoring point. Based on the comparison between the actual vehicle traffic and the predicted traffic, an alarm for abnormal vehicles is generated, thereby preventing the occurrence of major traffic accidents, improving traffic order, avoiding casualties, and reducing economic losses.

[0041] In some embodiments of the present invention, in the step of determining whether a vehicle is a two-passenger and one-hazardous goods vehicle based on an entrance gantry, and issuing a vehicle mark for the vehicle if the vehicle is a two-passenger and one-hazardous goods vehicle, a search is performed in a pre-built vehicle database based on the vehicle information of the vehicle. If the corresponding vehicle information is found in the vehicle database, the vehicle is determined to be a two-passenger and one-hazardous goods vehicle, and a vehicle mark is issued to the vehicle.

[0042] During the specific implementation process, the records in the vehicle database include the license plates, axles, vehicle models and cargo box types of the two passenger and one hazardous materials vehicles.

[0043] In some embodiments of the present invention, in the step of searching in a pre-built vehicle database based on the vehicle information of the vehicle, the on-board unit loaded on the vehicle interacts with the entrance gantry to obtain the vehicle information or capture the vehicle image through the entrance gantry to identify the vehicle's license plate number, and use the license plate number as the vehicle information.

[0044] In the specific implementation process, a pre-trained neural network model is used to recognize the vehicle's license plate number.

[0045] By adopting the above scheme, it is possible to automatically determine whether the vehicle is a two-passenger and one-hazardous vehicle through vehicle information. If the vehicle is not a two-passenger and one-hazardous vehicle, it does not need to be subject to key supervision, thereby reducing the consumption of computing resources.

[0046] In some embodiments of the present invention, in the step of determining whether the vehicle is a two-passenger-one-hazardous vehicle based on the entrance gantry, if the vehicle is a two-passenger-one-hazardous vehicle, issuing a vehicle mark for the vehicle, the vehicle information of the vehicle is recorded, and the vehicle status is marked as being in driving state as the vehicle mark.

[0047] During the specific implementation process, the control end records the vehicle information of the two passenger and one hazardous vehicle, marks the vehicle status as being in driving state, and then activates the data of the vehicle to improve the speed of calling.

[0048] In some embodiments of the present invention, in the step of identifying two passenger and one hazardous materials vehicle based on roadside equipment and recording the driving position of the corresponding vehicle based on the vehicle mark, the vehicle information is acquired based on the interaction between the roadside equipment and the vehicle, the vehicle information is matched with the current vehicle mark, and the driving position and current time of the corresponding vehicle are added to the vehicle mark.

[0049] In a specific implementation process, the driving position is recorded by a roadside device, and the driving path of the vehicle is determined based on the time point when each driving position is recorded, and is sent by the roadside device to the control end.

[0050] In some embodiments of the present invention, in the step of constructing multiple consecutive driving positions of the same vehicle into a prediction vector, the time intervals of the multiple consecutive driving positions are the same, and the coordinates of each of the multiple consecutive driving positions are used as the value of each dimension in the vector to construct the prediction vector.

[0051] like Figure 2 As shown, in some embodiments of the present invention, the step of determining whether to issue an alarm to the vehicle based on the actual driving position of the vehicle at the predicted time point and the expected driving position at the predicted time point includes step S410, a single-point warning, and step S420, a road section warning. The single-point warning determines whether to issue an alarm based on the driving position at a single predicted time point, and the road section warning determines whether to issue an alarm based on a predicted road section constructed by the expected driving positions at multiple predicted time points.

[0052] In some embodiments of the present invention, in the step of determining whether to issue an alarm based on the driving position at a single predicted time point, it is determined whether the vehicle has actually passed the predicted driving position at the predicted time point. If so, no alarm is issued. If not, the distance between the actual driving position of the vehicle at the predicted time point and the predicted driving position is calculated. If the distance is greater than a preset distance threshold, an alarm is issued.

[0053] In some embodiments of the present invention, in the step of determining whether to issue an alarm based on a predicted section constructed from estimated driving positions at multiple predicted time points, the estimated driving positions at multiple predicted times are constructed as a predicted section, and it is determined whether the vehicle enters the predicted section within a preset time period after each time the predicted section is constructed. If not, an alarm is issued.

[0054] In some implementations of the present invention, the warning schemes of single-point warning and road section warning are used simultaneously.

[0055] The above scheme is adopted. The warning scheme of this scheme includes two types: single-point warning and road section warning. The single-point warning can make an alarm judgment through a single expected driving position, and can make a judgment based on the distance between the actual driving position of the vehicle at the predicted time point and the expected driving position. The judgment method is relatively efficient, but the single-point warning is only judged by distance, and the error is large. When the vehicle drives to a fork in the road but the distance is not far, it is easy to miss the judgment. This scheme is further provided with a road section warning. During the road section judgment process, the expected driving positions of multiple predicted times are constructed as a predicted road section. If the vehicle does not enter the predicted road section within a preset time period after each time the predicted road section is constructed, a warning is issued. The judgment can be made directly through the actual road section to ensure the accuracy of the judgment.

[0056] The beneficial effects of this program include: 1. This solution is based on the ETC gantry vehicle transaction flow data, analyzes the vehicle traffic data of the road section, and the number of vehicles passing by vehicle type, extracts the traffic information data of two passenger and one hazardous vehicles, and combines it with the traffic flow parameter data to improve the detection accuracy of hazardous chemical vehicles based on video analysis, realizes the accurate identification of the number of two passenger and one hazardous vehicles in the road section, and restores the trajectory of two passenger and one hazardous vehicles, realizes the full tracking of two passenger and one hazardous vehicles, and when the vehicle deviates from the expected driving path, timely issues an alarm to improve the safety of supervision; 2. This solution can automatically determine whether a vehicle is a two-passenger and one-hazardous vehicle through vehicle information. If the vehicle is not a two-passenger and one-hazardous vehicle, it does not need to be subject to key supervision, thus reducing the consumption of computing resources; 3. The warning scheme of this solution includes single-point warning and road section warning. The single-point warning can make warning judgments through a single expected driving position, and the judgment method is relatively efficient; the road section warning can construct the expected driving positions of multiple predicted times into predicted sections, and can directly make judgments through the actual sections to ensure the accuracy of the judgment.

