CN-122024501-A - Expressway accident rapid response method and system based on Beidou

CN122024501ACN 122024501 ACN122024501 ACN 122024501ACN-122024501-A

Abstract

The invention relates to the technical field of intelligent traffic control, in particular to a rapid expressway accident response method and system based on Beidou, comprising the following steps: the method comprises the steps of collecting triaxial acceleration and vehicle longitude and latitude, calculating vector module length and threshold value comparison to determine accident level state codes, constructing Beidou accident short messages by serialized data, sending the Beidou accident short messages through satellite links, analyzing the messages to extract information, calculating a spherical distance establishment list of accident points and candidate rescue vehicles, and arranging and selecting target rescue vehicles in ascending order and sending rescue task instructions. According to the invention, the collision grade is judged by calculating the vector modular length, the Beidou satellite link is utilized to transmit the message, the coverage limitation of the ground communication network is broken through, the stable reporting danger in the signal blind area or the coma of personnel is ensured, the spherical distance is automatically calculated, the target vehicle is locked, the complicated link of manual rechecking and scheduling is eliminated, and the automatic matching and quick response of the optimal rescue resources are realized.

Inventors

AN RAN
ZHU LIGANG
ZHANG BIN
LI GUANGJIA

Assignees

山东高速千方国际科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260326

Claims (10)

