Highway hidden danger troubleshooting method

Abstract

The invention discloses a highway hidden danger troubleshooting method, which comprises the following steps: acquiring altitude data of a plurality of acquisition points of a target highway, and preprocessing the altitude data; describing a plurality of reference points corresponding to the acquisition points in the two-dimensional coordinate system; wherein the abscissa of each reference point is position data corresponding to each acquisition point along the longitudinal direction, and the ordinate of each data point is preprocessed altitude data corresponding to each acquisition point; smoothing each reference point, and dividing a grade change point section; wherein three reference points in the grade change point section are selected circularly, the three reference points are a first reference point, a second reference point and a third reference point in sequence in the horizontal coordinate direction, the interval between the first reference point and the second reference point is equal to the interval between the second reference point and the third reference point, and the interval between the first reference point and the second reference point is larger than or equal to three; and calculating radius values of circumcircles corresponding to the three reference points, and judging whether the radius values meet standards or not. According to the scheme, the measurement precision and the measurement efficiency of the road longitudinal slope can be considered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of highway hidden trouble investigation, and particularly relates to a highway hidden trouble investigation method. BACKGROUND

[0002] Road longitudinal slope is the core parameter of road longitudinal gradient, which is defined as the elevation change rate of unit horizontal distance along the forward direction of the road, and the calculation formula is longitudinal slope(%)=(elevation difference / horizontal distance)×100%. The parameter is directly related to driving safety, drainage efficiency and traffic safety of semi-closed highway construction section. Especially in semi-closed highway construction section(referred to as the section of one side of the road under construction), the longitudinal slope will cause the following risks: steep slope or continuous long downhill slope is easy to cause vehicle braking failure, increase the risk of collision between construction personnel and passing vehicles; the slope top and slope bottom may have a blind area of sight distance, and may cause head-on collision or rear-end collision accidents. Therefore, the Technical Standards for Highway Engineering clearly requires the maximum longitudinal slope limit value, slope length limit value and minimum vertical curve radius limit value of high-grade highway(including first-class highway and expressway), that is, it is necessary to measure and control the longitudinal slope. In the related art, the traditional longitudinal slope measurement is collected by using a level, a total station and other devices to collect elevation points in sections by manual operation. The measurement method is restricted by terrain obstruction and visibility, and the single measurement progress is slow and only covers a local section, that is, the measurement efficiency of longitudinal slope measurement is low and the measurement precision is poor. SUMMARY

[0003] The main purpose of the present application is to provide a highway hidden trouble investigation method, which aims to solve the technical problem of low measurement efficiency and poor measurement precision of longitudinal slope measurement.

[0004] To achieve the above-mentioned purpose, the embodiment of the present application provides a highway hidden trouble investigation method, which comprises the following steps: obtaining the altitude data of a plurality of collection points of the target highway, and preprocessing each altitude data; wherein each collection point is arranged along the longitudinal direction of the target highway in sequence;

[0005] A plurality of reference points are depicted in a two-dimensional coordinate system corresponding to each collection point; wherein the horizontal coordinate of each reference point is the position data of each collection point along the longitudinal direction, and the vertical coordinate of each data point is the preprocessed altitude data of each collection point;

[0006] Smooth each of the reference points, and divide a slope change point section; wherein, three reference points in the slope change point section are selected circularly, and the three reference points are a first reference point, a second reference point and a third reference point in turn along the abscissa direction, the interval between the first reference point and the second reference point is equal to the interval between the second reference point and the third reference point, and both intervals are greater than or equal to three, the radius value of the circumscribed circle corresponding to the three reference points is calculated, and whether the radius value meets the standard is judged.

[0007] In some embodiments, the step of obtaining the elevation data of the plurality of collection points of the target road and preprocessing each of the elevation data comprises: smoothing and / or unidirectional processing each of the elevation data.

[0008] In some embodiments, the step of obtaining the elevation data of the plurality of collection points of the target road and preprocessing each of the elevation data comprises: obtaining the elevation data of each of the collection points by satellite positioning.

