CN102298844A - Automatic rule breaking vehicle detection system and method - Google Patents
Automatic rule breaking vehicle detection system and method Download PDFInfo
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- CN102298844A CN102298844A CN2011102323992A CN201110232399A CN102298844A CN 102298844 A CN102298844 A CN 102298844A CN 2011102323992 A CN2011102323992 A CN 2011102323992A CN 201110232399 A CN201110232399 A CN 201110232399A CN 102298844 A CN102298844 A CN 102298844A
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Abstract
The invention discloses an automatic rule breaking vehicle detection system and a method. The method comprises the following steps of: acquiring an image of a road surface controlled by a traffic light; acquiring the status of the traffic light; determining a region where vehicles are allowed to run in current status and allowed running direction in each region according to the status of the traffic light; analyzing the acquired image to obtain the position tracks and running directions of vehicles; and judging whether certain vehicles break rules or not according to the region where vehicles are allowed to run and the allowed running directions in each region in current status as well as the position tracks and running directions of the vehicles. Compared with the conventional method based on an induction coil, the method has the advantages that: damage to the road surface and transportation is avoided, the equipment cost is low, and only software is required to be added to the existing hardware.
Description
[technical field]
The present invention relates to image processing field, particularly about a kind of automatic vehicles peccancy detection system and method.
[background technology]
In urban traffic control, the vehicles peccancy detection system is absolutely necessary at present.Existing vehicles peccancy detects system and includes the capture apparatus (being commonly called as electronic eyes) that is arranged on the traffic lights road junction and be embedded in ground ground induction coil.Ground induction coil can be sensed the vehicle that crosses from it, if described ground induction coil has still been sensed the vehicle process when red light, will trigger the processing of taking pictures of described capture apparatus so.Yet the vehicle detecting system of described employing ground induction coil needs to destroy the road surface when mounted, and installation and equipment failure eliminating or upgrading are all pretty troublesome, and the function that can provide is also limited to very much.
Therefore, wish to propose a kind of improved automatic vehicles peccancy detection scheme and overcome the problems referred to above.
[summary of the invention]
Technical matters solved by the invention is to provide a kind of automatic vehicles peccancy detection system, and it does not need to be provided with on the ground the detection that ground induction coil just can be realized vehicle peccancy.
Technical matters solved by the invention is to provide a kind of automatic vehicles peccancy detection method, and it does not need to be provided with on the ground the detection that ground induction coil just can be realized vehicle peccancy.
For addressing the above problem, according to an aspect of the present invention, the present invention proposes a kind of automatic vehicles peccancy detection system, and it comprises that image capture module, traffic light status acquisition module, vehicle allow operation area and direction determination module, vehicle movement analysis module and vehicle peccancy determination module.Described image capture module is gathered the image on road surface that traffic lights is controlled, described traffic light status acquisition module obtains the state of described traffic lights, described vehicle permission operation area and direction determination module are according to the state of described traffic lights, determine the zone and the permission traffic direction in each zone of the vehicle permission operation under the current state, described vehicle movement analysis module is analyzed the image of gathering, obtain the location track and the traffic direction of vehicle, described vehicle peccancy determination module allows the regional of operation and the permission traffic direction in each zone and the location track and the direction of motion of described vehicle according to the vehicle under the current state, judges whether described vehicle is violating the regulations.
Further, described vehicle allows operation area and direction determination module to the zone of the vehicle permission operation of the setting state correspondence of each traffic lights and the permission traffic direction in each zone.
Further, described automatic vehicles peccancy system obtains the state correspondence of each traffic lights by statistical vehicle allows the zone and the permission traffic direction in each zone of operation, described statistical comprises: gather the traffic video in a period of time, obtain current traffic light status; In cycle, video image analysis is obtained vehicle location track and traffic direction at current traffic light status; To each position of vehicle occurring, calculate the instantaneous velocity direction of vehicle when being in this position; Determine the permission traffic direction of each position; With the zone that permission moves as vehicle, zone that allows the identical position of traffic direction to form, this vehicle allows the zone of operation.
Further, described vehicle movement analysis module comprises the background modeling unit, the foreground extraction unit, vehicle detection unit and movement analysis unit, background model is set up in described background modeling unit, and described background model upgraded, described foreground extraction unit extracts foreground area according to the image of described background model and collection, described vehicle detection unit adopts colourful attitude wagon detector to detect and obtain vehicle target in above-mentioned foreground area, described movement analysis unit is carried out tracking and matching to the vehicle target that obtains, thereby obtains the location track and the direction of motion of vehicle target.
