Camera-based vehicle-road cooperation realization system

Abstract

The invention belongs to the technical field of intelligent traffic, and provides a camera-based vehicle-road cooperation realization system, which comprises the following steps: inputting a driving end point into a vehicle navigation system, outputting to obtain a plurality of driving routes, analyzing according to the driving time length of the driving routes in the previous period to obtain an initial route sequence, and calculating the driving time length of the initial route sequence; road section analysis is carried out on a plurality of initial routes in the initial route sequence from three different dimensions of the congestion number of the road sections, the distance between the congested road sections and the congestion degree of the congested road sections to obtain a route analysis value, so that the severity of the traffic congestion condition of the initial routes in the previous period is integrally evaluated through the route analysis value; contrast analysis of the congestion characteristics of different initial routes is facilitated, and the overall congestion severity of the initial routes and the advantages and disadvantages of the initial routes in a plurality of selectable routes are judged.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent transportation technology, and specifically is a camera-based vehicle-road collaboration implementation system. Background Art

[0002] The emergence of vehicle-road cooperative technology enables information interaction and collaborative work between vehicles and road infrastructure, which can obtain more accurate traffic information and thus optimize route planning. As an important traffic information collection device, the image data recorded by the camera contains rich road condition information. If it can be used reasonably, it will be of great significance to improving the scientificity and practicality of route planning.

[0003] In the prior art, traditional vehicle navigation systems mostly recommend routes based on static map data and simple road condition predictions, and it is often difficult to fully consider dynamic changes in actual traffic, such as real-time changes in road congestion and stability of traffic flow in non-congested sections. Therefore, the present application obtains a route analysis sequence by analyzing the driving time of the driving route in the previous cycle, which is conducive to comparative analysis of congestion characteristics of different initial routes, judging the overall congestion severity of the initial route and its advantages and disadvantages among multiple optional routes. At the same time, a road section stability analysis is performed based on the route analysis sequence to obtain a route stability sequence, which is conducive to comprehensively reflecting the traffic stability of non-congested sections in the driving route, comparative analysis of non-congested stability of different non-congested routes, judging the overall non-congested stability of non-congested routes, and comparing and analyzing the route stability sequence with the route analysis sequence to determine the preferred driving route, solving the problem of difficulty in choosing the most suitable route for users when different routes have their own advantages and disadvantages in different dimensions.

[0004] To this end, the present invention provides a camera-based vehicle-road collaboration implementation system. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The technical solution adopted by the present invention to solve its technical problem is: A camera-based vehicle-road collaboration implementation system includes the following modules: Initial route screening module: input the destination into the vehicle navigation system, output multiple routes, analyze the driving time of the routes in the previous cycle, and obtain the initial route sequence; Initial route analysis module: Based on the initial route sequence, the NVR extracts the previous traffic data recorded by the road camera in the previous period, and based on the previous traffic data, performs a road congestion analysis on the initial route in the initial route sequence to obtain the route analysis value, and based on the route analysis value, performs a ranking to obtain the route analysis sequence; The road section stability analysis module: The road section stability analysis module analyzes multiple initial routes in the route analysis sequence through previous traffic data to obtain non-congested stable data, wherein the non-congested stable data includes the number of variable road sections and the variable difference value, calculates and processes the number of variable road sections and the variable difference value to obtain the route volatility value, and compares it with the route volatility threshold to generate a route analysis signal; Wherein, the route analysis signal includes a non-congested stable signal or a non-congested variable signal; Route optimization acquisition module: based on the non-congested stable signal, the route analysis sequence is re-sorted to obtain a stable route sequence, and the stable route sequence is compared and analyzed with the initial route sequence to determine the preferred driving route.

[0007] As a further technical solution of the present invention, the initial route sequence is obtained by: The destination of the trip is input into the vehicle navigation system, and multiple driving routes are outputted. The previous cycle is divided into several previous time periods, and the driving time in the previous time period is obtained. The driving time in all previous time periods in the previous cycle is added and averaged to obtain the route driving time; The driving times corresponding to the multiple driving routes are compared and sorted in ascending order to obtain an initial route sequence.

