CN107316463A - A kind of method and apparatus of vehicle monitoring - Google Patents
A kind of method and apparatus of vehicle monitoring Download PDFInfo
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- CN107316463A CN107316463A CN201710551611.9A CN201710551611A CN107316463A CN 107316463 A CN107316463 A CN 107316463A CN 201710551611 A CN201710551611 A CN 201710551611A CN 107316463 A CN107316463 A CN 107316463A
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- Prior art keywords
- vehicle
- doubtful
- target vehicle
- characteristic information
- monitored picture
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- 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
- 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
Abstract
The embodiments of the invention provide a kind of method and apparatus of vehicle monitoring, methods described includes：Doubtful vehicle is determined in the first monitored picture, and extracts the characteristic information of the doubtful vehicle；Characteristic information based on the doubtful vehicle obtains the second monitored picture；Judge whether the doubtful vehicle is target vehicle according to second monitored picture；If so, then generating the pre- travel route of the target vehicle.The embodiment of the present invention realizes and manual operation is not needed during being monitored to target vehicle, is monitored automatically.
Description
Technical field
The present invention relates to vehicle monitoring technical field, the method for more particularly to a kind of vehicle monitoring and a kind of vehicle monitoring
Device.
Background technology
Urban road monitor system plays an important role in public security prevention and control, further optimization control system, expansion
Its various functions, can not only reduce it and build and maintenance cost, and can be the detection of all kinds of cases such as traffic, public security
Technical support is provided, the level and efficiency of public security organ's law enforcement is greatly improved.
In the prior art, based on road monitoring is monitored with ball machine, control point is distributed in the road that wagon flow, the stream of people compare concentration
Intersection, emphasis section, road monitoring command centre, center are uploaded to by image transmitting passage in real time by road traffic situation
Operator on duty can understand each region pavement behavior in time accordingly, to adjust each crossing vehicle flow, it is ensured that traffic is unobstructed.It is right
The situation violating the regulations of road vehicles is monitored, can in time find and arrange processing road traffic accident etc., and can be traffic, public security
Detection etc. all kinds of cases provides technical support, greatly improves the level and efficiency of public security organ's law enforcement.
It is, because ball machine can adjust focal length, shooting angle, to succeed in reaching an agreement custom point to be just intended to clap based on why being monitored with ball machine
Where just where is bat, can clap close shot, can also clap distant view.But, it is to need artificial operation to adjust the focal length of ball machine, shooting angle
, so comparing labor intensive.Moreover, in accident, it may appear that spot is exactly in the situation that ball machine shoots blind area,
So, the efficiency of artificial operation ball machine is also than relatively low.
The content of the invention
In view of the above problems, the embodiment of the present invention proposes a kind of method of vehicle monitoring and a kind of corresponding vehicle monitoring
Device.
In order to solve the above problems, the embodiment of the invention discloses a kind of method of vehicle monitoring, including：
Doubtful vehicle is determined in the first monitored picture, and extracts the characteristic information of the doubtful vehicle；
Characteristic information based on the doubtful vehicle obtains the second monitored picture；
Judge whether the doubtful vehicle is target vehicle according to second monitored picture；
If so, then generating the pre- travel route of the target vehicle.
It is preferred that, in addition to：
The characteristic information of target vehicle is sent to the monitoring device on the pre- travel route.
It is preferred that, in addition to：
When the target vehicle drives into the pre- travel route, the monitoring device locking on the pre- travel route is described
Target vehicle is simultaneously shot.
It is preferred that, first monitored picture is gathered by gunlock and obtained；
It is described to determine doubtful vehicle in the first monitored picture, and wrap the step of extract the characteristic information of the doubtful vehicle
Include：
Obtain the classification vehicle of all vehicles, category color in first monitored picture；
Judge whether classification vehicle, the category color of the classification vehicles of all vehicles, category color and doubtful vehicle are identical；
If so, then judging that first monitored picture includes doubtful vehicle；
Extract the characteristic information of the doubtful vehicle；Wherein, the characteristic information of the doubtful vehicle includes doubtful vehicle
Travel direction, travel speed, classification vehicle, category color.
It is preferred that, second monitored picture is gathered by ball machine and obtained；
The step of characteristic information based on the doubtful vehicle obtains the second monitored picture includes：
Travel direction, travel speed according to the doubtful vehicle calculate the coordinate of the doubtful vehicle；
Control the ball machine to rotate to angle corresponding with the coordinate, receive the ball machine the of the angle acquisition
Two monitored pictures.