1. The expressway accident quick response method based on Beidou is characterized by comprising the following steps of: s1, acquiring triaxial acceleration data and vehicle longitude and latitude coordinates, calculating vector modular length of the triaxial acceleration data to generate a combined acceleration value, comparing the combined acceleration value with a preset collision judgment threshold value, and generating an accident level state code according to a preset interval mapping relation when the combined acceleration value is larger than the preset collision judgment threshold value; S2, serializing the longitude and latitude coordinates of the vehicle and the accident level state code to generate a fixed-length position code and an accident state bit stream, obtaining a vehicle identification code and an event occurrence time stamp, splicing the fixed-length position code, the accident state bit stream, the vehicle identification code and the event occurrence time stamp to construct a Beidou accident short message, and transmitting the Beidou accident short message through a satellite link; S3, analyzing the Beidou accident short message, extracting the longitude and latitude coordinates of the vehicle and the accident level state code, obtaining a candidate rescue vehicle position set, calculating the spherical distance between the longitude and latitude coordinates of the vehicle and the candidate rescue vehicle position set, and establishing a rescue distance numerical list; s4, arranging the rescue distance numerical value list in an ascending order, selecting a first target rescue vehicle, constructing a rescue task instruction based on the longitude and latitude coordinates of the vehicle and the accident level state code, and sending the rescue task instruction to the target rescue vehicle through a ground station.
2. The rapid response method for expressway accidents based on Beidou according to claim 1, wherein the step of S1 is specifically as follows: S11, acquiring three-axis acceleration data of an X axis, a Y axis and a Z axis in real time at a preset sampling frequency through a vehicle-mounted inertial measurement unit, synchronously acquiring longitude and latitude coordinates of the vehicle at the current moment through a Beidou positioning module, and carrying out denoising smoothing on the three-axis acceleration data by adopting a Kalman filtering algorithm to generate a standardized acceleration component sequence; s12, extracting three components at the same moment in the standardized acceleration component sequence, calculating the physical vector length at the moment according to Euclidean norm rule, and correcting a calculation result by combining with a gravity acceleration compensation coefficient to generate the combined acceleration value; And S13, acquiring the preset collision judgment threshold value and the preset interval mapping relation stored in the local control unit, comparing the value of the combined acceleration value with the preset collision judgment threshold value, searching a value interval in which the combined acceleration value falls in the preset interval mapping relation when the judgment result is true, and extracting an identifier corresponding to the interval to generate the accident level state code.
3. The rapid expressway accident response method based on Beidou according to claim 2, wherein the step of S2 is specifically: S21, acquiring a longitude floating point value and a latitude floating point value in longitude and latitude coordinates of the vehicle, converting the longitude floating point value and the latitude floating point value into binary character strings with preset bit lengths by adopting a binary space segmentation algorithm, and performing interleaving and merging processing on the two binary character strings to generate the fixed-length position code; S22, analyzing the accident level state code, extracting a corresponding severity level identifier, mapping the severity level identifier into a binary sequence with a target length according to a preset state compression protocol, and adding a parity bit to generate the accident state bit stream; S23, acquiring the vehicle identification code stored in a read-only memory of the vehicle-mounted terminal and the event occurrence time stamp output by the Beidou time service module, sequentially filling the fixed-length position code, the accident state bit stream, the vehicle identification code and the event occurrence time stamp into a user data segment according to a frame structure specified by a Beidou short message communication protocol, and adding a frame head and a frame tail to construct the Beidou short message.
4. The rapid expressway accident response method according to claim 3, wherein the step of S3 specifically includes: s31, demodulating a satellite downlink signal through a ground receiving station, analyzing the Beidou accident short message, reversely extracting the content of a user data segment according to frame structure definition, separating out longitude and latitude coordinates of the vehicle and the accident level state code, and storing an analysis result into an accident handling event queue; S32, reading a preset rescue resource distribution database, taking the longitude and latitude coordinates of the vehicle as a central point, taking a preset maximum response radius as a search boundary, screening all idle state rescue vehicles positioned in the boundary by using a spatial index algorithm, and generating the candidate rescue vehicle position set; And S33, traversing each position point in the candidate rescue vehicle position set, calling global great circle distance calculation logic, respectively calculating the longitude and latitude coordinates of the vehicle and the spherical arc length between a plurality of position points, associating the calculated distance value with the corresponding vehicle ID, and establishing the rescue distance value list.
5. The rapid response method for expressway accidents based on Beidou according to claim 4, wherein the step of S4 is specifically: S41, acquiring the rescue distance numerical value list, carrying out numerical value ascending arrangement on distance elements in the list by adopting a quick ordering algorithm, positioning a vehicle ID (identity) associated with the element with the smallest numerical value in the list, and marking the vehicle ID as the target rescue vehicle for executing the rescue task; S42, generating an accident point navigation route point according to the longitude and latitude coordinates of the vehicle, matching a corresponding rescue equipment list and a medical plan by combining the rescue requirement level indicated by the accident level state code, packaging the navigation route point, the rescue equipment list and the medical plan into a data packet, and constructing the rescue task instruction; S43, establishing a special wireless communication link between the ground station and the target rescue vehicle, modulating the rescue task instruction into a radio frequency signal, sending the radio frequency signal to a vehicle-mounted receiving terminal of the target rescue vehicle, and monitoring a confirmation receipt signal of the terminal.
6. The rapid expressway accident response method according to claim 5, wherein the calculation process of the total acceleration value and the generation process of the accident level status code include: acquiring an X-axis acceleration component Acceleration component of Y axis Component of Z-axis acceleration Calculating the original module length by using a square sum square formula and subtracting the gravitational acceleration constant Obtaining the combined acceleration value after gravity compensation The formula is calculated: ; Wherein, the Representing the lateral acceleration of the vehicle, Representing the longitudinal acceleration of the vehicle, Representing the vertical acceleration of the vehicle, Representing the standard gravitational acceleration constant of the vehicle, Represents a net acceleration for collision determination; acquiring a preset slight collision threshold Threshold for severe collision Threshold for fatal collision If (if) Judging the accident as a slight accident and generating a first-level status code; If it is Judging that the accident is serious and generating a secondary status code; If it is Then a fatal accident is determined and a three-level status code is generated.
7. The rapid expressway accident response method based on Beidou according to claim 6, wherein the generation process of the fixed-length position code comprises the following steps: acquiring longitude intervals in which longitude and latitude coordinates of the vehicle are located And latitude interval Performing binary iteration on the longitude zone and the latitude zone respectively, judging whether the longitude and latitude coordinates of the vehicle fall in a left zone or a right zone after the binary iteration, marking the bit as 1 if the longitude and latitude coordinates fall in the right zone, marking the bit as 0 if the longitude and latitude coordinates fall in the left zone, and repeating the iteration until the preset precision bit number is reached, and respectively generating a longitude binary string and a latitude binary string; and acquiring the multi-bit numerical value of the longitude binary string and the multi-bit numerical value of the latitude binary string, and carrying out bit interleaving combination according to the rules of 'even bit longitude and odd bit latitude', so as to generate a unique binary sequence as the fixed-length position code.
8. The rapid expressway accident response method according to claim 7, wherein the calculation process of the spherical distance includes: acquiring latitude of longitude and latitude coordinates of the vehicle And longitude And a latitude of a certain vehicle position in the candidate rescue vehicle position set And longitude Converting the angle value into an radian value, and calculating the spherical distance between two points by using a semi-normal vector formula The formula is calculated: ; Wherein, the Representing the average radius of the earth, A latitude radian value representing an accident point, The latitude radian value representing the rescue point, A longitude radian value representing the point of the accident, A longitude radian value representing a rescue point, Representing the calculated spherical distance value.
9. The rapid expressway accident response method based on Beidou according to claim 8, wherein the construction process of the rescue task instruction comprises the following steps: Acquiring the current position coordinates of the target rescue vehicle, calling an online map service application program interface, taking the current position coordinates as a starting point and the longitude and latitude coordinates of the vehicle as an end point, and planning an optimal running path in combination with real-time road condition information to generate a path navigation data packet; And acquiring a preset rescue resource allocation table associated with the accident level state code, analyzing the table to extract the needed first-aid equipment type codes, the needed medical staff number and the site treatment operation specification, and carrying out protocol encapsulation on the path navigation data packet and the extracted information to generate the rescue task instruction.
10. A beidou-based expressway accident rapid response system for implementing the beidou-based expressway accident rapid response method as set forth in any one of claims 1 to 9, comprising: The accident detection analysis module is used for collecting triaxial acceleration data and longitude and latitude coordinates of a vehicle, calculating vector modular growth of the triaxial acceleration data to generate a combined acceleration value, comparing the combined acceleration value with a preset collision judgment threshold value, and generating an accident level state code according to a preset interval mapping relation when the combined acceleration value is larger than the preset collision judgment threshold value; The message code sending module is used for serializing the longitude and latitude coordinates of the vehicle and the accident level state code to generate a fixed-length position code and an accident state bit stream, acquiring a vehicle identity code and an event occurrence time stamp, splicing the fixed-length position code, the accident state bit stream, the vehicle identity code and the event occurrence time stamp to construct a Beidou accident short message, and sending the Beidou accident short message through a satellite link; the rescue matching calculation module is used for analyzing the Beidou accident short message, extracting the longitude and latitude coordinates of the vehicle and the accident level state code, obtaining a candidate rescue vehicle position set, calculating the spherical distance between the longitude and latitude coordinates of the vehicle and the candidate rescue vehicle position set, and establishing a rescue distance numerical value list; The task scheduling distribution module is used for arranging the rescue distance numerical value list in an ascending order, selecting a first target rescue vehicle, constructing a rescue task instruction based on the longitude and latitude coordinates of the vehicle and the accident level state code, and sending the rescue task instruction to the target rescue vehicle through a ground station.

