Road abnormality monitoring active warning area control method and system

Abstract

The present invention provides a method and system for actively warning area control of road anomaly monitoring. The method includes: when any multi-situation awareness device detects an abnormal traffic event, obtaining radar alarm information and a first real-time image; detecting whether an abnormal traffic event occurs in the first real-time image, obtaining a first image detection result, and performing a composite check on the first image detection result and the radar alarm information; respectively obtaining radar data information and a second real-time image, and performing a second composite check based on the radar data information and the second real-time image; if the results of the two composite checks both show that an abnormal traffic event occurs on the current road, sending a first alarm message, and correspondingly receiving a first warning control instruction, based on the first warning control instruction, correspondingly executing a first dangerous area warning and traffic control operation to prompt and control vehicles on the current road. The present invention can effectively avoid false alarms and ensure the accuracy of road anomaly monitoring.

Description

Technical Field

[0001] The present invention relates to the field of traffic safety technology, and in particular to a method and system for controlling a road abnormality monitoring active early warning area. Background Art

[0002] The booming development of road transportation has brought convenience to people, but also brought a series of safety issues, such as frequent traffic accidents. The main cause of traffic accidents is that the vehicle is not aware of the vehicle ahead during driving, and the road conditions ahead are complex. Therefore, how to monitor and perceive abnormal events on the road and respond to them in time to reduce the accident rate has become a hot topic in today's research.

[0003] In the related technologies, most of them use roadside remote control cameras installed above the road to conduct real-time monitoring and alarm to achieve monitoring, perception and early warning of abnormal events. However, a single roadside remote control camera cannot truly reflect the actual situation of the road, resulting in one-sided monitoring results and prone to false alarms and missed alarms. Summary of the invention

[0004] The embodiment of the present invention provides a method and system for controlling anomaly road monitoring and active early warning areas, so as to solve the problem that the related technology cannot monitor and perceive the real road conditions in real time, and is prone to false reporting and missed reporting.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling an abnormal road monitoring active early warning area, the method being applied to an abnormal road monitoring active early warning area control system, the system comprising: a plurality of multi-situation awareness devices, a remote node controller and an early warning management workstation; wherein the plurality of multi-situation awareness devices are evenly and equidistantly installed on guardrails on both sides of the road, the multi-situation awareness devices are internally integrated with a radar perception sensor, a video perception sensor and a core main control unit; the multi-situation awareness devices, the remote node controller and the early warning management workstation are mutually communicatively connected;

[0006] The method comprises:

[0007] When the radar sensing sensor in any multi-situation awareness device detects an abnormal traffic event, the core main control unit integrated in the multi-situation awareness device obtains radar alarm information of the radar sensing sensor and the first real-time image collected by the video sensing sensor in the multi-situation awareness device, and sends the first real-time image and the radar alarm information to the remote node controller;

[0008] The remote node controller detects whether the abnormal traffic event occurs in the first real-time image based on the first real-time image to obtain a first image detection result, and performs a first composite verification on the first image detection result and the radar alarm information to obtain a first composite verification result;

[0009] The remote node controller respectively obtains radar data information and a second real-time image collected by each multi-situation awareness device adjacent to the multi-situation awareness device that monitors the abnormal traffic event, and performs a second composite verification on the first composite verification result based on the radar data information and the second real-time image to obtain a second composite verification result;

[0010] If both the first composite verification result and the second composite verification result show that the abnormal traffic incident has occurred on the current road, the remote node controller sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the multi-situation awareness device is controlled to execute the first dangerous area warning and traffic control operation accordingly, so as to prompt and control the vehicles on the current road.

[0011] Optionally, the second composite verification result includes: an abnormal traffic event occurs on the current road or no abnormal traffic event occurs on the current road;

[0012] When the radar sensing sensor in any multi-situation awareness device detects an abnormal traffic event, the remote node controller respectively obtains radar data information and a second real-time image collected by each multi-situation awareness device adjacent to the multi-situation awareness device that detects the abnormal traffic event, and performs a second composite verification on the first composite verification result based on the radar data information and the second real-time image to obtain a second composite verification result, including:

[0013] When the radar sensing sensor in any multi-situation awareness device detects an abnormal traffic event, the remote node controller obtains radar data information collected by each multi-situation awareness device adjacent to the multi-situation awareness device that detects the abnormal traffic event;

[0014] If the radar data information collected by each of the adjacent multi-situation awareness devices shows that the abnormal traffic event has not occurred, the remote node controller respectively obtains the second real-time images collected by each of the adjacent multi-situation awareness devices;

[0015] The remote node controller detects whether the abnormal traffic event occurs in the second real-time image based on the second real-time image collected by each of the adjacent multi-situation awareness devices, and obtains a second image detection result;

[0016] The remote node controller performs a second composite verification on the first composite verification result based on the second image detection result to obtain a second composite verification result.

[0017] Optionally, the system further comprises: an integrated management server, the integrated management server being communicatively connected with the multi-situation awareness device, the remote node controller and the early warning management workstation respectively;

[0018] The method further comprises:

[0019] If the first composite verification result or the second composite verification result shows that the abnormal traffic event has not occurred on the current road, the integrated management server acquires a third real-time image captured by the roadside remote control camera;

[0020] The integrated management server detects whether the abnormal traffic event occurs in the third real-time image based on the third real-time image collected by the roadside remote control camera, obtains a third image detection result, and performs a third composite verification based on the third image detection result to obtain a third composite verification result;

[0021] If at least two of the first composite verification results, the second composite verification results, and the third composite verification results show that the abnormal traffic incident has occurred on the current road, the integrated management server sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the multi-situation awareness device is controlled to execute the first dangerous area warning and traffic control operation to prompt and control the vehicles on the current road.

[0022] Optionally, the method further includes:

[0023] The remote node controller obtains the fourth real-time image collected by the video perception sensor in each multi-situation awareness device at a preset time interval;

[0024] The remote node controller detects whether each of the multiple situation awareness devices detects an abnormal traffic event at the moment based on the fourth real-time image collected by the video perception sensor in each of the multiple situation awareness devices at the same moment;

[0025] If multiple adjacent multi-situation awareness devices all monitor the abnormal traffic event at this moment, it is determined that the abnormal traffic event has occurred on the current road. The remote node controller sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the multi-situation awareness device is controlled to execute the first dangerous area warning and traffic control operation to prompt and control the vehicles on the current road.

[0026] Optionally, after the remote node controller detects whether each of the multiple situation awareness devices has detected an abnormal traffic event at the moment based on the fourth real-time image collected by the video perception sensor in each of the multiple situation awareness devices at the same moment, the remote node controller further includes:

[0027] If any multi-situation awareness device detects the abnormal traffic event at the same time, and multiple multi-situation awareness devices adjacent to the multi-situation awareness device do not detect the abnormal traffic event at the same time, the integrated management server obtains a fifth real-time image captured by the roadside remote control camera at the same time;

[0028] The integrated management server performs a composite verification on the monitored abnormal traffic event based on the fifth real-time image collected by the roadside remote control camera to obtain a composite verification result of the first image;

[0029] If the composite verification result of the first image shows that an abnormal traffic incident has occurred on the current road, the integrated management server sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the multi-situation awareness device is controlled to execute the first dangerous area warning and traffic control operation accordingly, so as to prompt and control the vehicles on the current road.