[0009] In some embodiments, the step of obtaining the elevation data of the plurality of collection points of the target road and preprocessing each of the elevation data comprises: driving a vehicle carrying a satellite positioning device along the target road in the longitudinal direction, and the satellite positioning device outputs the corresponding elevation data when the vehicle drives to the collection point.

[0010] In some embodiments, the step of depicting a plurality of reference points corresponding to each of the collection points in a two-dimensional coordinate system comprises: taking the road stake number data at the collection points of each of the target roads as the abscissa of the corresponding reference points.

[0011] In some embodiments, the step of taking the road stake number at the collection points of each of the target roads as the abscissa of the corresponding reference points comprises: driving a vehicle carrying an image recognition device along the target road in the longitudinal direction, image recognizing the road stake corresponding to the collection point and outputting road stake number data; or manually identifying and outputting the road stake number data of the road stake corresponding to the collection point.

[0012] In some embodiments, the step of calculating the radius value of the circumscribed circle corresponding to the three reference points comprises:

[0013] Drawing a triangle with the three reference points as vertices, respectively obtaining the lengths of the three sides a, b and c of the triangle; according to the following formula, the radius value R of the circumscribed circle corresponding to the three reference points is obtained i ;

[0014]

[0015] wherein,

[0016] In some embodiments, the step of depicting a plurality of reference points corresponding to each of the collection points in the two-dimensional coordinate system further comprises the steps of:

[0017] smoothing each of the reference points and dividing out steep slope point segments; wherein two interval reference points of the steep slope point segments are cyclically selected, longitudinal slope data values are calculated, and it is determined whether the longitudinal slope data values conform to a standard.

[0018] In some embodiments, the step of cyclically selecting two interval reference points of the steep slope point segments and calculating longitudinal slope data values comprises the steps of:

[0019] a longitudinal slope data value i is obtained according to the following formula: i = Δh / ΔL x 100%; wherein Δh is the vertical height difference between the two reference points, and ΔL is the horizontal distance between the two reference points.

[0020] In some embodiments, the step of determining whether the radius value conforms to a standard comprises the steps of:

[0021] a standard table is queried; wherein the standard table comprises limit radius threshold values under different design speeds;

[0022] it is determined whether the radius value conforms to a standard according to the design speed of the target road and the standard table.

[0023] Compared with the prior art, the beneficial effects of the present application include:

[0024] In the technical scheme of the present application, by processing and analyzing the elevation data of the multiple collection points of the target road, the parameters of the slope change point section can be obtained after calculation, and then it is judged whether the longitudinal slope meets the requirements. Compared with the scheme of collecting elevation points by using a level meter, a total station and other equipment, the measurement accuracy of longitudinal slope measurement can be effectively improved, and the reliability of road hidden danger investigation can be ensured. Moreover, after the reference points are smoothed and the slope change point section is divided, the three reference points of the slope change point section are selected by circulation, the interval between the first reference point and the second reference point is equal to the interval between the second reference point and the third reference point, and both of them are greater than or equal to three, and then the radius value of the circumscribed circle corresponding to the three reference points is calculated, so that the dynamic data can be obtained. Compared with the scheme of measuring by using instruments, the accuracy of the data parameters obtained by the present scheme is higher, and the real-time change of the longitudinal slope can be conveniently monitored. In addition, the road hidden danger investigation method of the present scheme is not restricted by terrain obstruction and visibility, and the slope measurement efficiency can be effectively improved. In summary, the road hidden danger investigation method of the present scheme can realize continuous monitoring of the longitudinal slope under non-closed conditions, and can simultaneously solve the problems of collection efficiency, traffic safety and traffic management during construction, provide a technical basis for dynamic early warning of longitudinal slope related accident risks, and take into account the measurement accuracy and efficiency of the road longitudinal slope. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art 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.

[0026] Figure 1 It is a schematic diagram of the road in an embodiment of the present application; wherein the first slope change point section, the second slope change point section and the steep slope point section are shown, and L indicates the longitudinal direction of the road, and H indicates the elevation direction of the road;

[0027] Figure 2 It is a flowchart of the road hidden danger investigation method in an embodiment of the present application;

[0028] Figure 3 It is a flowchart of the road hidden danger investigation method in another embodiment of the present application.

