A vehicle driving road safety monitoring and early warning method, system, terminal and medium

Abstract

The present invention discloses a vehicle road safety monitoring and early warning method, system, terminal and medium, and relates to the field of intelligent transportation technology. The key points of the technical solution are: after the vehicle terminal generates and uploads an abnormal trigger signal, the present invention obtains the positioning information and driving state vector cached by the vehicle terminal, and when two or more valid state vectors are obtained at the same positioning information within a preset period, the amount of data uploaded by the vehicle terminal can be reduced, and the abnormal type is identified based on the commonality between two or more valid state vectors. After effectively weakening the influence of road characteristics on the driving state, the identification of the abnormal type is made more accurate and reliable, and the probability of misjudgment caused by driver's misoperation can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and more specifically, to a vehicle driving road safety monitoring and early warning method, system, terminal and medium. Background Art

[0002] Cracks, potholes, obstacles, traffic accidents and falling objects on the road where vehicles are traveling can easily affect the safe driving of vehicles. Therefore, identifying and monitoring abnormal conditions on the road where vehicles are traveling is a necessary means to ensure safe road operation.

[0003] At present, the existing technology for identifying and monitoring abnormal conditions on vehicle driving roads mainly uses mobile cameras or fixed cameras to collect image data of the road surface, and then trains and learns the image data based on machine learning algorithms to obtain abnormal conditions on the road; however, due to the large number of classifications of road abnormal conditions, road grades and road forms, the amount of sample data required for training and learning is large, making it difficult to promote and apply on a large scale; in addition, environmental conditions will also affect the accuracy of abnormal conditions identified based on machine learning algorithms; in addition, the acquisition of image data requires a lot of manpower and material resources, making it difficult to conduct real-time and comprehensive safety monitoring of a wide range of vehicle driving roads. Some of them are based on abnormal conditions reported by users to achieve safety monitoring, and then notify nearby vehicle-mounted terminals or user terminals of these abnormal conditions. This method has poor timeliness in achieving safety monitoring of vehicle driving roads, and is prone to omissions in abnormal condition monitoring.

[0004] Therefore, how to research and design a vehicle road safety monitoring and early warning method, system, terminal and medium that can overcome the above-mentioned defects is a problem that we urgently need to solve. Summary of the invention

[0005] In order to solve the deficiencies in the prior art, the purpose of the present invention is to provide a vehicle road safety monitoring and early warning method, system, terminal and medium. After the vehicle terminal generates and uploads an abnormal trigger signal, the positioning information and driving state vector cached by the vehicle terminal are obtained, and when two or more valid state vectors are obtained at the same positioning information within a preset period, the amount of data uploaded by the vehicle terminal can be reduced, and the abnormal type is identified based on the commonality between two or more valid state vectors. After effectively weakening the influence of road characteristics on the driving state, the identification of the abnormal type is more accurate and reliable, and at the same time, the probability of misjudgment caused by driver's misoperation can be reduced.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions:

[0007] In a first aspect, a vehicle driving road safety monitoring and early warning method is provided, comprising the following steps:

[0008] According to the abnormal trigger signal uploaded by the vehicle terminal, the positioning information and driving state vector cached by the vehicle terminal are obtained. The driving state vector includes driving acceleration, vibration acceleration, steering acceleration and driving speed;

[0009] Reading road feature information of the road section to which the positioning information belongs from the database, the road feature information includes road slope angle, road curvature, road speed limit value and speed bump type;

[0010] Generate state variables allowed for the vehicle to travel on the corresponding road section according to the road characteristic information and the driving speed;

[0011] The effective state vector representing the road abnormality is obtained by solving the difference between the driving state vector and the state variable;

[0012] The abnormality type corresponding to the road abnormality is obtained by matching two or more valid state vectors obtained at the same positioning information within a preset period, and a corresponding safety warning signal is output based on the abnormality type.

[0013] Further, when the absolute value of the change rate of any one of the driving acceleration, vibration acceleration, steering acceleration and driving speed exceeds the change rate threshold preset for the corresponding item, the vehicle-mounted terminal generates and uploads an abnormal trigger signal;

[0014] In addition, the vehicle terminal caches the positioning information and driving state vector with a time width of T. If the generation time of the abnormal trigger signal is t, the timestamp range of the positioning information and driving state vector obtained from the vehicle terminal is [t-0.5T, t+0.5T].