[0008] As a further technical solution of the present invention, a road congestion analysis is performed on the initial route in the initial route sequence, and the process is as follows: In the past, traffic data included road section flow values; The initial route is divided into several driving sections, the section flow values ​​of the driving sections in previous time periods are obtained, and the section flow values ​​corresponding to all previous time periods are added and averaged to obtain the driving flow value; The traffic flow value is compared with the traffic flow threshold value as follows: If the driving flow value is greater than or equal to the driving flow threshold, it is marked as a congested road section; If the driving flow value is less than the driving flow threshold, it is marked as a non-congested road section.

[0009] As a further technical solution of the present invention, the process of obtaining the route analysis value is as follows: Get the number of congested sections and calculate the ratio with the total number of sections in the initial route to get the number of congestion and mark it as ; Get the distances between adjacent congested sections, add them up and take the average, and calculate the ratio with the total distance of the initial route to get the congested section spacing and mark it as ; Obtain the driving flow value corresponding to the congested road section, subtract it from the driving flow threshold, and calculate the ratio with the driving flow threshold to obtain the congestion excess value, which is marked as ; The number of congestion , congested road section spacing and congestion excess value Substitute into the formula , calculate the route analysis value ,in, , These are all preset weight coefficients.

[0010] As a further technical solution of the present invention, the route analysis sequence is obtained in the following manner: The route analysis values ​​corresponding to the initial routes in the initial route sequence are compared and sorted in ascending order to obtain a route analysis sequence.

[0011] As a further technical solution of the present invention, multiple initial routes in the route analysis sequence are analyzed by using previous traffic data, and the analysis process is as follows: Based on the sorting of the first initial route in the route analysis sequence, all non-congested sections in the sorted first initial route are extracted and sorted, and the non-congested sections in the first initial route are integrated and summarized according to the front and rear distances to obtain the first analysis set. , where n represents the total number of non-congested sections in the first initial route.

[0012] As a further technical solution of the present invention, the method for obtaining non-congested stable data is: The first analysis set was analyzed by the Manhattan distance method. The traffic flow values ​​of the corresponding sections in the adjacent past time periods are calculated and analyzed, including: S1. In the first analysis set Extract any non-congested road section, obtain the road flow value of the non-congested road section in all previous time periods, and integrate and summarize it according to the time series of the previous time periods to obtain the non-congested processing set ,in, is expressed as the total number of previous periods in the previous period, and is an even number; S2, in the non-owned processing set The traffic flow values ​​of the corresponding sections in the adjacent past time periods are taken as a group of non-congestion processing groups to obtain multiple groups of non-congestion processing groups. ,in, It is expressed as the ranking of the non-ownership treatment group; S3. Through the Manhattan distance formula: , calculate the variable difference values ​​between multiple non-treatment groups; Compare the volatile difference value with the volatile difference threshold, and if the volatile difference value is greater than the volatile difference threshold, mark it as a traffic volatile section; If the volatile difference value is less than or equal to the volatile difference threshold, it is marked as a traffic stable section; The number of sections with variable traffic volume is obtained, and the ratio is calculated with the total number of sections in the initial route to obtain the number of sections with variable traffic volume.

[0013] As a further technical solution of the present invention, the route analysis signal is obtained by: The route analysis signal includes a non-congested variable signal or a non-congested stable signal; The number of variable sections is multiplied by the variable difference value to obtain the route variable value; The route volatility value is compared with the route volatility threshold as follows: If the route volatility value is greater than the route volatility threshold, a non-congested volatility signal is generated; If the route change value is less than or equal to the route change threshold, a non-congestion stability signal is generated.

[0014] As a further technical solution of the present invention, the route analysis sequence is re-sorted to obtain a route stable sequence, and the process is as follows: Count the number of non-congested stable signals and calculate the ratio with the total number of route analysis signals to obtain the non-congested stable number; The total number of route analysis signals is obtained by adding the number of non-congested stable signals and the number of non-congested variable signals; The non-stable number corresponding to the initial route in the route analysis sequence is obtained, and the size is compared and sorted in ascending order to obtain a stable sequence of routes.