[0029] BRIEF DESCRIPTION OF DRAWINGS:

[0030] Road 10;

[0031] First slope change point section 100;

[0032] Second slope change point section 200;

[0033] Steep slope point section 300.

[0034] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments in combination with the accompanying drawings. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0036] In the related art, the traditional longitudinal slope measurement relies on devices such as level and total station to collect elevation points in sections, that is, the operation needs to be closed for the road section. This method has significant defects: first, the measurement method is inefficient, which is restricted by terrain obstruction and visibility, and the single measurement progress is slow and only covers a local road section; second, frequent road closure will exacerbate traffic congestion on the semi-closed construction road section; finally, this measurement method can only provide static discrete data and cannot dynamically perceive the real-time changes of the longitudinal slope caused by construction. And although the existing slope detection device can fix the pointer reading, it still needs manual operation and cannot solve the problem of continuous monitoring.

[0037] In view of this, the embodiments of the present application propose a highway hidden danger investigation method, which can effectively solve the above problems. Referring to Figure 2 , the highway hidden danger investigation method comprises the following steps:

[0038] S101: Obtain the elevation data of a plurality of collection points of a target highway 10, and pre-process each elevation data; wherein each collection point is arranged in sequence along the longitudinal direction of the target highway 10.

[0039] It should be noted that in some embodiments, the elevation data of each collection point of the target highway 10 can be obtained through a satellite positioning system. In other embodiments, the elevation data of each collection point of the target highway 10 can also be obtained through laser or radar, and the specific acquisition method of the elevation data can be determined according to the actual situation. It can be understood that the longitudinal direction of the target highway 10 refers to the extension direction of the target highway 10, and the specific number of collection points can be determined according to the actual situation.

[0040] S102: Draw a plurality of reference points corresponding to each collection point in a two-dimensional coordinate system; wherein the abscissa of each reference point is the position data of each collection point along the longitudinal direction, and the ordinate of each data point is the pre-processed elevation data of each collection point.

[0041] Specifically, in a two-dimensional coordinate system, the position of each collection point and the corresponding elevation data are converted into the horizontal and vertical coordinates of the reference point, and each reference point is approximated as a continuous curve, so that the actual terrain data of the target road 10 can be converted into a visual graph, which is convenient for subsequent analysis and processing.

[0042] S103: Smooth the reference points and divide the slope change point section; wherein, three reference points in the slope change point section are selected in a loop, and the three reference points are the first reference point, the second reference point and the third reference point in turn along the horizontal coordinate direction, the interval between the first reference point and the second reference point is equal to the interval between the second reference point and the third reference point, and both are greater than or equal to three, the radius value of the circumscribed circle corresponding to the three reference points is calculated, and it is judged whether the radius value meets the standard.

[0043] It should be noted that, with reference to Figure 1 , the slope change point section is a point section on the transition surface between a flat surface and an inclined surface on the target road 10. It can be understood that the road longitudinal slope at least includes a first slope change point section 100 located at a low position and a second slope change point section 200 located at a high position.

[0044] In some embodiments, the three reference points in the slope change point section are selected in a loop, including: after a plurality of reference points are drawn corresponding to each collection point in a two-dimensional coordinate system, the points are iteratively selected according to a specific step length (for example, 3, 4 or 5, etc., and the step length is 3 in the embodiment of the present application) in the order of collection time. For example, 1, 4 and 7 are taken the first time, 2, 5 and 8 are taken the second time, 3, 6 and 9 are taken the third time, and so on, so that a triangle and its circumscribed circle can be constructed and the radius of the circumscribed circle can be output. It should be noted that the specific step length can be a step length that fits the actual bending radius range.