[0015] Furthermore, the driving acceleration is the acceleration along the length direction of the vehicle, the vibration acceleration is the acceleration along the height direction of the vehicle, and the steering acceleration is the acceleration along the width direction of the vehicle.

[0016] Further, the state variables include an X-axis acceleration variable, a Y-axis acceleration variable, a Z-axis acceleration variable and a speed variable;

[0017] The X-axis acceleration variable is generated according to the road slope angle, and the specific expression is:

[0018] ;

[0019] in, Represents the X-axis acceleration variable; represents the acceleration due to gravity; Indicates the road slope angle;

[0020] The Y-axis acceleration variable is generated according to the road curvature and the driving speed, and the specific expression is:

[0021] ;

[0022] in, Represents the Y-axis acceleration variable; Indicates the curvature of the road; Indicates the driving speed;

[0023] The Z-axis acceleration variable is generated according to the speed bump type and driving speed, and the specific expression is:

[0024] ;

[0025] in, Represents the Z-axis acceleration variable; Indicates that the vehicle is traveling at a simulated speed Simulated vibration acceleration when driving over speed bump type c;

[0026] The speed variable is generated according to the road speed limit and the driving speed, and the specific expression is:

[0027] ;

[0028] in, represents the speed variable; Indicates the speed limit of the road.

[0029] Furthermore, the effective state vector includes:

[0030] The effective driving acceleration is calculated as the difference between the driving acceleration and the X-axis acceleration variable in the state variable;

[0031] The effective vibration acceleration is calculated as the difference between the vibration acceleration and the Z-axis acceleration variable in the state variable;

[0032] The effective steering acceleration is calculated as the difference between the steering acceleration and the Y-axis acceleration variable in the state variable;

[0033] The effective driving speed is calculated as the difference between the driving speed and the speed variable in the state variable.

[0034] Furthermore, the matching process of the exception type is specifically as follows:

[0035] An abnormal type is selected as a target type, and multiple state feature sets of the target type are obtained, each state feature set corresponding to a different disposal scheme adopted for the target type;

[0036] Analyze the vector consistency between the effective state vector and any state feature set corresponding to the target type:

[0037] If two valid state vectors are consistent vectors with the same target type, the target type is regarded as the matched exception type;

[0038] If two valid state vectors are not consistent vectors with the same target type, the target type is updated until all abnormal types are selected;

[0039] The consistency vector indicates that the state of the effective state vector is consistent with the state corresponding to the state feature set in the vector direction.

[0040] Furthermore, the method also includes:

[0041] Taking the acquisition time of the last valid state vector as the time starting point of the preset period, the preset period is updated on the time axis by sliding;

[0042] The non-updating time of a preset period is counted, and when the non-updating time exceeds the preset period, a safety status recovery instruction for canceling the safety warning signal is generated.

[0043] In a second aspect, a vehicle road safety monitoring and early warning system is provided, the system is used to implement a vehicle road safety monitoring and early warning method as described in any one of the first aspects, including:

[0044] An information acquisition module is used to acquire the positioning information and driving state vector cached by the vehicle terminal according to the abnormal trigger signal uploaded by the vehicle terminal. The driving state vector includes driving acceleration, vibration acceleration, steering acceleration and driving speed;

[0045] A feature reading module is used to read the road feature information of the road section to which the positioning information belongs from the database, the road feature information includes the road slope angle, road curvature, road speed limit value and speed bump type;

[0046] A variable generation module, used to generate state variables allowed for a vehicle to travel on a corresponding road section according to road feature information and driving speed;

[0047] An effective solution module, used for solving the difference between the driving state vector and the state variable to obtain an effective state vector representing the road abnormality;

[0048] The safety warning module is used to match two or more valid state vectors obtained at the same positioning information within a preset period to obtain the abnormality type corresponding to the road abnormality, and output a corresponding safety warning signal based on the abnormality type.

[0049] In a third aspect, a computer terminal is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a vehicle road safety monitoring and early warning method as described in any one of the first aspects is implemented.

