Vehicle monitoring method, system and equipment and storage medium
Through the coordinated work of the central control center and the drone, the problem of restricted monitoring range caused by the fixed setting of roadside units is solved, and the continuity and real-timeness of vehicle monitoring are achieved.
Patent Information
- Application Number
- CN202411829197.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-12
- Publication Date
- 2025-03-25
AI Technical Summary
In the prior art, roadside units are fixedly arranged on the roadside, resulting in limited monitoring range and the inability to continue to provide real-time monitoring information after the vehicle leaves the RSU coverage area, resulting in low monitoring continuity.
The central control center is used to work in coordination with at least two drones to monitor the target vehicle through the drone. When the status detection parameters of the target drone are less than or equal to the preset threshold, a continuous monitoring request is carried out to ensure the continuity of the monitoring task.
The continuity of vehicle monitoring is achieved, ensuring that real-time monitoring information can be continuously provided even if the vehicle leaves the RSU coverage area, and improving the monitoring effect of the target vehicle.
Smart Images
Figure CN119694120A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle monitoring technology, and in particular to a vehicle monitoring method, system, device and storage medium. Background Art
[0002] In modern intelligent transportation systems, monitoring specific vehicles is a vital task. This monitoring not only helps maintain traffic order, but also improves road safety, prevents traffic accidents, and provides necessary evidence for law enforcement agencies.
[0003] In the prior art, a road-side unit (RSU) based on C-V2X vehicle-road cooperative communication is usually used to communicate with a specific vehicle, thereby realizing monitoring of the specific vehicle.
[0004] However, in actual application, since the RSU is fixed on the roadside, the monitoring range is limited. When the monitored vehicle leaves the RSU monitoring coverage area, the monitoring of the specific vehicle is interrupted and can no longer provide real-time monitoring information, resulting in low continuity of monitoring of the specific vehicle. Summary of the invention
[0005] Based on the above problems, the present application provides a vehicle monitoring method, system, device and storage medium, the purpose of which is to improve the continuity of vehicle monitoring.
[0006] The embodiments of the present application disclose the following technical solutions:
[0007] In a first aspect, the present application provides a vehicle monitoring method, which is applied to a vehicle monitoring system, the system including a central control center and at least two drones, and the method includes:
[0008] The central control center responds to the received monitoring task request of the target vehicle, determines the target drone from at least two drones based on the acquired position information of the target vehicle, and sends a first monitoring request of the target vehicle to the target drone;
[0009] The target UAV monitors the target vehicle in response to the first monitoring request to send the first monitoring data of the target vehicle to the central control center, and calculates the state detection parameter of the target UAV;
[0010] When the target UAV determines that the state detection parameter is less than or equal to the preset threshold, it sends a continuous monitoring request and the current position information of the target vehicle to the central control center; the state detection parameter is used to characterize the endurance of the UAV; the state detection parameter is positively correlated with the endurance of the UAV;
[0011] The central control center responds to the follow-up monitoring request, determines a follow-up drone from at least two drones based on the current position information of the target vehicle, and sends a second monitoring request of the target vehicle to the follow-up drone;
[0012] The follow-up drone responds to the second monitoring request, monitors the target vehicle to send the second monitoring data of the target vehicle to the central control center, and sends a confirmation signal to the target drone, so that the target drone stops monitoring the target vehicle.
[0013] Optionally, in the method described above, the follow-up drone monitors the target vehicle in response to the second monitoring request to obtain second monitoring data of the target vehicle, and sends a confirmation signal to the target drone so that the target drone stops monitoring the target vehicle, including:
[0014] In response to the second monitoring request, the connecting UAV and the target UAV compare the first task identifier obtained by the connecting UAV and the second task identifier obtained by the target UAV; the first task identifier and the second task identifier are monitoring task identifiers corresponding to the target vehicle obtained from the central control center;
[0015] When it is determined that the first task identifier and the second task identifier are correctly compared, the connecting UAV responds to the relay request signal sent by the target UAV and sends a relay consent signal to the target UAV to determine that communication between the target UAV and the connecting UAV is established;
[0016] When it is determined that the vehicle identification corresponding to the target vehicle in the second monitoring request exists in the acquired multiple vehicle broadcast messages, a communication connection is established between the connecting drone and the target vehicle; the vehicle identification is generated by the target vehicle;
[0017] The follow-up UAV receives the first monitoring data sent by the target UAV when determining that a communication connection is established between the target UAV and the follow-up UAV, and calculates the second characteristic data of the target vehicle when determining that a communication connection is established between the target vehicle and the follow-up UAV;
[0018] When the follow-up drone determines that the first feature data in the first monitoring data is the same as the second feature data, it monitors the target vehicle to send the second monitoring data of the target vehicle to the central control center, and sends a confirmation signal to the target drone to make the target drone stop monitoring the target vehicle; the feature dimensions in the first feature data correspond one to one to the feature dimensions in the second feature data.
[0019] Optionally, in the method described above, the second feature data includes position feature data and visual feature data, and the method for calculating the second feature data of the target vehicle includes:
[0020] The drone then uses visual recognition technology to identify the visual feature data of the target vehicle;
[0021] The follow-up UAV calculates the relative distance between the target vehicle and the follow-up UAV using the spatial path loss model based on the received signal power, signal transmission power and communication frequency obtained from the target vehicle;
[0022] The connecting UAV calculates the transmission signal angle based on the antenna array in the connecting UAV;
[0023] The follow-up UAV calculates the location feature data of the target vehicle using polar coordinate transformation based on the relative distance and the angle of the transmitted signal.
