Highway maintenance operation control area safe building and withdrawing method based on multi-link linkage cooperation

Abstract

According to the safe construction and withdrawal method for the road maintenance operation control area based on multi-link linkage cooperation, the safety and efficiency of construction and withdrawal operation are improved. Firstly, traffic flow, vehicle speed and accident data are collected in the pre-operation stage, a traffic risk assessment model is constructed, and an optimal operation time window is intelligently determined; secondly, tasks in the construction stage and the removal stage are decomposed and issued to all terminals, and multi-device collaborative operation is achieved according to a state logic control mechanism; and finally, multi-dimensional state vectors are constructed through monitoring equipment, abnormal approaching behaviors of social vehicles are identified, multi-stage early warning response is triggered, and whole-process evaluation is carried out based on key indexes. According to the invention, through a fusion mechanism of data driving, intelligent control and multi-link response, the intelligent level and safety protection capability of construction and withdrawal of the road maintenance operation control area are significantly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of safety construction and removal of highway maintenance operation control area, in particular to a safety construction and removal method of highway maintenance operation control area based on multi-link linkage and cooperation. BACKGROUND

[0002] The construction and removal process of the existing control area mainly relies on manual operation, such as placing traffic cones, signs and signs, etc. This traditional method is not only low in efficiency and high in labor intensity, but also has significant safety hazards. During the operation process, social vehicles often misbreak into the operation area due to the failure to identify the operation area in time, resulting in rear-end accidents and even casualties.

[0003] The existing safety construction and removal method of highway maintenance operation control area is traditional and simple. During the construction and removal process of the operation control area, social vehicles often rear-end operation vehicles and misbreak into the operation area. The safety risk is even greater during the operation of the operation vehicle and the manual placement of the traffic cone. The present application discloses a safety construction and removal method of highway maintenance operation control area based on multi-link linkage, which effectively solves the safety protection problem in the construction and removal process of the highway maintenance operation control area. SUMMARY

[0004] In order to solve the technical problems mentioned in the background art, the present application proposes a safety construction and removal method of highway maintenance operation control area based on multi-link linkage and cooperation.

[0005] Therefore, the technical scheme adopted by the present application is as follows:

[0006] The safety construction and removal method of highway maintenance operation control area based on multi-link linkage and cooperation comprises:

[0007] S1, in the pre-operation stage, collecting the road section data of the road section to be operated, constructing a traffic risk assessment model and generating a risk score value, determining the operation time window according to the risk score value, and generating an operation task plan, the operation task plan comprising a construction stage sub-plan and a removal stage sub-plan;

[0008] S2, the construction stage sub-plan is sent to the anti-collision buffer vehicle terminal, the sign setting vehicle terminal and the operation personnel terminal, and is executed in turn according to the set order, and a linkage mechanism based on state logic control is constructed, and the completion state judgment condition of each execution step is set;

[0009] S3, the state information of the operation area is obtained through the monitoring equipment arranged in the operation area, when the social vehicle abnormally approaches, the vehicle-mounted warning device and the ground warning device are controlled to send a warning signal, and the reminding information is fed back to the operation personnel terminal;

[0010] S4, in the removal phase, the removal phase sub-plan is completed in turn, and the key indicators in the removal process are collected for evaluation, and the operation efficiency score is generated.

[0011] Further, the road section data includes traffic flow data, average vehicle speed and historical traffic accident data,

[0012] The traffic flow data is the number of social vehicles passing through one side of the proposed operation road section per unit time period T ,

[0013] The average vehicle speed is the average passing speed of social vehicles per unit time period T ,

[0014] The historical traffic accident data is the accident risk index per unit time period T in a day in a historical period of N days .

