CN105912979A - Vehicle on-road detection method and device - Google Patents
Vehicle on-road detection method and device Download PDFInfo
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- CN105912979A CN105912979A CN201610195505.7A CN201610195505A CN105912979A CN 105912979 A CN105912979 A CN 105912979A CN 201610195505 A CN201610195505 A CN 201610195505A CN 105912979 A CN105912979 A CN 105912979A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
- G06V20/625—License plates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/08—Detecting or categorising vehicles
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Abstract
The invention discloses a vehicle on-road detection method and a device. The method comprises steps that when a vehicle passes by a detection point, a distance between the vehicle and a distribution point of a roadside is acquired, and the size information of the vehicle is further acquired; a connection line between the distribution point and the detection point and an extension line of the roadside have an included angle; a camera arranged at the distribution point is utilized to realize snapshot of the vehicle; according to snapshot pictures, the measured distance between the vehicle and the distribution point, the included angle and the size information of the vehicle, whether the vehicle is on a road can be determined. The camera arranged at the distribution point of the roadside is utilized, compared with the prior art, arranging a camera at each lane is not needed, a transverse rod is further not needed, the method is more simple, convenient and flexible to realize, cost can be reduced, the size information of the vehicle is added through radar measurement, the detection result can be more accurate on the basis of detection condition increase, the workload of subsequent artificial identification is further reduced, and detection efficiency is improved.
Description
Technical field
The present invention relates to technical field of intelligent traffic, particularly relate to detection method and the dress of a kind of vehicle road occupying
Put.
Background technology
On highway, various types of vehicles have the traveling lane of regulation, should not if vehicle occurs in
On the track occurred, belong to vehicle road occupying and break rules and regulations, for ensureing traffic safety, need vehicle road occupying is examined
Survey, illustrate below by citing.
Such as, on a highway, lorry is the express lane not allowing access into dolly, can only be the rightest
, there is vehicle accident to prevent lorry at a slow speed from travelling on speed way in lanes at a slow speed.At present to goods
The detection that car road occupying is broken rules and regulations is to be realized by the bayonet socket of fixed point, i.e. installs bayonet socket camera in certain some position, logical
Cross the mode of Video Detection and judge vehicle whether road occupying.As it is shown in figure 1, be provided above cross bar in track,
Corresponding with first lane, second lane and third lane respectively first camera, the second phase it is provided with on cross bar
Machine and third camera；Vehicle passing on corresponding track is captured by each phase chance, and enters car plate
Row image recognition, detects when vehicle license plate is yellow card, is taken as lorry road occupying and breaks rules and regulations, the figure that will capture
Whether sheet is uploaded, artificial screening be that lorry road occupying is broken rules and regulations.The camera number layouting required by this detection mode
Measure more, and because the picture number needing artificial screening is more, cause detection efficiency relatively low.
Summary of the invention
The purpose of the embodiment of the present invention is to provide detection method and the device of a kind of vehicle road occupying, is used for solving now
The problem that needed for some detection modes, camera quantity is many and detection efficiency is relatively low.
The purpose of the embodiment of the present invention is achieved through the following technical solutions:
A kind of detection method of vehicle road occupying, including:
There is vehicle through test point, obtain the distance layouted on vehicle and roadside, and described vehicle is big
Little information；Wherein, layout described in and the extension line in line between described test point and described roadside has necessarily
Angle；
Utilize the camera layouted described in being positioned at that described vehicle is captured；
According to the picture captured, and the described vehicle measured layout with described distance, described angle, institute
State the size information of vehicle, it is judged that the whether road occupying of described vehicle.
It is preferred that the distance layouted on described acquisition vehicle and roadside, and the size information of described vehicle,
Including:
Utilize distance and the size information of described vehicle that vehicle described in radar surveying and roadside layout.
It is preferred that described radar be all located at described camera described in layout and towards consistent；Described radar with
Setting up between described camera has signal to connect；
Before utilizing the camera layouted described in being positioned to capture described vehicle, the method also includes:
It is connected the described camera of triggering to described vehicle by the signal set up between described radar with described camera
Capture.
It is preferred that described according to the picture captured, and the described vehicle measured layout with described distance,
Described angle, the size information of described vehicle, it is judged that the whether road occupying of described vehicle, including:
Car plate color according to vehicle described in the picture recognition captured；
The distance layouted with described according to the described vehicle measured, described angle, calculate described vehicle with described
The vertical dimension of the extension line in roadside, determines the traveling lane of described vehicle according to described vertical dimension；
Car plate color according to described vehicle, the size information of described vehicle and the described vehicle that determines
Traveling lane, it is judged that described vehicle whether road occupying.