[0057] An embodiment of the present invention also provides a two-passenger and one-hazardous vehicle tracking system, which includes a computer device, the computer device includes a processor and a memory, the memory stores computer instructions, the processor is used to execute the computer instructions stored in the memory, and when the computer instructions are executed by the processor, the system implements the steps implemented by the method described above.

[0058] The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps implemented by the aforementioned two-passenger and one-hazardous vehicle tracking method are implemented. The computer-readable storage medium can be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field.

[0059] It should be understood by those skilled in the art that the exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0060] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0061] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for tracking two passenger and one dangerous goods vehicle, characterized in that: The steps of the method include: Determine whether the vehicle is a two-passenger and one-hazardous vehicle based on the entrance gantry. If the vehicle is a two-passenger and one-hazardous vehicle, issue a vehicle mark to the vehicle; During the driving process of the vehicle, two passenger vehicles and one hazardous vehicle are identified based on the roadside equipment, and the driving position of the corresponding vehicle is recorded based on the vehicle mark; Constructing a plurality of consecutive driving positions of the same vehicle into a prediction vector, inputting the prediction vector into a pre-trained prediction regression model, and the prediction regression model outputting an estimated driving position of the corresponding vehicle at a prediction time point; A determination is made based on the actual driving position of the vehicle at the predicted time point and the estimated driving position at the predicted time point to determine whether to issue a warning to the vehicle.

2. The two-passenger and one-hazardous vehicle tracking method according to claim 1 is characterized in that: In the step of determining whether the vehicle is a two-passenger and one-hazardous vehicle based on the entrance gantry, and issuing a vehicle mark for the vehicle if the vehicle is a two-passenger and one-hazardous vehicle, a search is performed in a pre-built vehicle database based on the vehicle information of the vehicle. If the corresponding vehicle information is found in the vehicle database, the vehicle is determined to be a two-passenger and one-hazardous vehicle, and a vehicle mark is issued for the vehicle.

3. The two-passenger and one-hazardous vehicle tracking method according to claim 2 is characterized in that: In the step of searching in a pre-built vehicle database based on the vehicle information of the vehicle, the on-board unit loaded on the vehicle interacts with the entrance gantry to obtain the vehicle information or capture the vehicle image through the entrance gantry to identify the vehicle's license plate number and use the license plate number as the vehicle information.

4. The two-passenger and one-hazardous vehicle tracking method according to claim 3 is characterized in that: In the step of determining whether the vehicle is a two-passenger and one-hazardous vehicle based on the entrance gantry, if the vehicle is a two-passenger and one-hazardous vehicle, issuing a vehicle mark for the vehicle, the vehicle information of the vehicle is recorded, and the vehicle status is marked as being in driving state as the vehicle mark.

5. The method for tracking two passenger and one dangerous goods vehicle according to claim 2, characterized in that: In the step of identifying two passenger and one hazardous materials vehicles based on roadside equipment and recording the driving position of the corresponding vehicle based on the vehicle mark, vehicle information is acquired based on the interaction between the roadside equipment and the vehicle, the vehicle information is matched with the current vehicle mark, and the driving position and current time of the corresponding vehicle are added to the vehicle mark.

6. The two-passenger and one-hazardous-vehicle tracking method according to any one of claims 1 to 5, characterized in that: In the step of constructing a plurality of continuous driving positions of the same vehicle into a prediction vector, the coordinates of each of the plurality of continuous driving positions are used as the value of each dimension in the vector to construct the prediction vector.

7. The method for tracking two passenger and one dangerous goods vehicle according to claim 6, characterized in that: The step of determining whether to issue an alarm to the vehicle based on the actual driving position of the vehicle at the predicted time point and the expected driving position at the predicted time point includes a single-point warning and a road section warning. The single-point warning determines whether to issue an alarm based on the driving position at a single predicted time point, and the road section warning determines whether to issue an alarm based on a predicted road section constructed by the expected driving positions at multiple predicted time points.

8. The two-passenger and one-hazardous vehicle tracking method according to claim 7 is characterized in that: In the step of determining whether to issue an alarm based on the driving position at a single predicted time point, it is determined whether the vehicle has actually passed the predicted driving position at the predicted time point. If so, no alarm is issued. If not, the distance between the actual driving position of the vehicle at the predicted time point and the predicted driving position is calculated. If the distance is greater than a preset distance threshold, an alarm is issued.

9. The method for tracking two passenger and one dangerous goods vehicle according to claim 7, characterized in that: In the step of determining whether to issue an alarm based on a predicted section constructed from estimated driving positions at multiple predicted time points, the estimated driving positions at multiple predicted times are constructed as a predicted section, and it is determined whether the vehicle enters the predicted section within a preset time period after each time point when the predicted section is constructed. If not, an alarm is issued.

10. A two-passenger and one-hazardous vehicle tracking system, characterized in that: The system includes a computer device, which includes a processor and a memory, wherein the memory stores computer instructions, and the processor is used to execute the computer instructions stored in the memory. When the computer instructions are executed by the processor, the system implements the steps implemented by the method as described in any one of claims 1 to 9.

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