CN107067778A - A kind of vehicle antitracking method for early warning and device - Google Patents
A kind of vehicle antitracking method for early warning and device Download PDFInfo
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- CN107067778A CN107067778A CN201710295775.XA CN201710295775A CN107067778A CN 107067778 A CN107067778 A CN 107067778A CN 201710295775 A CN201710295775 A CN 201710295775A CN 107067778 A CN107067778 A CN 107067778A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
-
- 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
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
- G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
-
- 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
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
-
- 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
- G06V20/63—Scene text, e.g. street names
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
-
- 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
Abstract
The present invention provides vehicle antitracking method for early warning and device, and method includes：The step of S1, retinue information of vehicles are recognized；The step of S2, velocity information, direction information are calculated；The step of S3, tracking vehicle identification：Vehicle identification is tracked according to the retinue information of vehicles detected, the steering of this car, velocity information；The step of S4, tracking and early warning：Early warning is carried out to driver according to the information of tracking vehicle.The present invention realizes the accurate technique effect that early warning is carried out to tracking vehicle, improves Consumer's Experience.
Description
Technical field
The present invention relates to drive ancillary technique field, more particularly to a kind of vehicle antitracking method for early warning and device.
Background technology
With the rapid growth of automobile quantity, work, the life of people is closely bound up with automobile.With the value of vehicle
Possess degree to position the wealth of driver, be then tracked using certain means for driver, wait for an opportunity to carry out
The event of kidnapping is reported in media once in a while.Judge whether vehicle is carried out malice tracking in time to driver to enter for a long time
The system of row warning can carry out active defense to related malignant event, to ensureing that it is positive that vehicle, personal security play the role of.
Current vehicle antitracking method is judged in some week mainly by recognizing car plate, driver's face feature
Whether corresponding driver-operated car plate occurs in phase frequency is too high to be realized.However, this determination methods rate of false alarm compared with
Height, unnecessary puzzlement is brought to user.
Therefore, prior art is further improved.
The content of the invention
The present invention provides a kind of vehicle antitracking method for early warning and device, it is intended to solve defect of the prior art, realizes
The degree of accuracy of tracking vehicle early warning is improved, Consumer's Experience is improved.
To reach above-mentioned purpose, the technical solution used in the present invention is：
One aspect of the present invention provides a kind of vehicle antitracking method for early warning, including：
The step of S1, retinue information of vehicles are recognized；
The step of S2, velocity information, direction information are calculated；
The step of S3, tracking vehicle identification：Entered according to the retinue information of vehicles detected, the steering of this car, velocity information
Line trace vehicle identification；
The step of S4, tracking and early warning：Early warning is carried out to driver according to the information of tracking vehicle.
Further, also include after S4：
The step of S5, tracing detection result are sent.
Specifically, the S1 includes：
S101, the road conditions image for obtaining this car rear, and recognize retinue vehicle therein；
S102, to it is described retinue vehicle carry out Location of Vehicle License Plate；
S103, the vehicle license is judged, it is determined whether be vehicle license, be then to enter next step；
S104, to vehicle license carry out Character segmentation, identification, obtain license number.
Further, also comprise the following steps after S104：
S105, the vehicle brand of the identification retinue vehicle and model.
Specifically, the S2 includes：
S201, the course angle θ (t) for obtaining current time；
Course angle θ (t- Δs t) before S202, acquisition interval predetermined time Δ t；
S203, calculating θ (t) and θ (t- Δs t) course angle changing value Δ θ；
S204, steering event determined according to the angle change value Δ θ.
Specifically, the S204 is specifically included：
When described | Δ θ | during 20 ° of ＜, it is determined as straight trip；When 20 °≤Δ θ≤120 °, it is judged to turning right；Work as institute
When stating -120 °≤Δ θ≤- 20 °, it is judged to turning left；When described | Δ θ | during 120 ° of ＞, it is judged to turning around.
Further, also comprise the following steps after S202, before S203：
S202a, judge this car current vehicle speed whether be more than judgement speed, be then enter next step, otherwise return to S201.
Specifically, the judgement speed is 10km/h.
Specifically, the S3 includes：
S301, changed as a detection-phase with this car direction information, detection is recognized in minute book detection-phase
Retinue information of vehicles, and be compared with the retinue information of vehicles of history detection-phase, if there is identical retinue vehicle,
Record retinue time point of the retinue vehicle, speed information, with row distance；
S302, the retinue vehicle that will meet default Tracking Recognition rule are classified as tracking suspected vehicles, the tracking suspicion car
Tracking suspicion index add 1；
S303, for track suspected vehicles tracking suspicion index exceed predetermined threshold value when, then by the vehicle identification be with
Track vehicle.
