CN106408935B - Motor vehicle continuous lane change behavior monitoring system and method based on navigation - Google Patents
Motor vehicle continuous lane change behavior monitoring system and method based on navigation Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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Abstract
The invention relates to a motor vehicle continuous lane change behavior monitoring system and method based on navigation, wherein the system comprises the following steps: the system comprises a module for setting a judgment standard and an initialization parameter, a module for detecting the driving lane of the motor vehicle, a module for judging whether the motor vehicle changes the lane continuously, and a module for recording the times of changing the lane continuously. The invention monitors the continuous lane changing behavior of the motor vehicle through the navigation system, can directly add the function of the invention on the prior navigation system, and is simpler and more accurate than the traditional method for determining the continuous lane changing behavior of the motor vehicle through video monitoring.
Description
Technical Field
The invention belongs to the field of intelligent driving, and particularly relates to a motor vehicle continuous lane change behavior monitoring system and method based on navigation.
Background
As the number of motor vehicles increases, the phenomenon of road traveling undesirability frequently occurs. Especially, some motor vehicle drivers have insufficient experience or weak civilized driving consciousness, and the phenomenon that the motor vehicles continuously change lanes is frequently generated in the driving process, so that the normal driving of other motor vehicles is greatly interfered, and traffic accidents are easily caused.
At present, the judgment of the continuous lane changing behavior of the motor vehicle is realized by adopting a traffic video monitoring technology, and the realization difficulty is high. Therefore, the patent designs a system and a method for monitoring the continuous lane changing behavior of the motor vehicle based on navigation.
Disclosure of Invention
The invention aims to provide a navigation-based motor vehicle continuous lane change behavior monitoring system and method. Depending on the road map, GPS positioning and other auxiliary positioning functions of the existing navigation system, whether the motor vehicle has continuous lane changing behavior is judged by detecting the continuous driving time of the motor vehicle on a lane after the motor vehicle changes the lane.
The technical scheme of the invention can be realized by software (such as WeChat, APP software and other application software).
The invention provides a motor vehicle continuous lane changing behavior monitoring system based on navigation, which comprises a judging standard setting and initializing parameter module, a motor vehicle driving lane detecting module, a motor vehicle lane changing judging module, a motor vehicle continuous lane changing judging module and a continuous lane changing frequency recording module.
1. A judging standard and initialization parameter setting module: the method is used for setting the standard for judging the continuous lane changing behavior and initializing the parameters used in the running process of the system. Setting and judging a standard of continuous lane change according to a specification given by a traffic management department, wherein the standard comprises a minimum continuous driving time threshold value N of a motor vehicle in the lane; the parameters used in the running process of the system comprise a timing detection time interval a, a continuous lane change time m and a continuous running time t of the motor vehicle in the lane, wherein the default initial value of the continuous lane change time m is 0, and the default initial value of the continuous running time t of the motor vehicle in the lane is 0.
2. The module for detecting the driving lane of the motor vehicle comprises: the method is used for detecting the driving lane of the motor vehicle at regular time. During the running process of the motor vehicle, the module detects the information of the running lane of the motor vehicle at regular time (the time interval is set as a) and transmits the information to the system server.
3. The module for judging whether the motor vehicle changes lanes comprises: the method is used for judging whether lane change occurs in the driving process of the motor vehicle. After receiving the information of the current driving lane, the module compares the information with the information of the driving lane detected last time, if the information of the driving lane of the previous and next times is the same, the module judges that the motor vehicle does not change lanes, and the motor vehicle continuously drives in the lane for time t = t + a; if not, the vehicle is judged to change lanes.
4. And judging whether the motor vehicle continuously changes the lane: the method is used for judging whether the lane change of the motor vehicle at a time belongs to the continuous lane change behavior. The module compares the continuous driving time t of the motor vehicle in the lane with a minimum continuous driving time threshold value N, if t is less than N, the lane change is considered to belong to continuous lane change, and the continuous lane change time m = m + 1; otherwise, judging the lane change to be normal lane change.
5. The module for recording the continuous lane change times is: the method is used for recording the number m of times of the continuous lane change behavior of the motor vehicle in the navigation time at the end of the navigation driving.
The invention provides a motor vehicle continuous lane change behavior monitoring system based on navigation, which is shown in figure 1.
