Semi-closed highway construction sight distance detection method and system and computer storage medium

Abstract

The embodiment of the invention discloses a semi-closed highway construction sight distance detection method and system and a computer storage medium. The semi-closed highway construction sight distance detection method comprises the steps that multiple paths of laser ranging equipment are arranged at the roof position of a detection vehicle in a combined mode; measuring the vertical height from the mounting position of the laser ranging equipment to the ground; collecting continuous point cloud data of the laser ranging device; calculating a dynamic sight distance according to the vertical height and the point cloud data, and constructing a sight distance envelope diagram of the construction road section according to the dynamic sight distance; and carrying out safety detection on the sight distance envelope diagram so as to mark the risk road section.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of highway traffic safety technology, and more particularly to a method, system, and computer storage medium for detecting sight distance during construction of a semi-enclosed highway. Background Art

[0002] With the continuous growth in the number of motor vehicles and the production of new energy vehicles, road traffic safety issues are becoming increasingly prominent, especially traffic congestion and frequent traffic accidents. Sight distance, a crucial factor in ensuring driving safety, directly impacts the operational safety and efficiency of vehicles on the road. In real-world road conditions, ensuring that drivers can clearly see the road ahead is key to preventing traffic accidents. Semi-closed highway construction sections, where construction is ongoing while traffic is passing through them, pose even greater risks. This is especially true on curved sections, where sight distance is particularly critical due to the combined effects of linear conditions and dynamic construction.

[0003] Therefore, from the perspective of traffic safety management, conducting sight distance inspections on roads, identifying key sections with poor sight distance, and taking corresponding management measures are important aspects of eliminating road safety hazards and improving traffic safety levels.

[0004] However, at present, the detection of highway sight distance mostly relies on manual experience or with the help of measuring equipment such as levels or total stations. It can only be measured or observed one point at a time. The dynamic continuous sight distance of the curve cannot be detected, and the construction equipment that may be left on the semi-closed highway construction section cannot be detected, which also greatly affects the safe driving sight distance on the curved road section. Summary of the Invention

[0005] In view of this, the embodiments of this specification provide a method, system and computer storage medium for detecting sight distance during construction of a semi-closed highway, which are used to solve the problems of static, discrete, low efficiency, difficulty in detecting dynamic obstacles, and non-intuitive results in the existing sight distance detection technology.

[0006] The embodiments of this specification adopt the following technical solutions:

[0007] This embodiment of the present specification provides a method for detecting sight distance during construction of a semi-enclosed highway, the method comprising:

[0008] A multi-channel laser ranging device is arranged on the roof of the detection vehicle;

[0009] Measuring the vertical height of the installation position of the laser ranging device from the ground;

[0010] Collecting continuous point cloud data of the laser ranging device;

[0011] Calculating a dynamic sight distance according to the vertical height and the point cloud data, so as to construct a sight distance envelope diagram of the construction section according to the dynamic sight distance;

[0012] A safety check is performed on the sight distance envelope diagram to mark risky road sections.

[0013] The embodiment of this specification further provides a semi-enclosed highway construction sight distance detection system, the semi-enclosed highway construction sight distance detection system comprising:

[0014] Install the module and set the multi-channel laser ranging equipment combination on the roof of the detection vehicle;

[0015] A measuring module, for measuring the vertical height of the installation position of the laser ranging device from the ground;

[0016] An acquisition module, for acquiring continuous point cloud data from the laser ranging device;

[0017] a calculation module, calculating a dynamic sight distance according to the vertical height and the point cloud data, so as to construct a sight distance envelope diagram of the construction section according to the dynamic sight distance;

[0018] The detection module performs safety detection on the sight distance envelope diagram to mark risky road sections.

[0019] The embodiments of this specification also provide a computer storage medium including a program for use in conjunction with an electronic device, the program being executable by a processor to perform the following steps:

[0020] A multi-channel laser ranging device is arranged on the roof of the detection vehicle;

[0021] Measuring the vertical height of the installation position of the laser ranging device from the ground;

[0022] Collecting continuous point cloud data of the laser ranging device;

[0023] Calculating a dynamic sight distance according to the vertical height and the point cloud data, so as to construct a sight distance envelope diagram of the construction section according to the dynamic sight distance;

[0024] A safety check is performed on the sight distance envelope diagram to mark risky road sections.

[0025] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0026] By setting up a combination of multiple laser ranging devices on the roof of the inspection vehicle and measuring the vertical height of the installation position of the laser ranging equipment from the ground, the line of sight data of the entire construction section (especially the curved area) can be collected in real time and continuously, with a wide coverage range and no missed points. In addition, by measuring the vertical height, the actual line of sight height and horizontal line of sight distance can be accurately calculated according to different vehicle models. The detection results are more real and reliable, avoiding the systematic errors caused by fixed height measurement.

[0027] In addition, since the laser ranging equipment collects continuous point cloud data and calculates the dynamic line of sight based on the vertical height and point cloud data, it can automatically and objectively identify poor line of sight points introduced by dynamic construction activities that are difficult to detect or easily overlooked by traditional static point measurements, greatly improving the comprehensiveness and pertinence of hidden danger detection.