[0024] Optionally, the method as described above further includes:
[0025] When determining that the communication connection between the follow-up UAV and the target UAV is interrupted, the follow-up UAV obtains the first monitoring data corresponding to the target vehicle from the central control center.
[0026] Optionally, the method described above, calculating the state detection parameters of the target UAV, includes:
[0027] Based on the remaining power of the target UAV and the distance between the target UAV and the corresponding base station, the state detection parameters of the target UAV are calculated.
[0028] Optionally, in the method described above, the system further includes a roadside unit, and the method further includes:
[0029] The central control center generates a monitoring task instruction for the target vehicle based on the acquired traffic management requirements, and sends the monitoring task instruction to the target vehicle, so that the target vehicle generates a vehicle identification and returns the vehicle identification; the traffic management requirements include the identification corresponding to the target vehicle;
[0030] The central control center sends the monitoring task instructions and vehicle identification to the roadside unit;
[0031] The roadside unit monitors the target vehicle based on the vehicle identification in response to the monitoring task instruction, so as to send the obtained third monitoring data of the target vehicle to the central control center;
[0032] When the roadside unit determines that the signal strength of the acquired target vehicle is less than a preset threshold, it generates a monitoring task request for the target vehicle and sends the monitoring task request to the central control center, so that the central control center determines the target drone from at least two drones based on the acquired position information of the target vehicle, and sends a first monitoring request for the target vehicle to the target drone.
[0033] In a second aspect, the present application provides a vehicle monitoring system, the system comprising: a central control center, at least two drones; the at least two drones include a target drone and a follow-up drone;
[0034] Among them, the central control center communicates with the target UAV and the follow-up UAV respectively; the target UAV and the follow-up UAV communicate with each other;
[0035] The central control center is configured to respond to the received monitoring task request of the target vehicle, determine the target drone from at least two drones based on the acquired position information of the target vehicle, and send a first monitoring request of the target vehicle to the target drone;
[0036] The target UAV is used to monitor the target vehicle in response to the first monitoring request to obtain the first monitoring data of the target vehicle, and calculate the state detection parameter of the target UAV; when it is determined that the state detection parameter is less than or equal to the preset threshold, send a continuous monitoring request to the central control center; the state detection parameter is used to characterize the endurance of the UAV; the state detection parameter is positively correlated with the endurance of the UAV;
[0037] The central control center is further configured to respond to the follow-up monitoring request, determine a follow-up drone from at least two drones based on the current position information of the target vehicle, and send a second monitoring request of the target vehicle to the follow-up drone;
[0038] The follow-up drone is used to monitor the target vehicle in response to the second monitoring request to obtain second monitoring data of the target vehicle, and send a confirmation signal to the target drone to make the target drone stop monitoring the target vehicle.
[0039] Optionally, the system as described above further comprises a roadside unit; the roadside unit is in communication connection with the central control center;
[0040] The roadside unit is used to monitor the target vehicle in response to the monitoring task instruction and the vehicle identification sent by the central control center, so as to send the third monitoring data of the target vehicle to the central control center;
[0041] The roadside unit is further used to generate a monitoring task request for the target vehicle and send the monitoring task request to the central control center when it is determined that the signal strength of the target vehicle obtained is less than a preset threshold, so that the central control center can determine the target drone from the at least two drones based on the acquired position information of the target vehicle, and send a first monitoring request for the target vehicle to the target drone.
[0042] In a third aspect, the present application provides an electronic device, the device comprising: a processor, and a memory communicatively connected to the processor;
[0043] Memory stores computer-executable instructions;
[0044] The processor executes the computer-executable instructions stored in the memory to implement the vehicle monitoring method described in any of the above embodiments.
[0045] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the vehicle monitoring method described in any of the above embodiments.
[0046] In this embodiment, the central control center responds quickly to the monitoring task request, and based on the acquired location information of the target vehicle, quickly selects the most suitable target drone from at least two drones to monitor the target vehicle, and sends the first monitoring request of the target vehicle to the target drone; the target drone responds to the first monitoring request, monitors the target vehicle to send the first monitoring data of the target vehicle to the central control center, ensuring that the central control center can quickly grasp the monitoring data of the target vehicle, and obtain the state detection parameters of the target drone by calculation, so as to monitor the state of the target drone, and avoid monitoring interruption during the drone's execution of the monitoring task. When the target drone determines that the state detection parameter is less than or equal to the preset threshold and cannot continue monitoring, it sends a continuous monitoring request and the current location information of the target vehicle to the central control center. The central control center responds to the continuous monitoring request, based on the current location information of the target vehicle, and can quickly determine the continuous drone from at least two drones to dispatch to take over the monitoring task, and sends the second monitoring request of the target vehicle to the continuous drone, realizing the continuation of the monitoring task and ensuring the continuity of the monitoring task. The follow-up drone responds to the second monitoring request, monitors the target vehicle to send the second monitoring data of the target vehicle to the central control center, and sends a confirmation signal to the target drone to make the target drone stop monitoring the target vehicle, ensuring seamless connection of the monitoring task and improving continuous monitoring of the target vehicle. BRIEF DESCRIPTION OF THE DRAWINGS
[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
[0048] Figure 1Schematic diagram of application scenarios provided for this application;
[0049] Figure 2 A schematic flow chart of an embodiment of a vehicle monitoring method provided by the present application;
[0050] Figure 3 A schematic flow chart of another embodiment of a vehicle monitoring method provided by the present application;
[0051] Figure 4 A schematic diagram of the structure of an embodiment of a vehicle monitoring system provided by the present application;
[0052] Figure 5 A schematic structural diagram of another embodiment of a vehicle monitoring system provided by the present application;
[0053] Figure 6 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION
[0054] As described above, the current monitoring of specific vehicles is usually achieved by RSU. However, the physical coverage of RSU is limited, which makes it difficult to monitor vehicles outside its coverage, especially in the monitoring of special vehicles (such as emergency vehicles, dangerous goods transport vehicles, etc.), and continuous monitoring and information feedback cannot be achieved.