It is preferred that, it is described to judge that the step of whether doubtful vehicle is target vehicle is wrapped according to second monitored picture
Include：
Obtain the car plate of the doubtful vehicle, segment vehicle, subdivision color；
Judge the car plate of the doubtful vehicle, segment vehicle, subdivision color in default vehicle characteristic information database
With the presence or absence of occurrence；
If so, then judging the doubtful vehicle as target vehicle.
It is preferred that, include the step of the pre- travel route of the generation target vehicle：
Obtain travel direction, the travel speed of the target vehicle；
The pre- travel route of the target vehicle is calculated using the travel direction of the target vehicle, travel speed.
Accordingly, the embodiment of the invention also discloses a kind of device of vehicle monitoring, including：
Characteristic information extracting module, for determining doubtful vehicle in the first monitored picture, and extracts the doubtful vehicle
Characteristic information；
Acquisition module, the second monitored picture is obtained for the characteristic information based on the doubtful vehicle；
Judge module, for judging whether the doubtful vehicle is target vehicle according to second monitored picture；
Generation module, for if so, then generating the pre- travel route of the target vehicle.
It is preferred that, in addition to：
Sending module, the characteristic information for sending target vehicle to the monitoring device on the pre- travel route.
It is preferred that, in addition to：
It is described pre- for when the target vehicle drives into the pre- travel route positioned at the taking module of monitoring device
Monitoring device on travel route locks the target vehicle and shot.
The embodiment of the present invention includes advantages below：
In embodiments of the present invention, by determining doubtful vehicle in the first monitored picture, and the spy of doubtful vehicle is extracted
Reference ceases, and the characteristic information for being then based on doubtful vehicle obtains the second monitored picture, then judges doubtful according to the second monitored picture
Whether vehicle is target vehicle, if so, the then mode of the pre- travel route of generation target vehicle, realizes and supervised to target vehicle
Manual operation is not needed during control, is monitored automatically.Moreover, because generating the pre- travel route of target vehicle, institute
So that the monitored picture that all monitoring devices are shot need not be identified, the data volume of processing, Er Qieti are not only reduced
The high degree of accuracy of vehicle monitoring.
Brief description of the drawings
Fig. 1 is a kind of step flow chart of the embodiment of the method for vehicle monitoring of the present invention；
Fig. 2 is a kind of structured flowchart of the device embodiment of vehicle monitoring of the present invention.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
Reference picture 1, shows a kind of step flow chart of the embodiment of the method for vehicle monitoring of the present invention, in the application
In, the monitoring device that vehicle monitoring is used includes gunlock, and ball machine, and, gunlock and ball machine are mounted in same position.
Gunlock is one kind in monitoring class ccd video camera.CCD is Charge Coupled Device (charge coupling device)
Abbreviation, it is a kind of semiconductor imaging device, thus with sensitivity it is high, resist strong light, it is the small, small volume that distorts, long lifespan, anti-
The advantages of vibrations.The image of subject is by lens focus to CCD chip, CCD accumulates corresponding proportion according to the strong and weak of light
Electric charge, the electric charge of each pixel accumulation moved under the control of video sequential outside pointwise, and after filtered, enhanced processing, formation is regarded
Frequency signal output.The video inputs that vision signal is connected to monitor or television machine just can see and original image identical
Video image.In addition, because gunlock is non-rotatable, the position of gunlock, and gunlock have just been secured when installation
Focus, so, when vehicle is not in the focus area of gunlock, the vehicle picture photographed is that comparison is obscured.Therefore,
Gunlock is typically all to be used to pinpoint wide-long shot, such as shoots in present road apart from the section of 200~300 meters of gunlock.
Ball machine is that full name is ball-shaped camera, and its integrated colored integrated camera, head, decoder, protective cover etc. are more
Function is easy for installation, using simple but powerful in one, is widely used in the monitoring of open area.Main building block
Include the electronic devices such as integrated camera, high-speed stepper motor head, embedded decoder plate and ball machine shield mounting bracket.
In it, the video camera installed on electric platform can carry out rotation up and down under control end control, to reach monitoring effect
Really.Moreover, because ball machine can adjust focal length.
Therefore, the application utilizes gunlock and the respective advantage of ball machine, using the combination of gunlock and ball machine come on road
Vehicle is monitored.Specifically, when gunlock wide-long shot is to doubtful vehicle, call ball machine to confirm doubtful vehicle,
Ball machine constantly adjusts focal length according to the distance of vehicle, until photographing the clear picture of doubtful vehicle, so as to confirm doubtful vehicle
Whether it is target vehicle.