[0028] Moreover, by constructing a sight distance envelope map and then performing safety checks on it, risky sections can be automatically marked, and intuitive assessment results can be quickly generated. This greatly simplifies the data analysis process, allowing road managers or construction safety supervisors to quickly and accurately locate risk points, significantly improving decision-making efficiency, and achieving high-precision, dynamic, continuous, automated, and efficient sight distance detection and assessment, providing strong technical support for improving the level of traffic safety management on such high-risk sections. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the embodiments of this specification and constitute a part of the embodiments of this specification. The illustrative embodiments and descriptions of this specification are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0030] Figure 1 A flow chart of a method for detecting sight distance during construction of a semi-enclosed highway provided in an embodiment of this specification;

[0031] Figure 2 A schematic diagram of the installation of a laser ranging device corresponding to a method for detecting sight distance during construction of a semi-enclosed highway provided in an embodiment of this specification;

[0032] Figure 3 A schematic diagram of constructing a sight distance envelope diagram corresponding to a sight distance detection method for semi-enclosed highway construction provided in an embodiment of this specification;

[0033] Figure 4 A schematic diagram of a semi-enclosed highway construction sight distance detection system provided in an embodiment of this specification;

[0034] Figure 5 A schematic diagram of the structure of a computer storage medium corresponding to a semi-enclosed highway construction sight distance detection method provided in an embodiment of this specification. DETAILED DESCRIPTION

[0035] In the existing technology, existing sight distance detection methods have the following three defects. On the one hand, there is static discreteness and reliance on equipment such as total stations for single-point measurement, which cannot obtain sight distance on continuous curves. On the other hand, there are scene limitations and dynamic obstacles such as equipment left behind and material piles at the construction site cannot be detected in real time. Finally, the sight distance detection results are rough. The fixed measurement height leads to distortion of the sight distance data of trucks and cars, and there is a lack of standardized automatic comparison tools.

[0036] In summary, it is imperative to propose a dynamic, continuous and high-precision method for detecting the plane alignment of semi-closed highway construction sections.

[0037] Therefore, the embodiments of this specification provide a method, system and computer storage medium for detecting sight distance during construction of a semi-enclosed highway. By combining and arranging a multi-channel laser ranging device on the roof of the detection vehicle and measuring the vertical height of the installation position of the laser ranging device from the ground, sight distance data of the entire construction section (especially the curved area) can be collected in real time and continuously, with a wide coverage range and no missed points. In addition, by measuring the vertical height, the actual sight height and horizontal sight distance can be accurately calculated according to different vehicle models. The detection results are more realistic and reliable, avoiding the systematic errors caused by fixed height measurement.

[0038] In addition, since the laser ranging equipment collects continuous point cloud data and calculates the dynamic line of sight based on the vertical height and point cloud data, it can automatically and objectively identify poor line of sight points introduced by dynamic construction activities that are difficult to detect or easily overlooked by traditional static point measurements, greatly improving the comprehensiveness and pertinence of hidden danger detection.

[0039] Moreover, by constructing a sight distance envelope map and then performing safety checks on it, risky sections can be automatically marked, and intuitive assessment results can be quickly generated. This greatly simplifies the data analysis process, allowing road managers or construction safety supervisors to quickly and accurately locate risk points, significantly improving decision-making efficiency, and achieving high-precision, dynamic, continuous, automated, and efficient sight distance detection and assessment, providing strong technical support for improving the level of traffic safety management on such high-risk sections.

[0040] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this specification and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0041] The technical solutions provided by the embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0042] like Figure 1 FIG. 1 is a flow chart of a method for detecting sight distance during construction of a semi-enclosed highway provided in an embodiment of this specification.

[0043] In the embodiment of this specification, the method for detecting sight distance during construction of a semi-enclosed highway may specifically include the following steps:

[0044] S101: a multi-channel laser ranging device is set on the roof of the detection vehicle;

[0045] S103: Measuring the vertical height of the installation position of the laser ranging device from the ground;

[0046] S105: Collecting continuous point cloud data of the laser ranging device;

[0047] S107: Calculating a dynamic sight distance according to the vertical height and the point cloud data, so as to construct a sight distance envelope diagram of the construction section according to the dynamic sight distance;

[0048] S109: Perform safety detection on the sight distance envelope diagram to mark risky road sections.

[0049] In the embodiments of this specification, the laser ranging device may specifically refer to an instrument that uses a certain parameter of modulated laser to accurately measure the distance to a target, and may specifically include a laser rangefinder, a laser radar sensor, and other devices, which are not specifically limited here.

[0050] By installing a laser ranging device on the roof of the inspection vehicle, continuously collecting point cloud data of the vehicle's driving direction, and using this to calculate the dynamic sight distance and construct a sight distance envelope map, automatic marking of risky road sections can be achieved.

[0051] The test vehicle can be a small passenger car (sedan or SUV) with stable performance as the test platform. If you need to simulate the driving line of sight of a large truck, you can choose a standard van or medium-sized truck. There is no specific limitation here.

[0052] As an application embodiment of this specification, for step S101, a combination of multiple laser ranging devices is set to detect the roof position of the vehicle, which may specifically include:

[0053] The combined horizontal viewing angle of the multiple laser ranging devices covers a range of at least 270° in front of and to the sides of the detection vehicle.

[0054] In the embodiment of this specification, the combined horizontal viewing angle field of multiple laser ranging devices covers a range of at least 270° in front of and to the sides of the vehicle, which can fully cover the blind spot on the inside of the curve to fully capture the visibility conditions on the inside of the curve.

[0055] In addition, the vertical field of view of the multiple laser ranging devices needs to cover the road surface and possible obstacles (such as construction equipment).

[0056] In order to achieve full coverage of the viewing field, at least three laser ranging devices need to be installed on the roof assembly of the detection vehicle. The specific number of laser ranging devices can be dynamically adjusted according to actual needs and is not specifically limited here.

[0057] In addition, the laser ranging equipment needs to be rigidly fixed to the center line of the roof of the detection vehicle to ensure that the mounting bracket is firm and shock-absorbing to avoid vibration during driving affecting the measurement accuracy.

[0058] As an application embodiment of this specification, for step S103, measuring the vertical height of the installation position of the laser ranging device from the ground may specifically include:

[0059] When the detection vehicle is in an unloaded state, the vertical height of the center point of the installation platform of the laser ranging device from the ground is measured.