Further, described vehicle peccancy determination module judges earlier whether the location track of vehicle target is in described vehicle and allows in the operation area, and whether the traffic direction of judging vehicle target afterwards meets the permission traffic direction in the described zone.
Further, described automatic vehicles peccancy detection system also comprises vehicle identification module and information logging modle, if described vehicle peccancy determination module is judged a vehicle peccancy, then described vehicle identification module carries out the car plate detection and Identification to the image-region at this vehicle place in the image of gathering, identify the license plate number of this vehicle, described information logging modle is added this vehicles peccancy in the vehicles peccancy database of record to according to license plate number.
Further, after determining a vehicle peccancy, image collecting device starts flashlamp and gathers high-resolution vehicles peccancy image, in this high-resolution vehicles peccancy image basis to carrying out the car plate detection and Identification.
According to another aspect of the present invention, the invention provides a kind of automatic vehicles peccancy detection method, it comprises: the image of gathering road surface that traffic lights is controlled; Obtain the state of described traffic lights; Determine that according to the state of described traffic lights the vehicle under the current state allows the zone of operation and the permission traffic direction in each zone; The image of gathering is analyzed location track and the traffic direction that obtains vehicle; With the zone and the permission traffic direction in each zone and the location track and the direction of motion of described vehicle that allow operation according to the vehicle under the current state, judge whether described vehicle is violating the regulations.
Further, before zone and the permission traffic direction in each zone that the vehicle of determining according to the state of described traffic lights under the current state allows to move, described method also comprises the operation that the vehicle of the setting state correspondence of each traffic lights is allowed the regional of operation and the permission traffic direction in each zone by statistical, described statistical comprises: gather the traffic video in a period of time, obtain current traffic light status; In cycle, video image analysis is obtained vehicle location track and traffic direction at current traffic light status; To each position of vehicle occurring, calculate the instantaneous velocity direction of vehicle when being in this position; Determine the permission traffic direction of each position; With the zone that permission moves as vehicle, zone that allows the identical position of traffic direction to form, this vehicle allows the zone of operation.
Further, described automatic vehicles peccancy detection method also comprises: vehicles peccancy place image is carried out the car plate detection and Identification, identify the license plate number of this vehicles peccancy; According to license plate number this vehicles peccancy is added in the vehicles peccancy database of record.
Further, after determining a vehicle peccancy, start flashlamp and gather high-resolution vehicles peccancy image, in this high-resolution vehicles peccancy image basis to carrying out the car plate detection and Identification.
Compared with prior art, in the present invention the road surface video image of taking is analyzed traffic direction and the track that obtains vehicle, and judge that in view of the above whether vehicle is violating the regulations, so just do not need on the ground ground induction coil to be set again.
[description of drawings]
In conjunction with reaching ensuing detailed description with reference to the accompanying drawings, the present invention will be more readily understood, the structure member that wherein same Reference numeral is corresponding same, wherein:
Fig. 1 is the automatic vehicles peccancy detection system structural representation in one embodiment among the present invention;
Fig. 2 is the operation area of crossroad example and the synoptic diagram of direction;
Fig. 3 is the vehicle movement analysis module structural representation in one embodiment among Fig. 1; With
Fig. 4 is the automatic vehicles peccancy detection method structural representation in one embodiment among the present invention.
[embodiment]
Below in conjunction with Figure of description the specific embodiment of the present invention is described.
Fig. 1 is automatic vehicles peccancy detection system 100 structural representation in one embodiment among the present invention.See also shown in Figure 1ly, described automatic vehicles peccancy detection system 100 comprises that traffic light status acquisition module 110, vehicle allow operation area and direction determination module 120, vehicle movement analysis module 130, vehicle peccancy determination module 140, vehicle identification module 150, information logging modle 160, vehicles peccancy database of record 170 and image capture module 180.
Described image capture module 180 is used to gather the image on road surface that traffic lights is controlled, and can adopt an image capture device, also can adopt a plurality of image capture devices.Described image capture module 180 will be gathered the view data that obtains and offer described vehicle movement analysis module 130, vehicle identification module 150 and information logging modle 160.
Described traffic light status acquisition module 110 is used to obtain the state of described traffic lights.General traffic lights all can provide data and read interface, is used for external connection apparatus and reads its state and finish interlock.The state of traffic lights mainly is to be used to provide a kind of sign, is used to refer to the certain traffic rules under this state, such as certain vehicle operating zone and direction constantly.Road area for traffic lights control can be numbered all possible commentaries on classics state of taking turns of traffic lights.As shown in Figure 2, be example with the traffic lights of crossroad, it includes and keeps straight on 1, keeps straight on 2, diagonal 1 and diagonal 2 several states, they can be encoded respectively, 1 is numbered 1 such as keeping straight on, and keeps straight on 2 to be numbered 2, and diagonal 1 is numbered 3, and diagonal 2 is numbered 4.Like this, just just can obtain the current state of described traffic lights by described state encoding.
