阅读说明：本技术 一种桥梁过载预警方法及系统 (Bridge overload early warning method and system ) 是由 谢天长 蔡俊华 汤晓辉 张华� 张金美 陈卫忠 廖彦富 林超 姜鹏 杨建平 谢芳 于 2021-10-18 设计创作，主要内容包括：本发明公开了一种桥梁过载预警方法及系统,该方法包括：获取车辆在预警桥段内行驶的行车图像,根据行车图像确定每台目标车辆的标识信息及其在预警桥段内行驶的当前车道；获取每一目标车辆的重量信息,以确定预警桥段内每条车道的车辆总重；根据每条车道的车辆总重与每条车道的承重阈值,判断是否存在至少一目标车道存在车道过载状况；若是,则根据预设规则为目标车道上的至少一目标车辆制定预行车车道,预行车车道为预警桥段内除目标车道以外的变道难易系数最低的车道；将预行车车道与目标车道的车道信息进行显示,以使目标车辆驶入预行车车道。本发明能够解决现有桥梁车辆预警无法从根本上起到保护桥梁的技术问题。(The invention discloses a bridge overload early warning method and a system, wherein the method comprises the following steps: acquiring driving images of vehicles running in the early warning bridge section, and determining identification information of each target vehicle and a current lane of the target vehicle running in the early warning bridge section according to the driving images; acquiring weight information of each target vehicle to determine the total weight of the vehicles of each lane in the early warning bridge section; judging whether at least one target lane has a lane overload condition or not according to the total weight of vehicles in each lane and the bearing threshold value of each lane; if so, establishing a pre-driving lane for at least one target vehicle on the target lane according to a preset rule, wherein the pre-driving lane is a lane with the lowest lane change difficulty coefficient except the target lane in the early warning bridge section; and displaying the lane information of the pre-driving lane and the target lane so that the target vehicle drives into the pre-driving lane. The bridge early warning system can solve the technical problem that the bridge cannot be fundamentally protected by the conventional bridge vehicle early warning.)

1. A bridge overload early warning method is characterized by comprising the following steps:

acquiring a driving image of a vehicle running in an early warning bridge section, and determining identification information of each target vehicle and a current lane of the target vehicle running in the early warning bridge section according to the driving image;

acquiring weight information of each target vehicle to determine the total weight of the vehicles of each lane in the early warning bridge section;

judging whether at least one target lane has a lane overload condition or not according to the total weight of vehicles in each lane and the bearing threshold value of each lane;

if so, acquiring the current passing condition of the early warning bridge section, and determining a lane changing difficulty coefficient of the target vehicle changing to any lane except the target lane in the early warning bridge section;

generating a coefficient mapping table according to the lane change difficulty coefficient, and selecting a lane with the lowest lane change difficulty coefficient;

according to a preset vehicle control rule, a preset lane is established for at least one target vehicle on the target lane, wherein the preset lane is the lane with the lowest lane change difficulty coefficient in the coefficient mapping table;

and sending out an early warning prompt according to the identification information of the pre-driving lane and the target vehicle so as to prompt the target vehicle to enter the pre-driving lane.

2. The bridge overload early warning method according to claim 1, wherein the step of judging whether at least one target lane has a lane overload condition according to the total weight of vehicles in each lane and the bearing threshold value of each lane specifically comprises:

presetting a bearing threshold value of each lane in the early warning bridge section according to the structural characteristics of the bridge;

comparing the total weight of the vehicles on each lane with a preset bearing threshold value;

and judging whether at least one target lane exists in the early warning bridge section or not according to a comparison result of the total weight of the vehicle and the bearing threshold value and judging whether the lane overload condition exists in the at least one target lane.

3. The bridge overload warning method according to claim 1, wherein the step of obtaining the current traffic condition of the warning bridge segment and determining the lane change difficulty coefficient of the target vehicle changing to any lane except the target lane in the warning bridge segment specifically comprises:

acquiring the traffic flow density of all lanes in a preset range by taking the target vehicle as a center on the early warning bridge section;

and comparing the traffic flow densities of all the lanes, and determining the lane changing difficulty coefficient of the target vehicle from the target lane to any lane based on the traffic flow densities of all the lanes.

4. The bridge overload early warning method according to claim 3, wherein the step of obtaining the traffic density of all lanes within a preset range with the target vehicle as a center on the early warning bridge segment specifically comprises:

generating a scanning area in a preset range by taking the target vehicle as a center;

acquiring driving images of all vehicles in the scanning area, and calculating the number of vehicles on all lanes except the target lane and the average distance between the vehicles in the scanning area according to the driving images;

and determining the traffic flow density of all lanes except the target lane in the scanning area according to the number of the vehicles and the average distance of the vehicles.

5. The bridge overload warning method according to any one of claims 1 to 4, wherein the step of sending out a warning prompt according to the identification information of the predicted traffic lane and the target vehicle specifically comprises:

according to the pre-driving lane and the target lane, making a lane change guide map of the target vehicle;

and sending the identification information of the target vehicle and the lane change guide map to a display device for displaying.