[0060] In the embodiments of this specification, the installation height of the laser ranging device will directly affect the subsequent calculation of the dynamic sight distance. Therefore, actual measurement needs to be performed according to the model of the detected vehicle.

[0061] In addition, during the measurement process, it is also necessary to ensure that the test vehicle is in a standard no-load state, for example, standard tire pressure, no additional load, etc., which are not specifically limited here. Then use a laser rangefinder or tape measure to accurately measure the vertical distance from the center point of the roof mounting platform to the ground, that is, the vertical height. This can effectively reduce measurement errors and improve the accuracy of line of sight detection.

[0062] Furthermore, before calculating the dynamic viewing distance according to the vertical height and the point cloud data, the method may further include:

[0063] Using high-precision navigation equipment, the driving trajectory and driving posture of the detection vehicle are synchronously recorded to obtain the position information of the detection vehicle.

[0064] In the embodiments of this specification, the high-precision navigation device can specifically be a high-precision GNSS / IMU integrated navigation system, which is used to record and detect the vehicle's driving trajectory (latitude and longitude coordinates) and attitude (heading angle, pitch angle, roll angle, etc., which are not specifically limited here), and the positioning accuracy can reach centimeter level (RTK level). Among them, the GNSS receiver is used to receive satellite signals to solve the longitude and latitude / elevation, and the IMU inertial unit measures and detects the vehicle's three-axis angular velocity or linear acceleration through an accelerometer and gyroscope. The GNSS / IMU integrated navigation system also includes a fusion processor, which runs a Kalman filter algorithm (such as EKF) to fuse the GNSS position and IMU raw data.

[0065] By combining the precise positioning of high-precision navigation equipment, the driving trajectory and driving posture of the detection vehicle can be recorded and collected synchronously to obtain the position information of the detection vehicle.

[0066] In this way, by outputting the 6DOF pose (latitude, longitude, elevation, heading, pitch, and roll) data of the detected vehicle through high-precision navigation equipment, a unified spatiotemporal coordinate system can be provided for the point cloud data of the multi-channel laser ranging equipment. The pose information can specifically include the 6-DOF pose data of the detected vehicle, including longitude, latitude, elevation, heading, pitch, and roll.

[0067] Furthermore, the method may further include:

[0068] Through the time synchronization device, it is determined that the timestamps of the high-precision navigation device and the laser ranging device are highly synchronized, wherein the time error is less than 1ms.

[0069] In the embodiments of this specification, the time synchronization device is also applied to other sensors, such as a vehicle speed sensor, etc., which is not specifically limited here.

[0070] As an application embodiment of this specification, the step S107 of calculating the dynamic viewing distance according to the vertical height and the point cloud data may further include:

[0071] Based on the posture information of the detection vehicle, the influence of the pitch and roll motion of the detection vehicle on the sight vector is compensated.

[0072] In the embodiments of this specification, during the dynamic sight distance calculation process, the posture information recorded by the high-precision navigation device can also be used to compensate for the impact of the detection vehicle movement on the sight vector.

[0073] For example, in a curve scenario, the IMU measures the vehicle's roll angle (Roll) in real time to correct the laser radar's deviation in line of sight calculation caused by the vehicle body tilt.

[0074] In slope scenarios, GNSS elevation and IMU pitch angle are jointly used to calculate the true horizontal line of sight.

[0075] As an application embodiment of this specification, before calculating the dynamic viewing distance based on the vertical height and the point cloud data, the method may further include:

[0076] Using the posture information of the detection vehicle, performing registration and fusion operations on the point cloud data, so that the point cloud data is fused into a unified global coordinate system to obtain fused global point cloud data;

[0077] A road surface point cloud set representing a road surface is segmented from the point cloud data.

[0078] In the embodiment of this specification, before performing dynamic viewing distance calculation, the point cloud data needs to be pre-processed.

[0079] The process of preprocessing point cloud data may specifically include point cloud data denoising, registration pre-fusion operations, and ground point segmentation.

[0080] Specifically, the denoising process of the point cloud data can filter out noise caused by raindrops, dust, floating objects in the air, etc. The accuracy of the point cloud data can be effectively improved through denoising.

[0081] As an application embodiment of this specification, in step S107, calculating the dynamic viewing distance according to the vertical height and the point cloud data includes:

[0082] Based on the fused global point cloud data, taking the current position of the detection vehicle as a reference, taking the installation point of the laser ranging device as a viewpoint, and searching along the road point cloud set in the direction of travel of the detection vehicle, the search is conducted for the farthest visible road point from the viewpoint;

[0083] Calculating the horizontal distance between the viewpoint and the farthest visible road surface point;

[0084] The dynamic viewing distance is determined according to the horizontal distance.

[0085] As an application embodiment of this specification, for step S107, constructing a sight distance envelope diagram of the construction section according to the dynamic sight distance includes:

[0086] Discretizing the driving trajectory of the detected vehicle into a series of dense trajectory sampling points;

[0087] Calculating the minimum dynamic viewing distance value corresponding to each trajectory sampling point;

[0088] A continuous curve graph is constructed with the road mileage as the horizontal coordinate and the minimum dynamic sight distance value as the vertical coordinate to obtain the sight distance envelope graph.

[0089] As an application embodiment of this specification, in step S107, performing safety detection on the sight distance envelope diagram to mark risky road sections may include:

[0090] When inspecting the sight distance envelope diagram, the highway route design specifications shall be referenced for verification.

[0091] In specific application scenarios, the stopping sight distance should be used for expressways and first-class highways, the meeting sight distance should be used for second-, third-, and fourth-class highways, and the stopping sight distance can be used in areas with lane separation, as shown in Table 1 below.

[0092] Table 1 Sight distance design specifications for different highways

[0093]

[0094] For construction sections with high traffic volume, in addition to meeting the above standards, they must also meet the requirements for judging and identifying sight distance, as shown in Table 2 below.