[0015] Further, the traffic risk assessment model includes a three-layer structure, namely an input layer, a fusion layer and an output layer,

[0016] The input layer performs dimensionless processing on the road section data to obtain normalized social vehicle number , average passing speed and accident risk index ;

[0017] The fusion layer performs feature fusion and nonlinear mapping on the normalized road section data, and the specific steps are,

[0018] 1) preliminarily obtain the risk score value by weighted fusion and nonlinear activation mapping, and the formula is:

[0019]

[0020] Wherein, is the risk score value per unit time period T; , and are the index weights of traffic flow data, average vehicle speed and historical traffic accident data respectively; is a Sigmoid activation function;

[0021] 2) correct the preliminarily obtained risk score value by an exponential enhancement function to generate the final risk score value, and the formula is:

[0022]

[0023] Wherein, is the final risk score value per unit time period T; is a regulation parameter;

[0024] The output layer performs minimum value screening on the final risk score values of all unit time periods, and takes the unit time period corresponding to the screened minimum value as the construction operation time window.

[0025] Further, the construction phase sub-plan is divided into a pre-warning vehicle dispatch, a marker robot operation start, and an operation personnel access in a set order, the pre-warning vehicle includes a collision prevention buffer vehicle and a marker vehicle,

[0026] The collision prevention buffer vehicle terminal executes the pre-warning vehicle dispatch plan; the marker vehicle terminal executes the pre-warning vehicle dispatch and marker robot operation start plan; and the operation personnel terminal executes the operation personnel access plan.

[0027] Further, the determination condition set by the linkage mechanism is expressed as:

[0028]

[0029] Wherein, represents the spatial state of the execution step ; represents the functional state; represents the collection time stamp of the execution data;

[0030] When the determination condition set by the linkage mechanism is met, a state transition is triggered, which is expressed as:

[0031]

[0032] Wherein, represents the control state of the execution step ; represents the state transition function;

[0033] When the determination condition set by the linkage mechanism is not met, the current execution step is maintained and the next step construction phase sub-plan instruction is locked.

[0034] Further, the specific steps of the pre-warning signal are,

[0035] 1) Construct a multi-dimensional state vector according to the state information, which is expressed as:

[0036]

[0037] Wherein, is the passing speed of social vehicle i at time ; is the minimum distance of social vehicle i between time and the boundary of the operation area; is the minimum distance of operation personnel j between time the position coordinates of the traffic cone;

[0038] 2) defining a judgment function , denoted as:

[0039]

[0040] wherein, is a threshold value of the speed of the social vehicle; is a distance threshold value; is the included angle between the driving direction of the social vehicle and the normal line of the boundary of the work area; is a direction threshold value;

[0041] When the output of the judgment function is , the vehicle-mounted early warning device and the ground early warning device issue a warning signal and send a reminder signal to the work personnel terminal.

[0042] Further, the removal phase sub-plan is divided into a pre-warning vehicle reverse scheduling, a marker device recovery, and a work personnel evacuation in a set order;

[0043] The key indicators are respectively a layout consistency indicator, a work timeliness indicator, a warning response indicator, and a work personnel behavior standardization indicator,

[0044] The layout consistency indicator The definition formula is:

[0045]

[0046] wherein, is the total number of traffic cones; is the traffic cone recovery position; is the traffic cone layout position; is the Euclidean distance function;

[0047] The work timeliness indicator is the total time of the construction phase and the removal phase;

[0048] The warning response indicator is denoted as:

[0049]

[0050] wherein, is the total number of warning events during the work; is the number of warning events that are effectively responded to and successfully avoid risks;

[0051] The work personnel behavior standardization indicator is denoted as:

[0052]

[0053] wherein, is the cumulative presence duration of all operation personnel during the operation period; is the duration of the operation personnel not acting according to the prompt information;

[0054] After normalizing the key indicators, the operation efficiency score is obtained based on weighted fusion .

[0055] Compared with the prior art, the application has the advantages that:

[0056] 1. The application uses traffic flow, average speed and historical accident data to construct a three-layer structure risk score model, and realizes quantitative analysis of traffic risk in each time period and selection of optimal operation period through nonlinear processing of Sigmoid and exponential function, thereby avoiding blind operation during peak period and effectively avoiding risks.