Specifically, the default Tracking Recognition rule in the S3 includes：
Same vehicle accompanies number of times more than the first preset times in single detection-phase, and pre- more than first with row distance
If distance, or：
In current detection stage same vehicle retinue number of times more than the first preset times, in a upper detection-phase with places
Count more than the second preset times, and with row distance more than the second pre-determined distance.
Specifically, first preset times are 5 times, and second preset times are 3 times, and first pre-determined distance is
10km, second pre-determined distance is 5km.
Further, also include before S301：
S300, judge whether current road conditions are congested link, be that then circulation performs this step, otherwise into next step.
Another aspect of the present invention provides a kind of vehicle antitracking prior-warning device, including the identification of camera module, information of vehicles
Module, location information module, steering event judge module, tracking vehicle identification module, tracking and early warning module；
The camera module, the road conditions image for obtaining this car rear；
The information of vehicles identification module, the information of vehicles for recognizing retinue vehicle；
The location information module, travel speed, course angle information for obtaining this car；
The steering event judge module, the steering event type for judging this car；
The tracking vehicle identification module, for being tracked according to retinue information of vehicles, the steering of this car, velocity information
Vehicle identification；
The tracking and early warning module, for alarming tracking vehicle.
Specifically, the steering event judge module includes：Course angle acquisition submodule, course angle calculating sub module；
The course angle acquisition submodule, the course angle information for obtaining this car；
The course angle calculating sub module, the steering event type for determining this car according to the course angle information of this car.
Further, the steering event judge module also includes speed judge module, for whether judging current vehicle speed
More than judgement speed.
Further, the vehicle antitracking prior-warning device also includes alarm sending module, for by tracing detection result
Sent by network.
The beneficial effects of the present invention are：The present invention by detect retinue information of vehicles, the steering of this car, velocity information,
And the steering leave of absence type of vehicle is calculated by course angle, and change as a detection-phase to know with this car direction information
Not Sui Hang vehicle whether be suspicion tracking vehicle, when track suspicion index exceed predetermined threshold value when by the vehicle identification for tracking car
, the accurate technique effect that early warning is carried out to tracking vehicle is realized, Consumer's Experience is improved.
Brief description of the drawings
Fig. 1 is the method flow schematic diagram of the vehicle antitracking early warning of the present invention；
Fig. 2 is the schematic flow sheet of the retinue information of vehicles identification of the present invention；
Fig. 3 is another schematic flow sheet of the retinue information of vehicles identification of the present invention；
Fig. 4 is the schematic flow sheet of the direction information calculating of the present invention；
Fig. 5 is another schematic flow sheet of the direction information calculating of the present invention；
Fig. 6 is the schematic flow sheet of the tracking vehicle identification of the present invention；
Fig. 7 is another schematic flow sheet of the tracking vehicle identification of the present invention；
Fig. 8 is another schematic flow sheet of the vehicle antitracking early warning of the present invention；
Fig. 9 is the structural representation of the vehicle antitracking early warning of the present invention；
Figure 10 is the structural representation of the steering event judge module of the present invention；
Figure 11 is another structural representation of the steering event judge module of the present invention；
Figure 12 is another structural representation of the vehicle antitracking early warning of the present invention.
Embodiment
Specifically illustrate embodiments of the present invention below in conjunction with the accompanying drawings, accompanying drawing is only for reference and explanation is used, do not constitute pair
The limitation of scope of patent protection of the present invention.
As shown in figure 1, on the one hand embodiments of the invention provide a kind of vehicle antitracking method for early warning, including：
The step of step 1, retinue information of vehicles are recognized.
The information of vehicles is mainly vehicle license, as supplement, can also include vehicle brand and model.
As shown in Fig. 2 in the present embodiment, retinue information of vehicles identification comprises the following steps：
Step 101, the road conditions image for obtaining this car rear, and recognize retinue vehicle therein.
Step 102, to it is described retinue vehicle carry out Location of Vehicle License Plate.
Step 103, the vehicle license is judged, it is determined whether be vehicle license, be then to enter next step, otherwise
Return to step 101.
In the present embodiment, vehicle license can be judged by vehicle license color model.
Step 104, to vehicle license carry out Character segmentation, identification, obtain license number.