[0095] Table 2 Design speed and identification sight distance

[0096]

[0097] The embodiments of this specification provide a method for detecting sight distance during construction of a semi-enclosed highway. By combining multiple laser distance measuring devices and setting them on the roof of a detection vehicle and measuring the vertical height of the installation position of the laser distance measuring devices from the ground, sight distance data for the entire construction section (especially the curved area) can be collected continuously and in real time, with a wide coverage range and no missed points. In addition, by measuring the vertical height, the actual sight height and horizontal sight distance can be accurately calculated according to different vehicle models. The detection results are more realistic and reliable, and the systematic errors caused by fixed height measurement are avoided.

[0098] In addition, since the laser ranging equipment collects continuous point cloud data and calculates the dynamic line of sight based on the vertical height and point cloud data, it can automatically and objectively identify poor line of sight points introduced by dynamic construction activities that are difficult to detect or easily overlooked by traditional static point measurements, greatly improving the comprehensiveness and pertinence of hidden danger detection.

[0099] Moreover, by constructing a sight distance envelope map and then performing safety checks on it, risky sections can be automatically marked, and intuitive assessment results can be quickly generated. This greatly simplifies the data analysis process, allowing road managers or construction safety supervisors to quickly and accurately locate risk points, significantly improving decision-making efficiency, and achieving high-precision, dynamic, continuous, automated, and efficient sight distance detection and assessment, providing strong technical support for improving the level of traffic safety management on such high-risk sections.

[0100] It should be noted that the above-mentioned specific semi-closed highway construction sight distance detection method is only a specific application embodiment and does not limit the scope of the embodiments of this specification. It can also include other specific embodiments, which will not be described one by one here.

[0101] Based on the same inventive concept, the embodiments of this specification also provide specific application embodiments of the above-mentioned semi-closed highway construction sight distance detection method.

[0102] like Figure 2 FIG. 1 is a schematic diagram showing the installation of a laser ranging device corresponding to a sight distance detection method for semi-enclosed highway construction provided in an embodiment of this specification.

[0103] like Figure 3 , which is a schematic diagram of constructing a sight distance envelope diagram corresponding to a sight distance detection method for semi-closed highway construction provided in an embodiment of this specification.

[0104] In the embodiment of this specification, the specific implementation process of the semi-enclosed highway construction sight distance detection method is as follows:

[0105] The first step is equipment preparation and installation.

[0106] For the test vehicle, a small, stable passenger car (sedan or SUV) can be used as the test platform. If you need to simulate the driving vision of a large truck, a standard van or medium-sized truck can be used.

[0107] Selection and installation of laser ranging equipment.

[0108] Specifically, three high-precision, high-frequency two-dimensional or three-dimensional lidar sensors can be used (for example, lidar based on the TOF principle, such as Velodyne VLP-16 or equivalent products, etc., which are not specifically limited here). Key parameter requirements are as follows:

[0109] Ranging range: ≥150 meters (meeting road sight distance detection requirements).

[0110] Distance measurement accuracy: ±3cm or higher.

[0111] Scanning frequency: ≥10Hz (to ensure dynamic continuous sampling).

[0112] Field of view (FOV): The horizontal field of view of a single unit is recommended to be ≥90°.

[0113] The three lidar sensors should be installed in such a way that their combined horizontal field of view covers approximately 270° in front of and to the sides of the vehicle (for example, one sensor is installed facing forward, covering a horizontal field of view of approximately 90°-120° in front of the vehicle; the other two sensors are installed at an angle of approximately 30°-45° to the left and right front, respectively, covering a horizontal field of view of approximately 60°-90° in front of the left and right front), so as to fully capture the line of sight on the inside of the curve. The vertical field of view needs to cover the road surface and possible obstacles (such as construction equipment).

[0114] It should be noted that the installation method of three lidar sensors is only one embodiment and is not specifically limited here.

[0115] Installation of three LiDAR sensors: Rigidly fix the three LiDAR sensors to the centerline of the vehicle roof (such as Figure 2 Ensure that the mounting bracket is firm and shock-absorbing to prevent vibration during driving from affecting measurement accuracy.

[0116] Measurement of the vertical height of the lidar sensor: If a small passenger car is used as the detection vehicle, the vertical height measured by the small passenger car is recorded as h1 (the typical value is about 1.3 meters to 1.5 meters, which needs to be measured in practice).

[0117] If a truck is used as the inspection vehicle, the measured vertical height is recorded as h2 (typical value is about 2.0 meters to 3.5 meters, which needs to be measured in practice and distinguished between empty and fully loaded states. The embodiments of this specification are measured based on empty or designed states). The height value h1 or h2 needs to be input into the subsequent data processing system.

[0118] Auxiliary equipment includes:

[0119] High-precision GNSS / IMU integrated navigation system: used to record and detect vehicle trajectory (latitude and longitude coordinates) and attitude (heading angle, pitch angle, roll angle).

[0120] Data acquisition and control unit: an industrial computer or high-performance embedded system, responsible for receiving, synchronizing, and storing point cloud data from the lidar sensor, GNSS / IMU pose data, and vehicle CAN bus information (such as vehicle speed).

[0121] Power supply system: vehicle power supply or backup battery to ensure stable operation of the equipment.

[0122] Time synchronization device: Ensures that the timestamps of all sensors (lidar, GNSS / IMU) are highly synchronized (error < 1ms).