It should be noted that in this application, can pre-set can store pre- in vehicle characteristic information database, database
The characteristic information of the multiple target vehicles first set, so, it is special that monitoring device can just extract vehicle from the picture photographed
Reference ceases, and is then automatically matched the vehicle characteristic information of extraction with the data in vehicle characteristic information database, so that
Artificially the picture that monitoring device is photographed need not be identified.
Described method specifically may include steps of：
Step 101, doubtful vehicle is determined in the first monitored picture, and extracts the characteristic information of the doubtful vehicle；
In a kind of preferred embodiment of the invention, first monitored picture is gathered by gunlock and obtained；
What gunlock was photographed is video, and the essence of video is exactly animation in fact, and so-called animation is exactly using shooting pair frame by frame
As and continuously play and formed motion image technology.So, doubtful vehicle is determined from the first monitored picture, is that gunlock is clapped
The each frame picture taken the photograph is identified, similarly, and the characteristic information for extracting doubtful vehicle is also to be carried from each frame picture
Take.
It is described to determine doubtful vehicle in the first monitored picture, and wrap the step of extract the characteristic information of the doubtful vehicle
Include：
Obtain the classification vehicle of all vehicles, category color in first monitored picture；
Judge whether classification vehicle, the category color of the classification vehicles of all vehicles, category color and doubtful vehicle are identical；
If so, then judging that first monitored picture includes doubtful vehicle；
Extract the characteristic information of the doubtful vehicle；Wherein, the characteristic information of the doubtful vehicle includes doubtful vehicle
Travel direction, travel speed, classification vehicle, category color.
Specifically, the data in vehicle characteristic information database can specifically include following classification：
1st, classification vehicle：Large car, compact car, other；
2nd, vehicle is segmented：
Large car：Motor bus, dangerization car, high capacity waggon, engineering truck；
Compact car：Buggy, minibus, car；
Other：Motor (electronic) car, bicycle, pedestrian, livestock；
3rd, category color：Dark, light color；
4th, color is segmented：
Dark (red, blueness, black, grey, green etc.)
Light (white, silver color, yellow etc.)；
3rd, steering direction：Positive (northwards, eastwards)；Reversely (southwards, westwards)
4th, camera types：Gunlock；Ball machine；
5th, positional information：Original position, end position, travel direction, travel speed, distance；
6th, camera information：Camera ID, position ID.
After gunlock photographs monitored picture, monitored picture can frame by frame be recognized, because gunlock is to focus at a distance
Shoot, vehicle is also to run at high speed, along with the interference of ambient light, so, the monitored picture photographed can compare mould
Paste, it can be seen that the profile of vehicle and general color, therefore, recognize that doubtful vehicle is accomplished by all cars in monitored picture
Classification vehicle and category color carry out first time identification, that is, fuzzy diagnosis.Such as, it is necessary to which the vehicle of monitoring is small-sized
Car, light color, then, identification for the first time can just exclude large car, dark vehicle, so, and second can when recognizing
To reduce monitoring objective, so that the amount of calculation of computing device is reduced, and the reduction of monitoring objective quantity, also cause ball machine pair
The shooting of monitoring objective is more targeted.
Certainly, in addition to extracting the characteristic information of doubtful vehicle, the relevant information of monitoring device, that is, which can also be recorded
What which monitoring device, the type of monitoring device on bar road be.
It should be noted that computing device refers to that monitored picture can be handled, so that it is determined that monitored picture bag
Include doubtful vehicle, and the equipment for extracting the characteristic information of doubtful vehicle；It can also be the computing chip of data-handling capacity, will count
Calculate chip to be arranged in gunlock, so there is no need to extra computing device；It is, of course, also possible to otherwise from the first prison
Doubtful vehicle is determined in control picture, and extracts the characteristic information of the doubtful vehicle, the embodiment of the present invention is not restricted to this.
Step 102, the characteristic information based on the doubtful vehicle obtains the second monitored picture；
In a kind of preferred embodiment of the invention, second monitored picture is gathered by ball machine and obtained；
Carried out by the first monitored picture gathered to gunlock after first time identification, ball machine can be called to carry out doubtful vehicle
Shoot, further recognized.
The step of characteristic information based on the doubtful vehicle obtains the second monitored picture includes：
Travel direction, travel speed according to the doubtful vehicle calculate the coordinate of the doubtful vehicle；
Control the ball machine to rotate to angle corresponding with the coordinate, receive the ball machine the of the angle acquisition
Two monitored pictures.