It is preferred that according to the picture captured, and the distance, described that the described vehicle measured is layouted with described
Angle, the size information of described vehicle, it is judged that the whether road occupying of described vehicle, including:
According to the car plate color of vehicle described in the picture recognition captured, and determine whether yellow card car plate；
If the car plate of described vehicle is yellow card car plate, according to measure described vehicle with described layout away from
From, described angle, calculate the vertical dimension of described vehicle and the extension line in described roadside, according to described vertically
Distance determines the traveling lane of described vehicle, and judges whether the traveling lane of the described vehicle determined is default
Forbidden track；
If the traveling lane of described vehicle is to preset forbidden track, judge according to the size information of described vehicle
Whether described vehicle is cart；
If described vehicle is cart, it is determined that described vehicle road occupying.
It is preferred that the method also includes:
It is the vehicle of road occupying to judged result, the picture of candid photograph is uploaded as picture violating the regulations or stored.
It is preferred that described angle is in the range of 18 degree～22 degree.
A kind of detection device of vehicle road occupying, this device includes:
Acquisition module, is used for: has vehicle through test point, obtains the distance layouted on vehicle and roadside,
And the size information of described vehicle；Wherein, layout described in and line between described test point and described road
The extension line on limit has certain angle；
Capture module, be used for: utilize the camera layouted described in being positioned at that described vehicle is captured；
Judge module, is used for: according to the picture captured, and the described vehicle of described radar surveying is with described
The distance layouted, described angle, the size information of described vehicle, it is judged that the whether road occupying of described vehicle.
It is preferred that described acquisition module, specifically for:
Utilize distance and the size information of described vehicle that vehicle described in radar surveying and roadside layout.
It is preferred that described radar be all located at described camera described in layout and towards consistent；Described radar with
Setting up between described camera has signal to connect；
Also include triggering capturing module, be used for:
Before described vehicle is captured by the camera layouted described in being positioned in utilization, by described radar and institute
State the signal connection described camera of triggering set up between camera described vehicle is captured.
It is preferred that described judge module, specifically for:
Car plate color according to vehicle described in the picture recognition captured；
The distance layouted with described according to the described vehicle measured, described angle, calculate described vehicle with described
The vertical dimension of the extension line in roadside, determines the traveling lane of described vehicle according to described vertical dimension；
Car plate color according to described vehicle, the size information of described vehicle and the described vehicle that determines
Traveling lane, it is judged that described vehicle whether road occupying.
It is preferred that described judge module, specifically for:
According to the car plate color of vehicle described in the picture recognition captured, and determine whether yellow card car plate；
If the car plate of described vehicle is yellow card car plate, according to measure described vehicle with described layout away from
From, described angle, calculate the vertical dimension of described vehicle and the extension line in described roadside, according to described vertically
Distance determines the traveling lane of described vehicle, and judges whether the traveling lane of the described vehicle determined is default
Forbidden track；
If the traveling lane of described vehicle is to preset forbidden track, judge according to the size information of described vehicle
Whether described vehicle is cart；
If described vehicle is cart, the most described vehicle road occupying.
It is preferred that this device also includes transmission module, it is used for:
It is the vehicle of road occupying to judged result, the picture of candid photograph is uploaded as picture violating the regulations or stored.
It is preferred that described angle is in the range of 18 degree～22 degree.
Having the beneficial effect that of the embodiment of the present invention:
In the detection method of vehicle road occupying that the embodiment of the present invention provides and device, layout of roadside
Place, make use of a camera to capture vehicle, compared with above-mentioned prior art, it is not necessary to each track
It is provided with a camera, without cross bar, it is achieved simpler, convenient, flexibly, it is possible to decrease cost.It addition,
The distance layouted on the vehicle obtained and roadside can reflect the track at vehicle place, in conjunction with the vehicle obtained
The picture that size information and camera are captured, carries out the detection of vehicle road occupying, compared with above-mentioned prior art,
Add the size information of the vehicle of acquisition, testing conditions increase so that testing result is more accurate,
And then decrease the workload that subsequent artefacts identifies, improve detection efficiency.