[0055] After research, the inventors proposed a vehicle monitoring method, system, device and storage medium to solve the technical problem in the prior art that when the monitored vehicle leaves the coverage area of RSU monitoring, it can no longer continue to provide real-time monitoring information.
[0056] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0057] See also Figure 1 , which is a schematic diagram of the application scenario provided by the present application. The application scenario includes a vehicle monitoring system and a target vehicle. Among them, the vehicle monitoring system includes a roadside unit RSU, a target drone and a connecting drone. Based on the acquired traffic management requirements, the vehicle monitoring system generates a monitoring task instruction for the target vehicle, and sends the monitoring task instruction to the roadside unit RSU and the target vehicle through a wide area wireless network or a wired network, so that the roadside unit RSU establishes communication with the target vehicle to monitor the target vehicle.
[0058] When the target vehicle leaves the monitoring range of the roadside unit RSU, in response to the monitoring task request sent by the roadside unit RSU, the vehicle monitoring system calls the target drone to continue monitoring the target vehicle. The target drone establishes communication with the target vehicle to monitor the target vehicle, and when it determines that it cannot continue to perform the current monitoring task based on the status detection parameters, the vehicle monitoring system calls the follow-up drone to communicate with the target drone to realize the handover of the monitoring task, and establishes communication with the target vehicle to continuously monitor the target vehicle.
[0059] See also Figure 2 , which is a flow chart of an embodiment of a vehicle monitoring method provided by the present application. Figure 2 As shown, based on Figure 1 In the application scenario shown, the method includes:
[0060] S101: In response to a received monitoring task request of a target vehicle, the central control center determines a target drone from at least two drones based on acquired position information of the target vehicle, and sends a first monitoring request of the target vehicle to the target drone.
[0061] In this embodiment, the central control center responds to the received monitoring task request for the target vehicle, determines a drone that is closest to the current position information of the target vehicle from at least two drones as the target drone based on the obtained current position information of the target vehicle, and sends a first monitoring request for the target vehicle to the target drone.
[0062] S102: The target UAV monitors the target vehicle in response to the first monitoring request to send the first monitoring data of the target vehicle to the central control center, and calculates the state detection parameters of the target UAV.
[0063] Among them, the state detection parameter is used to characterize the endurance of the UAV; the state detection parameter is positively correlated with the endurance of the UAV.
[0064] In this embodiment, the target drone responds to the received first monitoring request, arrives near the target vehicle, and uses C-V2X technology to establish a communication connection with the on-board unit (OBU) of the target vehicle to monitor the target vehicle and send the first monitoring data of the target vehicle obtained from the target vehicle to the central control center. At the same time, the state detection parameter of the target drone is calculated according to the current remaining power of the target drone itself and the distance between the target drone and the base station corresponding to the target drone to determine whether the remaining power of the target drone is sufficient to return to the base station.
[0065] Among them, the monitoring data may include but is not limited to dynamic parameters such as the current position, current speed, driving direction, acceleration, etc. of the target vehicle; it may include static parameters such as the type, model, color, license plate number, etc. of the target vehicle; it may also include communication indicators such as the current signal strength, communication link delay and stability; it may also include operating conditions such as the current power or fuel remaining, equipment operating status, etc.
[0066] S103: When the target UAV determines that the state detection parameter is less than or equal to the preset threshold, it sends a continuous monitoring request and the current position information of the target vehicle to the central control center.
[0067] In this embodiment, when the target UAV determines that the state detection parameter is less than or equal to the preset threshold, it sends a continued monitoring request and the current location information of the target vehicle to the central control center, so that the central control center calls other UAVs to continue monitoring the target vehicle.
[0068] S104: The central control center responds to the follow-up monitoring request, determines a follow-up drone from at least two drones based on the current location information of the target vehicle, and sends a second monitoring request of the target vehicle to the follow-up drone.
[0069] In this embodiment, the central control center responds to the follow-up monitoring request sent by the target drone. Based on the current location information of the target vehicle, the drone closest to the current location information of the target vehicle is used as the follow-up drone, and a second monitoring request for the target vehicle is sent to the follow-up drone.
[0070] It is understandable that in this embodiment, the method of selecting the connecting drone is based on the current location information of the target vehicle, and the drone closest to the current location information of the target vehicle is used as the connecting drone. As another achievable method, it is also possible to match the corresponding weights of each parameter based on the current location information of the target vehicle, the remaining power of the drone, and whether the monitoring task is executed, so as to obtain the weight value corresponding to each drone, and select the drone with the highest weight value as the connecting drone.
[0071] S105: The following drone monitors the target vehicle in response to the second monitoring request to send the second monitoring data of the target vehicle to the central control center, and sends a confirmation signal to the target drone to make the target drone stop monitoring the target vehicle.