6. The bridge overload warning method according to claim 5, wherein the bridge is divided into a plurality of warning bridge sections connected in sequence, the method further comprising:

and controlling a display device of the current early warning bridge section of the target vehicle and display devices of all early warning bridge sections to be driven in the driving direction of the target vehicle to synchronously send out the early warning prompt until the target vehicle successfully enters the lane of the pre-driving vehicle according to the lane change guide map, and then closing the early warning prompt.

7. A bridge overload warning system, the system comprising:

the image acquisition module is used for acquiring a driving image of a vehicle running in the early warning bridge section, and determining the identification information of each target vehicle and the current lane of the target vehicle running in the early warning bridge section according to the driving image;

the weight obtaining module is used for obtaining weight information of each target vehicle so as to determine the total weight of the vehicles of each lane in the early warning bridge section;

the overload judging module is used for judging whether at least one target lane has a lane overload condition or not according to the total weight of the vehicles in each lane and the bearing threshold value of each lane;

the lane changing difficulty coefficient determining module is used for acquiring the current traffic condition of the early warning bridge section and determining the lane changing difficulty coefficient of the target vehicle changing to any lane except the target lane in the early warning bridge section;

the lane change difficulty coefficient comparison module is used for generating a coefficient mapping table according to the lane change difficulty coefficient and selecting a lane with the lowest lane change difficulty coefficient;

the lane planning module is used for making a predicted lane for at least one target vehicle on the target lane according to preset vehicle control rules, wherein the predicted lane is the lane with the lowest lane change difficulty coefficient in the coefficient mapping table;

and the dredging prompting module is used for sending out an early warning prompt according to the identification information of the pre-driving lane and the target vehicle so as to prompt the target vehicle to enter the pre-driving lane.

8. The bridge overload early warning system of claim 7, wherein the overload determination module is specifically configured to:

presetting a bearing threshold value of each lane in the early warning bridge section according to the structural characteristics of the bridge;

comparing the total weight of the vehicles on each lane with a preset bearing threshold value;

and judging whether at least one target lane exists in the early warning bridge section or not according to a comparison result of the total weight of the vehicle and the bearing threshold value and judging whether the lane overload condition exists in the at least one target lane.

9. The bridge overload warning system of claim 7, wherein the lane change difficulty coefficient determining module is specifically configured to:

acquiring the traffic flow density of all lanes in a preset range by taking the target vehicle as a center on the early warning bridge section;

and comparing the traffic flow densities of all the lanes, and determining the lane changing difficulty coefficient of the target vehicle from the target lane to any lane based on the traffic flow densities of all the lanes.

Technical Field

The invention relates to the technical field of bridge monitoring, in particular to a bridge overload early warning method and system.

Background

With the continuous development of economy in China, part of vehicles pursue economic benefit maximization, so that the overload condition of the vehicles is serious, wherein the overload condition of a truck and a passenger car is more serious.

China comprises a large number of expressways and urban expressways which are formed by bridges, and once the damage and even collapse accident of the bridges occurs, huge casualties and economic losses are caused. Due to traffic jam and the like, for example, trucks are all concentrated on the outermost lane of the bridge, which easily causes sudden load increase in the short term of the bridge and easily damages the bridge structure.

However, the current bridge vehicle early warning usually measures the weight of the vehicle, and further alarms the overload behavior of the overloaded vehicle. When a large number of heavy vehicles are running on a certain lane at the same time, the load of the lane is increased suddenly, so that structural damage to the bridge is easily caused. Therefore, the existing bridge vehicle early warning scheme cannot play a role in protecting the bridge fundamentally.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide a bridge overload early warning method and a bridge overload early warning system, and aims to solve the technical problem that the bridge vehicle early warning in the prior art cannot fundamentally protect the bridge.

One aspect of the present invention provides a bridge overload warning method, including:

acquiring a driving image of a vehicle running in an early warning bridge section, and determining identification information of each target vehicle and a current lane of the target vehicle running in the early warning bridge section according to the driving image;

acquiring weight information of each target vehicle to determine the total weight of the vehicles of each lane in the early warning bridge section;

judging whether at least one target lane has a lane overload condition or not according to the total weight of vehicles in each lane and the bearing threshold value of each lane;

if so, acquiring the current passing condition of the early warning bridge section, and determining a lane changing difficulty coefficient of the target vehicle changing to any lane except the target lane in the early warning bridge section;

generating a coefficient mapping table according to the lane change difficulty coefficient, and selecting a lane with the lowest lane change difficulty coefficient;

according to a preset vehicle control rule, a preset lane is established for at least one target vehicle on the target lane, wherein the preset lane is the lane with the lowest lane change difficulty coefficient in the coefficient mapping table;

and sending out an early warning prompt according to the identification information of the pre-driving lane and the target vehicle so as to prompt the target vehicle to enter the pre-driving lane.