Accompanying drawing explanation
Fig. 1 is the scene schematic diagram of layouting of the detection mode of a kind of lorry road occupying in prior art；
One of detection method flow chart of a kind of vehicle road occupying that Fig. 2 provides for the embodiment of the present invention；
The two of the detection method flow chart of a kind of vehicle road occupying that Fig. 3 provides for the embodiment of the present invention；
The three of the detection method flow chart of a kind of vehicle road occupying that Fig. 4 provides for the embodiment of the present invention；
The detection device schematic diagram of a kind of vehicle road occupying that Fig. 5 provides for the embodiment of the present invention；
The detection method of a kind of vehicle road occupying and the scene of layouting of device that Fig. 6 provides for the embodiment of the present invention are shown
It is intended to；
The four of the detection method flow chart of a kind of vehicle road occupying that Fig. 7 provides for the embodiment of the present invention.
Detailed description of the invention
The detection method of a kind of vehicle road occupying with embodiment, the present invention provided below in conjunction with the accompanying drawings and device
Illustrate in greater detail.
As in figure 2 it is shown, the embodiment of the present invention provides the detection method of a kind of vehicle road occupying, its side of implementing
Formula is as follows:
Step 210, there is vehicle through test point, obtain the distance layouted on vehicle and roadside, Yi Jiche
Size information；Wherein, layout and the extension line in line between test point and roadside has certain angle.
Wherein, layout refer to vehicle road occupying detection device position is set.Test point is in detection region
Certain position.
Step 220, utilization are positioned at the camera layouted and capture vehicle.
Step 230, according to the picture captured, and measure vehicle and the distance layouted, above-mentioned angle,
The size information of vehicle, it is judged that vehicle whether road occupying.
In the embodiment of the present invention, at the place that layouts in roadside, make use of a camera that vehicle is captured,
Compared with above-mentioned prior art, it is not necessary to each track is designed with a camera, without cross bar, it is achieved more
Simply, conveniently, flexibly, it is possible to decrease cost.It addition, the distance layouted on the vehicle and the roadside that obtain is permissible
The track at reflection vehicle place, in conjunction with size information and the picture of camera candid photograph of the vehicle obtained, is carried out
The detection of vehicle road occupying, compared with above-mentioned prior art, adds the size information of the vehicle of acquisition, detection
Increasing so that testing result is more accurate of condition, and then decrease the workload that subsequent artefacts identifies,
Improve detection efficiency.
It is preferred that obtain the distance layouted on vehicle and roadside in above-mentioned steps 210, and the size of vehicle
Information, specific implementation has multiple, and one of which implementation may is that
Utilize distance and the size information of vehicle that radar surveying vehicle and roadside layout.
Wherein, the watt level of the vehicle return signal that radar receives can reflect the size information of vehicle.
In above-described embodiment, it is preferred that radar is all located at camera layouting and towards consistent；In radar and phase
Setting up between machine has signal to connect；The present embodiment can also be positioned at, in utilization, the camera layouted vehicle is carried out
Before candid photograph, it is connected triggering camera by the signal set up between radar with camera and vehicle is captured.
Wherein, radar and camera towards consistent, it is ensured that the scope of radar emission signal and regarding of camera
Field scope is consistent.
It is preferred that as it is shown on figure 3, in above-mentioned steps 230 according to capture picture, and measure vehicle
With the distance layouted, above-mentioned angle, the size information of vehicle, it is judged that vehicle whether road occupying, concrete implementation
Mode may is that
Step 310, according to the car plate color of picture recognition vehicle captured.
Wherein, the car plate color of vehicle can reflect the type of vehicle, as blue car plate represents that vehicle is common
Dolly, yellow car plate represents that vehicle is lorry, motorcycle etc..
Step 320, according to the vehicle measured and the distance layouted, above-mentioned angle, calculate vehicle and roadside
The vertical dimension of extension line, determines the traveling lane of vehicle according to this vertical dimension.
Wherein, different tracks is different from the vertical dimension in roadside.
Step 330, car plate color according to vehicle, the size information of vehicle and the row of vehicle determined
Sail track, it is judged that vehicle whether road occupying.
In this step, if for the vehicle represented by the car plate color of vehicle, the size information of vehicle,
The traveling lane of the vehicle determined is forbidden track, shows vehicle road occupying, otherwise, shows the non-road occupying of vehicle.
In the present embodiment, it is possible to achieve the detection of multiple vehicle road occupying.
It should be pointed out that, the sequential of above-mentioned steps 310 and step 320 is only a kind of citing and non-limiting.
