The invention provides a traffic accident trailer driving path planning method and device fused with an unmanned aerial vehicle. The method comprises the following steps: acquiring a congested road image where an accident vehicle is located based on the unmanned aerial vehicle; vehicles in the image are distinguished by an image analysis method, and the obtained road image is segmented by a semantic segmentation unit to obtain a lane area; matching the grid with the binarized image, and assigning a value to the grid; for a pure white grid, giving different symbols according to a lane where the pure white grid is located; carrying out coordinate analysis on the grids, judging a driving route and a lane changing process, and if a line is connected from a starting point to an accident vehicle occurrence place, taking the line as a passable path; the passable path Sx is compared and analyzed, x is the turning frequency, and when x is the minimum, Sx is the optimal path. On the premise of not damaging the original traffic rule of the road, the trailer operation efficiency is improved, and the unmanned aerial vehicle technology is utilized, so that the method has higher real-time performance and accuracy.

    本发明提供了一种融合无人机的交通事故拖车行驶路径规划方法及装置,基于无人机采集事故车辆所在的拥堵道路图像;以图像分析法区分图像中的车辆,语义分割单元分割获取的道路图像,以获取车道区域;将网格与二值化图像相匹配,并对网格进行赋值;对于纯白的网格,根据纯白网格所在车道给予不同符号;对网格进行坐标分析,判断行驶路线与变道过程,若起点到事故车辆发生地连接成一条线时,则作为一条可通行路径;对可通行路径Sx进行比较分析,x为转弯次数,当x最小时,Sx即为最优路径。本发明在不破坏道路原本通行规则的前提下,提高了拖车作业的效率,利用无人机技术,让本发明更具实时性和准确性。


    Access

    Download


    Export, share and cite



    Title :

    Traffic accident trailer driving path planning method and device integrated with unmanned aerial vehicle


    Additional title:

    一种融合无人机的交通事故拖车行驶路径规划方法及装置


    Contributors:
    ZHOU GUILIANG (author) / WANG YISHUO (author) / NI XIAOYU (author) / WANG YONGJIA (author) / WU YUTONG (author) / JI ZIXUAN (author) / FENG JUN (author) / WANG HAOYUN (author) / SONG ZHANJIONG (author) / YE QIANKUN (author)

    Publication date :

    2023-10-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64U / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    PATH PLANNING METHOD OF UNMANNED AERIAL VEHICLE FOR TRAFFIC SERVICE AND PATH PLANNING APPARATUS

    LEE HYUNG JUNE / CHO JEI HEE | European Patent Office | 2023

    Free access




    UNMANNED AERIAL VEHICLE SWARM PATH PLANNING

    JAMES SCOTT / RAHEB ROBERT | European Patent Office | 2023

    Free access