[0030] Optionally, the multi-situation awareness device further integrates a posture sensor and a displacement sensor; the posture sensor is used to monitor whether a rapid deformation event occurs in the current road guardrail; the displacement sensor is used to monitor whether a slow deformation event occurs in the current road guardrail;

[0031] The method further comprises:

[0032] If the posture sensor and / or displacement sensor in any multi-situation awareness device detects a rapid deformation event and / or a slow deformation event, the remote node controller detects whether a plurality of multi-situation awareness devices sequentially adjacent to the multi-situation awareness device all detect the rapid deformation event and / or the slow deformation event;

[0033] If a plurality of multi-situation awareness devices sequentially adjacent to the multi-situation awareness device all detect the fast-changing event and / or the slow-changing event, the remote node controller detects whether an abnormal traffic event occurs at the location where the fast-changing event and / or the slow-changing event occurs;

[0034] If an abnormal traffic event occurs at the location where the rapid deformation event and / or the slow deformation event occurs, the remote node controller merges the rapid deformation event and / or the slow deformation event into the abnormal traffic event, and sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation, and based on the first early warning control instruction, controls the multi-situation awareness device to correspondingly execute a first dangerous area warning and traffic control operation, so as to prompt and control vehicles traveling on the current road;

[0035] If no abnormal traffic event occurs at the location where the rapid deformation event and / or the slow deformation event occurs, it is determined that an abnormal disaster event occurs on the current road, and the remote node controller sends a second alarm message to the early warning management workstation, and correspondingly receives a second early warning control instruction issued by the early warning management workstation. Based on the second early warning control instruction, the multi-situation awareness device is controlled to execute the second dangerous area warning and traffic control operation to prompt and control the vehicles on the current road.

[0036] Optionally, after the remote node controller detects whether a plurality of multi-situation awareness devices sequentially adjacent to the multi-situation awareness device have all detected the rapid deformation event and the slow deformation event, the method further includes:

[0037] If the multiple multi-situation awareness devices sequentially adjacent to the multi-situation awareness device do not detect the rapid deformation event and / or the slow deformation event, the integrated management server obtains a sixth real-time image captured by the roadside remote control camera;

[0038] The integrated management server performs a composite check on the fast deformation event and / or the slow deformation event based on the sixth real-time image to obtain a second image composite check result;

[0039] If the composite verification result of the second image shows that the rapid deformation event and / or the slow deformation event, as well as the abnormal traffic event, occurs on the current road, the integrated management server merges the rapid deformation event and / or the slow deformation event into the abnormal traffic event, and sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation, and based on the first early warning control instruction, controls the multi-situation awareness device to correspondingly execute the first dangerous area warning and traffic control operation, so as to prompt and control the vehicles traveling on the current road;

[0040] If the composite verification result of the second image shows that the rapid deformation event and / or slow deformation event has occurred on the current road, but no abnormal traffic event has occurred, it is determined that an abnormal disaster event has occurred on the current road, and the remote node controller sends a second alarm message to the early warning management workstation, and correspondingly receives a second early warning control instruction issued by the early warning management workstation. Based on the second early warning control instruction, the second dangerous area warning and traffic control operation is correspondingly executed to prompt and control vehicles on the current road.

[0041] Optionally, the multi-situation awareness device is also integrated with a temperature and humidity sensor; the temperature and humidity sensor is used to monitor the temperature and humidity changes along the current road;

[0042] The method further comprises:

[0043] If the temperature values ​​collected by the temperature and humidity sensors in the multiple multi-situation awareness devices are all lower than the preset temperature threshold, and the humidity values ​​collected by the temperature and humidity sensors are all higher than the preset humidity threshold, it is determined that there is ice or snow on the current road;

[0044] If the temperature values ​​collected by the temperature and humidity sensors in the multiple multi-situation awareness devices are all higher than the preset temperature threshold, and the humidity values ​​collected by the temperature and humidity sensors are all higher than the preset humidity threshold, it is determined that there is water accumulation on the current road;

[0045] If the current road is iced or snowed, or has water accumulated, it is determined that an abnormal environmental event has occurred on the current road. The remote node controller sends a third alarm message to the early warning management workstation, and correspondingly receives a third early warning control instruction issued by the early warning management workstation. Based on the third early warning control instruction, the multi-situation awareness device is controlled to execute a third dangerous area warning and traffic control operation to prompt and control vehicles on the current road.

[0046] Optionally, the multi-situation awareness device is also integrated with a warning light, a voice alarm unit and a laser interception warning light;

[0047] The warning light uses a variety of light flashing combination modes to warn and remind vehicles traveling in the road area to pay attention to dangerous situations and avoid them; the laser interception warning light uses a dangerous area laser beam soft interception warning and reminder mode to remind vehicles traveling in the road area to pay attention to dangerous situations and avoid them; the voice alarm unit uses different sound warning and reminder modes to remind vehicles traveling in the road area to pay attention to dangerous situations and avoid them;

[0048] The controlling the multi-situation awareness device to execute the first dangerous area warning and passage control operation correspondingly based on the first early warning control instruction includes:

[0049] Based on the radar warning information, determining the location where the abnormal traffic event occurred;

[0050] Based on the occurrence location, a first warning area, a second warning area and a third warning area are respectively determined; the distance between the occurrence location and the first warning area is greater than the distance between the occurrence location and the second warning area; the distance between the occurrence location and the second warning area is greater than the distance between the occurrence location and the third warning area;

[0051] Based on the first early warning control instruction, the warning light, the voice alarm unit and the laser interception warning light are respectively controlled to perform different alarm control operations in the first warning area, the second warning area and the third warning area.

[0052] In a second aspect, an embodiment of the present invention provides a road abnormality monitoring active warning regional control system, comprising: a plurality of multi-situation awareness devices, a remote node controller and a warning management workstation; a plurality of multi-situation awareness devices, a remote node controller and a warning management workstation; wherein the plurality of multi-situation awareness devices are evenly and equidistantly installed on the guardrails on both sides of the road, and the multi-situation awareness devices are internally integrated with a radar perception sensor, a video perception sensor and a core main control unit; the multi-situation awareness devices, the remote node controller and the warning management workstation are mutually communicated and connected;

[0053] The multi-situation awareness device, remote node controller and early warning management workstation are used to execute the road abnormality monitoring active early warning area control method described in any one of the first aspects above.

[0054] The embodiment of the present invention provides a method and system for controlling the active warning area of ​​road abnormal monitoring, which realizes the monitoring and verification of abnormal traffic events on the road by using multi-situation awareness devices and remote node controllers installed on the guardrails on both sides of the road at uniform and equal intervals. Among them, the multi-situation awareness device includes a radar perception sensor, a video perception sensor and a core main control unit. When the radar perception sensor in any multi-situation awareness device detects an abnormal traffic event, the core main control unit in the multi-situation awareness device respectively obtains the radar alarm information of the radar perception sensor and the first real-time image collected by the video perception sensor in the multi-situation awareness device, and sends the first real-time image and the radar alarm information to the remote node controller for the remote node controller to perform the first composite verification. On this basis, the remote node controller also performs a second composite verification based on the radar data information and the second real-time image collected by each multi-situation awareness device adjacent to the multi-situation awareness device that monitors the abnormal traffic event, and after the results of the two composite verifications show that an abnormal traffic event has occurred on the current road, the alarm information is reported, and the first dangerous area warning and traffic control operations are performed accordingly to prompt and control the vehicles on the current road. The embodiments of the present invention utilize video perception sensors and adjacent multi-situation awareness devices to verify the monitoring results of radar perception sensors, which can effectively ensure the monitoring accuracy of road anomaly monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0056] Figure 1 It is a structural diagram of a road abnormality monitoring active early warning area control system provided by an embodiment of the present invention;

[0057] Figure 2 It is a flow chart for implementing a method for controlling a road abnormality monitoring active early warning area provided by an embodiment of the present invention;

[0058] Figure 3 It is a schematic diagram of determining adjacent multiple situation awareness devices when verifying an abnormal traffic event provided by an embodiment of the present invention;

[0059] Figure 4 is a flowchart of an implementation method of a road abnormality monitoring active early warning area control method provided by another embodiment of the present invention;

[0060] Figure 5It is a flow chart for implementing a method for actively warning area control of road abnormality monitoring provided by another embodiment of the present invention. DETAILED DESCRIPTION

[0061] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0062] In the related technologies, most of them use roadside remote control cameras installed above the road to conduct real-time monitoring and alarm to achieve monitoring, perception and early warning of abnormal events. However, a single roadside remote control camera cannot truly reflect the actual situation of the road, resulting in one-sided monitoring results and prone to false alarms and missed alarms.