[0045] In the technical scheme of the present application, by processing and analyzing the elevation data of the plurality of collection points of the target road 10, the parameters of the slope change point section can be obtained after calculation, and then it is judged whether the longitudinal slope meets the requirements. Compared with the scheme of collecting elevation points by using a level meter, a total station and other equipment, the measurement accuracy of longitudinal slope measurement can be effectively improved, and the reliability of road 10 hazard detection can be ensured. Moreover, after the reference points are smoothed and the slope change point section is divided, the three reference points of the slope change point section are selected by circulation, the interval between the first reference point and the second reference point is equal to the interval between the second reference point and the third reference point, and both are greater than or equal to three, and then the radius value of the circumscribed circle corresponding to the three reference points is calculated, so that dynamic data can be obtained. Compared with the scheme of measuring by using instruments, the accuracy of the data parameters obtained by the present scheme is higher, and the real-time change of the longitudinal slope can be dynamically monitored. In addition, the road hazard detection method of the present scheme is not restricted by terrain obstruction and visibility, and the slope measurement efficiency can be effectively improved. In summary, the road hazard detection method of the present scheme can realize continuous monitoring of the longitudinal slope under non-closed conditions, and can simultaneously solve the problems of collection efficiency, traffic safety and traffic management during construction, provide a technical basis for dynamic early warning of longitudinal slope related accident risks, and balance the measurement accuracy and efficiency of road longitudinal slope.

[0046] In some embodiments, the step of obtaining the elevation data of the plurality of collection points of the target road 10 and pre-processing each elevation data includes smoothing each elevation data. In some embodiments, the step of obtaining the elevation data of the plurality of collection points of the target road 10 and pre-processing each elevation data includes one-way processing.

[0047] It should be noted that smoothing refers to processing discrete data points by a certain mathematical or statistical method to reduce noise or fluctuations in the data, thereby obtaining a smoother trend curve. This processing method can avoid the influence of abnormal values caused by data collection errors or environmental interference on subsequent analysis. For example, assume that the elevation data collected by the Beidou system is as follows (unit: meters): [100.2, 100.5, 99.8, 101.0, 100.3, 100.6, 99.9]. This part of the data may have some fluctuations, and direct use may affect the subsequent slope calculation. By simple smoothing (such as moving average method), the average value of every three adjacent points can be taken as the new data point: new data = [(100.2+100.5+99.8) / 3, (100.5+99.8+101.0) / 3,...] = [100.2, 100.4, 100.7, 100.6, 100.3]. In this way, the fluctuations in the original data are weakened, and the trend is clearer.

[0048] The unidirectional processing refers to adjusting the data to a single direction of change trend, which is usually used to eliminate the "backtracking" phenomenon in the data. For example, if the coordinates collected by the vehicle during driving have a reverse change (i.e., the altitude of some points suddenly decreases and then increases) due to signal drift or operation error, it needs to be adjusted to a consistent increasing or decreasing trend through an algorithm. Example: assuming that the collected altitude data is as follows (unit: meter): [100.0, 100.5, 101.0, 100.8, 101.2, 101.5], where the 4th point (100.8) is obviously lower than the previous point (101.0), which may be an abnormal value caused by signal interference. The unidirectional processing can be solved through the following steps: checking the difference between each point and the previous point; if the difference is negative (i.e., reverse change), replacing the current point with the value of the previous point. The processed data is: [100.0, 100.5, 101.0, 101.0, 101.2, 101.5], so that the data presents a single direction of change trend.

[0049] Further, in combination with the above two processing methods, a set of discrete coordinate data can be processed completely. Assuming that the original data is as follows (unit: meter): [100.0, 100.5, 99.8, 101.0, 100.3, 100.6, 99.9]. Simple smoothing: using the moving average method, the smoothed data is obtained: [100.2, 100.4, 100.7, 100.6, 100.3]. Unidirectional processing: checking the smoothed data, finding no reverse change, no further adjustment is needed. The finally processed data is: [100.2, 100.4, 100.7, 100.6, 100.3].

[0050] In some embodiments, the step of obtaining the altitude data of the plurality of collection points of the target road 10 and preprocessing the altitude data includes: obtaining the altitude data of the plurality of collection points of the target road 10 by satellite positioning.