[0123] Compared to the prior art, the preparation and installation of the equipment provided in the embodiments of this specification has the following advantages:

[0124] Achieve dynamic, continuous, and automated detection: By mounting a three-way laser rangefinder on the roof of a vehicle (car or truck) and driving along the construction section, this method completely abandons traditional manual point measurement or static instrument measurement methods. The technical effect is reflected in: the ability to continuously collect sight distance data for the entire construction section (especially the curved area) in real time, with a wide coverage area and no missed points. This solves the key pain point of the existing technology of "one point one measurement" and the inability to obtain dynamic continuous sight distance on curves, significantly improving detection efficiency and data integrity.

[0125] High Precision, Close to Actual Driving Line of Sight: This specification clearly distinguishes between the laser installation heights for cars (h1) and trucks (h2), and calculates the line of sight using the formula Line of Sight 2 = Laser Length 2 - Installation Height 2. The technical benefits are reflected in the following: The calculated line of sight value more accurately simulates the actual line of sight height and horizontal line of sight distance for drivers of different vehicle types on curves in semi-enclosed construction sections, resulting in more realistic and reliable detection results, avoiding the systematic errors caused by fixed-height measurement. This directly overcomes the problem of mismatch between measured values ​​and actual driving perspective in existing technologies.

[0126] The second step is the data collection process, which can specifically include the following steps:

[0127] Route planning and preparation: Clearly define the scope of the semi-enclosed highway construction section that needs to be inspected (such as the construction area from K100+000 to K103+500 on the XX Expressway, which is not specifically limited here). Conduct inspections during good weather (no rain, fog, or strong direct light that interferes with the laser) and low traffic hours (such as at night or during construction breaks). Ensure that the inspection vehicle can safely and stably travel at a constant low speed (for example, 30-60 km / h, the specific speed is determined by the curvature of the curve and safety requirements) along the centerline of the lane in the construction section. It should be noted that the inspection vehicle needs to travel at a constant speed to ensure data continuity and comparability.

[0128] System initialization: Start all equipment (lidar sensor, GNSS / IMU, data acquisition unit), perform warm-up and self-test, and conduct a short-distance test in an open area to ensure that the data is normal.

[0129] Start data collection: When the inspection vehicle enters the starting point of the construction section, the operator starts the data collection software and the inspection vehicle drives along the predetermined route and at the predetermined speed.

[0130] Continuous recording: The three lidar sensors continuously emit laser beams and receive echoes, generating dense point cloud data (including the 3D coordinates, reflection intensity, and timestamp of each point, which are not specifically limited here).

[0131] GNSS / IMU records the vehicle's high-precision position (latitude, longitude, elevation) and attitude information (heading, pitch, roll) in real time.

[0132] The data acquisition unit synchronously receives and stores all sensor data.

[0133] End of data collection: After the detection vehicle leaves the end of the construction section, the operator stops the data collection software and saves all data.

[0134] Compared with the existing technology, the data collection process provided in the embodiments of this specification has the following advantages:

[0135] Objectively Identify Hidden Dangers Unique to Construction Sections: Due to its dynamic, continuous driving detection, the laser rangefinder can detect and record in real time any temporary obstacles that may affect visibility along the construction section (such as abandoned construction equipment and irregular material storage). This technology's effectiveness is reflected in its ability to automatically and objectively identify poor visibility points introduced by dynamic construction activities, which are difficult to detect or easily overlooked using traditional static point measurement. This significantly improves the comprehensiveness and specificity of hazard detection.

[0136] The third step is data processing and line of sight calculation.

[0137] Data preprocessing includes the following steps:

[0138] Point cloud denoising: Filter out noise caused by raindrops, dust, floating objects in the air, etc.

[0139] Point cloud registration and fusion: Utilizing the precise pose information provided by GNSS / IMU, the point cloud data collected by the three lidar sensors are fused into a unified global coordinate system in real time or post-processing, and the impact of the detection vehicle's motion (such as pitch and roll) on the point cloud is compensated.

[0140] Ground point segmentation: Use algorithms (such as RANSAC and Grid-based methods) to segment the point set representing the road surface from the point cloud, that is, the road surface point cloud set.

[0141] Dynamic sight range calculation (for each scanning moment / position point) may specifically include:

[0142] In the fused global point cloud, the current vehicle position (provided by GNSS / IMU) is used as the calculation reference point;

[0143] In the current vehicle coordinate system (or global coordinate system), the installation point of the roof lidar sensor (the height is the measured h1 or h2) is used as the viewpoint;

[0144] Dynamic sight distance calculation: In the sector-shaped area ahead of the vehicle's direction of travel (covering the combined field of view of the three lidar sensors), the horizontal distance from the viewpoint to the farthest visible point is dynamically searched along the road surface points (i.e., the segmented ground points).

[0145] In the embodiments of this specification, the search method may specifically include: calculating the line (line of sight) from the viewpoint to each ground point along the direction of the laser beam (or generating a line of sight beam based on the point cloud density), and checking whether the line of sight is blocked by non-ground points (such as construction fences, construction machinery, piles of materials, mountains / vegetation on the inside of curves, etc.).

[0146] Determining sight distance (SD) involves finding the farthest unobstructed ground point from the current viewpoint along a specific direction (typically the vehicle centerline, or the inner critical sight line for curves). The horizontal distance between this point and the viewpoint (projected onto a horizontal plane) is the dynamic sight distance at that location and in that direction.

[0147] The calculation formula of dynamic viewing distance is shown in the following formula (1):

[0148] SD = sqrt( (X_target - X_vehicle)^2 + (Y_target - Y_vehicle)^2 ) Formula (1).

[0149] Where SD is the horizontal distance, (X_target, Y_target) is the coordinate of the farthest visible road point, and (X_vehicle, Y_vehicle) is the coordinate of the current vehicle position.

[0150] Although formula (1) is similar to SD in principle 2 = laser measurement length 2-h2 (the "laser measurement length" here refers to the three-dimensional Euclidean distance from the laser emission point to the target point). However, in actual point cloud processing, directly calculating the horizontal distance from the viewpoint (known height h) to the farthest visible ground point (X_target, Y_target, Z_target ≈ road surface elevation) is more direct and accurate. It avoids the limitations of single-point measurement and uses global point cloud information for occlusion judgment, which is the key to achieving dynamic continuous line of sight detection.