[0057] 2. The application forms a verifiable and feedbackable state judgment logic according to the set spatial state, functional state and collection timestamp by issuing the operation plan to the anti-collision buffer vehicle, the marker vehicle and the operation personnel terminal, thereby ensuring that the construction and removal tasks in each stage are strictly executed according to the linkage sequence, preventing execution out of sequence or jumping of links, and improving operation consistency and control area integrity.

[0058] 3. The application constructs state vectors of social vehicles and operation personnel based on real-time monitoring equipment, introduces physical indicators such as speed, distance and direction angle to judge abnormal close behavior, and triggers multi-layer linkage response of vehicle-mounted early warning, ground early warning and operation personnel terminal prompt through functions, thereby effectively avoiding rear-end and intrusion accidents caused by driver reaction lag or ambiguity.

[0059] 4. The application sets four categories of indicators including layout consistency, operation timeliness, early warning response and personnel behavior standardization, records the whole construction and removal process in real time and analyzes it later, and generates an operation efficiency score through weighted fusion to form a positive feedback loop, thereby assisting management personnel to optimize subsequent operation strategies and significantly improving the fine level of operation management. BRIEF DESCRIPTION OF DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0061] Fig. 1A flow chart of the method for building and removing the safety of the control area of the road maintenance operation according to the present application is shown in Fig. 1.

[0062] Fig. 2 A flow chart of the operation time window generation according to the present application is shown in Fig. 2.

[0063] Fig. 3 A flow chart of the construction phase operation plan execution according to the present application is shown in Fig. 3. DETAILED DESCRIPTION

[0064] To achieve the above object, the present application is implemented by the following technical scheme, and the present application provides a method for building and removing the safety of the control area of the road maintenance operation based on multi-link linkage and cooperation, please refer to Figs. 1 to 3 The method comprises the following steps:

[0065] S1, in the pre-operation stage, the traffic flow data, average speed and historical traffic accident data of the planned operation section are collected, a traffic risk assessment model is constructed, the risk level of different time periods is calculated, the operation time window is determined according to the assessment result, and the operation task plan is generated,

[0066] To realize the safety building and removal of the control area of the road operation, the traffic conditions of the target section need to be evaluated in multiple factors in the pre-operation stage, so as to determine the safest and most reasonable operation time, and generate an automatic operation task sequence accordingly;

[0067] Firstly, the road section data of the planned operation section in each unit time period in a day which meets the daily operation time is collected, including the traffic flow data, average speed and historical traffic accident data,

[0068] In the embodiment, the traffic flow data is obtained by the geomagnetic coil detector, microwave radar detector (RTMS) or high-precision video detection unit deployed in the planned operation section, and the number of social vehicles passing through one side of the lane of the planned operation section in a unit time period T in a day is obtained ;

[0069] The average speed information is obtained by the microwave speed radar, and the average speed of the social vehicles in a unit time period T in a day is calculated, and the formula is as follows:

[0070]

[0071] Among them, is the average speed of the social vehicles in a unit time period T, is the speed of the i-th social vehicle in a unit time period T;

[0072] ​The historical traffic accident data is obtained by accessing a traffic accident record database, a traffic operation monitoring platform or a third-party road safety data interface, and the accident information in a unit time period T in a historical period of N days on the to-be-operated road section is counted, and the formula is:

[0073]

[0074] wherein, is the accident risk index in the unit time period T; is the number of accidents in the unit time period T on the th day.