According to one aspect of the above technical solution, the step of determining whether there is at least one target lane with a lane overload condition according to the total weight of vehicles in each lane and the load-bearing threshold of each lane specifically includes:

presetting a bearing threshold value of each lane in the early warning bridge section according to the structural characteristics of the bridge;

comparing the total weight of the vehicles on each lane with a preset bearing threshold value;

and judging whether at least one target lane exists in the early warning bridge section or not according to a comparison result of the total weight of the vehicle and the bearing threshold value and judging whether the lane overload condition exists in the at least one target lane. According to one aspect of the above technical solution, the step of obtaining the current traffic condition of the early warning bridge section and determining the lane change difficulty coefficient of the target vehicle changing to any lane except the target lane in the early warning bridge section specifically includes:

acquiring the traffic flow density of all lanes in a preset range by taking the target vehicle as a center on the early warning bridge section;

and comparing the traffic flow densities of all the lanes, and determining the lane changing difficulty coefficient of the target vehicle from the target lane to any lane based on the traffic flow densities of all the lanes.

According to one aspect of the above technical solution, the step of obtaining the traffic flow density of all lanes within a preset range on the early warning bridge segment with the target vehicle as the center specifically includes:

generating a scanning area in a preset range by taking the target vehicle as a center;

acquiring driving images of all vehicles in the scanning area, and calculating the number of vehicles on all lanes except the target lane and the average distance between the vehicles in the scanning area according to the driving images;

and determining the traffic flow density of all lanes except the target lane in the scanning area according to the number of the vehicles and the average distance of the vehicles.

According to one aspect of the above technical solution, the step of sending out an early warning prompt according to the identification information of the predicted vehicle lane and the target vehicle specifically includes:

according to the pre-driving lane and the target lane, making a lane change guide map of the target vehicle;

and sending the identification information of the target vehicle and the lane change guide map to a display device for displaying.

According to one aspect of the above technical solution, the bridge is divided into a plurality of early warning bridge sections connected in sequence, and the method further comprises:

and controlling a display device of the current early warning bridge section of the target vehicle and display devices of all early warning bridge sections to be driven in the driving direction of the target vehicle to synchronously send out the early warning prompt until the target vehicle successfully enters the lane of the pre-driving vehicle according to the lane change guide map, and then closing the early warning prompt.

Another aspect of the present invention is to provide a bridge overload warning system, including:

the image acquisition module is used for acquiring a driving image of a vehicle running in the early warning bridge section, and determining the identification information of each target vehicle and the current lane of the target vehicle running in the early warning bridge section according to the driving image;

the weight obtaining module is used for obtaining weight information of each target vehicle so as to determine the total weight of the vehicles of each lane in the early warning bridge section;

the overload judging module is used for judging whether at least one target lane has a lane overload condition or not according to the total weight of the vehicles in each lane and the bearing threshold value of each lane;

the lane changing difficulty coefficient determining module is used for acquiring the current traffic condition of the early warning bridge section and determining the lane changing difficulty coefficient of the target vehicle changing to any lane except the target lane in the early warning bridge section;

the lane change difficulty coefficient comparison module is used for generating a coefficient mapping table according to the lane change difficulty coefficient and selecting a lane with the lowest lane change difficulty coefficient;

the lane planning module is used for making a predicted lane for at least one target vehicle on the target lane according to preset vehicle control rules, wherein the predicted lane is the lane with the lowest lane change difficulty coefficient in the coefficient mapping table;

and the dredging prompting module is used for sending out an early warning prompt according to the identification information of the pre-driving lane and the target vehicle so as to prompt the target vehicle to enter the pre-driving lane.

According to an aspect of the foregoing technical solution, the overload determination module is specifically configured to:

presetting a bearing threshold value of each lane in the early warning bridge section according to the structural characteristics of the bridge;

comparing the total weight of the vehicles on each lane with a preset bearing threshold value;

and judging whether at least one target lane exists in the early warning bridge section or not according to a comparison result of the total weight of the vehicle and the bearing threshold value and judging whether the lane overload condition exists in the at least one target lane.

According to an aspect of the foregoing technical solution, the lane change difficulty coefficient determining module is specifically configured to:

acquiring the traffic flow density of all lanes in a preset range by taking the target vehicle as a center on the early warning bridge section;

and comparing the traffic flow densities of all the lanes, and determining the lane changing difficulty coefficient of the target vehicle from the target lane to any lane based on the traffic flow densities of all the lanes.