As shown in figure 3, in another embodiment of the present invention, also comprising the following steps after step 104：
Step 105, the vehicle brand of the identification retinue vehicle and model.
In the specific implementation, the brand and concrete model of vehicle can be identified by deep learning method.
The step of step 2, velocity information, direction information are calculated.
The travel speed, course angle information of this car are obtained from location information module (such as GNSS module), will be turned to
Information is further categorized into steering event, including：Straight trip, right turn, left steering, turn around.
As shown in figure 4, in the present embodiment, the step of direction information is calculated specifically includes：
Step 201, the course angle θ (t) for obtaining current time.
Course angle θ (t- Δs t) before step 202, acquisition interval predetermined time Δ t.
Step 203, calculating θ (t) and θ (t- Δs t) course angle changing value Δ θ.
Step 204, steering event determined according to the angle change value Δ θ.
In the present embodiment, determine that steering event is specifically included according to the angle change value Δ θ：
When described | Δ θ | during 20 ° of ＜, it is determined as straight trip；
When 20 °≤Δ θ≤120 °, it is judged to turning right；
When described -120 °≤Δ θ≤- 20 °, it is judged to turning left；
When described | Δ θ | during 120 ° of ＞, it is judged to turning around.
As shown in figure 5, in another embodiment of the present invention, in order to reduce erroneous judgement, needing to judge in calculated direction
The validity of direction information, therefore, also comprises the following steps after step 202, before step 203：
Step 202a, judge whether this car current vehicle speed is more than judgement speed, be then to enter next step, otherwise return to step
201。
In the specific implementation, the judgement speed is 10km/h.
The step of step 3, tracking vehicle identification：According to the retinue information of vehicles detected, the steering of this car, velocity information
It is tracked vehicle identification.
As shown in fig. 6, in the present embodiment, the step 3 comprises the following steps：
Step 301, changed as a detection-phase with this car direction information, detection identification in minute book detection-phase
The retinue information of vehicles arrived, and be compared with the retinue information of vehicles of history detection-phase, if there is identical retinue vehicle,
Then record retinue time point of the retinue vehicle, speed information, with row distance.
Step 302, the retinue vehicle that will meet default Tracking Recognition rule are classified as tracking suspected vehicles, the tracking suspicion
The tracking suspicion index of vehicle adds 1.
In the present embodiment, the default Tracking Recognition rule is specifically included：
Same vehicle accompanies number of times more than the first preset times (such as 5 times) in single detection-phase, and with row distance
More than the first pre-determined distance (such as 10km), or：
Number of times is accompanied more than the first preset times (such as 5 times), in upper one detection in current detection stage same vehicle
Stage accompanies number of times more than the second preset times (such as 3 times), and with row distance more than the second pre-determined distance (such as 5km).
When step 303, the tracking suspicion index for tracking suspected vehicles exceed predetermined threshold value (such as 3), then by the car
It is identified as tracking vehicle.
For suspect object misjudgment phenomenon caused by slowly being passed through for congested link, it can be introduced when analyzing above- mentioned information
Speed is controlled, and reduces the occurrence probability of misjudgment phenomenon.
As shown in fig. 7, in another embodiment of the present invention, also including before step 301：
Step 300, judge whether current road conditions are congested link, be that then circulation performs this step, otherwise into next step.
In the specific implementation, whether judge current road conditions is that congested link can be realized by judging front and rear speed,
Can be by way of networking from traffic information server (such as online navigation) acquisition, or manually opened congestion pattern.
The step of step 4, tracking and early warning：According to information (such as number-plate number or/and vehicle brand, the type of tracking vehicle
Number) carry out early warning to driver.
The mode of early warning includes but is not limited to：The number-plate number of tracking alarm and tracking vehicle, voice are shown on screen
Prompting.
When vehicle group is travelled, driver white list trusty can be positioned in white list without
Early warning is shown.
As shown in figure 8, in another embodiment of the present invention, also including after step 4：
The step of step 5, tracing detection result are sent.
Tracing detection result is sent to the server specified or programmed emergency by network, in case follow-up evidence obtaining is used
On the way.
As shown in figure 9, another aspect of the present invention provides a kind of vehicle antitracking prior-warning device, including camera module, car
Information identification module, location information module, turn to event judge module, tracking vehicle identification module, tracking and early warning module；
The camera module, the road conditions image for obtaining this car rear；
The information of vehicles identification module, the information of vehicles for recognizing retinue vehicle；
The location information module, travel speed, course angle information for obtaining this car；
The steering event judge module, the steering event type for judging this car；
The tracking vehicle identification module, for being tracked according to retinue information of vehicles, the steering of this car, velocity information
Vehicle identification；
The tracking and early warning module, for alarming tracking vehicle.