Vehicle permission operation area and direction determination module 120 are used for the state according to above-mentioned traffic lights, determine the traffic rules under the current state, and described traffic rules can comprise that vehicle allows the zone and the permission traffic direction in each zone of operation.For this reason, described vehicle allows operation area and direction determination module to need at first the vehicle of the setting state correspondence of each traffic lights is allowed the zone of operation and the permission traffic direction in each zone, such as at above-mentioned various status numbers, on the image that image capture module 180 is gathered, demarcate it by hand and allow operation area and traffic direction.As shown in Figure 2, it has demarcated operation area and traffic direction under each state of the traffic lights in this example.In other examples, can also further in image, further demarcate and turn right turn left and turn around running region and direction.
For the those of ordinary skill in the affiliated field, the traffic above-ground rule under the state of traffic lights and each state is all known, and has just repeated no more herein.
Described vehicle movement analysis module 130 is used for the image of gathering is analyzed, and obtains the location track and the traffic direction of vehicle.Fig. 3 shows described vehicle movement analysis module structural representation in one embodiment.As shown in Figure 3, described vehicle movement analysis module 130 comprises background modeling unit 131, foreground extraction unit 132, vehicle detection unit 133 and movement analysis unit 134.Background model is set up in described background modeling unit 131, and described background model is upgraded.Described foreground extraction unit 132 extracts foreground area according to the image of described background model and collection.Described vehicle detection unit 133 adopts colourful attitude wagon detector to detect and obtain vehicle target (abbreviation vehicle) in above-mentioned foreground area, and the benefit of doing like this is to distinguish vehicle and pedestrian's target, the vehicle that is sticked together can be separated simultaneously.The vehicle target of 134 pairs of acquisitions of described movement analysis unit carries out tracking and matching, thereby obtains the location track and the direction of motion of vehicle target.
In the specific embodiment, described background modeling unit 131 adopts the background model of setting up scene based on the method for Density Estimator.Described foreground extraction unit 132 is for current images acquired, and that adopts that the cuclear density background estimating of each pixel judges each pixel in the current images acquired belongs to prospect or background, and represents with the binary flags mask.The 133 pairs of above-mentioned binary mask in described vehicle detection unit are carried out the connected domain analysis and are obtained connected region and boundary rectangle that each is regional, adopt colourful attitude wagon detector to detect and obtain vehicle target in described boundary rectangle.Described movement analysis unit 134 adopts the object matches technology, the matching relationship of each rectangle in interframe determined in size and position according to above-mentioned rectangle, and then obtain the trace information of vehicle target, coordinate according to reference position and end position on the track of vehicle target concerns the travel direction of determining object, and wherein said object matches technology can be with reference to No. 200910077056.6 Chinese patent application.
Described vehicle peccancy determination module 140 judges according to the location track and the direction of motion of traffic rules under the current traffic light status (allowing the regional of operation and the permission traffic direction in each zone such as vehicle) and current vehicle target whether vehicle has violated traffic rules (or being called violating the regulations).In one embodiment, at first, judge whether the location track of current vehicle target is in the above-mentioned vehicle permission operation area, further, judge whether the traffic direction of current vehicle target meets the interior permission traffic direction of above-mentioned zone.Notice that vehicle allows the operation area to have a plurality of.Whether the location track of described current vehicle target is in above-mentioned vehicle allows to comprise in the zone: judge whether all positions on the location track of current vehicle target all are in certain vehicle operating zone, if think that then vehicle operating is in this zone.As long as there is a zone to satisfy above-mentioned condition, think that then current vehicle target operates in the permission operation area.The permission the traffic direction whether traffic direction of the current vehicle target of described judgement meets in the above-mentioned zone comprises: permission traffic direction poor of calculating the traffic direction of current vehicle target and region, if less than threshold value, think that then current vehicle target meets this permission traffic direction.As long as there is a zone to make current vehicle target be in this zone, and the vehicle operating direction meets the permission traffic direction in this zone, think that then current vehicle target meets traffic rules, otherwise, think that current vehicle target violated traffic rules (or being called violating the regulations).
If described vehicle peccancy determination module 140 is judged certain vehicle and has been violated traffic rules, the image-region at this vehicle place in 150 pairs of described images of then described vehicle identification module is analyzed identification, should be noted that described image can derive from the same width of cloth image that vehicle detection module 140 is analyzed, also can derive from other angular image collecting device images acquired, the high-resolution image that the trigger flashing lamp is taken in the time of also can judging that certain vehicle has been violated traffic rules from described vehicle peccancy determination module 140.