It should also be noted that above-mentioned steps 320 only lists the mode of a kind of traveling lane determining vehicle,
Alternate manner, such as, calculating vehicle and the distance the layouted component on the extension line in roadside can also be used,
To determine the traveling lane of vehicle.
Below as a example by detection lorry road occupying is violating the regulations, implementing of step 220 is illustrated, such as Fig. 4
Shown step:
Step 410, according to the car plate color of picture recognition vehicle captured, and determine whether yellow card car plate.
If the car plate of step 420 vehicle is yellow card car plate, according to measure vehicle with above-mentioned layout away from
From, above-mentioned angle, calculate the vertical dimension of vehicle and the extension line in roadside, determine car according to this vertical dimension
Traveling lane, and judge whether the traveling lane of vehicle determined is to preset forbidden track.
Wherein, if the car plate of vehicle is not yellow card car plate, it is determined that the non-road occupying of vehicle.
If the traveling lane of step 430 vehicle is to preset forbidden track, sentence according to the size information of vehicle
Whether disconnected vehicle is cart.
Wherein, if the traveling lane of vehicle is not to preset forbidden track, it is determined that the non-road occupying of vehicle.
If step 440 vehicle is cart, it is determined that vehicle road occupying.
Wherein, if vehicle is not cart, it is determined that the non-road occupying of vehicle.
It should be pointed out that, the sequential of above-mentioned judgement lorry road occupying non-limiting, it is also possible to first judge that vehicle is
Whether no be yellow card car plate, the traveling finally judging the vehicle determined for cart, the car plate that then judges vehicle
Whether track is forbidden track, it is also possible to for other sequential, will not enumerate herein.
Based on any of the above embodiment, it is preferred that be the vehicle of road occupying to judged result, the figure that will capture
Sheet is uploaded as picture violating the regulations or is stored.The picture violating the regulations uploaded or store screens identification for subsequent artefacts.
To the vehicle that judged result is non-road occupying, the picture captured is stored as common picture.
Based on any of the above embodiment, it is preferred that the scope of above-mentioned angle can be, but not limited to be 18 degree～22
Degree.
Based on same inventive concept, the embodiment of the present invention also provides for the detection device of a kind of vehicle road occupying, as
Shown in Fig. 5, this device includes acquisition module 501, captures module 502 and judge module 503.
Acquisition module 501, is used for: have vehicle through test point, obtain layout on vehicle and roadside away from
From, and the size information of vehicle；Wherein, layout and the extension line in line between test point and roadside has
Certain angle；
Capture module 502, be used for: utilization is positioned at the camera layouted and captures vehicle；
Judge module 503, is used for: capture vehicle under the triggering command of radar；According to capture
Picture, and measure vehicle and the distance layouted, above-mentioned angle, the size information of vehicle, it is judged that vehicle
Whether road occupying.
In the embodiment of the present invention, at the place that layouts in roadside, make use of a camera that vehicle is captured,
Compared with above-mentioned prior art, it is not necessary to each track is designed with a camera, without cross bar, it is achieved more
Simply, conveniently, flexibly, it is possible to decrease cost.It addition, the distance layouted on the vehicle and the roadside that obtain is permissible
The track at reflection vehicle place, in conjunction with size information and the picture of camera candid photograph of the vehicle obtained, is carried out
The detection of vehicle road occupying, compared with above-mentioned prior art, adds the size information of the vehicle of acquisition, detection
Increasing so that testing result is more accurate of condition, and then decrease the workload that subsequent artefacts identifies,
Improve detection efficiency.
It is preferred that acquisition module 501, specifically for:
Utilize distance and the size information of vehicle that radar surveying vehicle and roadside layout.
It is preferred that radar is all located at camera layouting and towards consistent；Set up between radar and camera and have letter
Number connect；
Also include triggering capturing module, be used for:
It is positioned at before vehicle captured by the camera layouted utilizing, by set up between radar and camera
Signal connects triggering camera and captures vehicle.
It is preferred that judge module 503, specifically for:
Car plate color according to the picture recognition vehicle captured；
According to the vehicle measured and the distance layouted, above-mentioned angle, calculate hanging down of the vehicle extension line with roadside
Straight distance, determines the traveling lane of vehicle according to this vertical dimension；
Car plate color according to vehicle, the size information of vehicle and the traveling lane of vehicle determined, sentence
The whether road occupying of disconnected vehicle.