Compared with the prior art, the bridge overload early warning method and system disclosed by the invention have the beneficial effects that: the total weight of vehicles on each lane on the early warning bridge section is compared with a preset bearing threshold value, when the total weight of the vehicles exceeds the bearing threshold value, the situation that the vehicles on a target lane on the early warning bridge section are concentrated to possibly cause the load of a bridge to suddenly increase so as to generate structural damage to the bridge is shown, and therefore a new pre-running vehicle lane is made for at least one target vehicle on the target lane and an early warning prompt is sent out to prompt the target vehicle to run according to the pre-running vehicle lane. According to the bridge overload early warning method, the vehicles on the bridge are planned in an integrated mode, so that the loads of the vehicles are dispersed when the vehicles pass through the early warning bridge section, structural damage to the bridge is avoided, and the service life of the bridge is guaranteed.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart of a bridge overload warning method according to a first embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating a state of the vehicle in the early warning bridge section according to the first embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating another state of the vehicle during traveling at the early warning bridge section according to the first embodiment of the present invention;

fig. 4 is a block diagram illustrating a bridge overload warning system according to a third embodiment of the present invention.

Detailed Description

In order to make the objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Referring to fig. 1 to 3, a first embodiment of the present invention provides a bridge overload warning method, including steps S10 to S70:

and step S10, acquiring a driving image of the vehicle running in the early warning bridge section, and determining the identification information of each target vehicle and the current lane of the vehicle running in the early warning bridge section according to the driving image.

It is easy to understand that in order to improve the traffic efficiency of the vehicles on the bridge, a plurality of lanes are generally arranged in the same direction on the bridge, and in the case that the marked lines on the bridge floor are broken lines, the vehicles are allowed to change lanes so as to take account of traffic safety and traffic efficiency.

By way of example and not limitation, a camera device for shooting vehicle images or vehicle videos is arranged on the early warning bridge section, and the camera device is a high-definition camera arranged on a portal frame or a light pole in the early warning bridge section. The camera device is matched with the induction device for use, and when the induction device detects that the vehicle passes through the radar identification area, the camera device automatically shoots the driving image or the driving video of the target vehicle on the early warning bridge section.

Specifically, in the embodiment, the driving image of the target vehicle on the early warning bridge section is acquired through the camera device. Based on the driving image, identification information such as a license plate, a model, a speed, a vehicle color and the like of the target vehicle can be obtained. And based on the driving image, the lane of the early warning bridge section where the target vehicle is located can be distinguished.

Step S20, obtaining weight information of each target vehicle to determine a total vehicle weight of each lane in the early warning bridge segment.

The weight information of each target vehicle is obtained through the weighing device arranged on the bridge floor of the early warning bridge section, and the total weight of the vehicles entering each lane of the early warning bridge section can be determined through statistics.

Furthermore, the weighing device on the bridge deck of the early warning bridge section should be arranged at the inlet of the early warning bridge section as much as possible, and the coverage range of the early warning bridge section is defined by taking the inlet as a starting point and taking the preset distance as an interval. When the target vehicle enters the early warning bridge section, the weight information of the target vehicle can be synchronously acquired, so that the total weight of all the target vehicles entering the early warning bridge section can be calculated conveniently.

For example, the lane Q1 of the first warning bridge segment currently has 10 target vehicles, and the weights of the target vehicles are added up when the target vehicles enter the lane Q1, so that the total weight of the vehicles is 200t, for example. When the next target vehicle enters lane Q1, the vehicle weight measured by the weighing device is 30t, and the gross vehicle weight in lane Q1 is increased to 230 t. However, since the target vehicle is moving, when the frontmost target vehicle (10 t) moves out of the Q1 lane of the first warning bridge segment and enters the Q1 lane of the second warning bridge segment, the weight of the vehicle entering the second warning bridge segment can be taken into the Q1 lane of the second warning bridge segment by the camera and the weighing device of the second warning bridge segment. When no vehicle enters the rear of the lane Q1 of the first early warning bridge segment, the total vehicle weight of the vehicle in the lane Q1 of the first early warning bridge segment is changed to (200 + 30-10) t.

That is, in the present embodiment, the total vehicle weight of each lane in the early warning bridge segment is dynamically obtained.

Step S30, determining whether there is a lane overload condition in at least one target lane according to the total weight of vehicles in each lane and the load-bearing threshold of each lane.

The gross weight of the vehicles on each lane in the early warning bridge section is determined through the steps, and the gross weight of the vehicles is compared with the load bearing threshold value through presetting the load bearing threshold value of each lane so as to judge whether any lane is overloaded or not.

It should be noted that the determination of the load-bearing threshold value is a maximum load-bearing value within a safety range preset based on the structure of the bridge, and does not mean that the load-bearing threshold value is equal to the maximum load-bearing value of the bridge.

For example, the bearing thresholds of the Q1 lane, the Q2 lane and the Q3 lane of the early warning bridge segment are set to be 500t, 600t and 700t respectively, if the total weight of vehicles on the Q1 lane exceeds 500t, the Q1 lane is determined to have an overload condition, and the overload condition for a long time may cause certain structural damage to the bridge.

And step S40, acquiring the current traffic condition of the early warning bridge section, and determining the lane changing difficulty coefficient of the target vehicle changing to any lane except the target lane in the early warning bridge section.