[0075] To realize quantitative modeling of the operation period risk of the to-be-operated road section, a multi-index fusion traffic risk assessment model is constructed for scoring the risk level of the traffic state of the to-be-operated road section in a unit time period, and the model includes three layers, i.e., an input layer, a fusion layer and an output layer,

[0076] The input layer performs dimensionless processing on the road section data of different physical dimensions, and unifies the numerical range, i.e., the number of social vehicles is normalized to , the average speed of the social vehicles is converted to , and the accident risk index is normalized to ; through normalization, the input features are mapped to the interval, which is convenient for subsequent fusion processing;

[0077] After the normalization processing of the road section data is completed by the input layer, the fusion layer further performs feature fusion and nonlinear mapping on different road section data to realize higher recognition accuracy of the traffic risk, and specifically,

[0078] The normalized road section data is input into a weighted fusion function, and a risk score value is preliminarily obtained through nonlinear activation mapping, and the formula is:

[0079]

[0080] wherein, is the risk score value in the unit time period T; , and are the index weights of the traffic flow data, the average speed and the historical traffic accident data, respectively; is a Sigmoid activation function, which is a Sigmoid function with boundary scaling effect, and is used to control the fusion value in the range, and the formula is:

[0081]

[0082] wherein, The normalized three indicators are weighted and calculated to obtain a value; is a function slope coefficient, which controls the degree of change of the function; is a function center offset, which makes the risk score more sensitive to changes in the expected interval;

[0083] To further amplify the score difference of the high-risk area, an exponential enhancement function is introduced for correction to form the final score value, and the formula is:

[0084]

[0085] wherein, is the final risk score value of the unit time period T; is an adjustment parameter, which is used for nonlinear stretching of the score result with high risk bias to expand the score difference between the high-risk time period and the low-risk time period.

[0086] After the final risk score values of all unit time periods are calculated, the output layer performs minimum value screening on all final risk score values, and the unit time period with the minimum final risk score value is taken as the construction and removal operation time window.

[0087] After the construction and removal operation time window is determined, a structured operation task plan is generated, including a construction phase sub-plan and a removal phase sub-plan. The construction phase sub-plan is used to guide the transition of the highway maintenance operation control area from the unguarded state to the fully protected state, ensuring that the traffic flow is not completely interrupted, and realizing rapid deployment and control. The removal phase sub-plan is used to guide the orderly exit of facilities and personnel from the operation control area after the completion of the highway maintenance operation, avoiding traffic chaos or accidental injury caused by left-over materials.

[0088] The construction phase sub-plan includes early warning vehicle dispatching, sign setting robot operation starting, and operation personnel entering the site. The removal phase sub-plan includes reverse sequence dispatching of early warning vehicles, sign setting equipment recovery, and operation personnel evacuation.

[0089] S2, the construction phase sub-plan is issued to the anti-collision buffer vehicle terminal, the sign setting vehicle terminal, and the operation personnel terminal, and is executed in sequence according to the set order, while a state logic control-based linkage mechanism is constructed, and the completion state judgment conditions of each execution step are set,

[0090] For the execution process of the construction phase sub-plan, through task decomposition and state logic linkage control, multiple operation terminals are coordinated to efficiently execute in the set order, and the completion state of each task step is verifiable and feedbackable, so as to realize safe and efficient construction of the operation control area. Specifically,

[0091] The early warning vehicle includes a collision avoidance buffer vehicle and a marking vehicle. In the embodiment, the collision avoidance buffer vehicle performs deceleration guidance and parking tasks at the end. After receiving the planning instruction, the collision avoidance buffer vehicle enters the work control area preferentially, performs deceleration guidance operation, guides the subsequent marking vehicle to decelerate, and after the collision avoidance buffer vehicle reaches the preset parking point, the rear collision avoidance pad is unfolded together with the vehicle-mounted early warning device on the vehicle to form physical buffer protection, the early warning function is turned on to prevent social vehicles from rear-ending or breaking into the work control area, and a signal of a state of being in place is fed back.