[0050] In a fourth aspect, a computer-readable medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement a vehicle road safety monitoring and early warning method as described in any one of the first aspects.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] 1. A vehicle road safety monitoring and early warning method provided by the present invention obtains the positioning information and driving state vector cached by the vehicle terminal after the vehicle terminal generates and uploads the abnormal trigger signal, and when two or more valid state vectors are obtained at the same positioning information within a preset period, the amount of data uploaded by the vehicle terminal can be reduced, and the abnormal type can be identified based on the commonality between two or more valid state vectors. After effectively weakening the influence of road characteristics on the driving state, the identification of the abnormal type is more accurate and reliable, and the probability of misjudgment caused by driver misoperation can be reduced;

[0053] 2. The present invention generates an X-axis acceleration variable according to the road slope angle, generates a Y-axis acceleration variable according to the road curvature and the driving speed, generates a Z-axis acceleration variable according to the speed bump type and the driving speed, and generates a speed variable according to the road speed limit and the driving speed, and obtains an effective state vector representing the road abnormality according to the difference between the driving state vector and the state variable, so that the effective state vector more accurately and reliably represents the driving state change caused by the abnormal situation;

[0054] 3. When matching abnormal types, the present invention takes into account the driving emergency responses of different drivers and performs vector consistency analysis on two valid state vectors and multiple state feature sets of the same target type. When there is a state feature set that is consistent with the valid state vector in the vector direction, the valid state vector and the corresponding target type are judged to be consistent vectors, which effectively improves the sensitivity of vehicle road safety monitoring and early warning;

[0055] 4. The present invention takes the time of obtaining the last valid state vector as the time starting point of the preset period, performs sliding update on the time axis of the preset period, and counts the non-updated time of the preset period, and generates a safety state recovery instruction to cancel the safety warning signal when the non-updated time exceeds the length of the preset period, so as to quickly respond to the actual road conditions;

[0056] 5. The present invention does not require the deployment of a large number of video cameras on the road. It only requires the configuration of speed sensors, three-axis acceleration sensors, caches, communication equipment and other equipment on the vehicle-mounted terminal. That is, vehicle road safety monitoring and early warning can be realized in the server within the regional range, and can be applied to a wide range of roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0058] Figure 1 is a flow chart of Embodiment 1 of the present invention;

[0059] Figure 2 It is a system block diagram in Example 2 of the present invention. DETAILED DESCRIPTION

[0060] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0061] Embodiment 1: A vehicle driving road safety monitoring and early warning method, such as Figure 1 As shown, the following steps are included:

[0062] S1: Obtain the positioning information and driving state vector cached by the vehicle terminal according to the abnormal trigger signal uploaded by the vehicle terminal. The driving state vector includes driving acceleration, vibration acceleration, steering acceleration and driving speed;

[0063] S2: Reading road feature information of the road section to which the positioning information belongs from the database, the road feature information includes road slope angle, road curvature, road speed limit value and speed bump type;

[0064] S3: Generate state variables allowed for the vehicle to travel on the corresponding road section according to the road feature information and the driving speed;

[0065] S4: Obtaining an effective state vector representing the road abnormality according to the difference between the driving state vector and the state variable;

[0066] S5: Obtain the abnormality type corresponding to the road abnormality according to the matching of two or more valid state vectors obtained at the same positioning information within a preset period, and output a corresponding safety warning signal based on the abnormality type.

[0067] The present invention can divide the road into areas, configure a base station in each area, and the base station and each vehicle-mounted terminal in the area can communicate in a public access form, such as access communication in a broadcasting manner.

[0068] In step S1, the vehicle terminal may be equipped with a speed sensor to collect the driving speed, a three-axis acceleration sensor to collect the acceleration, and a buffer to cache the data.

[0069] For example, driving acceleration is the acceleration along the length of the vehicle, vibration acceleration is the acceleration along the height of the vehicle, and steering acceleration is the acceleration along the width of the vehicle, corresponding to the data collected by the X, Z, and Y axes in the three-axis acceleration sensor.

[0070] When the absolute value of the change rate of any one of the driving acceleration, vibration acceleration, steering acceleration and driving speed exceeds the preset change rate threshold of the corresponding item, the vehicle terminal generates and uploads an abnormal trigger signal. It should be noted that the change rate threshold set for different acceleration items can be different, which can be adjusted according to actual needs and is not limited here.

[0071] In addition, the vehicle terminal caches the positioning information and driving state vector with a time width of T. If the generation time of the abnormal trigger signal is t, the timestamp range of the positioning information and driving state vector obtained from the vehicle terminal is [t-0.5T, t+0.5T].