Description

Expressway accident rapid response method and system based on Beidou Technical Field The invention relates to the technical field of intelligent traffic control, in particular to a rapid expressway accident response method and system based on Beidou. Background The intelligent traffic control is a technical system for monitoring and scheduling road traffic flow, vehicle running state and emergency by using sensors, communication networks, signal controllers and a central management platform which are deployed along the road. The traditional expressway accident quick response method refers to that accident scene personnel access a public mobile communication network through a roadside cellular mobile communication base station by utilizing a handheld mobile communication terminal, voice alarm signals or accident scene image data acquired through application programs are sent to an alarm receiving and dispatching server of an expressway emergency command center through a ground optical fiber transmission network, and a command center attendant confirms an accident stake number through a computer aided dispatching terminal and sends an alarm instruction to road administration inspection vehicles and obstacle clearing and rescue teams in a jurisdiction through a special wireless communication trunking system or a wired telephone network. The prior art relies on the field personnel to access public network alarm through a road side cellular base station by utilizing a handheld terminal, is limited by public communication network coverage and ground transmission stability, is easy to cause transmission interruption due to signal blind areas and network congestion under remote road sections or extreme environments, and is highly dependent on personnel active operation, so that a distress signal cannot be sent out when a serious accident occurs to cause personnel coma, meanwhile, a command center relies on personnel to confirm a pile number and voice scheduling, an information flow link is complicated and has low efficiency, nearest rescue resources are difficult to lock quickly, and an instruction is delayed and optimal rescue opportunity is delayed. Disclosure of Invention The invention aims to solve the defects in the prior art, and provides a rapid expressway accident response method and system based on Beidou. In order to achieve the above purpose, the invention adopts the following technical scheme that the expressway accident rapid response method based on Beidou comprises the following steps: s1, acquiring triaxial acceleration data and vehicle longitude and latitude coordinates, calculating vector modular length of the triaxial acceleration data to generate a combined acceleration value, comparing the combined acceleration value with a preset collision judgment threshold value, and generating an accident level state code according to a preset interval mapping relation when the combined acceleration value is larger than the preset collision judgment threshold value; S2, serializing the longitude and latitude coordinates of the vehicle and the accident level state code to generate a fixed-length position code and an accident state bit stream, obtaining a vehicle identification code and an event occurrence time stamp, splicing the fixed-length position code, the accident state bit stream, the vehicle identification code and the event occurrence time stamp to construct a Beidou accident short message, and transmitting the Beidou accident short message through a satellite link; S3, analyzing the Beidou accident short message, extracting the longitude and latitude coordinates of the vehicle and the accident level state code, obtaining a candidate rescue vehicle position set, calculating the spherical distance between the longitude and latitude coordinates of the vehicle and the candidate rescue vehicle position set, and establishing a rescue distance numerical list; s4, arranging the rescue distance numerical value list in an ascending order, selecting a first target rescue vehicle, constructing a rescue task instruction based on the longitude and latitude coordinates of the vehicle and the accident level state code, and sending the rescue task instruction to the target rescue vehicle through a ground station. As a further scheme of the present invention, the step S1 specifically includes: S11, acquiring three-axis acceleration data of an X axis, a Y axis and a Z axis in real time at a preset sampling frequency through a vehicle-mounted inertial measurement unit, synchronously acquiring longitude and latitude coordinates of the vehicle at the current moment through a Beidou positioning module, and carrying out denoising smoothing on the three-axis acceleration data by adopting a Kalman filtering algorithm to generate a standardized acceleration component sequence; s12, extracting three components at the same moment in the standardized acceleration component sequence, calculating the physical vector length at the