[0151] Furthermore, a sight distance envelope diagram of the construction section is constructed, such as Figure 3 shown.

[0152] Discretize the detection vehicle's driving trajectory into a series of dense sampling points (spacing is recommended to be ≤1 meter) according to mileage (or time).

[0153] For each trajectory sampling point, the corresponding minimum dynamic sight distance value is calculated (usually the sight distance in the direction of the vehicle centerline or the most unfavorable direction on the inside of the curve at that location). This reflects the shortest safe sight distance that can be provided at that point.

[0154] A continuous graph is drawn with road mileage (pile number) as the horizontal axis and the calculated minimum dynamic sight distance (SD) as the vertical axis. This graph, known as the Sight Distance Envelope Diagram for the construction section, visually displays the changes in sight distance along the entire road section and clearly indicates the location of the minimum sight distance point (bottleneck point).

[0155] Step 4: Line of sight safety test.

[0156] 1. Determine the design speed and standard: Based on the design speed of the test section (such as the original road design speed before construction, or the speed limit in the construction zone, the basis must be clearly stated), find the corresponding sight distance requirements from the Highway Alignment Design Specifications (JTG D20):

[0157] For construction areas of expressways and first-class highways, check the stopping sight distance (e.g. if the design speed is 80km / h, the stopping sight distance is 110m).

[0158] For construction areas on Class II, III, and IV highways, the oncoming sight distance should be checked (e.g., if the design speed is 60 km / h, the oncoming sight distance is 150 m). If the construction area is a separate lane, the stopping sight distance may also be checked.

[0159] For construction sections with high traffic volume (requiring a defined traffic threshold, such as hourly traffic volume >1000 vehicles): In addition to meeting the sight distance for stopping or meeting vehicles, the identification sight distance must also be verified. Use the identification sight distance range provided in the specification (e.g., for a design speed of 60 km / h, the identification sight distance is 170m-240m). It is recommended to use the median value or select an appropriate value (e.g., 205m) based on an assessment of on-site traffic complexity as the minimum requirement.

[0160] 2. Automatic comparison and marking:

[0161] On the sight distance envelope diagram, a horizontal reference line is superimposed, and its height is the selected minimum required sight distance value (stopping sight distance / oncoming sight distance / recognition sight distance).

[0162] The system automatically scans the envelope diagram and finds all road sections (pile number ranges) where the envelope line is lower than the minimum required sight distance reference line.

[0163] The sight distance segments that do not meet the standards are highlighted with bright red lines on the envelope diagram.

[0164] The system automatically calculates and marks the starting pile number, ending pile number and length of each red line segment (such as K101+235 to K101+415, length 180 meters).

[0165] Obstacle identification: During the processing, the system can simultaneously record the point cloud features near the location point that causes insufficient line of sight (such as the presence of dense point cloud clusters), assist in determining whether it is temporary construction equipment or an obstacle, and provide a prompt in the report.

[0166] Step 5: Output the results.

[0167] 1. Graphical report, generate a comprehensive report containing the following contents:

[0168] Construction section route map (with stake numbers);

[0169] Sight distance envelope diagram (core diagram): clearly displays the sight distance change curve, the minimum sight distance reference line, substandard road sections (highlighted in red), and the marked length information;

[0170] A detailed list of key substandard road sections (red sections) (pile number range, length, measured minimum sight distance value, required sight distance value);

[0171] Screenshot of the locations of suspected obstacles that may affect the line of sight (optional).

[0172] 2. Data file: Provide a structured file (such as CSV, GIS Shapefile format) containing the original point cloud (optional), trajectory data, calculated sight distance values ​​for each point, inspection results, etc., to facilitate further analysis or import into the road management system.

[0173] Compared with the existing technology, the semi-enclosed highway construction sight distance detection process provided in the embodiments of this specification has the following advantages:

[0174] Rapidly generate intuitive assessment results, including building a "construction section sight distance envelope map" and performing a "sight distance safety test" in the embodiment of this specification. The technical effects are reflected in:

[0175] (1) By constructing a sight distance envelope diagram, the changing trend and minimum position of the sight distance along the entire construction section (especially the curve) can be displayed intuitively and continuously, providing a clear basis for safety assessment.

[0176] (2) Automatically compare the measured sight distance values ​​with the corresponding stopping sight distance, passing sight distance and identification sight distance standards specific to high-traffic construction sections in the Highway Route Design Specifications.

[0177] (3) Automatically mark out sight distance sections that do not meet the standards (marked with red lines) and clearly mark the length of the dangerous sections. This greatly simplifies the data analysis process, allowing road managers or construction safety supervisors to quickly and accurately locate risk points, significantly improving decision-making efficiency.

[0178] Improve road safety and traffic efficiency:

[0179] (1) Social benefits: By accurately and efficiently identifying sections with insufficient sight distance and potential obstacles in semi-closed construction sections (especially curves), a scientific basis is provided for timely implementation of targeted control measures (such as adding warning signs, optimizing the layout of construction areas, clearing obstacles, etc.), which directly helps to reduce the incidence of traffic accidents in this section and protect the lives of construction workers and passing drivers and passengers.

[0180] (2) Economic Benefits: Automated testing significantly reduces labor input and testing time (no need to frequently stop to set up equipment), thus lowering testing costs. At the same time, preventive measures avoid the high costs of loss of life and property, traffic delays, and construction delays that may result from accidents. Furthermore, clear markings on dangerous sections of road also help optimize traffic flow, reduce deceleration and congestion caused by poor visibility, and improve the overall efficiency of traffic on construction sections.