It is preferred that judge module 503, specifically for:
Whether the car plate according to the picture recognition vehicle captured is yellow card car plate；
If the car plate of vehicle is yellow card car plate, according to the vehicle measured and the distance layouted, above-mentioned angle,
Calculate the vertical dimension of vehicle and the extension line in roadside, determine the traveling lane of vehicle according to this vertical dimension,
And judge whether the traveling lane of vehicle determined is to preset forbidden track；
If the traveling lane of vehicle is to preset forbidden track, whether judge vehicle according to the size information of vehicle
For cart；
If vehicle is cart, it is determined that vehicle road occupying.
It is preferred that this device also includes transmission module, it is used for:
It is the vehicle of road occupying to judged result, the picture of candid photograph is uploaded as picture violating the regulations or stored.
It is preferred that the scope of above-mentioned angle can be, but not limited to be 18 degree～22 degree.
Detection below as a example by concrete application scenarios, to a kind of vehicle road occupying that the embodiment of the present invention provides
Method and device is explained in more detail.
In the present embodiment, the detection device of vehicle road occupying includes mutually setting up radar and the intelligence that signal connects
Camera, above-mentioned acquisition module and triggering are captured module and are arranged in radar, above-mentioned candid photograph module, judge module
It is arranged in smart camera with upper transmission module；The detection device of vehicle road occupying also includes display screen, such as luminous two
Pole pipe (Light-emitting Diode, LED) liquid crystal display screen, internal battery, such as built-in lithium battery.This dress
Setting as one designs, and can work alone, be convenient for carrying installation, and flexibility ratio is strong.As shown in Figure 6, should
Device can be placed at the A that layouts in roadside by spider, and the height adjustment of spider is 1.8 meters, adjusts
Whole radar center axle becomes 22 degree of angles with roadside, smart camera and radar towards consistent.On this road altogether
The forbidden track having three tracks, first lane and second lane to be lorry, B region is detection region.?
Detection lorry road occupying is when breaking rules and regulations, and process that passing vehicle is detected by this device is as it is shown in fig. 7, concrete
Step is as follows:
Step 710, there is vehicle through test point, the distance of the A that layouts in radar surveying vehicle and roadside,
And the size information of vehicle be sent to smart camera, and connected by the signal set up and send out to smart camera
Send the triggering command that vehicle is captured, perform step 720.
In the present embodiment, the size information of vehicle includes cart, middle car, dolly.
Step 720, smart camera receive the distance of the A that layouts on vehicle and the roadside of radar surveying (such as Fig. 6
Shown R), and the size information of vehicle, and under the triggering command of radar, vehicle is captured,
Perform step 730.
Step 730, smart camera, according to the car plate color of the picture recognition vehicle captured, perform step 740.
Step 740, smart camera judge whether the car plate of vehicle is yellow card car plate, if it is, perform step
750, otherwise, perform step 790.
Step 750, smart camera, according to the vehicle measured and the distance of the A that layouts, above-mentioned angle, calculate car
With the vertical dimension (R ' as shown in Figure 6) of the extension line in roadside, determine vehicle according to this vertical dimension
Traveling lane, perform step 760.
Step 760, smart camera judge whether the traveling lane of the vehicle determined is to preset forbidden track, as
Fruit is, performs step 770, otherwise, performs step 790.
According to the size information of vehicle, step 770, smart camera judge whether vehicle is cart, if it is,
Perform step 780, otherwise, perform step 790.
Step 780, determine vehicle road occupying, the picture of candid photograph is uploaded by communication network as picture violating the regulations
To platform, or it is stored in this locality as picture violating the regulations.
Wherein, communication network can be 3G or 4G communication network.
Step 790, determine the non-road occupying of vehicle, the picture of candid photograph is stored in this locality as normal picture.
For picture violating the regulations, follow-up by manually carrying out screening identification, the vehicle road occupying provided due to the present embodiment
Detection method and device in, radar can measure the size of vehicle, and the size detection vehicle in conjunction with this vehicle accounts for
Road, can filter out a part of yellow card dolly, and testing result is more accurate, decreases disobeying of uploading or store
The quantity of chapter picture, the most just decreases subsequent artefacts and screens the workload of identification, improve detection efficiency.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or meter
Calculation machine program product.Therefore, the present invention can use complete hardware embodiment, complete software implementation or knot
The form of the embodiment in terms of conjunction software and hardware.And, the present invention can use and wherein wrap one or more
Computer-usable storage medium containing computer usable program code (include but not limited to disk memory,
CD-ROM, optical memory etc.) form of the upper computer program implemented.