[0072] In this embodiment, the connecting drone responds to the received second monitoring request and compares the first task identifier obtained by the connecting drone from the central control center with the second task identifier obtained by the target drone from the central control center. When it is determined that the first task identifier and the second task identifier are correctly compared, the target drone sends a relay request signal to the connecting drone, and the connecting drone responds to the relay request signal sent by the target drone and sends a relay consent signal to the target drone to determine that the communication between the target drone and the connecting drone is established. At the same time, when the connecting drone receives multiple vehicle broadcast information, it is determined whether there is a vehicle identifier of the target vehicle in the multiple vehicle broadcast information. When it is determined that there is a vehicle identifier of the target vehicle in the multiple vehicle broadcast messages, a communication connection is established between the connecting drone and the target vehicle to determine that the connecting drone is within the communication range of the target vehicle. At this point, the communication establishment between the connecting drone and the target drone and the target vehicle is completed. The follow-up UAV receives the first monitoring data of the target vehicle sent by the target UAV, and obtains the second characteristic data of the target vehicle by identifying the target vehicle, so as to compare the first characteristic data in the first monitoring data with the second characteristic data. When it is determined that the first characteristic data is the same as the second characteristic data, the follow-up UAV monitors the target vehicle, sends the monitored second monitoring data to the central control center, and sends a confirmation signal to the target UAV to complete the handover of the monitoring task of the target vehicle, so that the target UAV stops monitoring the target vehicle.
[0073] It is understandable that when the target drone stops monitoring the target vehicle, it automatically returns to its corresponding base station or standby area, and may also enter a charging state and wait for the next monitoring task.
[0074] In this embodiment, the central control center responds quickly to the monitoring task request, and based on the acquired location information of the target vehicle, quickly selects the most suitable target drone from at least two drones to monitor the target vehicle, and sends the first monitoring request of the target vehicle to the target drone; the target drone responds to the first monitoring request, monitors the target vehicle to send the first monitoring data of the target vehicle to the central control center, ensuring that the central control center can quickly grasp the monitoring data of the target vehicle, and the target drone obtains the state detection parameter of the target drone by calculation to monitor the state of the target drone, avoiding monitoring interruption during the drone's execution of the monitoring task. When the target drone determines that the state detection parameter is less than or equal to the preset threshold and cannot continue monitoring, it sends a continuous monitoring request and the current location information of the target vehicle to the central control center. The central control center responds to the continuous monitoring request, based on the current location information of the target vehicle, and can quickly determine the continuous drone from at least two drones to dispatch to take over the monitoring task, and sends the second monitoring request of the target vehicle to the continuous drone, realizing the continuation of the monitoring task and ensuring the continuity of the monitoring task. The follow-up drone responds to the second monitoring request, monitors the target vehicle to send the second monitoring data of the target vehicle to the central control center, and sends a confirmation signal to the target drone to make the target drone stop monitoring the target vehicle, ensuring seamless connection of the monitoring task and improving continuous monitoring of the target vehicle.
[0075] See also Figure 3 , which is a flow chart of another embodiment of a vehicle monitoring method provided by the present application. Figure 2 , Figure 3 A specific implementation method of "the follow-up drone responds to the second monitoring request, monitors the target vehicle to obtain the second monitoring data of the target vehicle, and sends a confirmation signal to the target drone, so that the target drone stops monitoring the target vehicle" in S105 is shown, specifically combined with Figure 3 Introduced in S1051-S1055.
[0076] S1051: In response to the second monitoring request, the connecting UAV and the target UAV compare the first mission identifier obtained by the connecting UAV and the second mission identifier obtained by the target UAV.
[0077] The first task identifier and the second task identifier are monitoring task identifiers corresponding to the target vehicle obtained from the central control center.
[0078] In this embodiment, when the central control center sends the second monitoring request to the follow-up drone, the generated first task identifier is sent to the follow-up drone and the generated second task identifier is sent to the target drone, so that the follow-up drone and the target drone can identify and hand over the monitoring task. In response to the second monitoring request, the follow-up drone compares the obtained first task identifier with the second task identifier of the target drone.
[0079] It can be understood that the first task identifier sent by the central control center to the follow-up drone and the second task identifier sent to the central control center are the same task identifier.
[0080] S1052: When it is determined that the first task identifier and the second task identifier are correctly compared, the connecting UAV responds to the relay request signal sent by the target UAV and sends a relay consent signal to the target UAV to confirm that communication between the target UAV and the connecting UAV is established.
[0081] In this embodiment, for example, the first task identifier is compared with the second task identifier. If the first task identifier is the same as the second task identifier, it means that the comparison is correct. At this time, the target drone sends a relay request signal to the connecting drone, and the connecting drone responds to the relay request signal sent by the target drone and sends a relay consent signal to the target drone. At this time, it is considered that the communication between the connecting drone and the target drone has been established.
[0082] S1053: When it is determined that the vehicle identification corresponding to the target vehicle in the second monitoring request exists in the acquired multiple vehicle broadcast messages, a communication connection is established between the connecting drone and the target vehicle.
[0083] Among them, the vehicle identification is generated by the target vehicle.
[0084] In this embodiment, since there may be multiple other vehicles broadcasting messages at the same time near the target vehicle, the follow-up drone determines whether the broadcast information of the target vehicle exists in the broadcast information of multiple vehicles based on the vehicle identification in the second monitoring request. If the vehicle identification of the target vehicle exists in the broadcast information of multiple vehicles, it is confirmed that the follow-up drone is already in the communication area of the target vehicle, and the follow-up drone establishes a communication connection with the target vehicle.