It should be noted that the lane change difficulty coefficient should be determined based on the traffic condition of the vehicles on the lane, and the main reference index includes the number of vehicles on the lane and the distance between the vehicles. When the number of vehicles on a certain lane is large, the lane changing difficulty coefficient of the target vehicle on the target lane to the lane is high, and when the number of vehicles on the certain lane is small, the lane changing difficulty coefficient of the target vehicle on the target lane to the lane is low. When the distance between the vehicles on one lane is smaller, the lane changing difficulty coefficient of the target vehicle on the target lane to the lane is higher, and when the distance between the vehicles on one lane is larger, the lane changing difficulty coefficient of the target vehicle on the target lane to the lane is lower.

And step S50, generating a coefficient mapping table according to the lane change difficulty coefficient, and selecting a lane with the lowest lane change difficulty coefficient.

And confirming a lane changing difficulty coefficient of the target vehicle to any lane except the target lane in the early warning bridge section according to the current traffic condition of the early warning bridge section, and generating a coefficient mapping table according to the lane changing difficulty coefficient. The coefficient mapping table comprises each lane and lane changing difficulty coefficients corresponding to each lane, a lane with the lowest lane changing difficulty coefficient is selected according to the coefficient mapping table, and the selected lane is the lane with the lowest lane changing difficulty of the target vehicle.

Step S60, according to preset vehicle control rules, a preset lane is established for at least one target vehicle on the target lane, wherein the preset lane is the lane with the lowest lane change difficulty coefficient in the coefficient mapping table.

By way of example and not limitation, the traffic flow of the lane Q2 on the early warning bridge segment is maximum, and an overload condition exists at the same time, the lane change difficulty coefficients of the lane Q1 and the lane Q3 on the two sides of the lane Q2 are compared, when the lane change difficulty coefficient of the lane Q1 is determined to be the lowest, the lane change difficulty coefficient of a target vehicle on the lane Q2 to the lane Q1 is determined to be the lowest, and the lane change danger coefficient is also the lowest, so that the lane Q1 adjacent to the lane Q2 should be selected as the pre-running lane of the target vehicle planned to change lanes. Of course, the lane Q3 adjacent to the lane Q2 may be selected as the pre-travel lane for the target vehicle for which lane changes are planned.

In one case, when the lane change difficulty coefficients of the lane Q1 and the lane Q3 are substantially equal, it is described that the lane change difficulty coefficients of the target vehicles on the lane Q2 to the lane Q1 and the lane Q3 are substantially equal, and in consideration of traffic regulations, the lane Q1 on the right side adjacent to the lane Q2 should be preferentially selected as the pre-running lane of the target vehicle for which lane change is planned.

In another case, when the number of target vehicles on the Q2 lane is large, the Q1 lane and the Q3 lane adjacent to the Q2 lane may be alternately selected as the pre-travel lane of the target vehicle planned to change lanes.

And step S70, sending out an early warning prompt according to the identification information of the predicted vehicle lane and the target vehicle to prompt the target vehicle to enter the predicted vehicle lane.

The early warning prompt can be displayed through the display device so as to display the identification information of the pre-driving lane and the target vehicle, and thus, the driver of the target vehicle is prompted. For example, the display device displays an early warning prompt "Jiangx.XXXXX vehicle owner, please drive the vehicle to change lane to the Q1 lane to ensure the passing safety".

By adopting the bridge overload early warning method shown in the embodiment, the total weight of vehicles on each lane on the early warning bridge segment is compared with the preset bearing threshold value, and when the total weight of the vehicles exceeds the bearing threshold value, the situation that the load of the bridge is increased suddenly to generate structural damage to the bridge due to the fact that the vehicles on the target lane on the early warning bridge segment are concentrated is described, so that a new pre-driving lane is made for at least one target vehicle on the target lane, and an early warning prompt is given to prompt the target vehicle to drive according to the pre-driving lane. According to the bridge overload early warning method, the vehicles on the bridge are planned in an integrated mode, so that the loads of the vehicles are dispersed when the vehicles pass through the early warning bridge section, structural damage to the bridge is avoided, and the service life of the bridge is guaranteed.

A second embodiment of the present invention provides a bridge overload warning method, in this embodiment:

the step of determining whether there is a lane overload condition in at least one target lane according to the total weight of vehicles in each lane and the load-bearing threshold of each lane specifically includes steps S31-S33:

and step S31, presetting a bearing threshold value of each lane in the early warning bridge section according to the structural characteristics of the bridge.

For example, the bearing thresholds of the Q1 lane, the Q2 lane and the Q3 lane of the early warning bridge section are set to be 500t, 600t and 700t respectively.

And step S32, comparing the gross vehicle weight of the vehicles on each lane with a preset load bearing threshold value.

And step S33, judging whether at least one target lane exists in the early warning bridge section or not based on the comparison result of the total weight of the vehicle and the bearing threshold value.

If the total weight of the vehicles on the lane Q2 exceeds 600t, the lane Q2 is judged to have an overload condition, and the overload condition for a long time can cause certain structural damage to the bridge.