150 pairs of these vehicle place image-regions of described vehicle identification module carry out the car plate detection and Identification, identify the license plate number of this vehicle.
In a preferred embodiment, the vehicle to the setting state correspondence of each traffic lights allows the zone of operation and the permission traffic direction in each zone can adopt statistical rather than manual demarcation mode to obtain.Concrete, described statistical comprises: gather the traffic video in a period of time, obtain current traffic light status; In cycle, video image analysis is obtained vehicle location track and traffic direction at current traffic light status; To each position of vehicle occurring, calculate the instantaneous velocity direction of vehicle when being in this position, wherein the instantaneous velocity direction can adopt the vehicle location difference of adjacent M frame to calculate; Determine the permission traffic direction of each position; With the zone that permission moves as vehicle, zone that allows the identical position of traffic direction to form, this vehicle allows the zone of operation.The permission traffic direction of determining each position comprises: this velocity reversal is carried out modeling, can be parameter with the level and the vertical component of velocity reversal, adopt mixed Gauss model to describe the velocity reversal of this position driving vehicle, adopt the kmean method that the velocity reversal that occurred is carried out cluster; If the weight of the gaussian kernel of a direction correspondence is greater than threshold value, then expression has a lot of vehicles to move according to this direction when this position, think that this direction of this position meets traffic rules, wherein adopt number of vehicles corresponding on the direction to represent the weight of gaussian kernel; Because can not there be a lot of vehicles to violate the traffic regulations simultaneously, determine that therefore the permission traffic direction of this position is the direction of gaussian kernel weight greater than threshold value.Above-mentioned threshold value is determined according to the number of vehicles that occurs in this section video, such as being set at 0.01 times of number of vehicles.Adopt the advantage of statistical method benefit to be, need not manual intervention, and, the operation area of road vehicles and the traffic direction of each position more properly reflected under this traffic light status.
The vehicle peccancy identification record system based on video analysis that the present invention proposes compares existing advantage based on the ground induction coil method and is, need not to destroy the road surface, need not to destroy traffic, and equipment cost is low, only need add software on existing hardware and get final product.And, can manually increase more rule, system extension is easy to.In addition, this method adopts self-learning method to obtain vehicle and allows operation area and direction, has very strong adaptivity, reduces manual intervention.This method also combines vehicle detection, and license plate recognition technology makes that above-mentioned Intellectual Analysis Technology is more reliable and more stable.
Fig. 4 is automatic vehicles peccancy detection method 400 structural representation in one embodiment among the present invention.See also shown in Figure 4ly, described method 400 comprises following operation.
Step 430 determines that according to the state of described traffic lights the vehicle under the current state allows the zone of operation and the permission traffic direction in each zone.
Step 460 is carried out the car plate detection and Identification to vehicles peccancy place image, identifies the license plate number of this vehicles peccancy.In a preferred embodiment, after determining a vehicle peccancy, image collecting device starts flashlamp and gathers high-resolution vehicles peccancy image, and to carrying out the car plate detection and Identification, wherein said high-definition picture has many in this high-resolution vehicles peccancy image basis.
Before step 430, need at first the vehicle of the setting state correspondence of each traffic lights is allowed the zone of operation and the permission traffic direction in each zone.In one embodiment, can set vehicle with the mode of statistics and allow the zone of operation and the permission traffic direction in each zone, the mode of described statistics comprises: gather the traffic video in a period of time, obtain current traffic light status; In cycle, video image analysis is obtained vehicle location track and traffic direction at current traffic light status; To each position of vehicle occurring, calculate the instantaneous velocity direction of vehicle when being in this position; Determine the permission traffic direction of each position; With the zone that permission moves as vehicle, zone that allows the identical position of traffic direction to form, this vehicle allows the zone of operation.
The general idea of described automatic vehicles peccancy detection method 400 is identical with described automatic vehicles peccancy pick-up unit 100, and the each several part of relevant vehicles peccancy pick-up unit 100 is automatically described the described method 400 that goes for equally.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. an automatic vehicles peccancy detection system is characterized in that, it comprises that image capture module, traffic light status acquisition module, vehicle allow operation area and direction determination module, vehicle movement analysis module and vehicle peccancy determination module,
Described image capture module is gathered the image on road surface that traffic lights is controlled,
Described traffic light status acquisition module obtains the state of described traffic lights,
Described vehicle allows operation area and direction determination module according to the state of described traffic lights, determines zone and the permission traffic direction in each zone that the vehicle permission under the current state moves,
Described vehicle movement analysis module is analyzed the image of gathering, and obtains the location track and the traffic direction of vehicle,
Described vehicle peccancy determination module allows the regional of operation and the permission traffic direction in each zone and the location track and the direction of motion of described vehicle according to the vehicle under the current state, judges whether described vehicle is violating the regulations.