The invention relies on road map and GPS positioning and other auxiliary positioning functions of the existing navigation system, and the used continuous lane change behavior judgment system server (system server for short) collects and maintains lane conditions of each road in advance, such as lane number and lane number. A user (vehicle driver) installs continuous lane change behavior determination software (which can be regarded as a function added to an existing navigation system) on his mobile terminal device. The software implemented by the method usually runs when the navigation system is started and ends when the navigation system is closed. And when the system operation is finished, recording the times m of continuous lane change in the navigation.
The invention provides a motor vehicle continuous lane change behavior monitoring method based on navigation, which comprises the following steps.
Step 1, setting a judgment standard of a continuous lane change behavior system and carrying out initialization setting on parameters.
Before the system runs, a system administrator sets a minimum continuous driving time threshold value N and a timing detection time interval a of the motor vehicle, and initializes the continuous lane change times m and the continuous driving time t (the default value is 0).
And 2, detecting the driving lane of the motor vehicle for the first time.
The continuous lane change behavior monitoring software detects the lane in which the running motor vehicle is located and saves this information as the original driving lane value R1 to the system server.
And 3, detecting the driving lane of the motor vehicle at regular time.
The continuous lane change behavior monitoring software detects the current driving lane at regular time (time interval a) and saves the information as the R2 value in the system server.
And 4, judging whether the motor vehicle reaches the destination or not.
The system judges whether the user arrives at the destination after detecting the lane where the motor vehicle is located once, if so, the system operation is finished, and at the moment, the continuous lane change times m are recorded to a system server; otherwise, go to step 5.
And 5, judging whether the motor vehicle changes lanes or not.
The system server compares the information of the driving lanes (R1 and R2) before and after twice, if R1 is equal to R2, the motor vehicle is judged not to change lanes, the continuous driving time t = t + a of the motor vehicle in the original driving lane is calculated, and the step returns to the step 3; if R1 is not equal to R2, the vehicle is judged to change lanes during driving, and the step 6 is entered.
And 6, judging whether the motor vehicle has continuous lane changing behavior.
The system reads the value of the continuous travel time t of the vehicle at R1 and compares the value of t to a minimum continuous travel time threshold N. If t is less than N, the motor vehicle is determined to have continuous lane changing behavior, the continuous lane changing times m = m +1 is calculated, and the step 7 is entered; if t is greater than or equal to N, proceed directly to step 7.
And 7, resetting the timer and updating the information of the driving lane of the motor vehicle in the server.
And resetting the continuous driving time t =0 after the lane change of the motor vehicle is finished, updating the driving lane information of the motor vehicle in the server by the system, saving the current driving lane information of the motor vehicle as the original driving lane information (R1 = R2) in the server, and returning to the step 3.
The flow chart of the method for monitoring the continuous lane changing behavior of the motor vehicle based on navigation is shown in fig. 2.
The invention has the advantages that: the navigation system is used for detecting the continuous lane changing behavior of the user, the function of the invention can be directly added on the existing navigation system, and the method is simpler and more accurate than the traditional method for determining the continuous lane changing behavior of the motor vehicle by video monitoring.
Drawings
FIG. 1 is a system block diagram of the present invention.
Fig. 2 is a flow chart of the method of the present invention.
Fig. 3 is a schematic diagram of an embodiment.
Detailed Description
The following describes in detail preferred embodiments of the present invention.
The scenario of this example is that the motor vehicle a follows a navigation path through a road having 3 lanes in its direction of travel, as shown in fig. 3.
The system server collects and maintains the lane condition (including the number of lanes and the name of the lane) of each road in advance. A user (a motor vehicle driver) installs continuous lane change behavior judgment APP software on a mobile terminal device of the user.
The invention provides a motor vehicle continuous lane change behavior monitoring method based on navigation, which comprises the following steps.
Step 1, setting a judgment standard of a continuous lane change behavior system and carrying out initialization setting on parameters.
Before the system runs, a system administrator sets a motor vehicle minimum continuous running time threshold value N and a timing detection time interval a, and initializes the continuous lane change times m and the continuous running time t (the default value is 0). In this example, the system administrator sets the minimum continuous travel time threshold N of the vehicle to 5 seconds, the timing detection time interval a to 1 second, and initializes the number of continuous lane changes m =0, and the continuous travel time t =0 of the vehicle in the lane.