[0072] In this embodiment, the running acceleration is the acceleration along the length direction of the vehicle, the vibration acceleration is the acceleration along the height direction of the vehicle, and the steering acceleration is the acceleration along the width direction of the vehicle.

[0073] In step S2, a large amount of map information may be collected in the database, and the road slope angle, road curvature, road speed limit value and speed bump type at different road locations may be obtained after parsing the map information.

[0074] It should be noted that the road can be processed in sections, and positioning information with certain deviations belongs to the same section. On the one hand, it can adapt to positioning errors, and on the other hand, it can adapt to the displacement of abnormal situations, such as the movement of obstacles and fallen objects from vehicles.

[0075] In step S3, the state variables include an X-axis acceleration variable, a Y-axis acceleration variable, a Z-axis acceleration variable, and a speed variable.

[0076] The X-axis acceleration variable is generated according to the road slope angle, and the specific expression is:

[0077] ;

[0078] in, Represents the X-axis acceleration variable; represents the acceleration due to gravity; Indicates the road slope angle.

[0079] The Y-axis acceleration variable is generated based on the road curvature and driving speed. The specific expression is:

[0080] ;

[0081] in, Represents the Y-axis acceleration variable; Indicates the curvature of the road; Indicates driving speed.

[0082] The Z-axis acceleration variable is generated according to the speed bump type and driving speed. The specific expression is:

[0083] ;

[0084] in, Represents the Z-axis acceleration variable; Indicates that the vehicle is traveling at a simulated speed Simulated vibration acceleration when driving over speed bump type c.

[0085] Types of speed bumps include but are not limited to rubber speed bumps, metal speed bumps and cement speed bumps.

[0086] The simulated vibration acceleration can be measured by the simulation method described in the prior art, such as modeling and simulation by numerical simulation software (such as ADAMS) to analyze the influence of different vehicle speeds and speed bump sizes on vehicle vibration. It can also be measured by the following steps: (1) First, a vehicle model needs to be established, including parameters such as body mass, wheelbase, wheelbase, and body size; (2) Contact constraints are applied to the vehicle model, such as defining dynamic and static friction coefficients, and constraints between the suspension and the body and wheels; and spring and damping elements are set to simulate the vehicle's suspension system; (3) The speed bump is set to an arc shape, and its height and bottom width are key parameters; the excitation model of the speed bump can be periodic, simulating the motion trajectory of the wheels when the vehicle passes through the speed bump. (4) A mathematical model is used to describe the interaction between the vehicle and the speed bump, which can include a spring-mass-damper system and nonlinear dynamic equations.

[0087] The speed variable is generated based on the road speed limit and driving speed. The specific expression is:

[0088] ;

[0089] in, represents the speed variable; Indicates the road speed limit.

[0090] The present invention generates an X-axis acceleration variable according to the road slope angle, generates a Y-axis acceleration variable according to the road bending curvature and the driving speed, generates a Z-axis acceleration variable according to the speed bump type and the driving speed, and generates a speed variable according to the road speed limit value and the driving speed, and obtains an effective state vector representing the road abnormality based on the difference between the driving state vector and the state variable, so that the effective state vector can more accurately and reliably represent the driving state change caused by the abnormal situation.

[0091] In step S4, the effective state vector corresponds to the driving state vector one by one, that is, the effective state vector includes the driving effective acceleration, the vibration effective acceleration, the steering effective acceleration and the driving effective speed.

[0092] Among them, the effective driving acceleration is calculated as the difference between the driving acceleration and the X-axis acceleration variable in the state variable; the effective vibration acceleration is calculated as the difference between the vibration acceleration and the Z-axis acceleration variable in the state variable; the effective steering acceleration is calculated as the difference between the steering acceleration and the Y-axis acceleration variable in the state variable; the effective driving speed is calculated as the difference between the driving speed and the speed variable in the state variable.

[0093] In step S5, taking into account the driving emergency responses of different drivers, vector consistency analysis is performed on two valid state vectors and multiple state feature sets of the same target type. When there is a state feature set that is consistent with the valid state vector in the vector direction, the valid state vector and the corresponding target type are judged to be consistent vectors, which effectively improves the sensitivity of vehicle road safety monitoring and early warning.

