阅读说明：本技术 一种基于人工智能技术的公交车避险方法 (Bus risk avoiding method based on artificial intelligence technology ) 是由 王金刚 钱贵涛 赵岩 孙宏飞 林路 于 2021-06-22 设计创作，主要内容包括：本发明公开了一种基于人工智能技术的公交车避险方法,在公交车发现前方发生事故后,根据公交车的实时位置信息判断启动本地避险机制还是远程避险机制。当启动本地避险机制后,通过公交车尾端显示屏显示第一故障提示信息直至驶出事故路段；当启动远程避险机制后,通过判断当前实时位置是否属于危险路段,以及是否收到公交车紧急刹车反馈信息,采取两种措施以控制公交车减速,同时显示第二故障提示信息直至驶出事故路段。本发明可以对后边被遮挡的车辆进行及时的提示,注意保持车距,同时可以尽可能地避免由于公交车驾驶员的情绪紧张或者对路况不熟、经验欠缺等原因,错失将车辆避险时机所导致的追尾事故,提升车辆在公路上行车的安全性。(The invention discloses a bus risk avoiding method based on artificial intelligence technology, which judges whether a local risk avoiding mechanism or a remote risk avoiding mechanism is started according to real-time position information of a bus after the bus finds a front accident. After a local danger avoiding mechanism is started, displaying first fault prompt information through a bus tail end display screen until an accident road section is driven out; after a remote danger avoiding mechanism is started, two measures are taken to control the speed of the bus to be reduced by judging whether the current real-time position belongs to a dangerous road section and whether emergency brake feedback information of the bus is received, and second fault prompt information is displayed at the same time until the bus leaves an accident road section. The invention can prompt the shielded vehicle in time, pay attention to keeping the distance between the vehicles, and simultaneously avoid rear-end collision accidents caused by missing the danger avoiding time of the vehicle due to the emotional tension of the bus driver or the lack of experience and the like due to the insufficient road conditions, thereby improving the safety of the vehicle driving on the road.)

1. A bus danger avoiding method based on artificial intelligence technology is characterized by comprising the following steps:

s1, acquiring real-time position information of the bus after the current bus finds that a front accident occurs;

s2, determining whether to start a local risk avoiding mechanism or a remote risk avoiding mechanism according to the real-time position information, and executing the step S3 if determining to execute the local risk avoiding mechanism; if the remote risk avoiding mechanism is determined to be executed, executing step S4;

s3, when receiving the bus emergency brake feedback information, displaying a first fault prompt message through a bus tail end display screen until the bus emergency brake feedback information exits the accident road section, and collecting an accident scene image and sending the accident scene image to a remote control center; the first fault prompt message is used for prompting that an accident is happening in front of a vehicle behind the bus so as to keep the bus distance;

s4, if the current real-time position does not belong to a dangerous road section and the emergency brake feedback information of the bus is not received within the first reaction time, controlling the bus to reduce the speed, simultaneously displaying second fault prompt information through the tail end display screen until the bus leaves an accident road section, collecting an accident scene image and sending the image to a remote control center, wherein the second fault prompt information is the first fault prompt information;

if the current real-time position belongs to a dangerous road section, reminding a driver of emergency brake operation, controlling the bus to reduce the speed of the bus when emergency brake feedback information is not received within second reaction time, and simultaneously displaying second fault prompt information through the tail end display screen until the bus leaves the accident road section; the second fault prompt message at the moment prompts that the front of the bus behind the bus is a dangerous road section so as to pay attention to keeping the bus distance;

and S5, after the bus is driven out of the accident road section, closing the local risk avoiding mechanism/the remote risk avoiding mechanism.

2. The artificial intelligence technology-based bus risk avoiding method as claimed in claim 1, wherein the determining whether to start the local risk avoiding mechanism or the remote risk avoiding mechanism comprises:

judging whether the current real-time position does not belong to a dangerous road section and whether emergency brake feedback information of the bus is received or not is further judged within first reaction time; if yes, determining to start a local risk avoiding mechanism, otherwise, starting a remote risk avoiding mechanism;

and if the current real-time position belongs to the dangerous road section, directly starting a remote danger avoiding mechanism.

3. The bus danger avoiding method based on the artificial intelligence technology as claimed in claim 2, wherein the dangerous road sections include intersections, road sections prone to traffic accidents, and road sections where the front buses transmit collected real-time accident images.