Obtaining the current passing condition of the early warning bridge section, and determining a lane changing difficulty coefficient of the target vehicle changing to any lane except the target lane in the early warning bridge section, wherein the steps comprise S41-S42:

and step S41, acquiring the traffic flow density of all lanes in a preset range by taking the target vehicle as the center on the early warning bridge section.

And step S42, comparing the traffic flow densities of all lanes, and determining the lane changing difficulty coefficient of the target vehicle from the target lane to any lane based on the traffic flow densities of all lanes.

Further, the step of obtaining the traffic flow density of all lanes in a preset range with the target vehicle as the center on the early warning bridge segment specifically comprises steps S411 to S413:

and step S411, generating a scanning area in a preset range by taking the target vehicle as a center.

For example, a scan area of an elliptical range of 50m each in front of and behind the vehicle and 10m each in the left and right of the vehicle is generated with the moving target vehicle as the center, because the vehicle within the scan area has a significant influence on the lane change traveling of the target vehicle.

Step S412, obtaining driving images of all vehicles in the scanning area, and calculating the number of vehicles on all lanes except the target lane and the average distance between vehicles in the scanning area according to the driving images.

Step S413, determining the traffic density of all lanes except the target lane in the scanning area according to the number of vehicles and the average distance between vehicles.

When the number of the vehicles is large, the average distance between the vehicles is correspondingly reduced, then the traffic flow density of the lane is judged to be large, and the lane changing difficulty coefficient of the target vehicle from the target lane to the lane is high, and the lane changing danger coefficient is increased, so that the lane with the lowest lane changing difficulty coefficient is reasonably selected as the pre-running lane planned for the target vehicle.

Sending out an early warning prompt according to the identification information of the predicted vehicle lane and the target vehicle to prompt the target vehicle to enter the predicted vehicle lane, wherein the steps of S71-S73 are specifically included:

and step S71, making a lane change guide map of the target vehicle according to the predicted lane and the target lane.

Wherein, display device is for example the display screen of setting on the portal frame in early warning bridge segment.

Step S72, sending the identification information of the target vehicle and the lane-changing guide chart to a display device for displaying,

when the bridge has a plurality of early warning bridge sections which are connected in sequence, the method proceeds to step S73.

And step S73, controlling a display device of the current pre-warning bridge section of the target vehicle and display devices of all pre-warning bridge sections to be driven in the driving direction of the target vehicle to synchronously send out the pre-warning prompt, and closing the pre-warning prompt until the target vehicle successfully enters the pre-driving lane according to the lane change guide map.

Specifically, when the camera device of the next early warning bridge segment detects that the target vehicle coming from the previous early warning bridge segment does not enter the pre-driving lane according to the early warning prompt, the display devices of all the early warning bridge segments to be driven in the driving direction synchronously display the early warning prompt, and only when the camera device of one early warning bridge segment detects that the target vehicle enters the pre-driving lane, the display devices of all the early warning bridge segments stop displaying.

The early warning of the overload condition of the bridge is basically realized through the technical scheme, the vehicles can be driven to run in a shunting manner through the early warning prompt, all vehicles reasonably pass through the bridge as far as possible, and the structural damage to the bridge caused by the sudden increase of the bridge load due to the concentrated vehicles is avoided.

However, in practice, not all drivers of target vehicles can drive according to the warning prompt, and to a certain extent, the vehicles are still easy to cause accidents, which is not beneficial to smooth passing of bridges.

To solve the above problem, in this embodiment, the method further includes steps S80-S100:

step S80, when it is detected that a target vehicle driven by a previous early warning bridge segment does not drive according to a planned pre-driving lane, acquiring a driving image that the target vehicle does not drive according to the pre-driving lane;

specifically, whether a target vehicle which is driven from the previous early warning bridge section runs according to the pre-running lane is judged through a camera device on the early warning bridge section.

For example, when the target vehicle enters the early warning bridge section, due to the fact that the traffic density of the lane Q2 is high, and the traffic density of the lane Q1 is low, a predicted traffic lane which is driven from the lane Q2 to the lane Q1 is established for the traffic condition. The driver of the target vehicle ignores the early warning prompt or drives with a sense of mind, which will aggravate the traffic flow concentration of the lane Q2 and waste the traffic resource of the lane Q1. In this regard, the present embodiment proceeds to step S90.

And step S90, packaging and sending all the driving images of the target vehicle driving on the bridge to a traffic police management system.

When the traffic police management system receives all driving images of the target vehicle driving on the bridge, the traffic police management system can perform punishment on behaviors of drivers not listening to prompt information and endangering bridge structure safety when driving the target vehicle based on traffic regulations.

And S100, receiving the warning information sent by the traffic police management system and displaying the warning information.

By way of example and not limitation, a warning message such as "gan x. xxxx vehicle owner, please drive to XX to be checked after getting off the bridge" is also displayed on the display device.