The present invention is with reference to method, equipment (system) and computer program product according to embodiments of the present invention
The flow chart of product and/or block diagram describe.It should be understood that can by computer program instructions flowchart and
/ or block diagram in each flow process and/or flow process in square frame and flow chart and/or block diagram and/
Or the combination of square frame.These computer program instructions can be provided to general purpose computer, special-purpose computer, embedding
The processor of formula datatron or other programmable data processing device is to produce a machine so that by calculating
The instruction that the processor of machine or other programmable data processing device performs produces for realizing at flow chart one
The device of the function specified in individual flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions may be alternatively stored in and computer or the process of other programmable datas can be guided to set
In the standby computer-readable memory worked in a specific way so that be stored in this computer-readable memory
Instruction produce and include the manufacture of command device, this command device realizes in one flow process or multiple of flow chart
The function specified in flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device, makes
Sequence of operations step must be performed to produce computer implemented place on computer or other programmable devices
Reason, thus the instruction performed on computer or other programmable devices provides for realizing flow chart one
The step of the function specified in flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know base
This creativeness concept, then can make other change and amendment to these embodiments.So, appended right is wanted
Ask and be intended to be construed to include preferred embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification without deviating from this to the present invention
Bright spirit and scope.So, if the present invention these amendment and modification belong to the claims in the present invention and
Within the scope of its equivalent technologies, then the present invention is also intended to comprise these change and modification.
Claims (14)
1. the detection method of a vehicle road occupying, it is characterised in that including:
There is vehicle through test point, obtain the distance layouted on vehicle and roadside, and described vehicle is big
Little information；Wherein, layout described in and the extension line in line between described test point and described roadside has necessarily
Angle；
Utilize the camera layouted described in being positioned at that described vehicle is captured；
According to the picture captured, and the described vehicle measured layout with described distance, described angle, institute
State the size information of vehicle, it is judged that the whether road occupying of described vehicle.
Method the most according to claim 1, it is characterised in that described acquisition vehicle and cloth on roadside
The distance of point, and the size information of described vehicle, including:
Utilize distance and the size information of described vehicle that vehicle described in radar surveying and roadside layout.
Method the most according to claim 2, it is characterised in that described radar and described camera all positions
Layout and towards unanimously in described；Setting up between described radar with described camera has signal to be connected；
Before utilizing the camera layouted described in being positioned to capture described vehicle, the method also includes:
It is connected the described camera of triggering to described vehicle by the signal set up between described radar with described camera
Capture.
4. according to the method described in any one of claims 1 to 3, it is characterised in that described according to capture
Picture, and the described vehicle measured layout with described distance, described angle, the size letter of described vehicle
Breath, it is judged that described vehicle whether road occupying, including:
Car plate color according to vehicle described in the picture recognition captured；
The distance layouted with described according to the described vehicle measured, described angle, calculate described vehicle with described
The vertical dimension of the extension line in roadside, determines the traveling lane of described vehicle according to described vertical dimension；
Car plate color according to described vehicle, the size information of described vehicle and the described vehicle that determines
Traveling lane, it is judged that described vehicle whether road occupying.
Method the most according to claim 4, it is characterised in that according to the picture captured, and survey
The distance that the described vehicle of amount is layouted with described, described angle, the size information of described vehicle, it is judged that described
Vehicle whether road occupying, including:
According to the car plate color of vehicle described in the picture recognition captured, and determine whether yellow card car plate；
If the car plate of described vehicle is yellow card car plate, according to measure described vehicle with described layout away from
From, described angle, calculate the vertical dimension of described vehicle and the extension line in described roadside, according to described vertically
Distance determines the traveling lane of described vehicle, and judges whether the traveling lane of the described vehicle determined is default
Forbidden track；
If the traveling lane of described vehicle is to preset forbidden track, judge according to the size information of described vehicle
Whether described vehicle is cart；
If described vehicle is cart, it is determined that described vehicle road occupying.
6. according to the method described in any one of claims 1 to 3, it is characterised in that the method also includes:
It is the vehicle of road occupying to judged result, the picture of candid photograph is uploaded as picture violating the regulations or stored.
7. according to the method described in any one of claims 1 to 3, it is characterised in that the scope of described angle
It it is 18 degree～22 degree.