As shown in Figure 10, in the present embodiment, the steering event judge module includes：Course angle acquisition submodule, boat
To angle calculating sub module；
The course angle acquisition submodule, the course angle information for obtaining this car；
The course angle calculating sub module, the steering event type for determining this car according to the course angle information of this car.
The course of work of vehicle antitracking prior-warning device of the present invention is：
First, camera module obtains the road conditions image at this car rear, then information of vehicles identification module it is not therein with
Driving.Meanwhile, location information module obtains the travel speed of this car, course angle information, and turning to event judge module will turn to
Information is further categorized into steering event, including：Straight trip, right turn, left steering, turn around, specifically, turn to event really
Determine process as follows：
Course angle acquisition submodule obtains the boat before the course angle θ (t) at current time, and interval predetermined time Δ t
To angle θ (t- Δs t)；Course angle calculating sub module calculating θ (t) and θ (t- Δs t) course angle changing value Δ θ, and according to the angle
Degree changing value Δ θ determines steering event；Course angle calculating sub module determines that steering event is specific according to the angle change value Δ θ
Including：
When described | Δ θ | during 20 ° of ＜, it is determined as straight trip；
When 20 °≤Δ θ≤120 °, it is judged to turning right；
When described -120 °≤Δ θ≤- 20 °, it is judged to turning left；
When described | Δ θ | during 120 ° of ＞, it is judged to turning around.
As shown in figure 11, in another embodiment of the present invention, in order to reduce erroneous judgement, need to judge in calculated direction
The validity of direction information, therefore, turning to event judge module also includes speed judge module, for whether judging current vehicle speed
More than judgement speed (such as 10km/h).
Then, tracking vehicle identification module is carried out according to the retinue information of vehicles detected, the steering of this car, velocity information
Track vehicle identification.Specifically, deterministic process is as follows：
Tracking vehicle identification module is changed as a detection-phase with this car direction information, in minute book detection-phase
The retinue information of vehicles recognized is detected, and is compared with the retinue information of vehicles of history detection-phase, if there is identical
Accompany vehicle, then record retinue time point of the retinue vehicle, speed information, with row distance, and default Tracking Recognition will be met
The retinue vehicle of rule is classified as tracking suspected vehicles, and the tracking suspicion index of the tracking suspected vehicles adds 1, for tracking suspicion
Then it is tracking vehicle by the vehicle identification when tracking suspicion index of vehicle exceedes predetermined threshold value (such as 3).
Finally, tracking and early warning module according to tracking vehicle information (such as number-plate number or/and vehicle brand, model) to
Driver carries out early warning.
As shown in figure 12, in another embodiment of the present invention, the vehicle antitracking prior-warning device also includes alarm
Sending module, for tracing detection result to be sent by network.
Above disclosed is only presently preferred embodiments of the present invention, it is impossible to the rights protection model of the present invention is limited with this
Enclose, therefore the equivalent variations made according to scope of the present invention patent, still belong to the scope that the present invention is covered.
Claims (16)
1. a kind of vehicle antitracking method for early warning, it is characterised in that including：
The step of S1, retinue information of vehicles are recognized；
The step of S2, velocity information, direction information are calculated；
The step of S3, tracking vehicle identification：According to detect retinue information of vehicles, the steering of this car, velocity information carry out with
Track vehicle identification；
The step of S4, tracking and early warning：Early warning is carried out to driver according to the information of tracking vehicle.
2. vehicle antitracking method for early warning according to claim 1, it is characterised in that also include after S4：
The step of S5, tracing detection result are sent.
3. vehicle antitracking method for early warning according to claim 1, it is characterised in that the S1 includes：
S101, the road conditions image for obtaining this car rear, and recognize retinue vehicle therein；
S102, to it is described retinue vehicle carry out Location of Vehicle License Plate；
S103, the vehicle license is judged, it is determined whether be vehicle license, be then to enter next step；
S104, to vehicle license carry out Character segmentation, identification, obtain license number.
4. vehicle antitracking method for early warning according to claim 3, it is characterised in that also include following step after S104
Suddenly：
S105, the vehicle brand of the identification retinue vehicle and model.