By adopting the bridge overload early warning method shown in the embodiment, the total weight of vehicles on each lane on the early warning bridge segment is compared with the preset bearing threshold value, and when the total weight of the vehicles exceeds the bearing threshold value, the situation that the load of the bridge is increased suddenly to generate structural damage to the bridge due to the fact that the vehicles on the target lane on the early warning bridge segment are concentrated is described, so that a new pre-driving lane is made for at least one target vehicle on the target lane, and an early warning prompt is given to prompt the target vehicle to drive according to the pre-driving lane. According to the bridge overload early warning method, the vehicles on the bridge are planned in an integrated mode, so that the loads of the vehicles are dispersed when the vehicles pass through the early warning bridge section, structural damage to the bridge is avoided, and the service life of the bridge is guaranteed.

Referring to fig. 4, a third embodiment of the present invention provides a bridge overload warning system, including:

the image acquisition module 10 is configured to acquire a driving image of a vehicle driving in the early warning bridge segment, and determine identification information of each target vehicle and a current lane of the vehicle driving in the early warning bridge segment according to the driving image.

It is easy to understand that in order to improve the traffic efficiency of the vehicles on the bridge, a plurality of lanes are generally arranged in the same direction on the bridge, and in the case that the marked lines on the bridge floor are broken lines, the vehicles are allowed to change lanes so as to take account of traffic safety and traffic efficiency.

By way of example and not limitation, a camera device for shooting vehicle images or vehicle videos is arranged on the early warning bridge section, and the camera device is a high-definition camera arranged on a portal frame or a light pole in the early warning bridge section. The camera device is matched with the induction device for use, and when the induction device detects that the vehicle passes through the radar identification area, the camera device automatically shoots the driving image or the driving video of the target vehicle on the early warning bridge section.

Specifically, in the embodiment, the driving image of the target vehicle on the early warning bridge section is acquired through the camera device. Based on the driving image, identification information such as a license plate, a model, a speed, a vehicle color and the like of the target vehicle can be obtained. And based on the driving image, the lane of the early warning bridge section where the target vehicle is located can be distinguished.

And a weight obtaining module 20, configured to obtain weight information of each target vehicle, so as to determine a total vehicle weight of each lane in the early warning bridge segment.

The weight information of each target vehicle is obtained through the weighing device arranged on the bridge floor of the early warning bridge section, and the total weight of the vehicles entering each lane of the early warning bridge section can be determined through statistics.

Furthermore, the weighing device on the bridge deck of the early warning bridge section should be arranged at the inlet of the early warning bridge section as much as possible, and the coverage range of the early warning bridge section is defined by taking the inlet as a starting point and taking the preset distance as an interval. When the target vehicle enters the early warning bridge section, the weight information of the target vehicle can be synchronously acquired, so that the total weight of all the target vehicles entering the early warning bridge section can be calculated conveniently.

For example, the lane Q1 of the first warning bridge segment currently has 10 target vehicles, and the weights of the target vehicles are added up when the target vehicles enter the lane Q1, so that the total weight of the vehicles is 200t, for example. When the next target vehicle enters lane Q1, the vehicle weight measured by the weighing device is 30t, and the gross vehicle weight in lane Q1 is increased to 230 t. However, since the target vehicle is moving, when the frontmost target vehicle (10 t) moves out of the Q1 lane of the first warning bridge segment and enters the Q1 lane of the second warning bridge segment, the weight of the vehicle entering the second warning bridge segment can be taken into the Q1 lane of the second warning bridge segment by the camera and the weighing device of the second warning bridge segment. When no vehicle enters the rear of the lane Q1 of the first early warning bridge segment, the total vehicle weight of the vehicle in the lane Q1 of the first early warning bridge segment is changed to (200 + 30-10) t.

That is, in the present embodiment, the total vehicle weight of each lane in the early warning bridge segment is dynamically obtained.

And the overload judging module 30 is configured to judge whether there is a lane overload condition in at least one target lane according to the total weight of the vehicles in each lane and the load-bearing threshold of each lane.

The gross weight of the vehicles on each lane in the early warning bridge section is determined through the steps, and the gross weight of the vehicles is compared with the load bearing threshold value through presetting the load bearing threshold value of each lane so as to judge whether any lane is overloaded or not.

It should be noted that the determination of the load-bearing threshold value is a maximum load-bearing value within a safety range preset based on the structure of the bridge, and does not mean that the load-bearing threshold value is equal to the maximum load-bearing value of the bridge.

For example, the bearing thresholds of the Q1 lane, the Q2 lane and the Q3 lane of the early warning bridge segment are set to be 500t, 600t and 700t respectively, if the total weight of vehicles on the Q1 lane exceeds 500t, the Q1 lane is determined to have an overload condition, and the overload condition for a long time may cause certain structural damage to the bridge.

And the lane changing difficulty coefficient determining module 40 is configured to acquire a current traffic condition of the early warning bridge section, and determine a lane changing difficulty coefficient for changing the lane of the target vehicle to any lane except the target lane in the early warning bridge section.