[0085] S1054: When determining that a communication connection is established between the target drone and the connecting drone, the connecting drone receives the first monitoring data sent by the target drone, and when determining that a communication connection is established between the target vehicle and the connecting drone, calculates the second characteristic data of the target vehicle.
[0086] In this embodiment, when it is determined that communication is established between the target UAV and the connecting UAV, the target UAV sends the first monitoring data of the target vehicle to the connecting UAV; when it is determined that communication is established between the target vehicle and the connecting UAV, the target vehicle is identified and the current position of the target vehicle is calculated, thereby obtaining the second characteristic data of the target vehicle.
[0087] S1055: When the follow-up drone determines that the first characteristic data in the first monitoring data is the same as the second characteristic data, it monitors the target vehicle to send the second monitoring data of the target vehicle to the central control center, and sends a confirmation signal to the target drone to make the target drone stop monitoring the target vehicle.
[0088] Among them, the feature dimensions in the first feature data correspond one-to-one to the feature dimensions in the second feature data.
[0089] In this embodiment, the connecting drone compares the first characteristic data in the first monitoring data with the calculated second characteristic data. When it is determined that the first characteristic data is the same as the second characteristic data, the target vehicle is monitored and the obtained second monitoring data of the target vehicle is sent to the central control center for storage. At the same time, a confirmation signal is sent to the target drone so that the target drone stops monitoring the target vehicle and completes the handover of the monitoring task.
[0090] In this embodiment, the accuracy of the monitoring task identification is ensured by the follow-up drone responding to the second monitoring request and comparing the task identification with the target drone. When it is determined that the first task identification is correctly compared with the second task identification, the follow-up drone responds to the relay request signal sent by the target drone and sends a relay consent signal to the target drone to determine that the communication between the target drone and the follow-up drone is established, thereby ensuring the reliability and safety of the monitoring task relay process. When it is determined that the vehicle identification in the second monitoring request exists in the acquired multiple vehicle broadcast messages, the follow-up drone establishes a communication connection with the target vehicle, thereby realizing rapid identification of the follow-up drone and the target vehicle. When it is determined that the communication between the target drone and the follow-up drone is established, the follow-up drone receives the first monitoring data sent by the target drone and calculates the second characteristic data of the target vehicle. When the follow-up UAV determines that the first characteristic data in the first monitoring data is the same as the second characteristic data, it monitors the target vehicle, ensuring the continuity of monitoring of the target vehicle, and sends the second monitoring data of the target vehicle to the central control center, and sends a confirmation signal to the target UAV, so that the target UAV stops monitoring the target vehicle, thereby realizing the handover of the monitoring task of the target vehicle and improving the continuity of vehicle monitoring.
[0091] Further, based on the above embodiment, the second feature data includes position feature data and visual feature data, and a specific implementation of "calculating the second feature data of the target vehicle" in S1054 includes:
[0092] The drone then uses visual recognition technology to identify the visual feature data of the target vehicle.
[0093] In this embodiment, for example, a camera is mounted on the connecting drone. The visual feature of the target vehicle is extracted using computer vision recognition technology through the camera of the connecting drone, thereby obtaining visual feature data of the target vehicle. For example, the visual feature data may include appearance feature information such as the model and color of the target vehicle.
[0094] The follow-up UAV calculates the relative distance between the target vehicle and the follow-up UAV based on the received signal power, signal transmission power and communication frequency obtained from the target vehicle using the spatial path loss model.
[0095] In this embodiment, the connecting drone calculates the path loss of the target vehicle based on the spatial path loss model according to the received signal power and the signal generation power corresponding to the target vehicle using the following formula:
[0096] Pathloss = P Tx -RSRP
[0097] Among them, P Tx It represents the signal transmission power of the target vehicle; RSRP represents the received signal power of the target vehicle.
[0098] Based on the calculated path loss Pathloss, the relative distance d between the target vehicle and the connecting UAV is calculated using the following formula:
[0099] Pathloss = 20log 10 (d)+20log 10 (f)+32.4,
[0100] Where f represents the communication frequency of the target vehicle.
[0101] The connecting drone calculates the transmission signal angle based on the antenna array in the connecting drone.
[0102] In this embodiment, based on the antenna array in the connecting drone, the transmission signal angle corresponding to the target vehicle transmitting to the connecting drone is calculated. Specifically, the formula for calculating the transmission signal angle of the target vehicle is as follows:
[0103]
[0104] Where θ represents the transmission signal angle of the target vehicle; represents the phase difference between adjacent antennas; λ represents the wavelength of the received signal; d represents the relative distance between the target vehicle and the connecting UAV.
[0105] The follow-up UAV calculates the location feature data of the target vehicle using polar coordinate transformation based on the relative distance and the angle of the transmitted signal.
[0106] In this embodiment, based on the calculated relative distance d between the target vehicle and the connecting drone, and the transmission signal angle of the target vehicle, the coordinates of the target vehicle are calculated using polar coordinate transformation. Specifically, the coordinate (x, y) calculation formula of the target vehicle is as follows:
[0107] x=x UAV +d·cosθ
[0108] y=y UAV +d·sinθ
[0109] Among them, x UAV With y UAV are the horizontal and vertical coordinates of the follow-up UAV respectively; d represents the relative distance between the target vehicle and the follow-up UAV; θ represents the transmission signal angle of the target vehicle.
[0110] It is understandable that when the position feature data of the target vehicle is calculated, the camera of the connected drone can be adjusted according to the coordinates of the target vehicle, thereby achieving more accurate identification and monitoring of the target vehicle.