8. the detection device of a vehicle road occupying, it is characterised in that this device includes:
Acquisition module, is used for: has vehicle through test point, obtains the distance layouted on vehicle and roadside,
And the size information of described vehicle；Wherein, layout described in and line between described test point and described road
The extension line on limit has certain angle；
Capture module, be used for: utilize the camera layouted described in being positioned at that described vehicle is captured；
Judge module, is used for: according to the picture captured, and the described vehicle of described radar surveying is with described
The distance layouted, described angle, the size information of described vehicle, it is judged that the whether road occupying of described vehicle.
Device the most according to claim 8, it is characterised in that described acquisition module, specifically for:
Utilize distance and the size information of described vehicle that vehicle described in radar surveying and roadside layout.
Device the most according to claim 9, it is characterised in that described radar and described camera all positions
Layout and towards unanimously in described；Setting up between described radar with described camera has signal to be connected；
This device also includes triggering capturing module, is used for:
Before described vehicle is captured by the camera layouted described in utilizing be positioned in described candid photograph module, pass through
The signal set up between described radar with described camera is connected the described camera of triggering and captures described vehicle.
11. devices according to Claim 8～described in 10 any one, it is characterised in that described judge module,
Specifically for:
Car plate color according to vehicle described in the picture recognition captured；
The distance layouted with described according to the described vehicle measured, described angle, calculate described vehicle with described
The vertical dimension of the extension line in roadside, determines the traveling lane of described vehicle according to described vertical dimension；
Car plate color according to described vehicle, the size information of described vehicle and the described vehicle that determines
Traveling lane, it is judged that described vehicle whether road occupying.
12. devices according to claim 11, it is characterised in that described judge module, specifically use
In:
According to the car plate color of vehicle described in the picture recognition captured, and determine whether yellow card car plate；
If the car plate of described vehicle is yellow card car plate, according to measure described vehicle with described layout away from
From, described angle, calculate the vertical dimension of described vehicle and the extension line in described roadside, according to described vertically
Distance determines the traveling lane of described vehicle, and judges whether the traveling lane of the described vehicle determined is default
Forbidden track；
If the traveling lane of described vehicle is to preset forbidden track, judge according to the size information of described vehicle
Whether described vehicle is cart；
If described vehicle is cart, the most described vehicle road occupying.
13. devices according to Claim 8～described in 10 any one, it is characterised in that this device also includes
Upper transmission module, is used for:
It is the vehicle of road occupying to judged result, the picture of candid photograph is uploaded as picture violating the regulations or stored.
14. devices according to Claim 8～described in 10 any one, it is characterised in that the model of described angle
Enclose is 18 degree～22 degree.
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| CN201610195505.7A CN105912979B (en) | 2016-03-30 | 2016-03-30 | A kind of detection method and device of vehicle road occupying |
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| CN108012098A (en) * | 2017-11-26 | 2018-05-08 | 合肥赛为智能有限公司 | A kind of unmanned plane traffic inspection method |
| CN111860219A (en) * | 2020-06-30 | 2020-10-30 | 杭州科度科技有限公司 | High-speed road occupation judging method and device and electronic equipment |
| CN112489448A (en) * | 2019-09-11 | 2021-03-12 | 浙江宇视科技有限公司 | Snapshot output filtering method and device |
| CN114446055A (en) * | 2021-09-22 | 2022-05-06 | 湖南喜宝达信息科技有限公司 | Electric bicycle and method for monitoring road occupation driving thereof and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108012098A (en) * | 2017-11-26 | 2018-05-08 | 合肥赛为智能有限公司 | A kind of unmanned plane traffic inspection method |
| CN112489448A (en) * | 2019-09-11 | 2021-03-12 | 浙江宇视科技有限公司 | Snapshot output filtering method and device |
| CN111860219A (en) * | 2020-06-30 | 2020-10-30 | 杭州科度科技有限公司 | High-speed road occupation judging method and device and electronic equipment |
| CN111860219B (en) * | 2020-06-30 | 2024-01-05 | 杭州科度科技有限公司 | High-speed channel occupation judging method and device and electronic equipment |
| CN114446055A (en) * | 2021-09-22 | 2022-05-06 | 湖南喜宝达信息科技有限公司 | Electric bicycle and method for monitoring road occupation driving thereof and storage medium |
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| Publication number | Publication date |
|---|---|
| CN105912979B (en) | 2019-05-24 |
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