It should be noted that the lane change difficulty coefficient should be determined based on the traffic condition of the vehicles on the lane, and the main reference index includes the number of vehicles on the lane and the distance between the vehicles. When the number of vehicles on a certain lane is large, the lane changing difficulty coefficient of the target vehicle on the target lane to the lane is high, and when the number of vehicles on the certain lane is small, the lane changing difficulty coefficient of the target vehicle on the target lane to the lane is low. When the distance between the vehicles on one lane is smaller, the lane changing difficulty coefficient of the target vehicle on the target lane to the lane is higher, and when the distance between the vehicles on one lane is larger, the lane changing difficulty coefficient of the target vehicle on the target lane to the lane is lower.

And the lane change difficulty coefficient comparison module 50 generates a coefficient mapping table according to the lane change difficulty coefficient, and selects a lane with the lowest lane change difficulty coefficient.

And confirming a lane changing difficulty coefficient of the target vehicle to any lane except the target lane in the early warning bridge section according to the current traffic condition of the early warning bridge section, and generating a coefficient mapping table according to the lane changing difficulty coefficient. The coefficient mapping table comprises each lane and lane changing difficulty coefficients corresponding to each lane, a lane with the lowest lane changing difficulty coefficient is selected according to the coefficient mapping table, and the selected lane is the lane with the lowest lane changing difficulty of the target vehicle.

And the lane planning module 60 is configured to formulate a predicted lane for at least one target vehicle on the target lane according to preset vehicle control rules, where the predicted lane is a lane with the lowest lane change difficulty coefficient in the coefficient mapping table.

By way of example and not limitation, the traffic flow of the lane Q2 on the early warning bridge segment is maximum, and an overload condition exists at the same time, the lane change difficulty coefficients of the lane Q1 and the lane Q3 on the two sides of the lane Q2 are compared, when the lane change difficulty coefficient of the lane Q1 is determined to be the lowest, the lane change difficulty coefficient of a target vehicle on the lane Q2 to the lane Q1 is determined to be the lowest, and the lane change danger coefficient is also the lowest, so that the lane Q1 adjacent to the lane Q2 should be selected as the pre-running lane of the target vehicle planned to change lanes. Of course, the lane Q3 adjacent to the lane Q2 may be selected as the pre-travel lane for the target vehicle for which lane changes are planned.

In one case, when the lane change difficulty coefficients of the lane Q1 and the lane Q3 are substantially equal, it is described that the lane change difficulty coefficients of the target vehicles on the lane Q2 to the lane Q1 and the lane Q3 are substantially equal, and in consideration of traffic regulations, the lane Q1 on the right side adjacent to the lane Q2 should be preferentially selected as the pre-running lane of the target vehicle for which lane change is planned.

In another case, when the number of target vehicles on the Q2 lane is large, the Q1 lane and the Q3 lane adjacent to the Q2 lane may be alternately selected as the pre-travel lane of the target vehicle planned to change lanes.

And the evacuation prompting module 70 is configured to send out an early warning prompt according to the identification information of the pre-driving lane and the target vehicle, so as to prompt the target vehicle to enter the pre-driving lane.

The early warning prompt can be displayed through the display device so as to display the identification information of the pre-driving lane and the target vehicle, and thus, the driver of the target vehicle is prompted. For example, the display device displays an early warning prompt "Jiangx.XXXXX vehicle owner, please drive the vehicle to change lane to the Q1 lane to ensure the passing safety".

In this embodiment, the overload determining module 30 is specifically configured to:

presetting a bearing threshold value of each lane in the early warning bridge section according to the structural characteristics of the bridge;

comparing the total weight of the vehicles on each lane with a preset bearing threshold value;

and judging whether at least one target lane exists in the early warning bridge section or not according to a comparison result of the total weight of the vehicle and the bearing threshold value and judging whether the lane overload condition exists in the at least one target lane.

In this embodiment, the lane change difficulty coefficient determining module 40 is specifically configured to:

acquiring the traffic flow density of all lanes in a preset range by taking the target vehicle as a center on the early warning bridge section;

and comparing the traffic flow densities of all the lanes, and determining the lane changing difficulty coefficient of the target vehicle from the target lane to any lane based on the traffic flow densities of all the lanes.

By adopting the bridge overload early warning system shown in the embodiment, the total weight of vehicles on each lane on the early warning bridge segment is compared with the preset bearing threshold value, when the total weight of the vehicles exceeds the bearing threshold value, the situation that the load of the bridge is increased suddenly to generate structural damage to the bridge due to the fact that the vehicles on the target lane on the early warning bridge segment are concentrated is explained, and therefore a new pre-driving lane is made for at least one target vehicle on the target lane and an early warning prompt is sent out to prompt the target vehicle to drive according to the pre-driving lane. The bridge overload early warning system shown in this embodiment can make the vehicle load disperse when the early warning bridge segment is passed through by overall planning to the vehicle on the bridge, avoids producing the structural damage to the bridge, guarantees the life of bridge.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.