Specifically, get after the characteristic information of doubtful vehicle, computing device can be according to the travel direction of doubtful vehicle
The coordinate of doubtful vehicle is calculated with travel speed.Because the focal length of ball machine is variable, computing device needs to calculate doubtful
Like the changing coordinates of vehicle, and when calculating doubtful vehicle and being travelled with current driving direction, travel speed, the seat reached in advance
Mark, is then sent to computing device, computing device is according to changing coordinates, pre- arrival coordinate control by changing coordinates, the pre- coordinate that reaches
Marble forming machine rotate to changing coordinates, it is pre- reach the corresponding angle of coordinate, then ball machine voluntarily adjusts focal length, and suspected target is entered
Row is shot, and is obtained the second monitored picture, is then sent the monitored picture photographed to computing device and be identified.
Wherein, the coordinate is using itself camera installation site as the origin of coordinates, with the center picture of gunlock shooting direction
Fore-and-aft direction is X-axis, and upper-lower height is Z axis, and left and right is Y-axis, and ball machine is similarly.
Step 103, judge whether the doubtful vehicle is target vehicle according to second monitored picture；
It is described whether to judge the doubtful vehicle according to second monitored picture in a kind of preferred embodiment of the invention
The step of for target vehicle, includes：
Obtain the car plate of the doubtful vehicle, segment vehicle, subdivision color；
Judge the car plate of the doubtful vehicle, segment vehicle, subdivision color in default vehicle characteristic information database
With the presence or absence of occurrence；
If so, then judging the doubtful vehicle as target vehicle.
Specifically, be shot because ball machine can carry out adjustment focal length in real time according to the traveling of vehicle, can be with
Doubtful vehicle is photographed in doubtful vehicle and the closest position of ball machine, gem-pure monitored picture is obtained from face.Therefore,
The car plate of doubtful vehicle can be obtained from monitored picture, vehicle, subdivision color is segmented, it is then, these information and vehicle are special
The data levied in information database are matched, when there is occurrence, then can determine that doubtful vehicle needs to monitor
Target vehicle.
Certainly, in actual applications, a matching similarity threshold value can be preset, because occurring artificial to the outer of vehicle
See situation about being changed.For example, the car plate of target vehicle is Guangdong A123456, car, white, but car owner is by vehicle
Color become black, then learn that matching similarity is 86% by calculating, and default matching similarity threshold value is
80%, then now doubtful vehicle can also be confirmed as target vehicle.
After target vehicle is determined, the characteristic information of target vehicle can be recorded, and generates prompt message and informs management
Member.For example it is possible to record under be that monitoring device on which bar road has photographed target vehicle, the ID of monitoring device be it is how many,
Travel direction, the travel speed of target vehicle, car plate are how many, and what type of vehicle is, what etc. be vehicle color be.
Step 104, if so, then generating the pre- travel route of the target vehicle.
Include in a kind of preferred embodiment of the invention, the step of the pre- travel route of the generation target vehicle：
Obtain travel direction, the travel speed of the target vehicle；
The pre- travel route of the target vehicle is calculated using the travel direction of the target vehicle, travel speed.
For example, present road has Through Lane and right-turn lane along target vehicle travel direction, and learnt by identification
Target vehicle still continues to travel along Through Lane, and speed does not weaken, then can just learn target vehicle by calculating
Pre- travel route for straight trip, rather than turn right.Moreover, because knowing the travel speed of target vehicle, it can also count
Calculate the time that target vehicle reaches next monitoring device.
Traveling of the target vehicle within following a period of time is calculated alternatively, it is also possible to the travel speed according to target vehicle
Scope.For example, the current driving speed of target vehicle is 80KM/H, then the target vehicle traveling distance of 15 minutes is exactly
20KM, using target vehicle current location as the center of circle, 20KM is that radius is made to justify, and what is obtained will be exactly target vehicle within 15 minutes futures
Driving range.So, driving range can be just combined during the pre- travel route of generation target vehicle, so as to improve generation
The degree of accuracy of pre- travel route.
In a kind of preferred embodiment of the invention, described method also includes：
The characteristic information of target vehicle is sent to the monitoring device on the pre- travel route.
Specifically, after the pre- travel route of target vehicle is generated, computing device can be obtained on pre- travel route
Monitoring device after current monitor equipment, and send to these monitoring devices the characteristic information of target vehicle, and mesh
Mark the time that vehicle reaches next monitoring device.