[0051] It should be noted that, in some embodiments, the altitude data of the plurality of collection points of the target road 10 can be obtained by a satellite positioning system (such as Beidou BDS, Global Positioning System GPS, Global Navigation Satellite System GLONASS, etc.). In other embodiments, the altitude data of the plurality of collection points of the target road 10 can also be obtained by laser or radar, and the specific acquisition method is not limited herein. The embodiments of the present application take the satellite positioning method to obtain the altitude data as an example for description, and the data acquisition method of the present application can not be restricted by the terrain obstruction and visibility, effectively improving the measurement efficiency and accuracy, and realizing the continuous measurement of the road longitudinal slope.

[0052] In some embodiments, the step of obtaining the elevation data of the plurality of collection points of the target road 10 and preprocessing the elevation data comprises driving a vehicle carrying a satellite positioning device along the target road 10 in the longitudinal direction, and outputting the corresponding elevation data by the satellite positioning device when the vehicle reaches the collection point.

[0053] Compared with the scheme of measuring the road longitudinal slope by manually using instruments after closing the road section, the scheme directly obtains the elevation data by driving the vehicle, which can avoid the traffic congestion caused by frequent closing of the road section, effectively improve the measurement efficiency, and also realize continuous monitoring of the road longitudinal slope.

[0054] In some embodiments, the step of depicting a plurality of reference points corresponding to each collection point in the two-dimensional coordinate system comprises taking the road stake number data at each collection point of the target road 10 as the horizontal coordinate of the corresponding reference point.

[0055] The scheme uses the road stake number as the horizontal coordinate to identify the specific position of each collection point in the road, that is, the road stake number and the corresponding elevation data are mapped to generate the coordinates of the reference point. Since the road stake number is a standardized identification of the road 10 project, it can facilitate accurate positioning and data management, facilitate subsequent data analysis and hidden danger investigation, and improve the readability and practicality of the data.

[0056] In some embodiments, the step of taking the road stake number at each collection point of the target road 10 as the horizontal coordinate of the corresponding reference point comprises driving a vehicle carrying an image recognition device along the target road 10 in the longitudinal direction, image recognizing the road stake corresponding to the collection point and outputting the road stake number data. In other embodiments, the step of taking the road stake number at each collection point of the target road 10 as the horizontal coordinate of the corresponding reference point comprises manually identifying and outputting the road stake number data of the road stake corresponding to the collection point. The specific collection method of the road stake number data can be determined according to the actual situation.

[0057] The scheme uses the image recognition device or manual identification method to record the road stake number. The image recognition technology can automatically identify the road sign to improve the efficiency, and the manual identification can be applied to complex environments (such as road stakes being blocked by road greening, etc.) or other special situations. That is, the scheme provides a flexible data collection method, which can adapt to different application scenarios and improve the comprehensiveness and accuracy of data collection.

[0058] In some embodiments, the step of calculating the radius value of the circumscribed circle corresponding to the three reference points comprises drawing a triangle with the three reference points as the vertices, and respectively obtaining the lengths a, b, and c of the three sides of the triangle. The radius value R of the circumscribed circle corresponding to the three reference points is obtained according to the following formula i ;

[0059]

[0060] in,

[0061] This solution can directly calculate the radius of the circumscribed circle using geometric formulas. The radius of the circumscribed circle reflects the curvature characteristics of the slope change section of the target highway 10. That is, the smaller the radius, the greater the slope of highway 10. In other words, this solution can accurately measure the longitudinal slope change of highway 10, effectively improving the reliability of the hidden danger investigation of highway 10.

[0062] In some embodiments, after the step of depicting multiple reference points corresponding to each acquisition point in a two-dimensional coordinate system, the following step is further included:

[0063] Each reference point is smoothed and a steep slope segment of 300 is defined. Reference points at two intervals within the steep slope segment of 300 are selected cyclically, and the longitudinal slope data values ​​are calculated. It is then determined whether the longitudinal slope data values ​​meet the standards.

[0064] It should be noted that, for reference Figure 1 The steep slope segment 300 refers to the segment on the uphill surface of target highway 10. Smoothing refers to processing discrete data points using mathematical or statistical methods to reduce noise or fluctuations in the data, resulting in a smoother trend curve. Longitudinal slope data values ​​reflect the road's gradient characteristics; the larger the longitudinal slope value, the steeper the road slope. This scheme, by calculating longitudinal slope data values, can effectively identify potential safety hazards, providing a basis for subsequent early warning and improvement, and enhancing the reliability of hazard identification.