[0092] The marking vehicle cooperates with the marking robot to lay traffic cones. After receiving the signal of the state of the collision avoidance buffer vehicle being in place, the marking vehicle enters the work control area and stops at the set position. Then, the marking robot on the marking vehicle starts the laying process, releases traffic cones one by one according to the laying task plan, and constructs a complete work control area structure. Each traffic cone position in the laying process is identified by the robot number, and a signal of a state of laying and control being completed is fed back after the laying is completed.

[0093] The work personnel wear smart wearable devices to enter the work area. The smart wearable device includes a positioning module and a communication module. The positioning module supports GPS, Beidou and inertial fusion positioning, and synchronizes the position in real time. The communication module is used to upload the state of the work personnel and receive the reminder signal. After the work personnel complete the binding of the smart wearable device, they are authorized to enter the work control area.

[0094] To ensure the sequence, safety and cooperation of each execution step of the work control area, a multi-terminal linkage mechanism based on state logic control is constructed. Through the closed-loop control logic of state monitoring, judgment, unlocking and execution, the ordered linkage and interlocking execution between each execution step are realized.

[0095] The completion state of each execution step is determined by a state completion function whether the completion condition is met. The judgment condition of the state completion function is expressed as:

[0096]

[0097] Among them, represents the spatial state of the execution step ; represents the function state; represents the acquisition timestamp of the execution data; when the judgment condition is met, that is, the execution step has been completed, and the state transition is triggered, which is expressed as:

[0098]

[0099] Among them, represents the control state of the execution step ; The state transition function represents that when the current execution step does not meet the judgment condition, the current execution step is maintained and the subsequent execution instruction is locked, and only when the current execution step meets the judgment condition, the execution permission of the next execution step is activated.

[0100] In an embodiment, the execution step The spatial state specifically represents the positional relationship of the execution step on the physical space, such as whether the anti-collision buffer vehicle has traveled to the preset parking point, whether the marker setting vehicle has reached the traffic cone setting starting point, etc.; the functional state specifically represents whether the function of the current execution step has been completed or normally operated, such as whether the marker setting robot has completed the traffic cone setting, whether the work personnel have worn the intelligent device and completed the binding; the control state of the execution step specifically represents the abstract description of the execution step , which is used to determine whether the next phase can be entered at present, such as the control state of the marker setting robot being traffic cone setting completion, waiting for storage; the state transition specifically represents that when a certain execution step meets the judgment condition, it is automatically promoted to the next execution step, such as when the anti-collision vehicle has traveled to the preset parking point (spatial state), the warning function is turned on (functional state), and the control state is changed from waiting for positioning to allowing the marker setting vehicle to enter the work control area.

[0101] S3, through the monitoring equipment arranged in the work area, the work area state information is obtained, when it is detected that the social vehicle abnormally approaches, the vehicle-mounted warning device and the ground warning device are controlled to issue a warning signal, and the reminding information is fed back to the work personnel terminal.

[0102] Through the monitoring equipment arranged in the work control area, including radar, camera, UWB positioning equipment and the intelligent wearable device worn by the work personnel, the work area state information is obtained, so as to intelligently identify that there is an abnormal approaching behavior of the social vehicle, and based on the warning level, the vehicle-mounted warning device and the ground warning device are controlled to issue a warning signal, and the reminding information is pushed to the work personnel terminal, guiding the work personnel to quickly leave the risk area, and the specific steps are,

[0103] 1) First, the state information of the work control area in a unit time is abstracted, a multi-dimensional state vector is constructed, which is used to describe the perception data at time , and is represented as:

[0104]

[0105] Among them, is the passing speed of the social vehicle i at time , which is measured by the radar equipment in real time; is the passing speed of the social vehicle i at time The minimum distance between the work area boundary, calculated by the camera and UWB positioning; is the position coordinate of the work personnel j at time , provided by the built-in UWB module of the wearable device in real time; the state vector is collected every other sampling period and stored in the state matrix for subsequent judgment and analysis;