[0015] As a further technical solution of the present invention, the stable route sequence is compared and analyzed with the initial route sequence to determine the preferred driving route, and the process is as follows: Extract the initial route ranked first in the route analysis sequence and the initial route ranked first in the route stability sequence for comparison. The process is as follows: If the initial route ranked first in the route analysis sequence is the same as the initial route ranked first in the route stability sequence, it is marked as the optimal driving route; If the initial route ranked first in the route analysis sequence and the initial route ranked first in the route stability sequence are not the same initial route, a route comparison signal is generated; Based on the route comparison signal, the ranking of the initial route ranked first in the route analysis sequence in the route stable sequence is obtained, and the ranking in the route stable sequence is subtracted, and the absolute value is taken to obtain the analysis change value; Obtain the ranking of the initial route that ranks first in the stable route sequence in the route analysis sequence, and make a difference between the ranking and the ranking in the route analysis sequence, take the absolute value, and obtain the stable change value; Compare the stable change value with the analytical change value. The process is as follows: If the analysis change value is greater than the stable change value, the initial route ranked first in the route analysis sequence is taken as the optimal driving route; If the analysis change value is less than the stable change value, the initial route ranked first in the stable sequence of routes is taken as the optimal driving route; If the analysis change value is equal to the stability change value, the initial route ranked first in the route stability sequence and the initial route ranked first in the route stability sequence are both marked as the optimal driving route.

[0016] The beneficial effects of the present invention are as follows: 1. The present invention inputs the travel destination into the vehicle navigation system, outputs multiple travel routes, analyzes the travel time of the travel routes in the previous cycle, obtains the initial route sequence, and performs section analysis on multiple initial routes in the initial route sequence from three different dimensions: the number of congested sections, the distance between congested sections, and the congestion degree of the congested sections, to obtain route analysis values, thereby comprehensively evaluating the severity of traffic congestion conditions of the initial routes in the previous cycle through the route analysis values, which is conducive to comparative analysis of congestion characteristics of different initial routes, and judging the overall congestion severity of the initial route and its advantages and disadvantages among multiple optional routes; 2. Based on the route sequence, the present invention analyzes the non-congested sections, calculates and processes the section flow of the non-congested sections in the adjacent previous time periods through the Manhattan distance, obtains the variable sections, and based on the variable sections, counts the number of variable sections and the change range of the variable sections, that is, the variable difference value. Combining the number of variable sections with the variable difference value is conducive to comprehensively reflecting the flow stability of the non-congested sections in the driving route, and comparing and analyzing the non-congested stability of different non-congested routes, judging the overall non-congested stability of the non-congested routes, and the stability level in multiple optional non-congested routes; 3. The present invention takes the non-congestion stability factor into consideration, reorders the route analysis sequence to obtain a route stability sequence, and compares and analyzes it with the initial route sequence to conduct a comprehensive evaluation based on the route congestion situation and the route non-congestion stability situation. This solves the problem of difficulty in selecting the most suitable route for users when different routes have their own advantages and disadvantages in different dimensions, and avoids the undesirable travel experience that may be caused by selecting a route based solely on congestion conditions or non-congestion stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] Figure 1 It is a flow chart of the steps of the camera-based vehicle-road collaboration implementation system; Figure 2 It is a structural diagram of a camera-based vehicle-road collaboration implementation system. DETAILED DESCRIPTION