[0181] Strong operability and easy application: The technical solution, based on a mature vehicle-mounted platform and laser ranging technology, provides a clear process (installation, measurement, recording, calculation, inspection, and output), requires relatively common equipment, and is cost-effective. The technical benefits are reflected in the method's ease of understanding and application by departments such as highway maintenance, construction safety supervision, and traffic police and road administration, demonstrating its engineering practicality and potential for widespread adoption.

[0182] To sum up, the semi-closed highway construction sight distance detection method provided in the embodiments of this specification effectively overcomes the core defects of existing sight distance detection technology when applied in semi-closed highway construction sections, such as static, discrete, low efficiency, difficulty in detecting dynamic obstacles, and non-intuitive results. It realizes high-precision, dynamic continuous, automated, and efficient sight distance detection and evaluation, and provides strong technical support for improving the level of traffic safety management in such high-risk sections.

[0183] The specific implementation process of the embodiments of this specification can refer to the corresponding implementation steps of the above embodiments, which will not be repeated here.

[0184] Based on the same inventive concept, the embodiment of this specification also provides a semi-enclosed highway construction sight distance detection system. Figure 4 FIG. 1 is a schematic diagram of the structure of a semi-enclosed highway construction sight distance detection system provided in an embodiment of this specification.

[0185] The semi-enclosed highway construction sight distance detection system may specifically include:

[0186] Installation module 401, which sets a multi-channel laser ranging device assembly on the roof of the detection vehicle;

[0187] The measuring module 402 measures the vertical height of the installation position of the laser ranging device from the ground;

[0188] An acquisition module 403 is configured to acquire continuous point cloud data from the laser ranging device;

[0189] A calculation module 404 calculates a dynamic sight distance according to the vertical height and the point cloud data, so as to construct a sight distance envelope diagram of the construction section according to the dynamic sight distance;

[0190] The detection module 405 performs safety detection on the sight distance envelope diagram to mark risky road sections.

[0191] based on Figure 4 The present specification also provides some specific implementation plans of the system, which are described below.

[0192] Furthermore, a multi-channel laser ranging device is arranged in combination at the roof position of the detection vehicle, including:

[0193] The combined horizontal viewing angle of the multiple laser ranging devices covers a range of at least 270° in front of and to the sides of the detection vehicle.

[0194] Furthermore, measuring the vertical height of the installation position of the laser ranging device from the ground includes:

[0195] When the detection vehicle is in an unloaded state, the vertical height of the center point of the installation platform of the laser ranging device from the ground is measured.

[0196] Furthermore, before calculating the dynamic viewing distance according to the vertical height and the point cloud data, the system further includes:

[0197] Using high-precision navigation equipment, the driving trajectory and driving posture of the detection vehicle are synchronously recorded to obtain the position information of the detection vehicle.

[0198] Furthermore, before calculating the dynamic viewing distance according to the vertical height and the point cloud data, the system further includes:

[0199] Using the posture information of the detection vehicle, performing registration and fusion operations on the point cloud data, so that the point cloud data is fused into a unified global coordinate system to obtain fused global point cloud data;

[0200] A road surface point cloud set representing a road surface is segmented from the point cloud data.

[0201] Furthermore, calculating the dynamic viewing distance according to the vertical height and the point cloud data includes:

[0202] Based on the fused global point cloud data, taking the current position of the detection vehicle as a reference, taking the installation point of the laser ranging device as a viewpoint, and searching along the road point cloud set in the direction of travel of the detection vehicle, the search is conducted for the farthest visible road point from the viewpoint;

[0203] Calculating the horizontal distance between the viewpoint and the farthest visible road surface point;

[0204] The dynamic viewing distance is determined according to the horizontal distance.

[0205] Furthermore, calculating the dynamic viewing distance according to the vertical height and the point cloud data includes:

[0206] Based on the posture information of the detection vehicle, the influence of the pitch and roll motion of the detection vehicle on the sight vector is compensated.

[0207] Furthermore, constructing a sight distance envelope diagram of the construction section according to the dynamic sight distance includes:

[0208] Discretizing the driving trajectory of the detected vehicle into a series of dense trajectory sampling points;

[0209] Calculating the minimum dynamic viewing distance value corresponding to each trajectory sampling point;

[0210] A continuous curve graph is constructed with the road mileage as the horizontal coordinate and the minimum dynamic sight distance value as the vertical coordinate to obtain the sight distance envelope graph.

[0211] The embodiments of this specification provide a semi-enclosed highway construction sight distance detection system. By combining multiple laser ranging devices and setting them on the roof of the detection vehicle and measuring the vertical height of the installation position of the laser ranging devices from the ground, the sight distance data of the entire construction section (especially the curved area) can be collected continuously in real time, with a wide coverage range and no missed points. In addition, by measuring the vertical height, the actual sight height and horizontal sight distance can be accurately calculated according to different vehicle models. The detection results are more realistic and reliable, avoiding the systematic errors caused by fixed height measurement.

[0212] In addition, since the laser ranging equipment collects continuous point cloud data and calculates the dynamic line of sight based on the vertical height and point cloud data, it can automatically and objectively identify poor line of sight points introduced by dynamic construction activities that are difficult to detect or easily overlooked by traditional static point measurements, greatly improving the comprehensiveness and pertinence of hidden danger detection.

[0213] Moreover, by constructing a sight distance envelope map and then performing safety checks on it, risky sections can be automatically marked, and intuitive assessment results can be quickly generated. This greatly simplifies the data analysis process, allowing road managers or construction safety supervisors to quickly and accurately locate risk points, significantly improving decision-making efficiency, and achieving high-precision, dynamic, continuous, automated, and efficient sight distance detection and assessment, providing strong technical support for improving the level of traffic safety management on such high-risk sections.