[0063] In order to realize the multi-dimensional and all-round perception of abnormal events on the road and improve the accuracy of road abnormality monitoring, in the implementation of the present application, a multi-situation awareness device and a remote node controller are used to monitor and verify abnormal traffic events on the road by evenly and evenly installing them on the guardrails on both sides of the road. Among them, the multi-situation awareness device includes a radar perception sensor, a video perception sensor and a core main control unit. When the radar perception sensor in any multi-situation awareness device detects an abnormal traffic event, the core main control unit in the multi-situation awareness device respectively obtains the radar alarm information of the radar perception sensor and the first real-time image collected by the video perception sensor in the multi-situation awareness device, and sends the first real-time image and the radar alarm information to the remote node controller for the remote node controller to perform the first composite verification. On this basis, the remote node controller also performs a second composite verification based on the radar data information and the second real-time image collected by each multi-situation awareness device adjacent to the multi-situation awareness device that monitors the abnormal traffic event, and after the results of the two composite verifications show that an abnormal traffic event has occurred on the current road, the alarm information is reported, and the first dangerous area warning and traffic control operations are performed accordingly to prompt and control the vehicles on the current road. The embodiments of the present invention utilize video perception sensors and adjacent multi-situation awareness devices to verify the monitoring results of radar perception sensors, which can effectively ensure the monitoring accuracy of road anomaly monitoring.

[0064] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0065] The road abnormality monitoring active warning area control method provided in the embodiment of the present invention is mainly applied to the road abnormality monitoring active warning area control system. Before introducing the road abnormality monitoring active warning area control method in the embodiment of the present invention, the road abnormality monitoring active warning area control system is first specifically introduced. Figure 1 ,The system mainly includes: multiple situation awareness devices, remote node controllers and ,early warning management workstations.

[0066] Among them, multiple multi-situation awareness devices are evenly installed on the guardrails on both sides of the road at equal intervals. Each multi-situation awareness device includes a radar perception sensor, a video perception sensor and a core main control unit. Each multi-situation awareness device, remote node controller and early warning management workstation communicate with each other.

[0067] The radar perception sensor in the multi-situation awareness device is used to monitor abnormal traffic events and generate radar alarm information accordingly after detecting abnormal traffic events; the video perception sensor in the multi-situation awareness device is used to collect real-time images. The core main control unit is used to obtain the real-time image collected by the video perception sensor when the radar perception sensor detects an abnormal traffic event, and send the real-time image and the radar alarm information of the radar perception sensor to the remote node controller. Here, the radar alarm information may include information such as the time of occurrence of the abnormal traffic event, the location of occurrence, and the type of abnormal traffic event.

[0068] The remote node controller performs a first composite check on the radar alarm information based on the received radar alarm information and real-time images using the real-time images. In addition, the remote node controller also obtains the radar data information and real-time images collected by each multi-situation awareness device adjacent to the multi-situation awareness device that monitors the abnormal traffic event, and then performs a second composite check based on the radar data information and real-time images collected by each adjacent multi-situation awareness device. When it is determined that an abnormal traffic event has occurred on the current road, the remote node controller reports the first alarm information to the early warning management workstation.

[0069] The early warning management workstation is used to receive the first alarm information sent by the remote node controller, and issue the first early warning control instruction to the remote node controller based on the first alarm information, so that the remote node controller controls the multi-situation awareness device to perform the first dangerous area alarm and traffic control operation based on the first early warning control instruction, thereby achieving the purpose of prompting and controlling the vehicles on the current road.

[0070] Here, the remote node controller may be one or more. On the one hand, the remote node controller performs wired and wireless dual-channel communication through each corresponding multi-situation awareness device, and remotely powers the multi-situation awareness device. On the other hand, the remote node controller is connected to the early warning management workstation through a network transmission device.

[0071] The early warning management workstation can provide operators with a human-computer interaction interface to display alarm information to operators so that operators can issue corresponding early warning control instructions based on the alarm information.

[0072] In some embodiments, each multi-situation awareness device also integrates a posture sensor, a displacement sensor, a temperature and humidity sensor, a light intensity sensor, a voice alarm unit, a warning light, an auxiliary lighting light, a laser interception warning light, a wired and wireless communication module and a power supply battery.

[0073] Among them, the attitude sensor is used to monitor whether the current road guardrail has experienced rapid deformation events such as violent vibration, collision, dumping, sinking, etc. The displacement sensor is used to monitor whether the current road guardrail has experienced slow deformation changes and slow deformation events such as slow up, down, left, and right displacements. Considering that natural disaster events such as road collapse, landslides, and mud-rock flows usually cause rapid deformation events and / or slow deformation events in road guardrails, the embodiments of the present invention monitor whether the current road guardrail has experienced rapid deformation events and / or slow deformation events based on attitude sensors and displacement sensors, thereby realizing the monitoring of abnormal disaster events.

[0074] The light intensity sensor is used to monitor the visibility changes of the current road. When the visibility of the road area is low, the auxiliary lighting provides auxiliary lighting for vehicles traveling in the road area, thereby ensuring driving safety.

[0075] The warning light uses a variety of light flashing combination modes to warn vehicles traveling in the road area to pay attention to dangerous situations and avoid them; the laser interception warning light uses a soft interception warning method of laser beams in dangerous areas to warn vehicles traveling in the road area to pay attention to dangerous situations and avoid them; the voice alarm unit uses different sound warning methods to warn vehicles traveling in the road area to pay attention to dangerous situations and avoid them.

[0076] The wired and wireless communication modules are used to establish two independent communication modes with the remote node controller. When any communication mode of the multi-situational awareness device is interrupted, the other communication mode continues to complete data transmission with the remote node controller to ensure data transmission and the integrity of the communication link.

[0077] The power supply battery is used to provide sustainable power to various components inside the multi-situation awareness device for a certain period of time when the external power supply cable of the multi-situation awareness device is interrupted, to ensure that the multi-situation awareness device continues to work stably even when the external power supply is cut off.

[0078] The core main control unit is also used for data exchange, command issuance, logic control, data processing with various components within the multi-situational awareness equipment, as well as data communication and information exchange with remote node controllers.

[0079] In some embodiments, the above system further includes: an integrated management server. The integrated management server is connected to the remote node controller, the multi-situation awareness device, and the early warning management workstation through network transmission equipment, and is used to perform important tasks such as data storage, configuration information, building system architecture, establishing network data links, local or remote maintenance, data viewing, screening, and exporting. In addition, the integrated management server also uses network transmission equipment to connect to the roadside remote control camera to obtain images captured by the roadside remote control camera, thereby realizing the third composite verification of abnormal traffic events.

[0080] See also Figure 1 , roadside remote control cameras and roadside information boards are set up on both sides of the road. Among them, the roadside remote control camera can collect real-time images of the current road in real time to verify the monitoring results of the multi-situation awareness equipment. The roadside information board can display relevant information after determining that an abnormal traffic incident has occurred on the current road, and is used to prompt and control the vehicles on the current road. Here, the roadside remote control cameras and roadside information boards can be evenly arranged on both sides of the road.

[0081] Based on the above-mentioned road abnormality monitoring active early warning area control system, an embodiment of the present invention provides a road abnormality monitoring active early warning area control method. Figure 2 The implementation flow chart of the road abnormality monitoring active warning area control method provided by the embodiment of the present invention is detailed as follows:

[0082] Step 201, when the radar sensing sensor in any multi-situation awareness device detects an abnormal traffic event, the core main control unit integrated inside the multi-situation awareness device obtains the radar alarm information of the radar sensing sensor and the first real-time image captured by the video sensing sensor in the multi-situation awareness device, and sends the first real-time image and the radar alarm information to the remote node controller.

[0083] In the embodiment of the present invention, abnormal traffic events include, but are not limited to: abnormal parking events, wrong-way events, emergency braking events, obstacle events, and congestion events.

[0084] Different abnormal event monitoring algorithms can be preset in the radar perception sensor to monitor whether the above-mentioned abnormal traffic events occur on the current road.

[0085] For example, for abnormal parking events, a state assessment algorithm can be used to identify abnormal parking events by analyzing the deceleration frequency and motion state of the vehicle. The algorithm uses an adaptive threshold judgment logic. If the vehicle's motion state is marked as normal deceleration for multiple consecutive times (for example, 10 times), the judgment of the parking event is triggered, and it is determined that an abnormal parking event has occurred on the current road.