[0065] The specific calculation method for longitudinal slope data values ​​is described below. In some embodiments, the step of cyclically selecting two reference points at intervals of 300 mm along a steep slope segment and calculating the longitudinal slope data value includes: obtaining the longitudinal slope data value i according to the following formula i = Δh / ΔL × 100%; where Δh is the vertical elevation difference between the two reference points, and ΔL is the horizontal distance between the two reference points. This scheme directly calculates the longitudinal slope data value using a formula, which can effectively improve the accuracy and reliability of slope measurement and enhance the accuracy of hazard identification.

[0066] In some embodiments, the step of determining whether the radius value conforms to the standard includes:

[0067] Query the standard table; the standard table includes the limit radius thresholds for different design speeds; compare the radius value with the standard table based on the design speed of the target road to determine whether it meets the standard.

[0068] It is understood that the standard tables can be referred to in Tables 1 to 4 below. This scheme can effectively determine whether there are safety hazards on the road by comparing the calculated circumscribed circle radius value with the limit radius threshold in the standard tables, providing a basis for subsequent early warning and improvement, and improving the accuracy and reliability of hazard investigation.

[0069] Table 1 maximum longitudinal slope

[0070] Design speed (km / h) 120 100 80 60 40 30 20 Maximum longitudinal slope (%) 3 4 5 6 7 8 9

[0071] Table 2 maximum slope length (m) of different longitudinal slopes

[0072]

[0073] Table 3 minimum radius of vertical curve and length of vertical curve

[0074]

[0075] Note: The "general value" listed in Table 3 is the value used under normal circumstances; the "limit value" is the value used after technical and economic demonstration when the condition is limited.

[0076]

[0077] Table 4 average slope of continuous long and steep downward slope and continuous slope length

[0078] Average slope (%) ＜2.5 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0 Length of continuous slope (km) Not limited 20.0 14.8 9.3 6.8 5.4 4.4 3.8 3.3 Relative height difference (m) Not limited 500 450 330 270 240 220 210 200

[0079] In a specific embodiment of the present application, with reference to Figure 3 , the highway hidden danger investigation method comprises the following steps:

[0080] S201: driving a vehicle carrying a satellite positioning device along the longitudinal direction of the target highway, and when the vehicle drives to the collection point, the satellite positioning device outputs the elevation data of each collection point of the target highway, wherein each collection point is arranged along the longitudinal direction of the target highway.

[0081] S202: performing smoothing and / or one-way processing on each elevation data.

[0082] S203: taking the road stake number data at each collection point of the target highway as the horizontal coordinate of the corresponding reference point, and the vertical coordinate of each data point as the preprocessed elevation data corresponding to each collection point.

[0083] S204: smoothing each reference point and dividing into slope change point segments; wherein three reference points in the slope change point segment are selected in a loop, and the three reference points are sequentially the first reference point, the second reference point and the third reference point along the horizontal coordinate direction, the interval between the first reference point and the second reference point is equal to the interval between the second reference point and the third reference point and both are greater than or equal to three, the radius value of the circumscribed circle corresponding to the three reference points is calculated, and it is determined whether the radius value meets the standard.

[0084] S205: smoothing each reference point and dividing into steep slope point segments; wherein two interval reference points in the steep slope point segment are selected in a loop, and the longitudinal slope data value is calculated, and it is determined whether the longitudinal slope data value meets the standard.​

[0085] S206: Query the standard table; wherein the standard table includes limit radius threshold values at different design speeds; and according to the design speed of the target road, the standard table is referred to to determine whether the radius value meets the standard.

[0086] The following describes the specific operation steps of the road hidden danger investigation method of another specific embodiment of the present application:

[0087] First step: drive a vehicle equipped with a Beidou navigation system on the road to be tested at the specified speed and operate it according to the standard, and output the relevant discrete coordinate information (Beidou altitude), wherein the field is bdheight, and the discrete coordinates are smoothed and processed in one direction.