[0106] 2) To detect whether the social vehicle is abnormally close to the work control area, a judgment function is defined When the judgment condition is met, it is considered that there is a close risk, and the judgment function is represented as:

[0107]

[0108] wherein, is the threshold value of the speed of the social vehicle, which is considered to be fast approaching if it exceeds; is the distance threshold value, which is considered to be close when the distance between the social vehicle and the work area is less than the value; is the angle between the driving direction of the social vehicle and the normal line of the work area boundary, obtained from the camera image sequence; is the direction threshold value, which is considered to be a dangerous direction if is less than the direction threshold value; when the social vehicle is fast, close, and the forward direction is less than the direction threshold value, it is considered that the social vehicle has an abnormal approaching behavior, and ;

[0109] 3) When the judgment is confirmed, there is an abnormal approaching social vehicle, and the linkage response measures are immediately started, in the embodiment, the vehicle-mounted warning device on the warning vehicle emits high-intensity directional sound waves, or the high-light warning lamp is turned on, to warn the approaching social vehicle driver; the ground warning device deployed at the edge of the work control area emits voice broadcast and red flashing light to prompt the approaching danger of the work area, and to warn the social vehicle driver to bypass the front work area; the smart wearable device worn by the work personnel vibrates immediately after receiving the warning signal of the vehicle-mounted warning device and the ground warning device, and flashes red light, or emits voice broadcast to prompt the work personnel to evacuate the current work point.

[0110] S4, in the removal phase, the removal phase sub-plan is completed in turn, and the key indicators in the removal process are collected for evaluation, and the work efficiency score is generated,

[0111] After the highway maintenance work task is completed, the removal phase sub-plan is automatically started, each execution terminal is controlled to withdraw from the work control area in turn, and the whole process data collection and evaluation process is started, to realize the closed-loop optimization of the subsequent work plan,

[0112] First, the pre-warning vehicle reverse scheduling plan is executed, after receiving the scheduling command, the anti-collision buffer vehicle actively drives away from the work area, drives forward to the nearest road exit, and stops at the set position behind the work area to ensure that passive protection can still be provided to the work area during the removal phase, forming a safe buffer; the marker vehicle starts the reverse mode and drives in reverse along the traffic cone layout path, controlling the marker robot to complete the automatic recycling of traffic cones one by one, to prevent rear collision risks caused by reverse operation, the vehicle-mounted pre-warning device on the marker vehicle remains in the open state, the radar remains in active monitoring mode, and real-time scanning of rear and side social vehicles is performed;

[0113] Then the marker equipment recycling plan is carried out, the marker robot identifies the traffic cone number and position according to the original layout trajectory, and performs mechanical operation in the action sequence of identification, grabbing and recycling, after the traffic cone recycling is completed, the marker robot automatically retracts and returns to the marker vehicle compartment to reset;

[0114] Finally, the work personnel evacuation plan is carried out, after receiving the evacuation instruction, the work personnel gradually exits the work area according to the set evacuation route, the smart wearable device (including a positioning module and a communication module) worn by the work personnel continuously uploads the work personnel position information and state data, and after ensuring that all work personnel have left the work area, the current work state is updated to removal completion.

[0115] When the work state is removal completion, four key indicators in the construction and removal process are collected, which are layout consistency indicator, work timeliness indicator, pre-warning response indicator and work personnel behavior standardization indicator, specifically,

[0116] Layout consistency indicator Used to measure the spatial deviation between traffic cone layout and recycling position, the definition formula is:

[0117]

[0118] Among them, is the total number of traffic cones; is the traffic cone recycling position (two-dimensional vector); is the traffic cone layout position; is the Euclidean distance function; the smaller the layout consistency indicator, the better the consistency of the layout and recycling trajectory, and the higher the accuracy of the marker operation;

[0119] Work timeliness indicator is the total time of the construction phase and the removal phase, this indicator reflects the time efficiency of the overall operation, the smaller the value, the better the operation rhythm;