[0019] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0020] Example 1 like Figure 1-Figure 2 As shown, a camera-based vehicle-road collaboration implementation system according to an embodiment of the present invention includes: Initial route screening module: input the destination into the vehicle navigation system, output multiple routes, analyze the driving time of the routes in the previous cycle, obtain the route time value, and obtain the initial route sequence based on the route time value; Among them, the previous driving time data includes the previous driving time; In some embodiments, the travel destination is input into the vehicle navigation system, and multiple travel routes are outputted, the previous cycle is divided into a number of previous time periods, the travel time in the previous time period is obtained, and the travel time in all previous time periods in the previous cycle is added and averaged to obtain the route travel time; It should be noted that the previous periods are divided into equal time intervals, and the duration of each previous period is equal; Compare the travel times corresponding to the multiple travel routes, and sort them in ascending order to obtain an initial route sequence; Initial route analysis module: Based on the initial route sequence, the NVR extracts the previous traffic data recorded by the road camera in the previous period, analyzes the initial route in the initial route sequence according to the previous traffic data, and obtains the route analysis sequence; In some embodiments, an initial route is randomly selected from the initial route sequence for analysis, and the previous traffic data recorded by the road camera of the initial route in the previous period is extracted through the NVR, wherein the previous traffic data includes the road section flow value, and the road section congestion analysis is performed according to the road section flow value, and the process is as follows: The initial route is divided into several driving sections, the section flow values ​​of the driving sections in previous time periods are obtained, and the section flow values ​​corresponding to all previous time periods are added and averaged to obtain the driving flow value; It should be noted that the initial route is divided into driving sections according to the distance between cameras set on the road; The traffic flow value is compared with the traffic flow threshold value as follows: If the driving flow value is greater than or equal to the driving flow threshold, it means that the driving flow of the driving section in the previous cycle is large and congested, and it is marked as a congested section; If the driving flow value is less than the driving flow threshold, it means that the driving flow of the driving section in the previous cycle is small and less congested, and it is marked as a non-congested section; Get the number of congested sections and calculate the ratio with the total number of sections in the initial route to get the number of congestion and mark it as ; Get the distances between adjacent congested sections, add them up and take the average, and calculate the ratio with the total distance of the initial route to get the congested section spacing and mark it as ; It should be noted that the distance between adjacent congested sections represents the total distance of all non-congested sections between adjacent congested sections; Obtain the driving flow value corresponding to the congested road section, subtract it from the driving flow threshold, and calculate the ratio with the driving flow threshold to obtain the congestion excess value, which is marked as ; The number of congestion , congested road section spacing and congestion excess value Substitute into the formula , calculate the route analysis value ,in, , are all preset weight coefficients, and The value is 1.671. The value is 2.814; It can be understood that the meaning of the route analysis value is: it is used to evaluate the severity of traffic congestion on the initial route in the past cycle as a whole, the proportion of congested sections in the initial route to the total driving sections is reflected through the number of congestion, the density of congested sections on the entire route is reflected through the distance between congested sections, and the severity of congestion is reflected from the perspective of traffic exceeding the standard through the congestion excess value, which is conducive to comparative analysis of congestion characteristics of different initial routes, and judgment of the overall congestion severity of the initial route and its advantages and disadvantages among multiple optional routes; Compare the route analysis values ​​corresponding to the initial routes in the initial route sequence, and sort them in ascending order to obtain a route analysis sequence; The specific implementation scheme of the embodiment of the present invention is as follows: the destination of the trip is input into the vehicle navigation system, and multiple driving routes are outputted, and the driving time of the driving routes in the previous cycle is analyzed to obtain an initial route sequence, and the multiple initial routes in the initial route sequence are analyzed from three different dimensions: the number of congested sections, the distance between congested sections, and the congestion degree of the congested sections, to obtain route analysis values, so as to comprehensively evaluate the severity of traffic congestion conditions of the initial routes in the previous cycle through the route analysis values, which is conducive to comparative analysis of congestion characteristics of different initial routes, and judging the overall congestion severity of the initial route and its advantages and disadvantages among multiple optional routes.