[0086] For reverse driving events, the coordinate change rate comparison method can be used to analyze the displacement change of the vehicle in the lane direction and compare it with the predefined lane direction. If the movement trend of the vehicle is contrary to the direction set by the lane, the system will increment the reverse driving counter. When the counter exceeds the set logical threshold, it will be determined that the vehicle is illegally reverse driving, that is, a reverse driving event has occurred on the current road.

[0087] For emergency braking events, the current speed of the vehicle can be compared with the speed recorded in the historical frame based on the speed change rate analysis algorithm, and dynamic time series analysis can be used. If the current speed is significantly lower than the previous speed (for example, lower than 50%), an emergency braking event is determined to have occurred.

[0088] For obstacle events, a dynamic position change monitoring algorithm based on continuous frame analysis can be used. By setting the threshold of continuous frames (such as 5 frames) and the sensitive threshold of position change (such as 1 meter), the system can sensitively capture slight changes in the vehicle's position. The algorithm uses high-order mathematical operations to calculate the change in the vehicle's position in continuous frames. If the change continues to be lower than the preset threshold, the system identifies potential obstacle events through an increasing obstacle detection counter. When the counter reaches or exceeds the continuous frame threshold, the system triggers an obstacle event and determines that an obstacle appears on the current road. The counter is then reset to prepare for the next obstacle event detection cycle.

[0089] Congestion events can be monitored based on statistical analysis of vehicle density. The preset congestion threshold is used to define the congestion state when the vehicle density in the lane exceeds the normal value. The vehicle tracking nodes in each lane are traversed, and the number of vehicles is counted using combinatorial mathematics principles and compared with the congestion threshold. Once the number of vehicles in a lane exceeds the threshold, a logical judgment mechanism is used to determine that a congestion event has occurred in that lane.

[0090] When the radar sensing sensor in any multi-situational awareness device detects an abnormal traffic event, it generates radar alarm information and uploads it to the core main control unit of the multi-situational awareness device for subsequent composite verification. Here, the radar alarm information may include the time and location of the abnormal traffic event, as well as the type of abnormal traffic event.

[0091] After receiving the radar alarm information, the core main control unit collects the first real-time image collected by the video perception sensor in the multi-situation awareness device, and sends the first real-time image and the radar alarm information to the remote node controller.

[0092] Step 202, the remote node controller detects whether the above-mentioned abnormal traffic event occurs in the first real-time image based on the first real-time image, obtains the first image detection result, and performs a first composite verification on the first image detection result and the radar alarm information to obtain the first composite verification result.

[0093] The remote node controller can input the first real-time image into the corresponding convolutional neural network model to detect whether an abnormal traffic event detected by the radar perception sensor appears in the first real-time image, so as to realize a verification of the radar alarm information.

[0094] Here, there may be multiple convolutional neural network models, each of which corresponds to a type of abnormal traffic event. The convolutional neural network model is used to detect whether there is a corresponding abnormal traffic event in the input real-time image according to the input real-time image, and output the image detection result.

[0095] Here, based on the image detection results output by the convolutional neural network model, a verification of the radar alarm information can be achieved.

[0096] In the embodiment of the present invention, the first composite verification result may be equivalent to the above-mentioned image detection result. When the image detection result shows that there is an abnormal traffic event in the radar alarm information, the first composite verification result determines that there is an abnormal traffic event monitored by the radar perception sensor. Conversely, when the image detection result shows that there is no abnormal traffic event in the radar alarm information, the first composite verification result determines that there is no abnormal traffic event monitored by the radar perception sensor.

[0097] In step 203, the remote node controller respectively obtains the radar data information and the second real-time image collected by each multi-situation awareness device adjacent to the multi-situation awareness device that monitors the abnormal traffic event, and performs a second composite verification on the first composite verification result based on the radar data information and the second real-time image to obtain a second composite verification result.

[0098] See also Figure 3For each multi-situation awareness device, the embodiment of the present invention can determine a multi-situation awareness device that is located on the guardrail on the same side of the road as the multi-situation awareness device and is adjacent to the multi-situation awareness device as a multi-situation awareness device adjacent to the multi-situation awareness device. In addition, the embodiment of the present invention can also determine another multi-situation awareness device that is located on the guardrail on the other side of the road and corresponds to the position of the multi-situation awareness device as an adjacent multi-situation awareness device. At the same time, a multi-situation awareness device that is located on the guardrail on the same side of the road as the above-mentioned other multi-situation awareness device and is adjacent to the above-mentioned other multi-situation awareness device can also be determined as an adjacent multi-situation awareness device.

[0099] The remote node controller respectively obtains the radar data information and the second real-time image collected by the above-mentioned adjacent multi-situation awareness devices, and performs a second composite check on the above-mentioned first composite check result to further verify whether the radar alarm information is accurate.

[0100] In some embodiments, the second composite verification result may include: an abnormal traffic event occurs on the current road or no abnormal traffic event occurs on the current road.

[0101] The specific process of the second composite verification is as follows:

[0102] When the radar sensing sensor in any multi-situation awareness device detects an abnormal traffic event, the remote node controller obtains radar data information collected by each multi-situation awareness device adjacent to the multi-situation awareness device that detects the abnormal traffic event;

[0103] If the radar data information collected by the adjacent multi-situation awareness devices all show that the abnormal traffic event has not occurred, the remote node controller respectively obtains the second real-time images collected by the adjacent multi-situation awareness devices;

[0104] The remote node controller detects whether the above abnormal traffic event occurs in the second real-time image based on the second real-time image collected by each adjacent multi-situation awareness device, and obtains a second image detection result;

[0105] The remote node controller performs a second composite verification on the first composite verification result based on the second image detection result to obtain a second composite verification result.

[0106] That is to say, when a radar sensing sensor in any multi-situational awareness device detects an abnormal traffic event, it can first detect whether each radar sensing sensor adjacent to the multi-situational awareness device has detected an abnormal traffic event. If any radar sensing sensor among the adjacent radar sensing sensors detects an abnormal traffic event, it is determined that an abnormal traffic event has occurred on the current road.

[0107] If none of the adjacent radar perception sensors detects an abnormal traffic event, a secondary check is performed based on the second real-time image captured by the video perception sensors in the adjacent multi-situation awareness devices. If the second real-time image captured by any video perception sensor shows that the abnormal traffic event has occurred, it is determined that an abnormal traffic event has occurred on the current road.

[0108] If the second real-time images collected by the adjacent video perception sensors do not show the occurrence of the above-mentioned abnormal traffic incident, it is determined that no abnormal traffic incident has occurred on the current road and the second composite verification has failed.

[0109] Step 204: If both the first composite verification result and the second composite verification result show that an abnormal traffic incident has occurred on the current road, the remote node controller sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the multi-situation awareness device is controlled to execute the first dangerous area warning and traffic control operation to prompt and control the vehicles on the current road.

[0110] If both the first composite check result and the second composite check result show that an abnormal traffic incident has occurred on the current road, the first alarm information can be reported to the early warning management workstation to remind the operator that an abnormal traffic incident has occurred on the current road. The first alarm information may include: the time of occurrence, location of occurrence, and type of abnormal traffic incident.

[0111] The early warning management workstation displays the first alarm information to the operator, receives the first early warning control instruction issued by the operator, and sends the first early warning control instruction to the remote node controller, so that the remote node controller controls the multi-situation awareness device to execute the first dangerous area alarm and traffic control operation according to the first early warning control instruction, so as to prompt and control the vehicles on the current road.

[0112] In some embodiments, see Figure 4 After obtaining the first composite verification result and the second composite verification result, if any composite verification result shows that no abnormal traffic incident has occurred on the current road, the method further includes:

[0113] Step 205: If the first composite verification result or the second composite verification result shows that no abnormal traffic incident has occurred on the current road, the integrated management server obtains a third real-time image captured by the roadside remote control camera.