[0088] Second step: Project the altitude into a two-dimensional coordinate system, where the L-axis is the road stake number of the collection point, and the H-axis is the altitude of the collection point. (The road stake number is obtained by combining image recognition and manual dotting.)

[0089] Third step: Smooth the projection and divide it into slope change point segments and steep slope point segments.

[0090] Fourth step: For the slope change point segment: construct a triangle with the scattered point data collected by Beidou, calculate the circumradius of the triangle, and indirectly calculate the vertical curve radius. In the obtained latitude and longitude scattered point data, according to the time sequence of collection, take points in steps of 3 (this step length is more realistic for the radius range of the curve), for example, take 1, 4, and 7 for the first time, 2, 5, and 8 for the second time, 3, 6, and 9 for the third time, and so on. Construct a triangle and its circumcircle and output the circumradius, and calculate the circumradius using the Heron formula.

[0091] Fifth step: For the steep slope segment: select two points on the same longitudinal slope and automatically calculate the road longitudinal slope using the formula: i = Δh / ΔL x 100%. Where: Δh is the vertical height difference between the two points (unit: meters), and ΔL is the horizontal distance between the two points (unit: meters).

[0092] Sixth step: Label the calculated road longitudinal slope i in the coordinate system in the second step and perform systematic hidden danger investigation.

[0093] Seventh step: Carry out hidden danger investigation: refer to Table 1 and Table 2 to determine whether the construction road segment is a steep slope road segment using the calculated road longitudinal slope and road speed limit value; refer to Table 3 to determine whether the vertical curve radius of the steep slope road segment meets the standard specification requirements and whether there is a poor sight distance hidden danger using the calculated vertical curve radius (the radius of the circumcircle of the three reference points in the slope change point segment); refer to Table 4 to observe whether the slope value in the plane coordinate system is always uphill or always downhill, and whether the plane and longitudinal slope values and the slope length value meet the long downhill standard specification requirements.

[0094] The scheme solves the problems of low efficiency, discrete data, and lagging risk warning of traditional longitudinal slope measurement on semi-closed construction road sections by dynamically collecting elevation data through the vehicle-mounted Beidou system and automatically calculating the longitudinal slope parameters and vertical curve radius, and has the following technical effects:

[0095] I. Breakthrough in dynamic and continuous collection and calculation of longitudinal slope: Based on high-precision Beidou positioning, key indicators such as road slope, slope length, and vertical curve radius can be automatically calculated, and the collection and calculation errors are controllable. The efficiency is improved by more than 5 times compared with traditional segmented measurement by a level gauge, and there is no need to close the road.

[0096] II. Significant enhancement of safety hazard identification capability: 1. Real-time determination of steep slope risk: Automatically label the longitudinal slope value (i = Dh / DL x 100%) and associate it with road speed limit data. Trigger warning for continuous downhill road sections with i > 5% (slope length ≥ 500m), and output suggestions for setting safe lanes simultaneously. 2. Intelligent identification of sight distance blind area: Dynamically calculate the stopping sight distance (SSD) based on the vertical curve radius and design speed. When the convex curve radius is less than the minimum value specified in the specification (such as R ≥ 4500m for design speed of 80km / h), automatically mark the sight distance blind area and suggest adding warning signs. 3. Comprehensive diagnosis of long downhill: Through superimposed analysis of horizontal and vertical profiles, identify the combined risk road sections of "steep slope + small radius curve + construction area", and improve the accuracy of accident risk prediction by 40%.

[0097] III. Comprehensive benefits: 1. Reduced construction interference: Data collection and passing vehicles share the lane, reducing road closure times by 70% and alleviating congestion on semi-closed road sections. 2. Significant cost savings: Compared with traditional measurement teams, labor costs are reduced by 60%, and multiple vehicles can be used for parallel collection (each vehicle covers ≥ 50km per day). 3. Risk disposal in advance: The response time from hazard identification to disposal is reduced from 24 hours to 2 hours, and the accident rate in the construction area is reduced by 35%.