[0120] Pre-warning response indicator The four key indicators are traffic risk warning timeliness and effectiveness, represented as:

[0121]

[0122] wherein, is the total number of warning events during the operation period; is the number of warning events that are effectively responded to and successfully avoid risks; the higher the index value, the better the response effect of the warning, and the higher the safety of the operation;

[0123] Operation personnel behavior specification index For evaluating whether the operation personnel follow the operation behavior specification, the trajectory of the operation personnel is recorded by the positioning device and compared with the specification area, and is defined as:

[0124]

[0125] wherein, is the cumulative on-site duration of all operation personnel during the operation period; is the duration of the operation personnel not acting according to the reminder information; the closer the index is to 1, the more standardized the personnel behavior is, and the more rigorous the operation control is.

[0126] Finally, after normalizing the four key indicators, the operation efficiency score is output according to weighted fusion, and the formula is:

[0127]

[0128] wherein, , , and are the weighted coefficients of the four key indicators respectively; and respectively represent the positive contribution of precision and timeliness; the comprehensive score of operation efficiency is compared with the historical comprehensive score of operation efficiency, which is used to generate the grade evaluation of the current construction and removal operation, and the subsequent construction and removal operation is optimized according to the grade evaluation.

[0129] The highway maintenance operation control zone safety construction and removal method based on multi-link linkage and cooperation provided by the application realizes intelligent planning of the operation period by constructing a traffic risk evaluation model, and relies on a state logic control mechanism to decompose the construction and removal stage tasks into controllable linkage steps, uniformly dispatches the anti-collision buffer vehicle, the sign vehicle and the operation personnel terminal device, cooperates with the vehicle-mounted and ground warning systems and the wearable intelligent device, forms a closed-loop control process of perception, judgment and response; at the same time, a multi-dimensional operation evaluation index system is introduced to quantitatively evaluate the consistency of layout, operation timeliness, warning response and personnel behavior specification, to realize intelligent management and control and optimization feedback of the whole construction and removal process.

[0130] In summary, the application fuses active early warning, anti-collision buffer and robot automation operation advantages, and forms a data-driven decision, linkage logic control and intelligent perception response integrated construction and evacuation system, which not only significantly improves operation efficiency and safety guarantee capability, but also provides a feasible technical path for the standardization and intelligent development of highway maintenance operation.

[0131] The above merely describes a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be encompassed in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for building and removing a safety zone in a highway maintenance operation control area based on multi-link linkage and cooperation, characterized in that, The method comprises: S1, in the pre-operation stage, collecting road section data of the road section to be operated, constructing a traffic risk assessment model and generating a risk score value, determining an operation time window according to the risk score value, and generating an operation task plan, the operation task plan comprising a construction phase sub-plan and a removal phase sub-plan; S2, the construction phase sub-plan is issued to the anti-collision buffer vehicle terminal, the sign vehicle terminal and the operation personnel terminal, and is executed in turn according to the set order, and a linkage mechanism based on state logic control is constructed, and the completion state judgment condition of each execution step is set; S3, the state information of the operation area is obtained through the monitoring equipment arranged in the operation area, when the abnormal approach of the social vehicle is detected, the vehicle-mounted early warning device and the ground early warning device are controlled to send early warning signals, and the operation personnel terminal is fed back with prompt information; S4, in the removal phase, the removal phase sub-plan is completed in turn, and the key indicators in the construction and removal process are collected for evaluation, and an operation efficiency score is generated.

2. The method for safety construction and removal of control zone of highway maintenance operation based on multi-link linkage coordination according to claim 1, characterized in that, The road section data comprises traffic flow data, average speed and historical traffic accident data, The traffic flow data is the number of social vehicles passing through one side lane of the tentative work section in a unit time period T , The average vehicle speed is the average passing speed of social vehicles in a unit time period T , The historical traffic accident data is an accident risk index in a unit time period T in a day in a historical period of N days .