[0021] Example 2 like Figure 1-Figure 2 As shown, based on Example 1, a camera-based vehicle-road collaboration implementation system described in an embodiment of the present invention includes: The road section stability analysis module: analyzes multiple initial routes in the route analysis sequence through previous traffic data to obtain non-congested stable data, wherein the non-congested stable data includes the number of variable road sections and the degree of volatility. The non-congested stable data is calculated and processed to obtain the route volatility value, which is compared with the route volatility threshold to generate a route analysis signal; Wherein, the route analysis signal includes a non-congested stable signal or a non-congested variable signal; In some embodiments, according to the order of the route analysis sequence, the non-congestion stability analysis of the road sections is performed on the multiple initial routes in the route analysis sequence in sequence, and the process is as follows: For example, based on sorting the first initial route in the route analysis sequence, all non-congested sections in the sorted first initial route are extracted, and the non-congested sections in the first initial route are integrated and summarized according to the front and rear distances, to obtain a first analysis set , where n represents the total number of non-congested sections in the first initial route; The first analysis set was analyzed by the Manhattan distance method. The traffic flow values ​​of the corresponding sections in the adjacent past time periods are calculated and analyzed, including: S1. In the first analysis set Extract any non-congested road section, obtain the road flow value of the non-congested road section in all previous time periods, and integrate and summarize it according to the time series of the previous time periods to obtain the non-congested processing set ,in, is expressed as the total number of previous periods in the previous period, and is an even number; S2, in the non-owned processing set The traffic flow values ​​of the corresponding sections in the adjacent past time periods are taken as a group of non-congestion processing groups to obtain multiple groups of non-congestion processing groups. ,in, It is expressed as the ranking of the non-ownership treatment group; For example, and is a non-owned treatment group, then it is the first non-owned treatment group, and is a non-owned treatment group, then it is the second non-owned treatment group, and is a non-treatment group, then Non-ownership treatment group; S3. Through the Manhattan distance formula: , calculate the variable difference values ​​between multiple non-treatment groups; It is further explained that the meaning of Manhattan distance is to measure the absolute difference in the numerical value of the flow rate between two adjacent time periods, reflecting the change of the road section flow rate between adjacent time periods, which is conducive to analyzing the stability of the flow rate of non-congested road sections; The volatile difference value is compared to the volatile difference threshold as follows: If the volatile difference value is greater than the volatile difference threshold, it means that the traffic flow of the non-congested section in different previous time periods is quite different, that is, the traffic flow of the section is volatile, and it is marked as a traffic volatile section; If the volatile difference value is less than or equal to the volatile difference threshold, it means that the difference in the traffic volume of the non-congested section in different previous time periods is small, that is, the traffic volume of the section is relatively stable, and it is marked as a stable traffic section; The number of sections with variable traffic volume is obtained, and the ratio is calculated with the total number of sections in the initial route to obtain the number of sections with variable traffic volume; The number of variable sections is multiplied by the variable difference value to obtain the route variable value; It can be understood that the meaning of the route volatility value is: the number of volatile sections reflects the proportion of sections where the flow of non-congested sections is prone to change in the total driving route. If the number of volatile sections is large, it means that the flow of a large proportion of non-congested sections in the driving route is unstable. The volatile difference value measures the degree of difference in the numerical value of the flow value of the section in the adjacent previous time periods. If the volatile difference value is large, it means that the change range of the section in the adjacent previous time periods is large, and the driving section is relatively unstable. Combining the number of volatile sections with the volatile difference value is conducive to comprehensively reflecting the flow stability of the non-congested sections in the driving route; The route volatility value is compared with the route volatility threshold as follows: If the route variability value is greater than the route variability threshold, it means that there are many variable sections in the driving route, and the degree of variability is large and unstable, and a non-congested variability signal is generated; If the route variability value is less than or equal to the route variability threshold, it means that the number of variable sections in the driving route is small, the degree of variability is small, and it is relatively stable, generating a non-congested stable signal; The specific implementation scheme of the embodiment of the present invention is as follows: based on the route sequence, non-congested sections are analyzed, and the section flow of the non-congested sections in adjacent previous time periods is calculated and processed by Manhattan distance to obtain variable sections. Based on the variable sections, the number of variable sections and the change range of the variable sections, i.e., the variable difference value, are counted. Combining the number of variable sections with the variable difference value is conducive to comprehensively reflecting the flow stability of non-congested sections in the driving route, and comparing and analyzing the non-congested stability of different non-congested routes, and judging the overall non-congested stability of the non-congested routes, as well as the stability level in multiple optional non-congested routes.

[0022] Example 3 like Figure 1-Figure 2 As shown, based on Example 1 and Example 2, a vehicle collaboration implementation system based on a camera according to an embodiment of the present invention includes: Route optimization acquisition module: based on the non-congestion stable signal, re-sort the route analysis sequence to obtain the route stability sequence, and compare and analyze the route stability sequence with the initial route sequence to determine the preferred driving route; In some embodiments, the number of non-congested stable signals is counted, and a ratio is calculated with the total number of route analysis signals to obtain the non-congested stable number; The total number of route analysis signals is obtained by adding the number of non-congested stable signals and the number of non-congested variable signals; Obtain the number of non-stable routes corresponding to the initial route in the route analysis sequence, compare the numbers, and sort them in ascending order to obtain a stable route sequence; Extract the initial route ranked first in the route analysis sequence and the initial route ranked first in the route stability sequence for comparison. The process is as follows: If the initial route ranked first in the route analysis sequence is the same as the initial route ranked first in the route stability sequence, it is marked as the optimal driving route; If the initial route ranked first in the route analysis sequence and the initial route ranked first in the route stability sequence are not the same initial route, a route comparison signal is generated; Based on the route comparison signal, the ranking of the initial route ranked first in the route analysis sequence in the route stable sequence is obtained, and the ranking in the route stable sequence is subtracted, and the absolute value is taken to obtain the analysis change value; Obtain the ranking of the initial route that ranks first in the stable route sequence in the route analysis sequence, and make a difference between the ranking and the ranking in the route analysis sequence, take the absolute value, and obtain the stable change value; Compare the stable change value with the analytical change value. The process is as follows: If the analysis change value is greater than the stable change value, the initial route ranked first in the route analysis sequence is taken as the optimal driving route; If the analysis change value is less than the stable change value, the initial route ranked first in the stable sequence of routes is taken as the optimal driving route; If the analysis change value is equal to the stability change value, the initial route ranked first in the route stability sequence and the initial route ranked first in the route stability sequence are both marked as the optimal driving route; The specific implementation scheme of the embodiment of the present invention is as follows: by taking the non-congestion stability factor into consideration, the route analysis sequence is reordered to obtain a route stability sequence, and by comparing and analyzing with the initial route sequence, a comprehensive evaluation is performed from the perspectives of route congestion and route non-congestion stability, thereby solving the problem of difficulty in selecting the route that best suits the user's travel when different routes have their own advantages and disadvantages in different dimensions, and avoiding the undesirable travel experience that may result from selecting a route based solely on congestion conditions or non-congestion stability.