4. The bus risk avoiding method based on the artificial intelligence technology as claimed in claim 3, wherein the image analysis process in the real-time accident image is obtained by an artificial intelligence image analysis algorithm;

judging whether the real-time image contains an accident or not by using the formula (1);

in the formula, po (n) represents the probability of accidents in the nth frame of the real-time image, and po is greater than a threshold value to represent the accidents; p (n) represents the confidence of the nth frame, the value range [0, 1], r (n) represents the extraction of features from the nth frame image by using the cross entropy training convolutional network, and m represents the maximum number limit of people of one image.

5. The bus risk avoiding method based on the artificial intelligence technology as claimed in claim 4, wherein whether the bus has driven out of the accident road section is judged according to a track positioning image technology;

judging whether the bus runs out of the accident road section or not according to the formula (2);

in the formula, rho represents Euclidean distance of b and bgt, and x and y represent longitude and latitude respectively; a represents the coordinates of the head of the bus position, C represents the coordinates of the tail of the bus position, B represents the coordinates of the midpoint of the bus body, B represents the coordinates of the starting position of the accident road section, D represents the coordinates of the ending position of the accident road section, and bgt represents the coordinates of the middle position of the accident road section; and I represents the probability of the bus on the accident road section, and the probability is smaller than a threshold value and represents that the bus has driven out of the accident road section.

6. The bus risk avoiding method based on the artificial intelligence technology as claimed in claim 5, wherein an audible and visual warning instruction is sent by an intelligent prompting device to remind a driver of an emergency brake operation.

Technical Field

The invention relates to the technical field of intelligent bus traffic safety, in particular to a bus risk avoiding method based on an artificial intelligence technology.

Background

Automobiles become important transportation means in human society, the number of domestic automobiles is continuously increased, the scale of buses serving as public transportation vehicles is rapidly developed, and great convenience is brought to the travel of residents. But at present, in the process of bus technology development, in addition to the comfort and experience of passengers, the safety of the bus technology also gets more and more attention.

However, the current bus danger avoiding method mostly focuses on the avoiding method of the advancing direction, and often neglects that the driving safety of the rear vehicle can cause non-negligible influence on the safety of the bus. For example, the bus is large in size, the rear vehicle is shielded by sight lines, the front fault is not easy to find, and the bus is not beneficial to keeping a safe bus distance.

Disclosure of Invention

The invention provides a bus risk avoiding method based on an artificial intelligence technology, which aims to overcome the technical problem.

The invention relates to a bus danger avoiding method based on an artificial intelligence technology, which comprises the following steps:

s1, acquiring real-time position information of the bus after the current bus finds that a front accident occurs;

s2, determining whether to start a local risk avoiding mechanism or a remote risk avoiding mechanism according to the real-time position information, and executing the step S3 if determining to execute the local risk avoiding mechanism; if the remote risk avoiding mechanism is determined to be executed, executing step S4;

s3, when receiving the bus emergency brake feedback information, displaying a first fault prompt message through a bus tail end display screen until the bus emergency brake feedback information exits the accident road section, and collecting an accident scene image and sending the accident scene image to a remote control center; the first fault prompt message is used for prompting that an accident is happening in front of a vehicle behind the bus so as to keep the bus distance;

s4, if the current real-time position does not belong to a dangerous road section and the emergency brake feedback information of the bus is not received within the first reaction time, controlling the bus to reduce the speed, simultaneously displaying second fault prompt information through the tail end display screen until the bus leaves an accident road section, collecting an accident scene image and sending the image to a remote control center, wherein the second fault prompt information is the first fault prompt information;

if the current real-time position belongs to a dangerous road section, reminding a driver of emergency brake operation, controlling the bus to reduce the speed according to emergency speed reduction control data when emergency brake feedback information is not received in second reaction time, and simultaneously displaying second fault prompt information through the tail end display screen until the bus leaves the accident road section; the second fault prompt message at the moment prompts that the front of the bus behind the bus is a dangerous road section so as to pay attention to keeping the bus distance;

and S5, after the bus is driven out of the accident road section, closing the local risk avoiding mechanism/the remote risk avoiding mechanism.

Further, the determining whether to initiate the local hedge mechanism or the remote hedge mechanism comprises: judging whether the current real-time position does not belong to a dangerous road section and whether emergency brake feedback information of the bus is received or not is further judged within first reaction time; if yes, determining to start a local risk avoiding mechanism, otherwise, starting a remote risk avoiding mechanism; and if the current real-time position belongs to the dangerous road section, directly starting a remote danger avoiding mechanism.

Further, the dangerous road sections comprise fork junctions, road sections which are easy to have traffic accidents and road sections which are acquired by the front buses and used for sending real-time accident images.

