CN103366568B - Traffic section vehicle queue's video detecting method and system - Google Patents
Traffic section vehicle queue's video detecting method and system Download PDFInfo
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- CN103366568B CN103366568B CN201310260168.1A CN201310260168A CN103366568B CN 103366568 B CN103366568 B CN 103366568B CN 201310260168 A CN201310260168 A CN 201310260168A CN 103366568 B CN103366568 B CN 103366568B
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Abstract
The present invention discloses a kind of traffic section vehicle queue's video detecting method and system.The method gathers traffic video by setting up monitoring camera on road, after video decode, by computer vision and image processing techniques, vehicle queue's detection and vehicle Flow Detection is carried out to section need be detected, draw each track vehicle queue physical length and average speed, and by obtain information by network delivery to Control and Schedule module.The method can detect multiple track simultaneously, and can detect that same track exists the situation of multiple queue.The present invention pushes the processing procedure of traffic video signal to terminal device, decreases the transmitted data amount of network, has saved bandwidth, alleviates the pressure of control center to data processing; By detecting each section vehicle queue in city situation, for disperseing the volume of traffic of crowded section of highway, reasonable distribution time of traffic lights, improve the Data support that conevying efficiency provides science.
Description
Technical field
The invention belongs to technical field of intelligent traffic, particularly relate to a kind of traffic section vehicle queue's video detecting method and system.
Background technology
In order to improve the urban traffic conditions increasingly blocked up, alleviate traffic pressure, build comfortable safe outside environment, need by road construction of making rational planning on the one hand, Optimum Path web frame, pay attention to the hardware construction such as road surface maintenance and realize, also need by scientific and effective management on the other hand, the measures such as rational control, scheduling make full use of path resource, improve road utilization rate, ensure the unimpeded of traffic.
Traffic congestion is in city one very distinct issues, and vehicle queue is then a congested in traffic typical performance.In more than ten years in the past, people have carried out large quantifier elimination to vehicle queue, have and adopt simple detection method, also have and adopt complicated theoretical model.China's road network interweaves huge, participates in the varied of the main body of traffic, and motor vehicle, bicycle, pedestrian etc. make the traffic system of China become typical mixed traffic system.Traffic conditions is complicated and changeable, makes some adopt the method for probability model often unsatisfactory in the use procedure of reality, does not reach the Detection results of expection.And adopt the mode installation and maintenance cost of detecting device all larger.
Summary of the invention
Goal of the invention: for above problem, the present invention proposes traffic section vehicle queue's video detecting method and system.
Technical scheme: traffic section vehicle queue video detecting method, comprises the steps,
Step one: the initialization of completion system equipment and major parameter;
Step 2: calculate or read road essential information: if system is initiating switchup, then utilize Man Machine Interface to carry out driveway partition, edge, track is consistent with the actual lane line of road; Determine world coordinates representation, adopt the road video lower left corner to be reference origin, adopt right-handed coordinate system, be ground y-axis positive dirction along road direction, road cross-directional is x-axis; According to video camera imaging principle, derive the transformational relation that pixel coordinate converts world coordinates to; By above-mentioned track marginal information, reference origin world coordinates and the preservation such as pixel coordinate, image transformation relation; If non-initiating switchup, directly reads data;
Step 3: the average speed extracting road traffic and each track;
Step 4: judged whether that track average speed is lower than preset value, if so, carries out road vehicle queuing and detects, otherwise, perform step 5;
Step 5: the vehicle queue's situation obtained by above-mentioned steps and vehicle flowrate data encapsulation are become Frame, is transmitted through the network to traffic control scheduler module.
Traffic section vehicle queue video detection system, comprise monitoring camera equipment, Video decoding module, core processing module, Control and Schedule module, memory module, described monitoring camera equipment is by video flowing after Video decoding module decoding, and input core processing module processes; The result of described core processing module is transmitted through the network to Control and Schedule module; Described core processing module is from memory module access road essential information.