3. The method for safety construction and removal of control zone of highway maintenance operation based on multi-link linkage and cooperation according to claim 2, characterized in that, The traffic risk assessment model comprises three layers, namely an input layer, a fusion layer and an output layer, The input layer performs dimensionless processing on the road section data to obtain normalized social vehicle number , average passing speed and accident risk index ; The fusion layer performs feature fusion and non-linear mapping on the normalized road section data, and the specific steps are: 1) the risk score value is obtained by weighted fusion and non-linear activation mapping, and the formula is: wherein, is the risk score value for the unit time period T; , and are the indicator weights of the traffic flow data, average vehicle speed, and historical traffic accident data, respectively; is the Sigmoid activation function; 2) the risk score value obtained is corrected by an exponential enhancement function to generate the final risk score value, and the formula is: wherein, is the risk score value for the final time period T; is a tuning parameter; The output layer performs minimum value screening on the final risk score value of all unit time periods, and the unit time period corresponding to the screened minimum value is taken as the construction and removal operation time window.

4. The method for safety construction and removal of control zone of highway maintenance operation based on multi-link linkage and cooperation according to claim 1, characterized in that, The construction phase sub-plan is divided into warning vehicle scheduling, sign robot operation starting and operation personnel entering according to the set order, The anti-collision buffer vehicle terminal executes the warning vehicle scheduling plan; the sign vehicle terminal executes the warning vehicle scheduling and sign robot operation starting plan; and the operation personnel terminal executes the operation personnel entering plan.

5. The method for safety construction and removal of control zone of highway maintenance operation based on multi-link linkage coordination according to claim 4, characterized in that, The judgment condition set by the linkage mechanism is expressed as: wherein, represents a spatial state of performing step ; represents a functional state; represents a collection timestamp of performing data; When the judgment condition set by the linkage mechanism is met, the state transition is triggered, which is expressed as: wherein represents a control state that performs step ; represents a state transition function; When the judgment condition set by the linkage mechanism is not met, the current execution step is maintained and the next construction phase sub-plan instruction is locked.

6. The method for safety construction and removal of control zone of highway maintenance operation based on multi-link linkage coordination according to claim 1, characterized in that, The specific steps of the early warning signal are: 1) Constructing a multi-dimensional state vector from the state information is denoted as: wherein, is the passing speed of the social vehicle i at time ; is the minimum distance of the social vehicle i between time and the boundary of the work zone; is the position coordinate of the work personnel j at time ; 2) defining a judging function is expressed as: wherein, is a threshold value for the speed of the social vehicle; is a distance threshold value; is an angle between the driving direction of the social vehicle and the normal of the boundary of the work zone; is a direction threshold value; When the judgment function outputs , the vehicle-mounted early warning device and the ground early warning device issue a warning signal and send a reminder signal to the operator terminal.

7. The method for safety construction and removal of control zone of highway maintenance operation based on multi-link linkage coordination according to claim 1, characterized in that, The removal phase sub-plan is divided into reverse scheduling of warning vehicles, recovery of sign equipment and evacuation of operation personnel according to the set order; The key indicators are respectively a layout consistency indicator, an operation timeliness indicator, a warning response indicator and an operation personnel behavior specification indicator, The layout consistency index The definition formula is: wherein, is the total number of traffic cones; is the traffic cone recovery position; is the traffic cone deployment position; is the Euclidean distance function; The job timeliness index is the total time for the construction phase and the removal phase; The pre-warning response index is represented as: wherein, is the total number of pre-warning events during the job; is the number of pre-warning events that were effectively responded to and successfully avoided risk. The job worker behavior norm index is represented as: wherein, is the cumulative presence duration of all workers during the work period; is the duration of the worker not acting on the reminder information; The key indicators are normalized, and a job efficiency score is obtained based on weighted fusion .

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