Further, the image analysis process in the real-time accident image is obtained through an artificial intelligence image analysis algorithm;

judging whether the real-time image contains an accident or not by using the formula (1);

in the formula, po (n) represents the probability of accidents in the nth frame of the real-time image, and po is greater than a threshold value to represent the accidents; p (n) represents the confidence of the nth frame, the value range [0, 1], r (n) represents the extraction of features from the nth frame image by using the cross entropy training convolutional network, and m represents the maximum number limit of people of one image.

Further, judging whether the bus runs out of the accident road section or not according to a track positioning image technology;

judging whether the bus runs out of the accident road section or not according to the formula (2);

in the formula, rho represents Euclidean distance of b and bgt, and x and y represent longitude and latitude respectively; a represents the coordinates of the head of the bus position, C represents the coordinates of the tail of the bus position, B represents the coordinates of the midpoint of the bus body, B represents the coordinates of the starting position of the accident road section, D represents the coordinates of the ending position of the accident road section, and bgt represents the coordinates of the middle position of the accident road section; and I represents the probability of the bus on the accident road section, and the probability is smaller than a threshold value and represents that the bus has driven out of the accident road section.

Furthermore, an acousto-optic warning instruction is sent by the intelligent prompting device to remind a driver of emergency braking operation.

According to the invention, after the bus finds that a front accident occurs, whether a local danger avoiding mechanism or a remote danger avoiding mechanism is started is judged according to the real-time position information of the bus. After a local danger avoiding mechanism is started, displaying first fault prompt information through a bus tail end display screen until the bus exits an accident road section, acquiring an accident site image and sending the image to a remote control center; after a remote danger avoiding mechanism is started, if the current real-time position does not belong to a dangerous road section and the emergency brake feedback information of the bus is not received within the first reaction time, controlling the bus to reduce the speed; and if the current real-time position belongs to the dangerous road section, reminding a driver of emergency brake operation, controlling the bus to reduce the speed of the bus when the emergency brake feedback information is not received within the second reaction time, and simultaneously displaying second fault prompt information until the bus leaves the accident road section. The invention can prompt the shielded vehicle in time, pay attention to keeping the distance between the vehicles, and simultaneously avoid rear-end collision accidents caused by missing the danger avoiding time of the vehicle due to the emotional tension of the bus driver or the lack of experience and the like due to the insufficient road conditions, thereby improving the safety of the vehicle driving on the road.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a flow chart of the method of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the embodiment provides a bus risk avoiding method based on an artificial intelligence technology, which includes:

s1, acquiring real-time position information of the bus after the current bus finds that a front accident occurs;

specifically, real-time position information of the bus is acquired through a bus-mounted GPS positioning system, after receiving satellite positioning data, a GPS signal receiver sends the data to a main Controller (CPU) of the bus-mounted GPS positioning system for processing, the main Controller (CPU) can perform positioning calculation according to a positioning calculation method, information such as geographical longitude and latitude, height, speed and time of the bus is calculated, and then the data are sent to a danger avoiding system.

S2, determining whether to start a local risk avoiding mechanism or a remote risk avoiding mechanism according to the real-time position information, and executing the step S3 if the local risk avoiding mechanism is determined to be executed; if the remote risk avoiding mechanism is determined to be executed, executing step S4;

specifically, determining whether to initiate a local hedge mechanism or a remote hedge mechanism comprises: judging whether the current real-time position does not belong to a dangerous road section and whether emergency brake feedback information of the bus is received or not is further judged within first reaction time; if yes, determining to start a local risk avoiding mechanism, otherwise, starting a remote risk avoiding mechanism; and if the current real-time position belongs to the dangerous road section, directly starting a remote danger avoiding mechanism.

S3, when receiving the bus emergency brake feedback information, displaying a first fault prompt message through a bus tail end display screen until the bus exits the accident road section, and acquiring an accident scene image and sending the accident scene image to a remote control center; the first fault prompt message is used for prompting that an accident is happening in front of a vehicle behind the bus so as to keep the bus distance;

specifically, when the bus finds that an accident occurs in the front, but the remote center does not find the accident, the bus driver takes an emergency braking measure, the system can acquire brake feedback information sent by a bus braking system, display first fault prompt information through a vehicle tail end display screen until the bus runs out of a fault road section while receiving the feedback information of emergency braking of the driver, and acquire an accident site image through image acquisition equipment at the front end of the bus and feed back acquired image data to the remote control center in real time; the first failure prompt message is used for prompting that an accident is occurring in front of the vehicle behind the bus so as to pay attention to keeping the distance between the vehicles.