[0111] In this embodiment, the follow-up drone performs visual recognition of the target vehicle and can accurately identify the visual feature data of the target vehicle; then, based on the received signal power, signal transmission power and communication frequency obtained from the target vehicle, the spatial path loss model is used to accurately calculate the relative distance between the target vehicle and the follow-up drone, and the transmission signal angle is calculated based on the antenna array in the follow-up drone. Finally, the follow-up drone calculates the position feature data of the target vehicle based on the relative distance and the transmission signal angle using polar coordinate conversion, thereby realizing accurate recognition and positioning of the target vehicle and improving the accuracy of target vehicle recognition and positioning.
[0112] Furthermore, based on the above embodiment, the method may further include:
[0113] When determining that the communication connection between the follow-up UAV and the target UAV is interrupted, the follow-up UAV obtains the first monitoring data corresponding to the target vehicle from the central control center.
[0114] In this embodiment, when the follow-up UAV determines that the communication connection with the target UAV is interrupted, it obtains the first monitoring data of the target vehicle from the central control center to identify the target vehicle and continue the monitoring task of the target vehicle.
[0115] In this embodiment, when the follow-up UAV determines that the communication connection with the target UAV is interrupted, it obtains the first characteristic data in the first monitoring data corresponding to the target vehicle from the central control center, thereby avoiding the situation where the follow-up UAV is unable to obtain the first characteristic data to identify and continue monitoring the target vehicle due to the target UAV being unable to communicate with the follow-up UAV, thereby improving the integrity of the monitoring data.
[0116] Further, based on the above embodiment, the state detection parameters of the target UAV are calculated, including:
[0117] Based on the remaining power of the target UAV and the distance between the target UAV and the corresponding base station, the state detection parameters of the target UAV are calculated.
[0118] In this embodiment, based on the remaining power of the target drone and the distance between the target drone and the corresponding base station, the state detection parameter of the target drone is calculated using the following formula:
[0119]
[0120] Among them, α i Indicates the state detection parameters of the target UAV; D i represents the distance between the target UAV and the base station corresponding to the target UAV; s standard Indicates standard speed; Battery Level i Indicates the remaining power of the target drone itself; Redundancy indicates the preset reserved redundant power; Power Consumption indicates the power consumption of the target drone per unit time.
[0121] If the calculated state detection parameter is higher, it means that the endurance of the target UAV is better, and there is no need to call other UAVs to continue the monitoring task of the target vehicle; if the calculated state detection parameter is lower, it means that the endurance of the target UAV is worse, and the target UAV may not be able to continue to complete the monitoring task, so other UAVs need to be called to continue the monitoring task of the target vehicle.
[0122] It is understandable that the distance between the target UAV and the corresponding base station can be obtained through the positioning module in the UAV.
[0123] In this embodiment, based on the remaining power of the target UAV and the distance between the target UAV and the corresponding base station, the state detection parameters of the target UAV are calculated, so that the operating state of the target UAV can be judged to call the follow-up UAV to continue the monitoring task, thereby avoiding monitoring interruption due to insufficient power of the target UAV or the long distance from the base station, and improving the continuity of monitoring of the target vehicle.
[0124] Further, based on the above embodiment, the system may further include a roadside unit, and the method may further include:
[0125] The central control center generates a monitoring task instruction for the target vehicle based on the acquired traffic management requirements, and sends the monitoring task instruction to the target vehicle, so that the target vehicle generates a vehicle identification and returns the vehicle identification. The traffic management requirements include the identification corresponding to the target vehicle.
[0126] The central control center sends the monitoring task instructions and vehicle identification to the roadside unit.
[0127] The roadside unit monitors the target vehicle based on the vehicle identification in response to the monitoring task instruction, so as to send the obtained third monitoring data of the target vehicle to the central control center.
[0128] In this embodiment, the central control center generates a monitoring task instruction for the target vehicle based on the traffic management requirements obtained from the traffic management system. For example, the traffic management requirements may include but are not limited to the basic information of the target vehicle, the vehicle location, characteristics, driving status, etc. And the monitoring task instruction of the target vehicle is sent to the RSU and the target vehicle. In response to the received monitoring task instruction, the RSU identifies the target vehicle based on the vehicle identification obtained from the target vehicle, and monitors the target vehicle in real time based on the communication connection with the target vehicle, thereby obtaining the third monitoring data of the target vehicle. Among them, the vehicle identification of the target vehicle is the vehicle identification ID automatically created by the target vehicle in response to the monitoring task instruction sent by the central control center.
[0129] It is understandable that the communication connection between the target vehicle and the central control center and the RSU is realized through the OBU in the target vehicle. The OBU and the RSU communicate through the PC5 air interface to transmit data in real time.
[0130] When the roadside unit determines that the signal strength of the acquired target vehicle is less than a preset threshold, it generates a monitoring task request for the target vehicle and sends the monitoring task request to the central control center, so that the central control center determines the target drone from at least two drones based on the acquired position information of the target vehicle, and sends a first monitoring request for the target vehicle to the target drone.
[0131] In this embodiment, the RSU makes a judgment based on the signal strength of the target vehicle obtained through monitoring. When it is determined that the signal strength of the target vehicle is less than a preset threshold, it is considered that the target vehicle is about to leave the monitoring coverage of the RSU, and a monitoring task request for the target vehicle is generated and sent to the central control center, so that the central control center determines the target drone from at least two drones based on the location information of the target vehicle, and sends a first monitoring request for the target vehicle to the target drone.