The present invention adopts technique scheme, has following beneficial effect: (1) adopts the camera collection vision signal being easy to installation and maintenance, carries out extra on-the-spot civil construction, economical and effective, safety and environmental protection without the need to suspending traffic; (2) Video processing is pushed to the terminal processing device be arranged on road, the effective information only after transmission process, saves the network bandwidth, alleviates the processing pressure of rear control center computing machine; (3) adopt the real-time detection that described method can realize simultaneously to multilane vehicle queue and information of vehicle flowrate, and can detect that there is the situation of multiple queue in same track; (4) sending Control and Schedule center, rear by existing wireless or cable network to by processing the information obtained, without the need to laying transmission line in addition, facilitating feasible.The information of transmission is the reasonable diffluence realizing traffic, alleviates traffic pressure and plays a role.The Data support of science is provided by the setting that the statistics of busy section road conditions also be can be to traffic lights.
Accompanying drawing explanation
Fig. 1 is vehicle queue's scene schematic diagram of the embodiment of the present invention
Fig. 2 is the system architecture diagram of the embodiment of the present invention;
Fig. 3 is the method flow schematic diagram of the embodiment of the present invention;
Fig. 4 is vehicle queue's detection method process flow diagram of the embodiment of the present invention.
Embodiment
Below in conjunction with specific embodiment, illustrate the present invention further, these embodiments should be understood only be not used in for illustration of the present invention and limit the scope of the invention, after having read the present invention, the amendment of those skilled in the art to the various equivalent form of value of the present invention has all fallen within the application's claims limited range.
Fig. 1 is vehicle queue's schematic diagram of the present embodiment, and wherein 1. label represents stop line, and 2. label represents left-lane, in left-lane, vehicle queue is not from stop line, and in a track, having multiple queuing to exist, 3. label represents right lane, queues up from stop line place.Little rectangle frame in dotted line in figure is the virtual little surveyed area of setting, can think virtual coil.Virtual region length is close to the length of a car, and width is the width in track.Because video exists near big and far smaller problem, the size of virtual region also presents near big and far smaller rule.Each track is split by virtual little surveyed area, vehicle queue's detection is carried out to each virtual zonule, then the virtual detection region existed of queuing up will be had to merge, just can obtain having several queue to exist in the queue length in each track and each track.
It is the module frame chart of the present embodiment shown in Fig. 2.This system comprises monitoring camera equipment, Video decoding module, core processing module, Control and Schedule module, memory module.By being erected at the real-time road video information of monitoring camera equipment collection on road, after Video decoding module decoding, video flowing being inputted core processing module and processes; Core processing module mainly completes vehicle queue and detects and magnitude of traffic flow detection; Needed to calculate or read road information before detection starts, if edge, track and pixel coordinate are to the transformational relation of world coordinates; After extracting queue length and vehicle flowrate, by wired or wireless Internet Transmission to traffic Control and Schedule module, Control and Schedule module can make Rational Decision according to condition of road surface.
Fig. 3 is the process flow diagram of this method.Mainly comprise the following steps:
(1), during system initialization, the initialization of finishing equipment and major parameter, makes it to be in normal operating conditions;
(2) calculate or read road essential information.If system starts first time, then need to utilize Man Machine Interface to carry out driveway partition, edge, track is consistent with the actual lane line of road; Determine world coordinates representation, as adopted the road video lower left corner to be reference origin, adopt right-handed coordinate system, be ground y-axis positive dirction along road direction, road cross-directional is x-axis; According to video camera imaging principle, derive the transformational relation that pixel coordinate converts world coordinates to; By above-mentioned track marginal information, reference origin world coordinates and the preservation such as pixel coordinate, image transformation relation.If not first time is detected, directly data can be read;
(3) average speed in road traffic and each track is extracted according to method for testing motion;
(4) if having the average speed in track lower than certain value, as 5 kilometers per hour, then vehicle queue's detection is carried out.The flow process that vehicle queue is detected is main as shown in Figure 4.According to the actual size of image transformation relation in (1) and a car, determine longitudinal pixel number that a car occupies from road stop line, be laterally as the criterion with lane width, determine the terminal in first virtual detection region; Then with the ending of first virtual region for starting point determines the terminal in second virtual detection region in the same way; The like, determine the virtual detection region in each track; There is detection and Vehicle Moving Detection to carrying out vehicle in each virtual detection region, if virtual detection region exists vehicle and exceedes certain frame number without motion, then thinking that this place exists vehicle queue; The queuing situation in each track can be obtained by detecting each virtual detection region.Likely there is the situation of several queue in a track, does the ending of queuing initial sum judge each queuing in each track; Finally by image transformation relation, calculate actual queue length;
(5) the vehicle queue's situation obtained by above-mentioned steps and vehicle flowrate data encapsulation are become Frame, by existing wired or wireless Internet Transmission to traffic Control and Schedule module.