2. automatic vehicles peccancy detection system according to claim 1 is characterized in that: described vehicle allows operation area and direction determination module to the zone of the vehicle permission operation of the setting state correspondence of each traffic lights and the permission traffic direction in each zone.
3. automatic vehicles peccancy detection system according to claim 2, it is characterized in that: described automatic vehicles peccancy system obtains the state correspondence of each traffic lights by statistical vehicle allows the zone and the permission traffic direction in each zone of operation, and described statistical comprises:
Gather the traffic video in a period of time, obtain current traffic light status;
In cycle, video image analysis is obtained vehicle location track and traffic direction at current traffic light status;
To each position of vehicle occurring, calculate the instantaneous velocity direction of vehicle when being in this position;
Determine the permission traffic direction of each position;
With the zone that permission moves as vehicle, zone that allows the identical position of traffic direction to form, this vehicle allows the zone of operation.
4. automatic vehicles peccancy detection system according to claim 1 is characterized in that:
Described vehicle movement analysis module comprises background modeling unit, foreground extraction unit, vehicle detection unit and movement analysis unit, background model is set up in described background modeling unit, and described background model upgraded, described foreground extraction unit extracts foreground area according to the image of described background model and collection, described vehicle detection unit adopts colourful attitude wagon detector to detect and obtain vehicle target in above-mentioned foreground area, described movement analysis unit is carried out tracking and matching to the vehicle target that obtains, thereby obtains the location track and the direction of motion of vehicle target.
5. automatic vehicles peccancy detection system according to claim 1, it is characterized in that: described vehicle peccancy determination module judges earlier whether the location track of vehicle target is in described vehicle and allows in the operation area, and whether the traffic direction of judging vehicle target afterwards meets the permission traffic direction in the described zone.
6. automatic vehicles peccancy detection system according to claim 1 is characterized in that: it also comprises vehicle identification module and information logging modle,
If described vehicle peccancy determination module is judged a vehicle peccancy, then described vehicle identification module carries out the car plate detection and Identification to the image-region at this vehicle place in the image of gathering, identify the license plate number of this vehicle, described information logging modle is added this vehicles peccancy in the vehicles peccancy database of record to according to license plate number.
7. automatic vehicles peccancy detection system according to claim 6, it is characterized in that: after determining a vehicle peccancy, image collecting device starts flashlamp and gathers high-resolution vehicles peccancy image, in this high-resolution vehicles peccancy image basis to carrying out the car plate detection and Identification.
8. automatic vehicles peccancy detection method is characterized in that it comprises:
Gather the image on road surface that traffic lights is controlled;
Obtain the state of described traffic lights;
Determine that according to the state of described traffic lights the vehicle under the current state allows the zone of operation and the permission traffic direction in each zone;
The image of gathering is analyzed location track and the traffic direction that obtains vehicle; With
Allow the regional of operation and the permission traffic direction in each zone and the location track and the direction of motion of described vehicle according to the vehicle under the current state, judge whether described vehicle is violating the regulations.
9. automatic vehicles peccancy detection method according to claim 8, it is characterized in that: before zone and the permission traffic direction in each zone that the vehicle of determining according to the state of described traffic lights under the current state allows to move, described method also comprises the operation that the vehicle of the setting state correspondence of each traffic lights is allowed the regional of operation and the permission traffic direction in each zone by statistical, described statistical comprises: gather the traffic video in a period of time, obtain current traffic light status; In cycle, video image analysis is obtained vehicle location track and traffic direction at current traffic light status; To each position of vehicle occurring, calculate the instantaneous velocity direction of vehicle when being in this position; Determine the permission traffic direction of each position; With the zone that permission moves as vehicle, zone that allows the identical position of traffic direction to form, this vehicle allows the zone of operation.
10. automatic vehicles peccancy detection method according to claim 8, it is characterized in that: it includes well:
Vehicles peccancy place image is carried out the car plate detection and Identification, identify the license plate number of this vehicles peccancy;
According to license plate number this vehicles peccancy is added in the vehicles peccancy database of record.
11. automatic vehicles peccancy detection method according to claim 10, it is characterized in that: after determining a vehicle peccancy, start flashlamp and gather high-resolution vehicles peccancy image, in this high-resolution vehicles peccancy image basis to carrying out the car plate detection and Identification.
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