And 2, detecting the driving lane of the motor vehicle for the first time.
The continuous lane change behavior monitoring APP software detects the lane where the running motor vehicle is located and stores the information as an original driving lane value R1 to the system server. In this example, the first time vehicle a is detected in lane 3, this information is saved to the system server as vehicle a's original lane of travel R1.
And 3, detecting the current driving lane of the motor vehicle at regular time.
The continuous lane change behavior monitoring APP software detects the current driving lane at regular time (time interval of 1 second) and stores the information as an R2 value in the system server. The current driving lane of the motor vehicle is detected every 1 second, the current 3 rd lane of the motor vehicle A is detected at the 2 nd time, and R2 is taken as the current driving lane and saved to the system server.
And 4, judging whether the motor vehicle reaches the destination or not.
The system judges whether the user arrives at the destination after detecting the lane where the motor vehicle is located once, if so, the system is ended, and at the moment, the continuous lane change times m are recorded to a system server; otherwise, go to step 5. This time, it is detected that the vehicle a does not arrive at the destination, and the process proceeds to step 5.
And 5, judging whether the motor vehicle changes lanes or not.
The system server compares the information of the driving lanes (R1 and R2) before and after twice, if R1 is equal to R2, the motor vehicle is judged not to change lanes, the continuous driving time t = t + a of the motor vehicle in the original driving lane is updated, and the step 3 is returned; if R1 is not equal to R2, the vehicle is judged to change lanes during driving, and the step 6 is entered. When the results of comparison between R1 and R2 at this time, R1 is equal to R2, it is determined that the vehicle a does not change lanes, and the travel time t =1 second in the R1 lane is entered to step 3.
When the detection result of the step 3 (3 rd time) is that the motor vehicle A is in the 2 nd lane, entering the step 4; step 4, judging that the motor vehicle A does not arrive at the destination, and entering step 5; and 5, judging that the motor vehicle A changes lanes, and entering step 6.
And 6, judging whether the motor vehicle has continuous lane changing behavior.
The system reads the value of the continuous travel time t of the vehicle at R1 and compares the value of t to a minimum continuous travel time threshold N. If t is less than N, the motor vehicle is determined to have continuous lane changing behavior, the continuous lane changing times m = m +1 is calculated, and the step 7 is entered; if t is greater than or equal to N, proceed directly to step 7. At this time, the running time t of the motor vehicle a on the original running road R1 is 1 second, which is less than the minimum continuous running time threshold value of 5 seconds, the motor vehicle a is determined to have continuous lane changing behavior, the number of continuous lane changing times m =1 is calculated, and the process proceeds to step 7.
And 7, resetting the timer and updating the information of the driving lane of the motor vehicle in the server.
And resetting the continuous driving time t =0 after the lane change of the motor vehicle is finished, updating the driving lane information of the motor vehicle in the server by the system, saving the current driving lane information of the motor vehicle as the original driving lane information (R1 = R2) in the server, and returning to the step 3.
In this example, the subsequent determination results in no lane change in both the 4 th test and the 5 th test. The method for judging the continuous lane changing behavior of the motor vehicle ends along with the end of navigation when the vehicle reaches the destination, and finally records the number m =1 of the continuous lane changing times of the motor vehicle to a system server when the navigation is ended.
The motor vehicle continuous lane change behavior monitoring system based on navigation adopts the same scene in the example as the method example. The specific application is as follows.
1. A judging standard and initialization parameter setting module: the method is used for setting the standard for judging the continuous lane changing behavior and initializing the parameters used in the running process of the system. Setting a criterion for judging continuous lane change according to a specification given by a traffic control department, such as a minimum continuous driving time threshold value N of a motor vehicle in the lane; the parameters used in the running process of the system comprise a timing detection time interval a, a continuous lane change time m and a continuous running time t of the motor vehicle in the lane, wherein the default initial value of the continuous lane change time m is 0, and the default initial value of the continuous running time t of the motor vehicle in the lane is 0. In this example, the timing detection time interval a is 1 second, and the minimum continuous running time threshold N is 5 seconds.