[0023] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A camera-based vehicle-road collaboration implementation system, characterized by: include: Initial route screening module: input the destination into the vehicle navigation system, output multiple routes, analyze the driving time of the routes in the previous cycle, and obtain the initial route sequence; Initial route analysis module: Based on the initial route sequence, the NVR extracts the previous traffic data recorded by the road camera in the previous period, and based on the previous traffic data, performs a road congestion analysis on the initial route in the initial route sequence to obtain the route analysis value, and based on the route analysis value, performs a ranking to obtain the route analysis sequence; The road section stability analysis module: analyzes multiple initial routes in the route analysis sequence through previous traffic data to obtain non-congested stable data, wherein the non-congested stable data includes the number of variable road sections and the variable difference value. The number of variable road sections and the variable difference value are calculated and processed to obtain the route volatility value, which is compared with the route volatility threshold to generate a route analysis signal; Wherein, the route analysis signal includes a non-congested stable signal or a non-congested variable signal; Route optimization acquisition module: based on the non-congested stable signal, the route analysis sequence is re-sorted to obtain a stable route sequence, and the stable route sequence is compared and analyzed with the initial route sequence to determine the preferred driving route.

2. The camera-based vehicle-road collaboration implementation system according to claim 1, characterized in that: The initial route sequence is obtained as follows: The destination of the trip is input into the vehicle navigation system, and multiple driving routes are outputted. The previous cycle is divided into several previous time periods, and the driving time in the previous time period is obtained. The driving time in all previous time periods in the previous cycle is added and averaged to obtain the route driving time; The driving times corresponding to the multiple driving routes are compared and sorted in ascending order to obtain an initial route sequence.

3. The camera-based vehicle-road collaboration implementation system according to claim 1, characterized in that: The congestion analysis of the initial route in the initial route sequence is performed as follows: In the past, traffic data included road section flow values; The initial route is divided into several driving sections, the section flow values ​​of the driving sections in previous time periods are obtained, and the section flow values ​​corresponding to all previous time periods are added and averaged to obtain the driving flow value; The traffic flow value is compared with the traffic flow threshold value as follows: If the driving flow value is greater than or equal to the driving flow threshold, it is marked as a congested road section; If the driving flow value is less than the driving flow threshold, it is marked as a non-congested road section.

4. The camera-based vehicle-road collaboration implementation system according to claim 3, characterized in that: The process of obtaining route analysis values ​​is as follows: Get the number of congested sections and calculate the ratio with the total number of sections in the initial route to get the number of congestion and mark it as ; Get the distances between adjacent congested sections, add them up and take the average, and calculate the ratio with the total distance of the initial route to get the congested section spacing and mark it as ; Obtain the driving flow value corresponding to the congested road section, subtract it from the driving flow threshold, and calculate the ratio with the driving flow threshold to obtain the congestion excess value, which is marked as ; The number of congestion , congested road section spacing and congestion excess value Substitute into the formula , calculate the route analysis value ,in, , These are all preset weight coefficients.

5. The camera-based vehicle-road collaboration implementation system according to claim 4, characterized in that: The route analysis sequence is obtained as follows: The route analysis values ​​corresponding to the initial routes in the initial route sequence are compared and sorted in ascending order to obtain a route analysis sequence.