[0214] Based on the same inventive concept, an embodiment of this specification further provides an electronic device, including at least one processor and a memory, wherein the memory stores a program and is configured to execute the following steps by the at least one processor:

[0215] A multi-channel laser ranging device is arranged on the roof of the detection vehicle;

[0216] Measuring the vertical height of the installation position of the laser ranging device from the ground;

[0217] Collecting continuous point cloud data of the laser ranging device;

[0218] Calculating a dynamic sight distance according to the vertical height and the point cloud data, so as to construct a sight distance envelope diagram of the construction section according to the dynamic sight distance;

[0219] A safety check is performed on the sight distance envelope diagram to mark risky road sections.

[0220] Among them, other functions of the processor can also refer to the contents recorded in the above embodiments, which will not be repeated here.

[0221] Based on the same inventive concept, an embodiment of this specification further provides a computer-readable storage medium, including a program for use in conjunction with an electronic device, which can be executed by a processor to complete the following steps:

[0222] A multi-channel laser ranging device is arranged on the roof of the detection vehicle;

[0223] Measuring the vertical height of the installation position of the laser ranging device from the ground;

[0224] Collecting continuous point cloud data of the laser ranging device;

[0225] Calculating a dynamic sight distance according to the vertical height and the point cloud data, so as to construct a sight distance envelope diagram of the construction section according to the dynamic sight distance;

[0226] A safety check is performed on the sight distance envelope diagram to mark risky road sections.

[0227] Among them, other functions of the processor can also refer to the contents recorded in the above embodiments, which will not be repeated here.

[0228] like Figure 5 As shown, the embodiment of this specification also provides a structural schematic diagram of a computer storage medium.

[0229] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0230] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0231] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0232] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0233] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0234] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0235] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0236] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0237] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0238] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0239] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0240] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0241] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for detecting sight distance during construction of a semi-enclosed highway, characterized in that: The semi-closed highway construction sight distance detection method comprises: A multi-channel laser ranging device is arranged on the roof of the detection vehicle; Measuring the vertical height of the installation position of the laser ranging device from the ground; Collecting continuous point cloud data of the laser ranging device; Calculating a dynamic sight distance according to the vertical height and the point cloud data, so as to construct a sight distance envelope diagram of the construction section according to the dynamic sight distance; A safety check is performed on the sight distance envelope diagram to mark risky road sections.

2. The method according to claim 1, wherein A multi-channel laser ranging device is set up on the roof of the detection vehicle, including: The combined horizontal viewing angle of the multiple laser ranging devices covers a range of at least 270° in front of and to the sides of the detection vehicle.

3. The method according to claim 1, wherein Measuring the vertical height of the installation position of the laser ranging device from the ground, including: When the detection vehicle is in an unloaded state, the vertical height of the center point of the installation platform of the laser ranging device from the ground is measured.

4. The method according to claim 1, wherein Before calculating the dynamic viewing distance according to the vertical height and the point cloud data, the method further includes: Using high-precision navigation equipment, the driving trajectory and driving posture of the detection vehicle are synchronously recorded to obtain the position information of the detection vehicle.

5. The method according to claim 4, wherein Before calculating the dynamic viewing distance according to the vertical height and the point cloud data, the method further includes: Using the posture information of the detection vehicle, performing registration and fusion operations on the point cloud data, so that the point cloud data is fused into a unified global coordinate system to obtain fused global point cloud data; A road surface point cloud set representing a road surface is segmented from the point cloud data.

6. The method according to claim 5, wherein Calculating a dynamic viewing distance according to the vertical height and the point cloud data includes: Based on the fused global point cloud data, taking the current position of the detection vehicle as a reference, taking the installation point of the laser ranging device as a viewpoint, and searching along the road point cloud set in the direction of travel of the detection vehicle, the search is conducted for the farthest visible road point from the viewpoint; Calculating the horizontal distance between the viewpoint and the farthest visible road surface point; The dynamic viewing distance is determined according to the horizontal distance.

7. The method according to claim 6, wherein Calculating a dynamic viewing distance according to the vertical height and the point cloud data includes: Based on the posture information of the detection vehicle, the influence of the pitch and roll motion of the detection vehicle on the sight vector is compensated.

8. The method according to claim 6, wherein Constructing a sight distance envelope diagram of the construction section according to the dynamic sight distance includes: Discretizing the driving trajectory of the detected vehicle into a series of dense trajectory sampling points; Calculating the minimum dynamic viewing distance value corresponding to each trajectory sampling point; A continuous curve graph is constructed with the road mileage as the horizontal coordinate and the minimum dynamic sight distance value as the vertical coordinate to obtain the sight distance envelope graph.

9. A semi-enclosed highway construction sight distance detection system, characterized in that: The semi-closed highway construction sight distance detection system includes: Install the module and set the multi-channel laser ranging equipment combination on the roof of the detection vehicle; A measuring module, for measuring the vertical height of the installation position of the laser ranging device from the ground; An acquisition module, for acquiring continuous point cloud data from the laser ranging device; a calculation module, calculating a dynamic sight distance according to the vertical height and the point cloud data, so as to construct a sight distance envelope diagram of the construction section according to the dynamic sight distance; The detection module performs safety detection on the sight distance envelope diagram to mark risky road sections.

10. A computer storage medium comprising a program for use in conjunction with an electronic device, the program being executable by a processor to perform the following steps: A multi-channel laser ranging device is arranged on the roof of the detection vehicle; Measuring the vertical height of the installation position of the laser ranging device from the ground; Collecting continuous point cloud data of the laser ranging device; Calculating a dynamic sight distance according to the vertical height and the point cloud data, so as to construct a sight distance envelope diagram of the construction section according to the dynamic sight distance; A safety check is performed on the sight distance envelope diagram to mark risky road sections.

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