2. The module for detecting the driving lane of the motor vehicle comprises: the method is used for detecting the driving lane of the motor vehicle at regular time. During the running process of the motor vehicle, the module detects the information of the running lane of the motor vehicle at regular time (the time interval is set as a) and transmits the information to the system server. In this example, the module detects the travel lane of the automobile a at 1-second intervals, and takes the 1 st detected travel lane as the original travel lane R1 and the 2 nd detected travel lane as the current travel lane R2.
3. The module for judging whether the motor vehicle changes lanes comprises: the method is used for judging whether lane change occurs in the driving process of the motor vehicle. After receiving the information of the current driving lane, the module compares the information with the original driving lane information detected last time, if the information of the driving lane of the vehicle in the previous time and the information of the driving lane of the vehicle in the next time are the same, the module judges that the vehicle does not change lanes, and the vehicle continuously drives in the lane for time t = t + a; if not, the vehicle is judged to change lanes. In this example, the module compares the 1 st and 2 nd test results to determine that vehicle A has not changed lanes, and compares the 2 nd and 3 rd test results to determine that vehicle A has changed lanes. The subsequent 4 th and 5 th tests both determine that the vehicle has not changed lanes.
4. And judging whether the motor vehicle continuously changes the lane: the method is used for judging whether the lane change of the motor vehicle at a time belongs to the continuous lane change behavior. The module compares the continuous driving time t of the motor vehicle in the lane with a minimum continuous driving time threshold value N, if t is less than N, the lane change is considered to belong to continuous lane change, and the continuous lane change time m = m + 1; otherwise, judging the lane change to be normal lane change. In this example, the 3 rd time that the vehicle a is detected to change lanes, the module reads that the continuous driving time t of the vehicle a on the original driving path R1 is 1 second and is less than the minimum continuous driving time threshold value of 5 seconds, and determines that the lane change of the vehicle a belongs to the continuous lane change.
5. The module for recording the continuous lane change times is: the method is used for recording the number m of times of the continuous lane change behavior of the motor vehicle in the navigation time at the end of the navigation driving. In this example, the vehicle a makes an arbitrary lane change m =1 on the navigation route.
The system for judging the continuous lane changing behavior of the motor vehicle is ended along with the ending of navigation, and finally, the continuous lane changing times m of the motor vehicle are recorded to a system server when the navigation is ended.
Of course, those skilled in the art should realize that the above embodiments are only used for illustrating the present invention, and not as a limitation to the present invention, and that the changes and modifications of the above embodiments will fall within the protection scope of the present invention as long as they are within the scope of the present invention.
Claims (2)
1. A motor vehicle continuous lane change behavior monitoring system based on navigation is characterized by comprising a judging standard setting and initializing parameter module, a motor vehicle driving lane detecting module, a lane changing judging module and a continuous lane changing frequency recording module, wherein the judging standard setting and initializing parameter module is used for detecting the driving lane of a motor vehicle;
a judging standard and initialization parameter setting module: the system is used for setting and judging the standard of continuous lane changing behavior and initializing the parameters used in the running process of the system; setting and judging a standard of continuous lane change according to a specification given by a traffic management department, wherein the standard comprises a minimum continuous driving time threshold value N of a motor vehicle in the lane; the parameters used in the running process of the system comprise a timing detection time interval a, continuous lane change times m and continuous running time t of the motor vehicle in the lane, wherein the default initial value of the continuous lane change times m is 0, and the default initial value of the continuous running time t of the motor vehicle in the lane is 0;
the module for detecting the driving lane of the motor vehicle comprises: the system is used for detecting the driving lane of the motor vehicle at regular time; in the running process of the motor vehicle, the module detects the information of a running lane where the motor vehicle is located at fixed time and transmits the information to the system server, wherein the fixed time interval is set as a;
the module for judging whether the motor vehicle changes lanes comprises: the lane change judging device is used for judging whether lane change occurs in the driving process of the motor vehicle; after receiving the information of the current driving lane, the module compares the information with the information of the last detected driving lane, and if the information of the driving lane of the previous and next times is the same, the module judges that the motor vehicle does not change lanes, and the continuous driving time t of the motor vehicle on the lane is t + a; if the difference is not the same, the motor vehicle is judged to change lanes;
and judging whether the motor vehicle continuously changes the lane: the lane changing device is used for judging whether the lane changing of the motor vehicle at a time belongs to a continuous lane changing behavior; the module compares the continuous driving time t of the motor vehicle in the lane with a minimum continuous driving time threshold value N, if t is less than N, the lane change is considered to belong to continuous lane change, and the number of times of continuous lane change m is m + 1; otherwise, judging the lane change to be normal lane change;
the module for recording the continuous lane change times is: the method is used for recording the number m of times of the continuous lane change behavior of the motor vehicle in the navigation time at the end of the navigation driving.