[0094] The matching process of exception types is specifically as follows: select an exception type as the target type, and obtain multiple state feature sets of the target type, each state feature set corresponding to a different disposal plan adopted for the target type; analyze the vector consistency between the valid state vector and any state feature set corresponding to the target type: if two valid state vectors are both consistent vectors with the same target type, the target type is regarded as the matched exception type; if two valid state vectors are not both consistent vectors with the same target type, update the target type until all exception types are selected.

[0095] The consistency vector indicates that the state of the effective state vector is consistent with the state corresponding to the state feature set in the vector direction.

[0096] For example, suppose an anomaly type M corresponds to three state feature sets, and the vector directions of the three state feature sets are , , , where 1 indicates that the vector direction is positive, such as the vibration acceleration direction is upward; -1 indicates that the vector direction is negative, such as the vibration acceleration direction is downward; 0 indicates no state change, such as a vibration acceleration change. The four vectors in the state feature set correspond to the four vectors in the valid state vector.

[0097] If the valid state vectors received at the same time are , ,when and , , If any one of the and M are consistent vectors; and When M is a consistency vector, M is regarded as the currently matched exception type.

[0098] In addition, the present invention also designs a safety monitoring warning cancellation mechanism, which specifically includes the following steps: slidingly updating the preset period on the time axis with the acquisition time of the last valid state vector as the time starting point of the preset period; counting the non-updated time of the preset period, and when the non-updated time exceeds the length of the preset period, generating a safety status recovery instruction to cancel the safety warning signal, which can quickly respond to actual road conditions.

[0099] Embodiment 2: A vehicle driving road safety monitoring and early warning system, the system is used to implement a vehicle driving road safety monitoring and early warning method as described in Embodiment 1, such as Figure 2 As shown, it includes an information acquisition module, a feature reading module, a variable generation module, an effective solution module and a safety warning module.

[0100] Among them, the information acquisition module is used to obtain the positioning information and driving state vector cached by the vehicle terminal according to the abnormal trigger signal uploaded by the vehicle terminal. The driving state vector includes driving acceleration, vibration acceleration, steering acceleration and driving speed; the feature reading module is used to read the road feature information of the section to which the positioning information belongs from the database. The road feature information includes road slope angle, road curvature, road speed limit value and speed bump type; the variable generation module is used to generate the state variables allowed for the vehicle to travel on the corresponding section according to the road feature information and driving speed; the effective solution module is used to solve the difference between the driving state vector and the state variable to obtain the effective state vector that characterizes the road abnormality; the safety warning module is used to match two or more effective state vectors obtained at the same positioning information within a preset period to obtain the abnormality type corresponding to the road abnormality, and output the corresponding safety warning signal based on the abnormality type.

[0101] The present invention also records a computer terminal, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a vehicle road safety monitoring and early warning method as described in Example 1 is implemented.

[0102] The present invention also records a computer-readable medium on which a computer program is stored. The computer program is executed by a processor to implement a vehicle road safety monitoring and early warning method as described in Example 1.

[0103] Working principle: After the vehicle terminal generates and uploads an abnormal trigger signal, the present invention obtains the positioning information and driving state vector cached by the vehicle terminal. When two or more valid state vectors are obtained at the same positioning information within a preset period, the amount of data uploaded by the vehicle terminal can be reduced, and the abnormal type can be identified based on the commonality between two or more valid state vectors. After effectively weakening the influence of road characteristics on the driving state, the identification of the abnormal type is more accurate and reliable, and the probability of misjudgment caused by driver's misoperation can be reduced.