[0114] The roadside remote control camera is arranged above the road and is used to collect the real-time image corresponding to the current road above the road. There may be multiple roadside remote control cameras, which are evenly arranged on the current road. The embodiment of the present invention can control the roadside remote control camera to collect the real-time image of the road at the occurrence location based on the occurrence location of the abnormal traffic event in the radar alarm information, and perform a third composite check based on the real-time image of the road.

[0115] Step 206, the integrated management server detects whether an abnormal traffic incident occurs in the third real-time image based on the third real-time image captured by the roadside remote control camera, obtains a third image detection result, and performs a third composite verification based on the third image detection result to obtain a third composite verification result.

[0116] In order to improve the efficiency of image analysis, the embodiment of the present invention can perform pre-processing steps such as image denoising, image enhancement and frame rate adjustment on the third real-time image to ensure the clarity and availability of the real-time image. On this basis, the above-mentioned pre-trained convolutional neural network can be used for image recognition to detect whether the real-time image shows the above-mentioned abnormal traffic events. Alternatively, image analysis technologies such as motion detection, object recognition, and behavior analysis can also be used to identify whether the real-time image shows the above-mentioned abnormal traffic events, and finally realize three composite checks.

[0117] Step 207: If at least two of the first composite verification results, the second composite verification results, and the third composite verification results show that an abnormal traffic incident has occurred on the current road, a first alarm message is sent to the early warning management workstation, and a first early warning control instruction issued by the early warning management workstation is received accordingly. Based on the first early warning control instruction, the multi-situation awareness device is controlled to execute the first dangerous area alarm and communication control operation accordingly, so as to prompt and control the vehicles on the current road.

[0118] If the first composite verification result, the second composite verification result and the third composite verification result all show that no abnormal traffic incident has occurred on the current road, it is determined that the radar alarm information sent by the radar perception sensor that monitored the abnormal traffic incident is a false alarm.

[0119] In some embodiments, each multi-situation awareness device is also integrated with a warning light, a voice alarm unit and a laser interception warning light.

[0120] Among them, the warning light uses a variety of light flashing combination modes to warn and remind vehicles traveling in the road area to pay attention to dangerous situations and avoid them. The laser interception warning light uses a soft interception warning method of laser beams in dangerous areas to remind vehicles traveling in the road area to pay attention to dangerous situations and avoid them. The voice alarm unit uses different sound warning methods to remind vehicles traveling in the road area to pay attention to dangerous situations and avoid them.

[0121] When executing the first alarm control operation, the embodiment of the present invention can first determine the location of the abnormal traffic event based on the radar alarm information sent by the multi-situation awareness device that monitors the abnormal traffic event. Subsequently, based on the location of the occurrence, the first warning area, the second warning area, and the third warning area are respectively determined. Next, based on the first early warning instruction, the warning light, the voice alarm unit, and the laser interception warning light are respectively controlled to perform different alarm control operations in the first warning area, the second warning area, and the third warning area.

[0122] Here, the distance between the occurrence position and the first warning area is greater than the distance between the occurrence position and the second warning area. The distance between the occurrence position and the second warning area is greater than the distance between the occurrence position and the third warning area.

[0123] The radar alarm information in the embodiment of the present invention includes the location where the abnormal traffic event occurred. Based on the location where the abnormal traffic event occurred, the embodiment of the present invention can demarcate the first warning area, the second warning area and the third warning area based on the location where the abnormal traffic event occurred, and perform different alarm control operations in different warning areas to achieve different levels of alarm prompts and control.

[0124] For example, the area 50 to 100 meters away from the location where the abnormal traffic incident occurs can be divided into the third warning area, the area 100 to 200 meters away from the location where the abnormal traffic incident occurs can be divided into the second warning area, and the area 200 to 500 meters away from the location where the abnormal traffic incident occurs can be divided into the third warning area. In the first warning area, the corresponding voice alarm unit can be controlled to broadcast the abnormal traffic incident ahead to prompt each driving vehicle to slow down or detour. At the same time, the road entrance in the first warning area can also be closed to prevent other vehicles from entering the first warning area. In the second warning area, the corresponding light alarm unit can be controlled to light up the red and blue flashing warning lights to prompt each driving vehicle to slow down or detour. In the third warning area, the light alarm unit can be controlled to light up the laser light for soft curtain interception to prohibit the driving vehicle from continuing to move forward. At the same time, the corresponding alarm information can also be displayed on each roadside information board on the current road to prompt each driving vehicle to slow down or detour.

[0125] Compared with the prior art, the embodiment of the present invention utilizes multi-situation awareness devices and remote node controllers installed on the guardrails on both sides of the road at uniform intervals to realize the monitoring and verification of abnormal traffic events on the road. Among them, the multi-situation awareness device includes a radar perception sensor, a video perception sensor and a core main control unit. When the radar perception sensor in any multi-situation awareness device detects an abnormal traffic event, the core main control unit in the multi-situation awareness device respectively obtains the radar alarm information of the radar perception sensor and the first real-time image collected by the video perception sensor in the multi-situation awareness device, and sends the first real-time image and the radar alarm information to the remote node controller for the remote node controller to perform the first composite verification. On this basis, the remote node controller also performs a second composite verification based on the radar data information and the second real-time image collected by each multi-situation awareness device adjacent to the multi-situation awareness device that monitors the abnormal traffic event, and after the results of the two composite verifications both show that an abnormal traffic event has occurred on the current road, the first alarm information is reported, and the first dangerous area warning and traffic control operations are correspondingly performed to prompt and control the vehicles on the current road. The embodiments of the present invention utilize the video perception sensors inside the multi-situation awareness device that monitors the abnormal traffic event, and the multi-situation awareness devices adjacent to the multi-situation awareness device that monitors the abnormal traffic event to perform composite verification, which can effectively avoid false alarms and improve the monitoring accuracy of road abnormality monitoring.

[0126] Considering that each multi-situation awareness device is installed on the guardrails on both sides of the road, which is relatively low, if the vehicle on the road is too large, it may appear that the radar perception sensor in the multi-situation awareness device cannot timely perceive abnormal traffic events on the current road due to the obstruction of the vehicle, resulting in missed alarms. To avoid missed alarms, refer to Figure 5 The embodiment of the present invention also provides another method for controlling an abnormal road monitoring active warning area, including:

[0127] Step 501: The remote node controller obtains the fourth real-time image collected by the video perception sensor in each multi-situation awareness device at a preset time interval.

[0128] In the process of monitoring and warning abnormal traffic events on the road, the above-mentioned embodiment mainly monitors abnormal traffic events through radar perception sensors. In order to avoid the situation where the radar perception sensors are blocked by moving vehicles and cannot timely perceive abnormal traffic events on the current road, in the embodiment of the present invention, the remote node controller obtains the real-time images collected by the video perception sensors in each multi-situation awareness device at preset time intervals, so as to monitor whether abnormal traffic events occur on the current road based on the real-time images.

[0129] Step 502: The remote node controller detects whether each multi-situation awareness device detects an abnormal traffic event at the moment based on the fourth real-time image collected by the video perception sensor in each multi-situation awareness device at the same moment.

[0130] For the real-time images collected by each video perception sensor at the same time, the embodiment of the present invention can input each real-time image into the above-mentioned trained convolutional neural network model in sequence to detect whether each fourth real-time image shows an abnormal traffic event. If the fourth real-time image shows an abnormal traffic event, it is determined that the corresponding multi-situation awareness device has detected an abnormal traffic event at this time.

[0131] Step 503: If multiple adjacent multi-situation awareness devices all detect abnormal traffic events at this moment, it is determined that an abnormal traffic event has occurred on the current road. The remote node controller sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the first dangerous area alarm and traffic control operation are correspondingly executed to prompt and control the vehicles on the current road.

[0132] If multiple adjacent multi-situation awareness devices detect the same abnormal traffic event at the same time, it is determined that an abnormal traffic event has occurred on the current road, and a first alarm message is sent to the early warning management workstation, which in turn receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the first dangerous area warning and traffic control operation are performed to prompt and control vehicles on the current road.