[0098] It should be noted that if the invention embodiments involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, motion condition, etc. between the components in a certain posture, and if the specific posture changes, the directional indications also change accordingly. When introducing directional references in specific embodiments, if there is no special limitation that the direction is one-way, the direction can be one-way or two-way (two parallel and opposite directions), and the specific one-way or two-way is based on the ability of ordinary skilled personnel in the art. When the directional reference is two-way, it is considered that two different embodiments are introduced simultaneously.

[0099] In addition, if the description of the present application involves "first", "second", etc., the description of "first", "second", etc. is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In addition, if "and / or", "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection required by the present application.

[0100] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, any equivalent structural transformation made under the inventive concept of the present application, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A highway hidden trouble checking method, used for checking hidden troubles of a target highway, characterized in that, The method comprises the following steps: Obtaining the altitude data of a plurality of collection points of the target road, and preprocessing each of the altitude data; wherein each of the collection points is arranged along the longitudinal direction of the target road in sequence; In a two-dimensional coordinate system, a plurality of reference points are drawn corresponding to each of the collection points; wherein the abscissa of each of the reference points is the position data of each of the collection points along the longitudinal direction, and the ordinate of each of the data points is the preprocessed altitude data of each of the collection points; Each of the reference points is smoothed, and a slope change point segment is divided; wherein three reference points in the slope change point segment are selected in a loop, and the three reference points are sequentially a first reference point, a second reference point and a third reference point along the abscissa direction, the interval between the first reference point and the second reference point is equal to the interval between the second reference point and the third reference point, and both are greater than or equal to three, the radius value of the circumscribed circle corresponding to the three reference points is calculated, and whether the radius value meets the standard is determined.

2. The road hazard inspection method of claim 1, wherein, The step of obtaining the altitude data of a plurality of collection points of the target road, and preprocessing each of the altitude data comprises: Each of the altitude data is smoothed and / or unidirectionalized.

3. The method of claim 1, wherein, The step of obtaining the altitude data of a plurality of collection points of the target road, and preprocessing each of the altitude data comprises: The altitude data of each of the collection points is obtained by satellite positioning.

4. The method of claim 1, wherein, The step of obtaining the altitude data of a plurality of collection points of the target road, and preprocessing each of the altitude data comprises: A vehicle carrying a satellite positioning device is driven along the longitudinal direction of the target road, and the satellite positioning device outputs the corresponding altitude data when the vehicle drives to the collection point.

5. The method of claim 1, wherein, The step of drawing a plurality of reference points corresponding to each of the collection points in a two-dimensional coordinate system comprises: The road post number data at each of the collection points of the target road is taken as the abscissa of the corresponding reference point.

6. The method of claim 5, wherein, The step of taking the road post number at each of the collection points of the target road as the abscissa of the corresponding reference point comprises: A vehicle carrying an image recognition device is driven along the longitudinal direction of the target road, the road post corresponding to the collection point is image-recognized and the road post number data is output; or the road post number data of the road post corresponding to the collection point is manually recognized and output.

7. The method of claim 1-6, wherein, The step of calculating the radius value of the circumscribed circle corresponding to the three reference points comprises: Draw a triangle with the three reference points as vertices, and obtain the lengths of the three sides a, b, c of the triangle respectively; obtain the radius value R of the circumscribed circle corresponding to the three reference points according to the following formula i ; wherein 8. The method of claim 1-7, wherein, After the step of drawing a plurality of reference points corresponding to each of the collection points in a two-dimensional coordinate system, the following steps are further included: Each of the reference points is smoothed, and a steep slope point segment is divided; wherein two interval reference points in the steep slope point segment are selected in a loop, and the longitudinal slope data value is calculated, and whether the longitudinal slope data value meets the standard is determined.

9. The method of claim 8, wherein, The step of selecting two interval reference points in the steep slope point segment in a loop and calculating the longitudinal slope data value comprises: The longitudinal slope data value i is obtained according to the following formula: i = Δh / ΔL × 100%; wherein Δh is the vertical height difference between the two reference points, and ΔL is the horizontal distance between the two reference points.

10. The method of claim 1, wherein, The step of judging whether the radius value meets the standard comprises: inquiring a standard table; wherein the standard table comprises limit radius threshold values under different design speeds; judging whether the radius value meets the standard according to the design speed of the target road and the standard table.

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