S4, if the current real-time position does not belong to a dangerous road section and the emergency brake feedback information of the bus is not received within the first reaction time, controlling the bus to reduce the speed, simultaneously displaying second fault prompt information through a tail end display screen until the bus leaves an accident road section, collecting an accident scene image and sending the image to a remote control center, wherein the second fault prompt information is the first fault prompt information;

if the current real-time position belongs to the dangerous road section, reminding a driver of emergency brake operation, controlling the bus to reduce the speed according to emergency speed reduction control data when emergency brake feedback information is not received in second reaction time, and simultaneously displaying second fault prompt information through a tail end display screen until the bus leaves the accident road section; the second fault prompt message at the moment prompts that the front of the bus behind the bus is a dangerous road section so as to pay attention to keeping the bus distance;

specifically, after the current real-time position does not belong to a dangerous road section and the emergency speed reduction operation feedback information of the driver is not received within the first reaction time, the vehicle is controlled to reduce the speed according to the emergency speed reduction control data, the second fault prompt information is displayed through a vehicle tail end display screen until the vehicle runs out of the fault road section, the acquired image data is acquired through the front-end image acquisition equipment, the accident scene image is fed back to the remote control center in real time, and the second fault prompt information at the moment is the first fault prompt information. The dangerous road section specifically refers to a fork, a road section which is easy to have a traffic accident, and a road section which is sent by a front bus and acquired by a real-time accident image.

And reminding a driver of performing emergency speed reduction operation when the current real-time position belongs to a dangerous road section, controlling the vehicle to reduce the speed according to emergency speed reduction control data and displaying second fault prompt information through a vehicle tail end display screen until the vehicle drives out of the dangerous road section after the driver does not receive the feedback information of the emergency speed reduction operation of the driver in second reaction time, wherein the second fault prompt information at the moment prompts that the front part of the vehicle behind the bus is the dangerous road section so as to pay attention to keeping the distance between the vehicles.

And S5, after the bus is driven out of the accident road section, closing the local danger avoiding mechanism/the remote danger avoiding mechanism.

In this embodiment, the image analysis process in the real-time accident image is obtained by an artificial intelligence image analysis algorithm.

Specifically, by means of an artificial intelligence algorithm in the prior art, after a first traffic accident image is shot, a terminal obtains a moving angle in real time by taking the position of the first traffic accident image as a reference, when the moving angle reaches a preset angle, a second traffic accident image is shot, the position of the terminal continuing the second traffic accident image is taken as a reference, the moving angle of a user is obtained in real time, when the moving angle of the user reaches the preset angle, a third traffic accident image is shot, and the like, until the number of the obtained traffic accident images reaches a preset number; alternatively, if the sum of all the movement angles of the user satisfies a specific angle (e.g., 360 °), all the traffic accident images are obtained.

Judging whether the real-time image contains an accident or not by using the formula (1);

in the formula, po (n) represents the probability of accidents in the nth frame of the real-time image, and po is greater than a threshold value to represent the accidents; p (n) represents the confidence of the nth frame, the value range [0, 1], r (n) represents the extraction of features from the nth frame image by using the cross entropy training convolutional network, and m represents the maximum number limit of people of one image.

In this embodiment, whether the bus has driven out of the accident road section is determined according to the track positioning image technology.

Judging whether the bus runs out of the accident road section or not by the formula (2);

in the formula, rho represents Euclidean distance of b and bgt, and x and y represent longitude and latitude respectively; a represents the coordinates of the head of the bus position, C represents the coordinates of the tail of the bus position, B represents the coordinates of the midpoint of the bus body, B represents the coordinates of the starting position of the accident road section, D represents the coordinates of the ending position of the accident road section, and bgt represents the coordinates of the middle position of the accident road section; and I represents the probability of the bus on the accident road section, and the probability is smaller than a threshold value and represents that the bus has driven out of the accident road section.

Specifically, the trajectory positioning image technology is a method for extracting the moving trajectory of the bus by using an image processing technology, and the method adopts a dynamic target area detection technology to track the moving vehicle and the driving area of the moving vehicle, wherein the dynamic target area detection means that the detected area is dynamically updated and is changed along with the change of the position of the detected object. And when the bus is detected to be out of the accident road section, automatically closing the local danger avoiding mechanism or the remote danger avoiding mechanism.

In this embodiment, send reputation warning instruction through intelligent suggestion device and remind the driver to carry out urgent brake operation.

Specifically, an intelligent prompting device is installed on the system, and the intelligent prompting device can send out warning voice information and remind a bus driver to decelerate, crawl and pay attention to avoidance in a voice prompting mode; the intelligent prompting device can also send out a warning by using a flashing signal, and when the front is judged to be a dangerous road section, the intelligent prompting device sends out red flashing light to attract the attention of a bus driver, so as to prompt the bus driver to decelerate, crawl and pay attention to avoiding.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.