6. The camera-based vehicle-road collaboration implementation system according to claim 1, characterized in that: The multiple initial routes in the route analysis sequence are analyzed through previous traffic data. The analysis process is as follows: Based on the sorting of the first initial route in the route analysis sequence, all non-congested sections in the sorted first initial route are extracted and sorted, and the non-congested sections in the first initial route are integrated and summarized according to the front and rear distances to obtain the first analysis set. , where n represents the total number of non-congested sections in the first initial route.

7. The camera-based vehicle-road collaboration implementation system according to claim 6, characterized in that: The method for obtaining non-congested stable data is as follows: The first analysis set was analyzed by the Manhattan distance method. The corresponding traffic flow values ​​of the sections in the adjacent past time periods are calculated and analyzed, including: S1. In the first analysis set Extract any non-congested road section, obtain the road flow value of the non-congested road section in all previous time periods, and integrate and summarize it according to the time series of the previous time periods to obtain the non-congested processing set ,in, is expressed as the total number of previous periods in the previous period, and is an even number; S2, in the non-owned processing set The traffic flow values ​​of the corresponding sections in the adjacent past time periods are taken as a group of non-congestion processing groups to obtain multiple groups of non-congestion processing groups. ,in, It is expressed as the ranking of the non-ownership treatment group; S3. Through the Manhattan distance formula: , calculate the variable difference values ​​between multiple non-treatment groups; Compare the volatile difference value with the volatile difference threshold, and if the volatile difference value is greater than the volatile difference threshold, mark it as a traffic volatile section; If the volatile difference value is less than or equal to the volatile difference threshold, it is marked as a traffic stable section; The number of sections with variable traffic volume is obtained, and the ratio is calculated with the total number of sections in the initial route to obtain the number of sections with variable traffic volume.

8. The camera-based vehicle-road collaboration implementation system according to claim 7, characterized in that: The route analysis signal is obtained as follows: The route analysis signal includes a non-congested variable signal or a non-congested stable signal; The number of variable sections is multiplied by the variable difference value to obtain the route variable value; The route volatility value is compared with the route volatility threshold as follows: If the route volatility value is greater than the route volatility threshold, a non-congested volatility signal is generated; If the route change value is less than or equal to the route change threshold, a non-congestion stability signal is generated.

9. The camera-based vehicle-road collaboration implementation system according to claim 1, characterized in that: Reorder the route analysis sequence to obtain a stable route sequence. The process is as follows: Count the number of non-congested stable signals and calculate the ratio with the total number of route analysis signals to obtain the non-congested stable number; The total number of route analysis signals is obtained by adding the number of non-congested stable signals and the number of non-congested variable signals; The non-stable number corresponding to the initial route in the route analysis sequence is obtained, and the size is compared and sorted in ascending order to obtain a stable sequence of routes.

10. The camera-based vehicle-road collaboration implementation system according to claim 9, characterized in that: Compare and analyze the stable route sequence with the initial route sequence to determine the optimal driving route. The process is as follows: Extract the initial route ranked first in the route analysis sequence and the initial route ranked first in the route stability sequence for comparison. The process is as follows: If the initial route ranked first in the route analysis sequence is the same as the initial route ranked first in the route stability sequence, it is marked as the optimal driving route; If the initial route ranked first in the route analysis sequence and the initial route ranked first in the route stability sequence are not the same initial route, a route comparison signal is generated; Based on the route comparison signal, the ranking of the initial route ranked first in the route analysis sequence in the route stable sequence is obtained, and the ranking in the route stable sequence is subtracted, and the absolute value is taken to obtain the analysis change value; Obtain the ranking of the initial route that ranks first in the stable route sequence in the route analysis sequence, and make a difference between the ranking and the ranking in the route analysis sequence, take the absolute value, and obtain the stable change value; Compare the stable change value with the analytical change value. The process is as follows: If the analysis change value is greater than the stable change value, the initial route ranked first in the route analysis sequence is taken as the optimal driving route; If the analysis change value is less than the stable change value, the initial route ranked first in the stable sequence of routes is taken as the optimal driving route; If the analysis change value is equal to the stability change value, the initial route ranked first in the route stability sequence and the initial route ranked first in the route stability sequence are both marked as the optimal driving route.

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