CN103366568A - Vehicle queue video detection method and system for traffic roads - Google Patents
Vehicle queue video detection method and system for traffic roads Download PDFInfo
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- CN103366568A CN103366568A CN2013102601681A CN201310260168A CN103366568A CN 103366568 A CN103366568 A CN 103366568A CN 2013102601681 A CN2013102601681 A CN 2013102601681A CN 201310260168 A CN201310260168 A CN 201310260168A CN 103366568 A CN103366568 A CN 103366568A
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Abstract
The invention discloses a vehicle queue video detection method and a vehicle queue video detection system for traffic roads. The method comprises the steps: erecting a monitoring camera on a road to collect traffic videos; after decoding the videos, detecting vehicle queues and traffic flow on a road to be detected by using computer vision and image processing technologies, so as to obtain actual vehicle queue length and average vehicle speed of each lane; and transferring the obtained information to a control scheduling module through a network. According to the method, a plurality of lanes can be detected simultaneously, and the condition that multiple queues exist on one lane can be detected. With the adoption of the detection method and the system disclosed by the invention, the processing procedure of traffic video signals is carried out at terminal equipment, the transmission data volume of the network is reduced, the bandwidth is saved, and the data processing pressure of a control center is reduced. By detecting vehicle queue conditions of each road of a city, a scientific data support is provided for dispersing the traffic volume at a crowded road, reasonably allocating the time of traffic lights, and improving the transportation efficiency.
Description
Technical field
The invention belongs to the intelligent transport technology field, particularly relate to a kind of traffic highway section vehicle queue video detecting method and system.
Background technology
In order to improve the urban traffic conditions that increasingly blocks up, alleviate traffic pressure, build comfortable safe outside environment, on the one hand need to be by the road construction of making rational planning for, the Optimum Path web frame, the hardware construction such as attention road surface maintenance realize, also need on the other hand by scientific and effective management, the measures such as reasonably control, scheduling take full advantage of path resource, improve road utilization rate, guarantee the unimpeded of traffic.
Traffic congestion is in the city one very distinct issues, and vehicle queue then is congested in traffic typical case's performance.In more than ten years in the past, people have carried out a large amount of research to vehicle queue, and the simple detection method of employing is arranged, and also have to adopt complicated theoretical model.China's road network interweaves huge, participates in main body varied of traffic, and motor vehicle, bicycle, pedestrian etc. are so that the traffic system of China becomes typical mixed traffic system.Traffic conditions is complicated and changeable, so that some adopt the method for probability model often unsatisfactory in the use procedure of reality, does not reach the detection effect 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 highway section vehicle queue video detecting method and system.
Technical scheme: traffic highway section vehicle queue video detecting method, comprise the steps,
Step 1: the initialization of completion system equipment and major parameter;
Step 2: calculate or read the road essential information: if system starts first, then utilize Man Machine Interface to carry out driveway partition, the edge, track is consistent with the actual lane line of road; Determine that world coordinates represents mode, adopting the road video lower left corner is reference origin, adopts right-handed coordinate system, is ground y axle positive dirction along road direction, and the road cross-directional is the x axle; According to the video camera imaging principle, derive the transformational relation that pixel coordinate converts world coordinates to; With preservations such as above-mentioned track marginal information, reference origin world coordinates and pixel coordinate, image transformation relations; If non-first startup, directly reading out data;
Step 3: the average speed that extracts road traffic and each track;
Step 4: judged whether that the track average speed is lower than preset value, if so, carried out the road vehicle queuing and detect, otherwise, execution in step five;
Step 5: will become Frame by vehicle queue situation and the vehicle flowrate data encapsulation that above-mentioned steps obtains, and be transmitted through the network to the traffic control scheduler module.
Traffic highway section vehicle queue video detection system, comprise monitoring camera equipment, video decode module, core processing module, Control and Schedule module, memory module, after the decoding of video decode module, process by the input core processing module with video flowing for described monitoring camera equipment; The result of described core processing module is transmitted through the network to the 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 be easy to installation and maintenance, need not to suspend traffic to carry out extra on-the-spot civil construction, economical and effective, safety and environmental protection; (2) Video processing is pushed be installed in to terminal processing device on the road, only the effective information after the transmission process has been saved the network bandwidth, has alleviated the processing pressure of rear control center computing machine; (3) adopt described method can realize simultaneously real-time detection to multilane vehicle queue and information of vehicle flowrate, and can detect the situation that there are a plurality of formations in same track; (4) send Control and Schedule center, rear to by existing information wireless or that cable network obtains processing, need not to lay in addition transmission line, convenient feasible.The information of transmission is alleviated traffic pressure and is played a role for realizing the reasonable diffluence of traffic.The setting that also can be traffic lights by the statistics to busy highway section road conditions provides the Data support of science.