[0132] In this embodiment, the central control center generates a monitoring task instruction for the target vehicle based on the acquired traffic management requirements, and sends the monitoring task instruction to the target vehicle, so that the target vehicle generates a vehicle identification and returns the vehicle identification, thereby ensuring the timeliness and pertinence of the monitoring task. The monitoring task instruction and the vehicle identification are then sent to the roadside unit, so that the roadside unit accurately identifies and monitors the target vehicle. At this time, the roadside unit responds to the monitoring task instruction and monitors the target vehicle based on the vehicle identification to send the third monitoring data of the target vehicle to the central control center; and when it is determined that the signal strength of the acquired target vehicle is less than the preset threshold, a monitoring task request for the target vehicle is generated and sent to the central control center, so that the central control center determines the target drone from at least two drones based on the acquired location information of the target vehicle, and sends the first monitoring request of the target vehicle to the target drone, avoiding the limitation of the monitoring range by the roadside unit, and realizing that when the target vehicle is in an area with weak signal or difficult to monitor, the drone can be triggered in time to monitor the target vehicle in real time, thereby improving the monitoring continuity and real-time performance of the target vehicle, so as to improve the emergency response speed to the target vehicle.
[0133] See also Figure 4 , which is a schematic diagram of an embodiment of a vehicle monitoring system provided by the present application. Figure 4 As shown, the vehicle monitoring system includes a central control center 41 and at least two drones 42 ; the at least two drones include a target drone 421 and a follow-up drone 422 .
[0134] The central control center 41 is connected to the target UAV 421 and the connecting UAV 422 for communication; the target UAV 421 is connected to the connecting UAV 422 for communication;
[0135] The central control center 41 is used to respond to the received monitoring task request of the target vehicle, determine the target drone 421 from the at least two drones 42 based on the acquired position information of the target vehicle, and send a first monitoring request of the target vehicle to the target drone 421;
[0136] The target drone 421 is used to monitor the target vehicle in response to the first monitoring request to obtain the first monitoring data of the target vehicle, and calculate the state detection parameter of the target drone; when it is determined that the state detection parameter is less than or equal to the preset threshold, send a continuous monitoring request to the central control center 41; the state detection parameter is used to characterize the endurance of the drone; the state detection parameter is positively correlated with the endurance of the drone;
[0137] The central control center 41 is further configured to respond to the follow-up monitoring request, determine a follow-up drone 422 from the at least two drones 42 based on the current position information of the target vehicle, and send a second monitoring request of the target vehicle to the follow-up drone 422;
[0138] The follow-up drone 422 is used to monitor the target vehicle in response to the second monitoring request to obtain second monitoring data of the target vehicle, and send a confirmation signal to the target drone 421 to make the target drone 421 stop monitoring the target vehicle.
[0139] See also Figure 5 , which is a schematic diagram of another embodiment of a vehicle monitoring system provided by the present application. Figure 5 As shown, the vehicle monitoring system further includes a roadside unit 43. The roadside unit 43 is in communication connection with the central control center 41.
[0140] The roadside unit 43 is used to monitor the target vehicle in response to the monitoring task instruction and the vehicle identification sent by the central control center 41, so as to send the third monitoring data of the target vehicle to the central control center 41;
[0141] The roadside unit 43 is also used to generate a monitoring task request for the target vehicle and send the monitoring task request to the central control center 41 when it is determined that the signal strength of the acquired target vehicle is less than a preset threshold, so that the central control center 41 can determine the target drone 421 from at least two drones 42 based on the acquired position information of the target vehicle, and send a first monitoring request for the target vehicle to the target drone 421.
[0142] See also Figure 6 , which is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. The electronic device 60 may include: a processor 61 and a memory 62.
[0143] The processor 61 is in communication connection with the memory 62 , and the memory 62 is used to store computer-executable instructions; the processor 61 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the computer-executable instructions stored in the memory 62 .
[0144] Optionally, the memory 62 may be independent or integrated with the processor 61. Optionally, when the memory 62 is a device independent of the processor 61, the electronic device 60 may further include: a bus for connecting the above devices.
[0145] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.
[0146] An embodiment of the present application also provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed by a processor, they are used to implement the above-mentioned method. The implementation principle and technical effect are similar and will not be repeated here.
[0147] It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The system embodiment described above is merely schematic, in which the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.
[0148] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims
1. A vehicle monitoring method, characterized in that: Applied to a vehicle monitoring system, the system includes a central control center and at least two drones, and the method includes: The central control center responds to the received monitoring task request of the target vehicle, determines the target drone from the at least two drones based on the acquired position information of the target vehicle, and sends a first monitoring request of the target vehicle to the target drone; The target UAV monitors the target vehicle in response to the first monitoring request to send the first monitoring data of the target vehicle to the central control center, and calculates the state detection parameter of the target UAV; When the target UAV determines that the state detection parameter is less than or equal to a preset threshold, the target UAV sends a continuous monitoring request and the current position information of the target vehicle to the central control center; the state detection parameter is used to characterize the endurance of the UAV; the state detection parameter is positively correlated with the endurance of the UAV; The central control center determines a follow-up drone from at least two drones in response to the follow-up monitoring request based on the current location information of the target vehicle, and sends a second monitoring request of the target vehicle to the follow-up drone; The follow-up drone monitors the target vehicle in response to the second monitoring request to send the second monitoring data of the target vehicle to the central control center, and sends a confirmation signal to the target drone to cause the target drone to stop monitoring the target vehicle.