[0133] In some embodiments, after the above step 502, the following steps may also be included:

[0134] Step 504: If any multi-situation awareness device detects an abnormal traffic event at the same time, and multiple multi-situation awareness devices adjacent to the multi-situation awareness device do not detect an abnormal traffic event at this time, the integrated management server obtains the fifth real-time image captured by the roadside remote control camera at this time.

[0135] If any multi-situation awareness device detects an abnormal traffic event at a certain moment based on the real-time images collected by the video perception sensor, but the real-time images collected by the video perception sensors in the adjacent multi-situation awareness devices do not show the above-mentioned abnormal traffic event, at this time, the roadside remote control camera can be controlled to collect the fifth real-time image at that moment for verifying the abnormal traffic event monitored by the above-mentioned video perception sensor.

[0136] Step 505: The integrated management server performs a composite verification on the monitored abnormal traffic event based on the fifth real-time image captured by the roadside remote control camera at this moment, and obtains a composite verification result of the first image.

[0137] Similar to the above embodiment, the embodiment of the present invention can perform image recognition on the fifth real-time image collected by the road test remote control camera to detect whether the fifth real-time image shows an abnormal traffic event, and obtain the first image composite verification result, thereby achieving the purpose of verifying the abnormal traffic event monitored above.

[0138] Here, the first image composite verification result includes: an abnormal traffic event occurs on the current road, or an abnormal traffic event does not occur on the current road.

[0139] If the fifth real-time image captured by the roadside remote control camera shows an abnormal traffic event, the composite verification result of the first image is determined to be that an abnormal traffic event has occurred on the current road. If the fifth real-time image captured by the roadside remote control camera does not show an abnormal traffic event, the composite verification result of the first image is determined to be that no abnormal traffic event has occurred on the current road.

[0140] Step 506: If the composite verification result of the first image shows that an abnormal traffic incident has occurred on the current road, the integrated management server sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the first dangerous area warning and traffic control operation is correspondingly executed to prompt and control the vehicles on the current road.

[0141] In some embodiments, if the composite verification result of the first image shows that no abnormal traffic incident has occurred on the current road, it is determined to be a false alarm and there is no need to report the alarm information.

[0142] The embodiment of the present invention obtains the real-time images collected by the video perception sensors in each multi-situational awareness device at preset intervals through the remote node controller, and performs image recognition based on the real-time images to determine whether an abnormal traffic event has occurred on the current road, and performs road abnormality monitoring and early warning, which can effectively avoid the situation of missed alarms caused by obstruction by moving vehicles. In addition, the embodiment of the present invention further uses the real-time images collected by the roadside remote control camera to verify the monitored abnormal traffic events, which can further improve the monitoring accuracy of abnormal traffic events and avoid false alarms.

[0143] Abnormal events on the road include not only abnormal traffic events such as abnormal parking events, reverse events, and congestion events, but also road disaster events such as road collapse, landslides, and mud-rock flows. Generally, road disaster events such as road collapse, landslides, and mud-rock flows will cause guardrail deformation. The embodiment of the present invention can monitor whether the above road disaster events occur by monitoring the deformation state of the guardrail.

[0144] In some embodiments, the multi-situation awareness device also integrates: a posture sensor and a displacement sensor. Among them, the posture sensor can be a six-axis sensor, which is used to monitor whether the current road guardrail has experienced rapid deformation events such as violent vibration, collision, dumping, sinking, etc.; the displacement sensor can be a Global Navigation Satellite System Sensor (GNSS), which is used to monitor whether the current road guardrail has experienced slow deformation changes and slow up, down, left and right displacements. On this basis, an embodiment of the present invention also provides a road anomaly monitoring active early warning area control method for guardrail deformation and road collapse events, including:

[0145] If the attitude sensor and / or displacement sensor in any multi-situation awareness device detects a rapid deformation event and / or a slow deformation event, the remote node controller detects whether multiple multi-situation awareness devices that are sequentially adjacent to the multi-situation awareness device have all detected the above-mentioned rapid deformation event and / or slow deformation event;

[0146] If a plurality of multi-situation awareness devices sequentially adjacent to the multi-situation awareness device all detect a fast-changing event and / or a slow-changing event, the remote node controller detects whether an abnormal traffic event occurs at the location where the fast-changing event and / or the slow-changing event occurs;

[0147] If an abnormal traffic event occurs at the location where a rapid deformation event and / or a slow deformation event occurs, the remote node controller merges the rapid deformation event and / or the slow deformation event into the abnormal traffic event, and sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the multi-situation awareness device is controlled to execute the first dangerous area warning and traffic control operation to prompt and control the vehicles on the current road.

[0148] If no abnormal traffic incident occurs at the location where the rapid deformation event and / or the slow deformation event occurs, it is determined that an abnormal disaster incident has occurred on the current road. The remote node controller sends a second alarm message to the early warning management workstation, and correspondingly receives a second early warning control instruction issued by the early warning management workstation. Based on the second early warning control instruction, the multi-situation awareness device is controlled to execute the second dangerous area warning and traffic control operation to prompt and control the vehicles on the current road.

[0149] That is to say, if any multi-situation awareness device detects a rapid deformation event and / or a slow deformation event, the remote node controller detects whether other multi-situation awareness devices adjacent to the multi-situation awareness device have detected the rapid deformation event and / or the slow deformation event. If there are multiple multi-situation awareness devices among the adjacent multi-situation awareness devices that have detected the rapid deformation event and / or the slow deformation event, it is determined that a rapid deformation event and / or a slow deformation event has occurred on the current road.

[0150] On the basis of determining that a rapid deformation event and / or a slow deformation event has occurred on the current road, the remote node controller further detects whether an abnormal traffic event has occurred at the location where the rapid deformation event and / or the slow deformation event has occurred. If an abnormal traffic event has occurred, the rapid deformation event and / or the slow deformation event are combined with the abnormal traffic event to determine that the guardrail deformation is caused by the abnormal traffic event. The remote node controller sends a first alarm message to the early warning management workstation, and based on the first early warning control instruction issued by the early warning management workstation, controls the multi-situation awareness device to execute the first dangerous area alarm and traffic control operation to prompt and control the vehicles on the current road.

[0151] If no abnormal traffic event occurs at the location where the rapid deformation event and / or the slow deformation event occurs, it will be determined that the rapid deformation event and / or the slow deformation event is a guardrail deformation caused by an abnormal disaster event, and it will be determined that an abnormal disaster event has occurred on the current road. The remote node controller sends a second alarm message to the early warning management workstation, and based on the second early warning control instruction issued by the early warning management workstation, controls the multi-situation awareness device to perform the second dangerous area alarm and traffic control operation accordingly, so as to prompt and control the vehicles on the current road.

[0152] In some embodiments, if the multiple multi-situation awareness devices sequentially adjacent to the multi-situation awareness device do not detect the above-mentioned rapid deformation event and / or slow deformation event, the integrated management server obtains a sixth real-time image captured by the roadside camera, and based on the sixth real-time image, performs a composite verification on the above-mentioned rapid deformation event and / or slow deformation event to obtain a second composite verification result;

[0153] If the composite verification result of the second image shows that a rapid deformation event and / or a slow deformation event, as well as an abnormal traffic event, occurs on the current road, the integrated management server will merge the rapid deformation event and / or the slow deformation event into the abnormal traffic event, and send a first alarm message to the early warning management workstation, and correspondingly receive a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the multi-situation awareness device is controlled to execute the first dangerous area warning and traffic control operation to prompt and control the vehicles on the current road.

[0154] If the composite verification result of the second image shows that a rapid deformation event and / or a slow deformation event has occurred on the current road, but no abnormal traffic event has occurred, it is determined that an abnormal disaster event has occurred on the current road. The remote node controller sends a second alarm message to the early warning management workstation, and correspondingly receives a second early warning control instruction issued by the early warning management workstation. Based on the second early warning control instruction, the second dangerous area warning and traffic control operation is correspondingly executed to prompt and control vehicles on the current road.