Description of drawings
Fig. 1 is the vehicle queue scene schematic diagram of the embodiment of the invention
Fig. 2 is the system architecture diagram of the embodiment of the invention;
Fig. 3 is the method flow schematic diagram of the embodiment of the invention;
Fig. 4 is the vehicle queue detection method process flow diagram of the embodiment of the invention.
Embodiment
Below in conjunction with specific embodiment, further illustrate the present invention, should understand these embodiment only is used for explanation the present invention and is not used in and limits the scope of the invention, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the modification of the various equivalent form of values of the present invention.
Fig. 1 is the vehicle queue schematic diagram of the present embodiment, and wherein 1. label represents stop line, and 2. label represents left-lane, vehicle queue is not from stop line in the left-lane, and have a plurality of queuings to exist in the track, 3. label represents right lane, and queuing begins from stop line.Be the virtual little surveyed area of little rectangle frame for setting of dotted line among the figure, can think virtual coil.Virtual region length is near the length of a car, and width is the width in track.Because there is near big and far smaller problem in video, the size of virtual region also presents near big and far smaller rule.Virtual little surveyed area is cut apart each track, vehicle queue is carried out in each virtual zonule to be detected, the virtual detection zone that then will have queuing to exist merges, and just can obtain has several formations existence in the queue length in each track and each track.
Shown in Figure 2 is the module frame chart of the present embodiment.This system comprises monitoring camera equipment, video decode 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 the road, after the decoding of video decode module, video flowing being inputted core processing module process; Core processing module is mainly finished the vehicle queue detection and the magnitude of traffic flow detects; Before detecting beginning, need to calculate or read road information, such as edge, track and the pixel coordinate transformational relation to world coordinates; After extracting queue length and vehicle flowrate, to traffic Control and Schedule module, the Control and Schedule module can be made Rational Decision according to condition of road surface by wired or wireless Internet Transmission.
Fig. 3 is the process flow diagram of this method.Mainly comprise following a few step:
(1) during system initialization, the initialization of finishing equipment and major parameter makes it to be in normal operating conditions;
(2) calculate or read the road essential information.If system starts for the first time, then need to utilize Man Machine Interface to carry out driveway partition, the edge, track is consistent with the actual lane line of road; Determining that world coordinates represents mode, is reference origin as adopting the road video lower left corner, adopts right-handed coordinate system, is ground y axle positive dirction along road direction, and the road cross-directional is the x axle; According to the video camera imaging principle, derive the transformational relation that pixel coordinate converts world coordinates to; With preservations such as above-mentioned track marginal information, reference origin world coordinates and pixel coordinate, image transformation relations.If not detect for the first time, direct reading out data;
(3) extract the average speed in road traffic and each track according to method for testing motion;
(4) if there is the average speed in track to be lower than certain value, as 5 kilometers per hour, then carry out vehicle queue and detect.The flow process that vehicle queue detects mainly as shown in Figure 4.According to the actual size of image transformation relation and a car in (1), determine to begin vertical pixel number that a car occupies from the road stop line, laterally be as the criterion with lane width, determine the terminal in first virtual detection zone; Then determine the terminal in second virtual detection zone with same method as starting point take the ending of first virtual region; The like, determine that the virtual detection in each track is regional; Detecting and Vehicle Moving Detection carrying out automobile storage in each virtual detection zone, surpassing certain frame number if there is vehicle in the virtual detection zone without motion, thinking that then there is vehicle queue in this place; Can obtain the queuing situation in each track by detecting each virtual detection zone.Might there be the situation of several formations in a track, the ending of queuing initial sum is done in each queuing in each track judged; By the image transformation relation, calculate actual queue length at last;
(5) will become Frame by vehicle queue situation and the vehicle flowrate data encapsulation that above-mentioned steps obtains, by existing wired or wireless Internet Transmission to traffic Control and Schedule module.
Core processing module of the present invention can realize at hardware chip, as adopting field programmable gate array (FPGA), digital signal processing chip (DSP) etc.