Core processing module of the present invention can realize on hardware chip, as adopted field programmable gate array (FPGA), digital signal processing chip (DSP) etc.
Claims (3)
1. traffic section vehicle queue video detecting method, is characterized in that, comprise the steps,
Step one: the initialization of completion system equipment and major parameter;
Step 2: calculate or read road essential information: if system is initiating switchup, then utilize Man Machine Interface to carry out driveway partition, edge, track is consistent with the actual lane line of road; Determine world coordinates representation, adopt the road video lower left corner to be reference origin, adopt right-handed coordinate system, be ground y-axis positive dirction along road direction, road cross-directional is x-axis; According to video camera imaging principle, derive the transformational relation that pixel coordinate converts world coordinates to; Above-mentioned track marginal information, reference origin, world coordinates and pixel coordinate and image transformation relation are preserved; If non-initiating switchup, directly reads data;
Step 3: the average speed extracting road traffic and each track;
Step 4: judged whether that track average speed is lower than preset value, if so, carries out road vehicle queuing and detects, then perform step 5, otherwise, directly perform step 5;
Step 5: the vehicle queue's situation obtained by above-mentioned steps and vehicle flowrate data encapsulation are become Frame, is transmitted through the network to traffic control scheduler module;
The road vehicle queuing detection method of described step 4 is: track virtual detection regional assignment; There is detection in vehicle; Vehicle Moving Detection; Actual vehicle is queued up and is judged; Pixel coordinate converts ground coordinate to; Calculate actual queue length;
In described step 4, vehicle queue detects and detects multiple track, detects the situation that same track exists multiple queue simultaneously.
2. traffic section vehicle queue as claimed in claim 1 video detecting method, is characterized in that: in described step 3, extracts the average speed in road traffic and each track according to method for testing motion.
3. traffic section vehicle queue video detection system, comprise monitoring camera equipment, Video decoding module, core processing module, Control and Schedule module and memory module, it is characterized in that: described monitoring camera equipment is by video flowing after Video decoding module decoding, and input core processing module processes; The result of described core processing module is transmitted through the network to Control and Schedule module; Described core processing module is from memory module access road essential information;
Described core processing module is carried out vehicle queue and is detected and magnitude of traffic flow detection; Vehicle queue's detection method is: track virtual detection regional assignment; There is detection in vehicle; Vehicle Moving Detection; Actual vehicle is queued up and is judged; Pixel coordinate converts ground coordinate to; Calculate actual queue length;
Described vehicle queue detects and detects multiple track, detects the situation that same track exists multiple queue simultaneously.
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Cited By (1)
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| CN106971567A (en) * | 2017-05-18 | 2017-07-21 | 上海博历机械科技有限公司 | A kind of the intensive traffic section vehicle queue video detection system |
| CN108629988A (en) * | 2018-05-15 | 2018-10-09 | 青岛永辉光电科技有限公司 | Traffic lights regulate and control method, apparatus and electronic equipment |
| CN108922187B (en) * | 2018-07-20 | 2021-09-07 | 上海久揽视讯科技有限公司 | Intelligent transportation system |
| CN110365942B (en) * | 2019-07-18 | 2021-08-20 | 北京工业大数据创新中心有限公司 | Real-time video intelligent analysis method and system |
| CN111081008B (en) * | 2019-12-06 | 2022-09-23 | 英华达（上海）科技有限公司 | Road marking control method and road marking control system |
| CN111814527A (en) * | 2020-01-16 | 2020-10-23 | 北京嘀嘀无限科技发展有限公司 | Urban road occupation construction monitoring method, storage medium, vehicle-mounted terminal and monitoring terminal |
| CN111597700B (en) * | 2020-05-09 | 2023-08-15 | 北京百度网讯科技有限公司 | Signal control algorithm evaluation method and device, electronic equipment and readable storage medium |
| CN112150811A (en) * | 2020-09-27 | 2020-12-29 | 安徽达尔智能控制系统股份有限公司 | Urban road intersection traffic information acquisition system based on image recognition technology |
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