[0155] When any multi-situation awareness device detects a rapid deformation event and / or a slow deformation event, but other multi-situation awareness devices adjacent to it do not detect the rapid deformation event and / or the slow deformation event, the integrated management server can control the roadside remote control camera to capture images at the location where the rapid deformation event and / or the slow deformation event occurs, obtain a sixth real-time image, and perform image recognition based on the sixth real-time image to detect whether the real-time image shows the occurrence of the above-mentioned rapid deformation event and / or slow deformation event, thereby achieving the purpose of verifying the monitored rapid deformation event and / or slow deformation event.

[0156] The integrated management server can further detect whether an abnormal traffic event occurs based on the sixth real-time image to verify the rapid deformation event and / or the slow deformation event. If an abnormal traffic event occurs, the rapid deformation event and / or the slow deformation event are merged into the abnormal traffic event, and it is determined that an abnormal traffic event occurs on the current road, and a first early warning control instruction is sent.

[0157] If no abnormal traffic incident occurs, it is determined that the above-mentioned rapid deformation incident and / or slow deformation incident is caused by road disaster incidents such as road collapse, landslide, mud-rock flow, etc., and it is determined that an abnormal disaster incident has occurred on the current road, and a second early warning control instruction is sent, and the multi-situation awareness equipment is controlled accordingly to execute the second dangerous area warning and traffic control operation.

[0158] Similar to the above-mentioned first danger zone warning and traffic control operation, the embodiment of the present invention can control the warning lights, auxiliary lighting lights, voice alarm units and laser interception warning lights in the multi-situation awareness equipment, and adopt different warning prompt methods within the warning range at different distances from the location where the above-mentioned rapid deformation events and / or slow deformation times occur, so as to warn and control the moving vehicles.

[0159] In the embodiment of the present invention, a posture sensor and a displacement sensor are integrated inside the multi-situation awareness device to achieve timely perception and early warning of abnormal disaster events, thereby realizing multi-dimensional and all-round abnormal event perception and early warning management and control.

[0160] In some embodiments, the multi-situation awareness device further includes: a temperature and humidity sensor. The temperature and humidity sensor is used to monitor the temperature and humidity changes along the current road, so as to timely remind the moving vehicles to drive carefully.

[0161] On the basis of setting up temperature and humidity sensors, an embodiment of the present invention provides a road abnormality monitoring and early warning method, including:

[0162] If the temperature values ​​collected by the temperature and humidity sensors in the multiple multi-situation awareness devices are all lower than the preset temperature threshold, and the humidity values ​​collected by the temperature and humidity sensors are all higher than the preset humidity threshold, it is determined that there is ice or snow on the current road;

[0163] If the temperature values ​​collected by the temperature and humidity sensors in the multiple multi-situation awareness devices are all higher than the preset temperature threshold, and the humidity values ​​collected by the temperature and humidity sensors are all higher than the preset humidity threshold, it is determined that there is water accumulation on the current road;

[0164] If the current road is iced or snowed, or has water accumulation, it is determined that an abnormal environmental event has occurred on the current road. The remote node controller sends a third alarm message to the early warning management workstation, and correspondingly receives a third early warning control instruction issued by the early warning management workstation. Based on the third early warning control instruction, the multi-situation awareness device is controlled to execute the third dangerous area warning and traffic control operation to prompt and control the vehicles on the current road.

[0165] The embodiment of the present invention can determine whether there is ice or snow accumulation, or water accumulation on the current road based on the temperature and humidity sensors in a plurality of continuous multi-situation awareness devices. After such a situation occurs, the third alarm information is reported, and the third early warning control instruction is received accordingly. According to the third early warning control instruction, the multi-situation awareness device is controlled to execute the third dangerous area warning and traffic control operation accordingly, thereby prompting the moving vehicle to drive carefully.

[0166] The embodiment of the present invention is based on the temperature and humidity sensor, which can realize the timely perception and early warning of the abnormal event of slippery road surface, so as to realize multi-dimensional and all-round road abnormality monitoring and early warning, and ensure the driving safety of moving vehicles.

[0167] In addition, the multi-situation awareness device can also be integrated with a light intensity sensor and an auxiliary lighting lamp. Among them, the light intensity sensor is used to monitor the visibility changes of the current road in real time. The auxiliary lighting lamp is used to provide auxiliary lighting for vehicles on the current road when the road visibility is low. When the visibility of the current road drops below the set threshold, the core main control unit controls the auxiliary lighting lamp to turn on to ensure driving safety.

[0168] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for controlling road abnormality monitoring active warning areas, characterized in that: The method is applied to a road abnormality monitoring active early warning regional control system, the system comprising: a plurality of multi-situation awareness devices, a remote node controller and an early warning management workstation; wherein the plurality of multi-situation awareness devices are evenly and equidistantly installed on the guardrails on both sides of the road, and the multi-situation awareness devices are internally integrated with a radar perception sensor, a video perception sensor and a core main control unit; the multi-situation awareness devices, the remote node controller and the early warning management workstation are mutually communicated and connected; The method comprises: When the radar sensing sensor in any multi-situation awareness device detects an abnormal traffic event, the core main control unit integrated in the multi-situation awareness device obtains radar alarm information of the radar sensing sensor and the first real-time image collected by the video sensing sensor in the multi-situation awareness device, and sends the first real-time image and the radar alarm information to the remote node controller; The remote node controller detects whether the abnormal traffic event occurs in the first real-time image based on the first real-time image to obtain a first image detection result, and performs a first composite verification on the first image detection result and the radar alarm information to obtain a first composite verification result; The remote node controller respectively obtains radar data information and a second real-time image collected by each multi-situation awareness device adjacent to the multi-situation awareness device that monitors the abnormal traffic event, and performs a second composite verification on the first composite verification result based on the radar data information and the second real-time image to obtain a second composite verification result; If both the first composite verification result and the second composite verification result show that the abnormal traffic incident has occurred on the current road, the remote node controller sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the multi-situation awareness device is controlled to execute the first dangerous area warning and traffic control operation accordingly, so as to prompt and control the vehicles on the current road.

2. The method for controlling road abnormality monitoring active warning areas according to claim 1 is characterized in that: The second composite verification result includes: an abnormal traffic incident occurs on the current road or no abnormal traffic incident occurs on the current road; When the radar sensing sensor in any multi-situation awareness device detects an abnormal traffic event, the remote node controller respectively obtains radar data information and a second real-time image collected by each multi-situation awareness device adjacent to the multi-situation awareness device that detects the abnormal traffic event, and performs a second composite verification on the first composite verification result based on the radar data information and the second real-time image to obtain a second composite verification result, including: When the radar sensing sensor in any multi-situation awareness device detects an abnormal traffic event, the remote node controller obtains radar data information collected by each multi-situation awareness device adjacent to the multi-situation awareness device that detects the abnormal traffic event; If the radar data information collected by each of the adjacent multi-situation awareness devices shows that the abnormal traffic event has not occurred, the remote node controller respectively obtains the second real-time images collected by each of the adjacent multi-situation awareness devices; The remote node controller detects whether the abnormal traffic event occurs in the second real-time image based on the second real-time image collected by each of the adjacent multi-situation awareness devices, and obtains a second image detection result; The remote node controller performs a second composite verification on the first composite verification result based on the second image detection result to obtain a second composite verification result.

3. The method for controlling road abnormality monitoring active early warning areas according to claim 1 or 2, characterized in that: The system further comprises: an integrated management server, the integrated management server being communicatively connected with the multi-situation awareness device, the remote node controller and the early warning management workstation respectively; The method further comprises: If the first composite verification result or the second composite verification result shows that the abnormal traffic event has not occurred on the current road, the integrated management server acquires a third real-time image captured by the roadside remote control camera; The integrated management server detects whether the abnormal traffic event occurs in the third real-time image based on the third real-time image collected by the roadside remote control camera, obtains a third image detection result, and performs a third composite verification based on the third image detection result to obtain a third composite verification result; If at least two of the first composite verification results, the second composite verification results, and the third composite verification results show that the abnormal traffic incident has occurred on the current road, the integrated management server sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the multi-situation awareness device is controlled to execute the first dangerous area warning and traffic control operation to prompt and control the vehicles on the current road.