Claims (7)
1. vehicle queue video detecting method in traffic highway section is characterized in that, comprise the steps,
Step 1: the initialization of completion system equipment and major parameter;
Step 2: calculate or read the road essential information: if system starts first, then utilize Man Machine Interface to carry out driveway partition, the edge, track is consistent with the actual lane line of road; Determine that world coordinates represents mode, adopting the road video lower left corner is reference origin, adopts right-handed coordinate system, is ground over glaze positive dirction along road direction, and the road cross-directional is axle; According to the video camera imaging principle, derive the transformational relation that pixel coordinate converts world coordinates to; With preservations such as above-mentioned track marginal information, reference origin world coordinates and pixel coordinate, image transformation relations; If non-first startup, directly reading out data;
Step 3: the average speed that extracts road traffic and each track;
Step 4: judged whether that the track average speed is lower than preset value, if so, carried out the road vehicle queuing and detect, otherwise, execution in step five;
Step 5: will become Frame by vehicle queue situation and the vehicle flowrate data encapsulation that above-mentioned steps obtains, and be transmitted through the network to the traffic control scheduler module.
2. traffic as claimed in claim 1 highway section vehicle queue video detecting method is characterized in that: in the described step 3, extract the average speed in road traffic and each track according to method for testing motion.
3. traffic as claimed in claim 1 highway section vehicle queue video detecting method, it is characterized in that: the road vehicle queuing detection method of described step 4 is: track virtual detection regional assignment; Automobile storage is detecting; Vehicle Moving Detection; The actual vehicle queuing is judged; Pixel coordinate converts ground coordinate to; Calculate actual queue length.
4. traffic as claimed in claim 3 highway section vehicle queue video detecting method, it is characterized in that: in the described step 4, vehicle queue detects a plurality of tracks is detected, and exists the situation of a plurality of formations to detect to same track simultaneously.
5. traffic highway section vehicle queue video detection system, comprise monitoring camera equipment, video decode module, core processing module, Control and Schedule module, memory module, it is characterized in that: after the decoding of video decode module, process by the input core processing module with video flowing for described monitoring camera equipment; The result of described core processing module is transmitted through the network to the Control and Schedule module; Described core processing module is from memory module access road essential information.
6. traffic as claimed in claim 5 highway section vehicle queue video detection system is characterized in that: described core processing module carries out that vehicle queue detects and magnitude of traffic flow detection; The vehicle queue detection method is: track virtual detection regional assignment; Automobile storage is detecting; Vehicle Moving Detection; The actual vehicle queuing is judged; Pixel coordinate converts ground coordinate to; Calculate actual queue length.
7. traffic as claimed in claim 6 highway section vehicle queue video detection system, it is characterized in that: described vehicle queue detects a plurality of tracks is detected, and exists the situation of a plurality of formations to detect to same track simultaneously.
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| CN103985251A (en) * | 2014-04-21 | 2014-08-13 | 东南大学 | Method and system for calculating vehicle queuing length |
| 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 |
| CN108922187A (en) * | 2018-07-20 | 2018-11-30 | 肖哲睿 | A kind of intelligent transportation system |
| CN110365942A (en) * | 2019-07-18 | 2019-10-22 | 北京工业大数据创新中心有限公司 | A kind of real-time video intelligent analysis method and system |
| CN111081008A (en) * | 2019-12-06 | 2020-04-28 | 英华达（上海）科技有限公司 | Road marking control method and road marking control system |
| CN111597700A (en) * | 2020-05-09 | 2020-08-28 | 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 |
| 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 |
| 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 |
| CN112907978A (en) * | 2021-03-02 | 2021-06-04 | 江苏集萃深度感知技术研究所有限公司 | Traffic flow monitoring method based on monitoring video |
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| US9922560B2 (en) | 2016-03-14 | 2018-03-20 | International Business Machines Corporation | Interactive camera viewpoint and adjustment sharing system |
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| CN110365942A (en) * | 2019-07-18 | 2019-10-22 | 北京工业大数据创新中心有限公司 | A kind of real-time video intelligent analysis method and system |
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| 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 |
| CN111597700A (en) * | 2020-05-09 | 2020-08-28 | 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 |
| 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 |
| CN112907978A (en) * | 2021-03-02 | 2021-06-04 | 江苏集萃深度感知技术研究所有限公司 | Traffic flow monitoring method based on monitoring video |
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