2. A motor vehicle continuous lane change behavior monitoring method based on navigation comprises the following steps;
step 1, setting a judgment standard of a continuous lane change behavior system and carrying out initialization setting on parameters: a system administrator sets a minimum continuous driving time threshold value N and a timing detection time interval a of a motor vehicle before a system runs, and initializes continuous lane changing times m and continuous driving time t;
step 2, detecting a driving lane of the motor vehicle for the first time: detecting the lane of the running motor vehicle by the continuous lane changing behavior monitoring software and saving the lane of the running motor vehicle as an original running lane value R1 to the system server;
step 3, regularly detecting the current driving lane of the motor vehicle: the continuous lane change behavior monitoring software detects the current driving lane at regular time and saves the current driving lane as a R2 value to the system server, wherein the regular time interval is set as a;
step 4, judging whether the motor vehicle reaches the destination: the system judges whether the user arrives at the destination after detecting the lane where the motor vehicle is located once, if so, the system operation is finished, and at the moment, the continuous lane change times m are recorded to a system server; otherwise, entering step 5;
step 5, judging whether the motor vehicle changes lanes: the system server compares the two driving lane information R1 and R2, if R1 is equal to R2, the motor vehicle is judged not to change lanes, the continuous driving time t of the motor vehicle in the original driving lane is calculated to be t + a, and the step 3 is returned to; if R1 is not equal to R2, the motor vehicle is judged to change lanes in the driving process, and the step 6 is carried out;
step 6, judging whether the motor vehicle has continuous lane changing behavior: the system reads the continuous driving time t value of the motor vehicle on R1 and compares the t value with the minimum continuous driving time threshold value N; if t is less than N, the motor vehicle is determined to have continuous lane changing behavior, the number m of continuous lane changing is calculated to be m +1, and the step 7 is entered; if t is greater than or equal to N, entering step 7;
step 7, resetting the timer and updating the information of the motor vehicle driving lane in the server: and (3) resetting the continuous driving time t to be 0 after the motor vehicle lane change is finished, updating the driving lane information of the motor vehicle in the server by the system, saving the current driving lane information of the motor vehicle as the original driving lane information in the server, namely R1 to R2, and returning to the step 3.
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| CN107180460A (en) * | 2017-04-01 | 2017-09-19 | 深圳市元征科技股份有限公司 | Vehicle lane change recognition methods and system |
| CN108806269A (en) * | 2018-06-22 | 2018-11-13 | 安徽科力信息产业有限责任公司 | A kind of method and device of record motor vehicle continuous transformation track illegal activities |
| CN109003455B (en) * | 2018-06-22 | 2021-03-30 | 安徽科力信息产业有限责任公司 | Method and device for reminding vehicle owner of illegal parking behavior |
| CN108932853B (en) * | 2018-06-22 | 2021-03-30 | 安徽科力信息产业有限责任公司 | Method and device for recording illegal parking behaviors of multiple motor vehicles |
| CN108806270B (en) * | 2018-06-22 | 2021-05-07 | 安徽科力信息产业有限责任公司 | Method and device for recording illegal behavior of continuously changing lanes of multiple motor vehicles |
| CN111028503B (en) * | 2018-10-09 | 2022-05-06 | 杭州海康威视系统技术有限公司 | Vehicle lane change monitoring method and device |
| CN111731264A (en) * | 2019-03-25 | 2020-10-02 | 长城汽车股份有限公司 | Continuous lane change driving behavior monitoring control method and system |
| CN113257027B (en) * | 2021-07-16 | 2021-11-12 | 深圳知帮办信息技术开发有限公司 | Navigation control system for continuous lane change behavior |
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