5. vehicle antitracking method for early warning according to claim 1, it is characterised in that the S2 includes：
S201, the course angle θ (t) for obtaining current time；
Course angle θ (t- Δs t) before S202, acquisition interval predetermined time Δ t；
S203, calculating θ (t) and θ (t- Δs t) course angle changing value Δ θ；
S204, steering event determined according to the angle change value Δ θ.
6. vehicle antitracking method for early warning according to claim 5, it is characterised in that the S204 is specifically included：
When described | Δ θ | during 20 ° of ＜, it is determined as straight trip；When 20 °≤Δ θ≤120 °, it is judged to turning right；When it is described-
During 120 °≤Δ θ≤- 20 °, it is judged to turning left；When described | Δ θ | during 120 ° of ＞, it is judged to turning around.
7. vehicle antitracking method for early warning according to claim 5, it is characterised in that after S202, before S203 also
Comprise the following steps：
S202a, judge this car current vehicle speed whether be more than judgement speed, be then enter next step, otherwise return to S201.
8. vehicle antitracking method for early warning according to claim 7, it is characterised in that the judgement speed is 10km/h.
9. vehicle antitracking method for early warning according to claim 1, it is characterised in that the S3 includes：
S301, changed as a detection-phase with this car direction information, in minute book detection-phase detection recognize with
Row information of vehicles, and be compared with the retinue information of vehicles of history detection-phase, if there is identical retinue vehicle, record
Retinue time point of the retinue vehicle, speed information, with row distance；
S302, the retinue vehicle that will meet default Tracking Recognition rule are classified as tracking suspected vehicles, the tracking suspected vehicles
Tracking suspicion index adds 1；
Then it is tracking car by the vehicle identification when S303, the tracking suspicion index for tracking suspected vehicles exceed predetermined threshold value
.
10. vehicle antitracking method for early warning according to claim 9, it is characterised in that the default Tracking Recognition rule
Including：
Same vehicle accompanies number of times more than the first preset times in single detection-phase, and with row distance it is default more than first away from
From, or：
Surpass in current detection stage same vehicle retinue number of times more than the first preset times, in upper detection-phase retinue number of times
The second preset times are crossed, and with row distance more than the second pre-determined distance.
11. vehicle antitracking method for early warning according to claim 10, it is characterised in that first preset times are 5
Secondary, second preset times are 3 times, and first pre-determined distance is 10km, and second pre-determined distance is 5km.
12. vehicle antitracking method for early warning according to claim 9, it is characterised in that also include before S301：
S300, judge whether current road conditions are congested link, be that then circulation performs this step, otherwise into next step.
13. a kind of vehicle antitracking prior-warning device, it is characterised in that including：Camera module, information of vehicles identification module, position
Put information module, turn to event judge module, tracking vehicle identification module, tracking and early warning module；
The camera module, the road conditions image for obtaining this car rear；
The information of vehicles identification module, the information of vehicles for recognizing retinue vehicle；
The location information module, travel speed, course angle information for obtaining this car；
The steering event judge module, the steering event type for judging this car；
The tracking vehicle identification module, for being tracked vehicle according to retinue information of vehicles, the steering of this car, velocity information
Identification；
The tracking and early warning module, for alarming tracking vehicle.
14. vehicle antitracking prior-warning device according to claim 13, it is characterised in that the steering event judge module
Including：Course angle acquisition submodule, course angle calculating sub module；
The course angle acquisition submodule, the course angle information for obtaining this car；
The course angle calculating sub module, the steering event type for determining this car according to the course angle information of this car.
15. vehicle antitracking prior-warning device according to claim 14, it is characterised in that the steering event judge module
Also include speed judge module, for judging whether current vehicle speed is more than judgement speed.
16. the vehicle antitracking prior-warning device according to any one of claim 13~15, it is characterised in that the vehicle is anti-
Tracking and early warning device also includes alarm sending module, for tracing detection result to be sent by network.
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| CN110881174A (en) * | 2018-09-05 | 2020-03-13 | 上海博泰悦臻网络技术服务有限公司 | Vehicle anti-tracking method and device and storage medium |
| CN111292542A (en) * | 2020-02-24 | 2020-06-16 | 深圳市综合交通设计研究院有限公司 | Signal lamp system and control method thereof |
| CN112581761A (en) * | 2020-12-07 | 2021-03-30 | 浙江宇视科技有限公司 | Collaborative analysis method, device, equipment and medium for 5G mobile Internet of things node |
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