2. The method according to claim 1, characterized in that The follow-up UAV monitors the target vehicle in response to the second monitoring request to obtain second monitoring data of the target vehicle, and sends a confirmation signal to the target UAV so that the target UAV stops monitoring the target vehicle, including: In response to the second monitoring request, the connecting drone and the target drone compare a first task identifier obtained by the connecting drone and a second task identifier obtained by the target drone; the first task identifier and the second task identifier are monitoring task identifiers corresponding to the target vehicle obtained from the central control center; When it is determined that the first task identifier and the second task identifier are correctly compared, the connecting UAV sends a relay consent signal to the target UAV in response to the relay request signal sent by the target UAV, so as to determine that communication between the target UAV and the connecting UAV is established; When it is determined that the vehicle identification corresponding to the target vehicle in the second monitoring request exists in the acquired multiple vehicle broadcast messages, a communication connection is established between the follow-up UAV and the target vehicle; the vehicle identification is generated by the target vehicle; The connecting drone receives the first monitoring data sent by the target drone when determining that a communication connection is established between the target drone and the connecting drone, and calculates the second characteristic data of the target vehicle when determining that a communication connection is established between the target vehicle and the connecting drone; When the follow-up drone determines that the first feature data in the first monitoring data is the same as the second feature data, it monitors the target vehicle to send the second monitoring data of the target vehicle to the central control center, and sends a confirmation signal to the target drone to make the target drone stop monitoring the target vehicle; the feature dimensions in the first feature data correspond one to one with the feature dimensions in the second feature data.
3. The method according to claim 2, characterized in that The second feature data includes position feature data and visual feature data, and the method for calculating the second feature data of the target vehicle includes: The follow-up UAV uses visual recognition technology to identify visual feature data of the target vehicle; The connecting UAV calculates the relative distance between the target vehicle and the connecting UAV using a spatial path loss model based on the received signal power, signal transmission power and communication frequency obtained from the target vehicle; The connecting drone calculates a transmission signal angle based on an antenna array in the connecting drone; The follow-up drone calculates the position feature data of the target vehicle by polar coordinate conversion according to the relative distance and the transmission signal angle.
4. The method according to claim 2, characterized in that: The method further comprises: The target drone sends the first characteristic data of the target vehicle to the central control center for storage; When the connecting UAV determines that the communication connection with the target UAV is interrupted, the connecting UAV obtains the first monitoring data of the target vehicle from the central control center.
5. The method according to claim 1, characterized in that The step of calculating the state detection parameters of the target UAV includes: Based on the remaining power of the target UAV and the distance between the target UAV and the corresponding base station, the state detection parameter of the target UAV is calculated.
6. The method according to claim 1, characterized in that The system further includes a roadside unit, and the method further includes: The central control center generates a monitoring task instruction for the target vehicle based on the acquired traffic management requirements, and sends the monitoring task instruction to the target vehicle, so that the target vehicle generates a vehicle identification and returns the vehicle identification; the traffic management requirements include the identification corresponding to the target vehicle; The central control center sends the monitoring task instruction and the vehicle identification to the roadside unit; The roadside unit monitors the target vehicle based on the vehicle identification in response to the monitoring task instruction, so as to send the third monitoring data of the target vehicle to the central control center; When the roadside unit determines that the acquired signal strength of the target vehicle is less than a preset threshold, it generates a monitoring task request for the target vehicle and sends the monitoring task request to the central control center, so that the central control center determines the target drone from the at least two drones based on the acquired position information of the target vehicle, and sends a first monitoring request for the target vehicle to the target drone.
7. A vehicle monitoring system, characterized in that: The system includes: a central control center and at least two drones; the at least two drones include a target drone and a follow-up drone. The central control center is connected to the target UAV and the connecting UAV respectively in communication; the target UAV is connected to the connecting UAV in communication; The central control center is configured to respond to the received monitoring task request of the target vehicle, determine the target drone from the at least two drones based on the acquired position information of the target vehicle, and send a first monitoring request of the target vehicle to the target drone; The target UAV is used to monitor the target vehicle in response to the first monitoring request to obtain the first monitoring data of the target vehicle, and calculate the state detection parameter of the target UAV; when it is determined that the state detection parameter is less than or equal to a preset threshold, send a continuous monitoring request to the central control center; the state detection parameter is used to characterize the endurance of the UAV; the state detection parameter is positively correlated with the endurance of the UAV; The central control center is further configured to, in response to the follow-up monitoring request, determine a follow-up drone from at least two drones based on the current location information of the target vehicle, and send a second monitoring request of the target vehicle to the follow-up drone; The follow-up drone is used to monitor the target vehicle in response to the second monitoring request to obtain second monitoring data of the target vehicle, and send a confirmation signal to the target drone so that the target drone stops monitoring the target vehicle.
8. The system according to claim 7, characterized in that The system further comprises a roadside unit; the roadside unit is in communication connection with the central control center; The roadside unit is used to monitor the target vehicle in response to the monitoring task instruction and the vehicle identification sent by the central control center, so as to send the third monitoring data of the target vehicle to the central control center; The roadside unit is further used to generate a monitoring task request for the target vehicle and send the monitoring task request to the central control center when it is determined that the signal strength of the target vehicle obtained is less than a preset threshold, so that the central control center can determine the target drone from the at least two drones based on the acquired position information of the target vehicle, and send a first monitoring request for the target vehicle to the target drone.
9. An electronic device, characterized in that: The device comprises: a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.