4. The method for controlling road abnormality monitoring active early warning areas according to claim 1 or 2, characterized in that: The method further comprises: The remote node controller obtains the fourth real-time image collected by the video perception sensor in each multi-situation awareness device at a preset time interval; The remote node controller detects whether each of the multiple situation awareness devices detects an abnormal traffic event at the moment based on the fourth real-time image collected by the video perception sensor in each of the multiple situation awareness devices at the same moment; If multiple adjacent multi-situation awareness devices all monitor the abnormal traffic event at this moment, it is determined that the abnormal traffic event has occurred on the current road. The remote node controller sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the multi-situation awareness device is controlled to correspondingly execute the first dangerous area warning and traffic control operation to prompt and control the vehicles on the current road.

5. The method for controlling road abnormality monitoring active warning areas according to claim 4 is characterized in that: After the remote node controller detects whether each of the multiple situation awareness devices has detected an abnormal traffic event at the moment based on the fourth real-time image collected by the video perception sensor in each of the multiple situation awareness devices at the same moment, the remote node controller further includes: If any multi-situation awareness device detects the abnormal traffic event at the same time, and multiple multi-situation awareness devices adjacent to the multi-situation awareness device do not detect the abnormal traffic event at the same time, the integrated management server obtains a fifth real-time image captured by the roadside remote control camera at the same time; The integrated management server performs a composite verification on the monitored abnormal traffic event based on the fifth real-time image collected by the roadside remote control camera to obtain a composite verification result of the first image; If the composite verification result of the first image shows that an abnormal traffic incident has occurred on the current road, the integrated management server sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation. Based on the first early warning control instruction, the multi-situation awareness device is controlled to execute the first dangerous area warning and traffic control operation accordingly, so as to prompt and control the vehicles on the current road.

6. The method for controlling road abnormality monitoring active early warning areas according to claim 1 or 2, characterized in that: The multi-situation awareness device also integrates a posture sensor and a displacement sensor; the posture sensor is used to monitor whether a rapid deformation event occurs in the current road guardrail; the displacement sensor is used to monitor whether a slow deformation event occurs in the current road guardrail; The method further comprises: If the posture sensor and / or displacement sensor in any multi-situation awareness device detects a rapid deformation event and / or a slow deformation event, the remote node controller detects whether a plurality of multi-situation awareness devices sequentially adjacent to the multi-situation awareness device all detect the rapid deformation event and / or the slow deformation event; If a plurality of multi-situation awareness devices sequentially adjacent to the multi-situation awareness device all detect the fast-changing event and / or the slow-changing event, the remote node controller detects whether an abnormal traffic event occurs at the location where the fast-changing event and / or the slow-changing event occurs; If an abnormal traffic event occurs at the location where the rapid deformation event and / or the slow deformation event occurs, the remote node controller merges the rapid deformation event and / or the slow deformation event into the abnormal traffic event, and sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation, and based on the first early warning control instruction, controls the multi-situation awareness device to correspondingly execute a first dangerous area warning and traffic control operation, so as to prompt and control vehicles traveling on the current road; If no abnormal traffic event occurs at the location where the rapid deformation event and / or the slow deformation event occurs, it is determined that an abnormal disaster event occurs on the current road, and the remote node controller sends a second alarm message to the early warning management workstation, and correspondingly receives a second early warning control instruction issued by the early warning management workstation. Based on the second early warning control instruction, the multi-situation awareness device is controlled to execute the second dangerous area warning and traffic control operation to prompt and control the vehicles on the current road.

7. The method for controlling road abnormality monitoring active warning areas according to claim 6 is characterized in that: After the remote node controller detects whether a plurality of multi-situation awareness devices sequentially adjacent to the multi-situation awareness device have all detected the rapid deformation event and the slow deformation event, the method further includes: If the multiple multi-situation awareness devices sequentially adjacent to the multi-situation awareness device do not detect the rapid deformation event and / or the slow deformation event, the integrated management server obtains a sixth real-time image captured by the roadside remote control camera; The integrated management server performs a composite check on the fast deformation event and / or the slow deformation event based on the sixth real-time image to obtain a second image composite check result; If the composite verification result of the second image shows that the rapid deformation event and / or the slow deformation event, as well as the abnormal traffic event, occurs on the current road, the integrated management server merges the rapid deformation event and / or the slow deformation event into the abnormal traffic event, and sends a first alarm message to the early warning management workstation, and correspondingly receives a first early warning control instruction issued by the early warning management workstation, and based on the first early warning control instruction, controls the multi-situation awareness device to correspondingly execute the first dangerous area warning and traffic control operation, so as to prompt and control the vehicles traveling on the current road; If the composite verification result of the second image shows that the rapid deformation event and / or slow deformation event has occurred on the current road, but no abnormal traffic event has occurred, it is determined that an abnormal disaster event has occurred on the current road, and the remote node controller sends a second alarm message to the early warning management workstation, and correspondingly receives a second early warning control instruction issued by the early warning management workstation. Based on the second early warning control instruction, the second dangerous area warning and traffic control operation is correspondingly executed to prompt and control vehicles on the current road.

8. The method for controlling road abnormality monitoring active early warning areas according to claim 1 or 2, characterized in that: The multi-situation awareness device is also integrated with a temperature and humidity sensor; the temperature and humidity sensor is used to monitor the temperature and humidity changes along the current road; The method further comprises: If the temperature values ​​collected by the temperature and humidity sensors in the multiple multi-situation awareness devices are all lower than the preset temperature threshold, and the humidity values ​​collected by the temperature and humidity sensors are all higher than the preset humidity threshold, it is determined that there is ice or snow on the current road; If the temperature values ​​collected by the temperature and humidity sensors in the multiple multi-situation awareness devices are all higher than the preset temperature threshold, and the humidity values ​​collected by the temperature and humidity sensors are all higher than the preset humidity threshold, it is determined that there is water accumulation on the current road; If the current road is iced or snowed, or has water accumulated, it is determined that an abnormal environmental event has occurred on the current road. The remote node controller sends a third alarm message to the early warning management workstation, and correspondingly receives a third early warning control instruction issued by the early warning management workstation. Based on the third early warning control instruction, the multi-situation awareness device is controlled to execute a third dangerous area warning and traffic control operation to prompt and control vehicles on the current road.

9. The method for controlling road abnormality monitoring active early warning areas according to claim 1 or 2, characterized in that: The multi-situation awareness device also has integrated warning lights, voice alarm units and laser interception warning lights; The warning light uses a variety of light flashing combination modes to warn and remind vehicles traveling in the road area to pay attention to dangerous situations and avoid them; the laser interception warning light uses a dangerous area laser beam soft interception warning and reminder mode to remind vehicles traveling in the road area to pay attention to dangerous situations and avoid them; the voice alarm unit uses different sound warning and reminder modes to remind vehicles traveling in the road area to pay attention to dangerous situations and avoid them; The controlling the multi-situation awareness device to execute the first dangerous area warning and passage control operation correspondingly based on the first early warning control instruction includes: Based on the radar warning information, determining the location where the abnormal traffic event occurred; Based on the occurrence location, a first warning area, a second warning area and a third warning area are respectively determined; the distance between the occurrence location and the first warning area is greater than the distance between the occurrence location and the second warning area; the distance between the occurrence location and the second warning area is greater than the distance between the occurrence location and the third warning area; Based on the first early warning control instruction, the warning light, the voice alarm unit and the laser interception warning light are respectively controlled to perform different alarm control operations in the first warning area, the second warning area and the third warning area.

10. A road abnormality monitoring active early warning area control system, characterized in that: include: Multiple situational awareness devices, remote node controllers and early warning management workstations; A plurality of multi-situation awareness devices, a remote node controller and an early warning management workstation; wherein the plurality of multi-situation awareness devices are evenly and equidistantly installed on the guardrails on both sides of the road, and the multi-situation awareness devices are internally integrated with a radar perception sensor, a video perception sensor and a core main control unit; the multi-situation awareness devices, the remote node controller and the early warning management workstation are mutually communicatively connected; The multi-situation awareness device, remote node controller and early warning management workstation are used to execute the road abnormality monitoring active early warning area control method described in any one of claims 1 to 9 above.

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