[0104] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0105] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0106] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0108] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vehicle road safety monitoring and early warning method, characterized in that: The following steps are involved: According to the abnormal trigger signal uploaded by the vehicle terminal, the positioning information and driving state vector cached by the vehicle terminal are obtained. The driving state vector includes driving acceleration, vibration acceleration, steering acceleration and driving speed; Read the road feature information of the road section to which the positioning information belongs from the database, the road feature information includes the road slope angle, road curvature, road speed limit value and speed bump type; Generate state variables allowed for the vehicle to travel on the corresponding road section according to the road characteristic information and the driving speed; The effective state vector representing the road abnormality is obtained by solving the difference between the driving state vector and the state variable; Obtain the abnormality type corresponding to the road abnormality according to the matching of two or more valid state vectors obtained at the same positioning information within a preset period, and output a corresponding safety warning signal based on the abnormality type; The driving acceleration is the acceleration along the length direction of the vehicle, the vibration acceleration is the acceleration along the height direction of the vehicle, and the steering acceleration is the acceleration along the width direction of the vehicle; The state variables include an X-axis acceleration variable, a Y-axis acceleration variable, a Z-axis acceleration variable and a speed variable; The X-axis acceleration variable is generated according to the road slope angle, and the specific expression is: ； in, Represents the X-axis acceleration variable; represents the acceleration due to gravity; Indicates the road slope angle; The Y-axis acceleration variable is generated according to the road curvature and the driving speed, and the specific expression is: ； in, Represents the Y-axis acceleration variable; Indicates the curvature of the road; Indicates the driving speed; The Z-axis acceleration variable is generated according to the speed bump type and driving speed, and the specific expression is: ； in, Represents the Z-axis acceleration variable; Indicates that the vehicle is traveling at a simulated speed Simulated vibration acceleration when driving over speed bump type c; The speed variable is generated according to the road speed limit and the driving speed, and the specific expression is: ； in, represents the speed variable; Indicates the road speed limit; The effective state vector includes: The effective driving acceleration is calculated as the difference between the driving acceleration and the X-axis acceleration variable in the state variable; The effective vibration acceleration is calculated as the difference between the vibration acceleration and the Z-axis acceleration variable in the state variable; The effective steering acceleration is calculated as the difference between the steering acceleration and the Y-axis acceleration variable in the state variable; The effective driving speed is calculated as the difference between the driving speed and the speed variable in the state variable; The matching process of the exception type is specifically as follows: An abnormal type is selected as a target type, and multiple state feature sets of the target type are obtained, each state feature set corresponding to a different disposal scheme adopted for the target type; Analyze the vector consistency between the effective state vector and any state feature set corresponding to the target type: If two valid state vectors are consistent vectors with the same target type, the target type is regarded as the matched exception type; If two valid state vectors are not consistent vectors with the same target type, the target type is updated until all abnormal types are selected; The consistency vector indicates that the state of the effective state vector is consistent with the state corresponding to the state feature set in the vector direction.

2. A vehicle driving road safety monitoring and early warning method according to claim 1, characterized in that: When the absolute value of the change rate of any one of the driving acceleration, vibration acceleration, steering acceleration and driving speed exceeds the change rate threshold preset for the corresponding item, the vehicle terminal generates and uploads an abnormal trigger signal; In addition, the vehicle terminal caches the positioning information and driving state vector with a time width of T. If the generation time of the abnormal trigger signal is t, the timestamp range of the positioning information and driving state vector obtained from the vehicle terminal is [t-0.5T, t+0.5T].

3. The vehicle driving road safety monitoring and early warning method according to claim 1 is characterized in that: The method further includes: Taking the acquisition time of the last valid state vector as the time starting point of the preset period, the preset period is updated on the time axis by sliding; The non-updating time of a preset period is counted, and when the non-updating time exceeds the preset period, a safety status recovery instruction for canceling the safety warning signal is generated.

4. A vehicle road safety monitoring and early warning system, characterized in that: The system is used to implement a vehicle driving road safety monitoring and early warning method as described in any one of claims 1 to 3, comprising: An information acquisition module is used to acquire the positioning information and driving state vector cached by the vehicle terminal according to the abnormal trigger signal uploaded by the vehicle terminal. The driving state vector includes driving acceleration, vibration acceleration, steering acceleration and driving speed; A feature reading module is used to read the road feature information of the road section to which the positioning information belongs from the database, the road feature information includes the road slope angle, road curvature, road speed limit value and speed bump type; A variable generation module, used to generate state variables allowed for a vehicle to travel on a corresponding road section according to road feature information and driving speed; An effective solution module, used for solving the difference between the driving state vector and the state variable to obtain an effective state vector representing the road abnormality; The safety warning module is used to match two or more valid state vectors obtained at the same positioning information within a preset period to obtain the abnormality type corresponding to the road abnormality, and output a corresponding safety warning signal based on the abnormality type.

5. A computer terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, a vehicle road safety monitoring and early warning method as described in any one of claims 1-3 is implemented.

6. A computer readable medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to implement a vehicle road safety monitoring and early warning method as described in any one of claims 1 to 3.

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