In actual applications, it can pre-set and send target vehicle to how many monitoring devices on pre- travel route
Characteristic information.For example, pre-setting the characteristic information that target vehicle is sent to three monitoring devices on pre- travel route, currently
Monitoring device ID is 1001, the monitoring device ID that current monitor equipment is located on pre- travel route is respectively 1002,1003,
1004, then, characteristic informations of the monitoring device ID for 1002,1003,1004 monitoring device transmission target vehicle is just given, ID is
1005 monitoring device would not temporarily receive the target vehicle characteristic information of 1001 transmissions.
Certainly, the quantity for pre-setting the characteristic information for sending target vehicle to the monitoring device on pre- travel route can be with
Sets itself according to the actual requirements, the embodiment of the present invention is not restricted to this.
It is described to carry out ahead of schedule when the target vehicle drives into the pre- travel route in a kind of preferred embodiment of the invention
The monitoring device on route is sailed to lock the target vehicle and shot.
Because the monitoring device on pre- travel route, which has been known for target vehicle, may pass through oneself, work as mesh
When mark vehicle drives into pre- travel route, monitoring device need not can just be matched from vehicle characteristic information database comes true
Recognize with the presence or absence of target vehicle, but directly matched with the characteristic information of target vehicle just can be with.
Specifically, the gunlock on pre- travel route first gathers the first monitored picture, computing device is to all cars in picture
It is identified, it is identical with the classification vehicle of target vehicle, category color when recognizing, and reach current monitor with target vehicle
During the time identical vehicle of equipment, it is possible to lock the vehicle, and calculate the coordinate of the vehicle, ball machine is then called to enter traveling
One step is shot.
Certainly, the time of target vehicle arrival current monitor equipment allows the presence of error, it is not necessary to accurate
It just can determine that within several seconds that the arrival time of target vehicle precomputation and actual time of arrival are identicals to a few minutes.
In a kind of preferred embodiment of the invention, described method also includes：
Obtain the actual travel route of the target vehicle；
The identical probability of the actual travel route and pre- travel route is calculated, or, according to actual travel route and is carried out ahead of schedule
Sail Route Generation training pattern.
Specifically, after the pre- travel route of target vehicle is generated, actual travel route and pre- traveling can be calculated
The identical probability of route, or, according to actual travel route and pre- traveling Route Generation training pattern.For example, some monitoring is set
It is standby that a pre- travel route, but the actually target carriage have been calculated according to travel direction, the travel speed of a certain target vehicle
Do not have this route, walked other routes, and the traveling side of other three target vehicles of same monitoring device foundation
Three pre- travel routes have been calculated respectively to, travel speed, and three target vehicles have all walked pre- travel route, then, can
To calculate the identical probability of actual travel route and pre- travel route, or, a training pattern is generated, vehicle is recorded
Travel direction, travel speed, pre- travel route, and actual travel route, so, car can be not only calculated by big data
Pre- travel route, can also be when there is a plurality of pre- travel route, according to the travel direction of target vehicle, travel speed meter
It is how many to calculate target vehicle and drive into the probability of every pre- travel route.
In embodiments of the present invention, by determining doubtful vehicle in the first monitored picture, and the spy of doubtful vehicle is extracted
Reference ceases, and the characteristic information for being then based on doubtful vehicle obtains the second monitored picture, then judges doubtful according to the second monitored picture
Whether vehicle is target vehicle, if so, the then mode of the pre- travel route of generation target vehicle, realizes and supervised to target vehicle
Manual operation is not needed during control, is monitored automatically.Moreover, because generating the pre- travel route of target vehicle, institute
So that the monitored picture that all monitoring devices are shot need not be identified, the data volume of processing, Er Qieti are not only reduced
The high degree of accuracy of vehicle monitoring.
It should be noted that for embodiment of the method, in order to be briefly described, therefore it to be all expressed as to a series of action group
Close, but those skilled in the art should know, the embodiment of the present invention is not limited by described sequence of movement, because according to
According to the embodiment of the present invention, some steps can be carried out sequentially or simultaneously using other.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, the involved action not necessarily present invention is implemented
Necessary to example.
Reference picture 2, shows a kind of structured flowchart of the device embodiment of vehicle monitoring of the present invention, can specifically include
Following module：
Characteristic information extracting module 201, for determining doubtful vehicle in the first monitored picture, and extracts the doubtful car
Characteristic information；
Acquisition module 202, the second monitored picture is obtained for the characteristic information based on the doubtful vehicle；
Judge module 203, for judging whether the doubtful vehicle is target vehicle according to second monitored picture；
Generation module 204, the pre- travel route for generating the target vehicle.
In a kind of preferred embodiment of the invention, in addition to：
Sending module, the characteristic information for sending target vehicle to the monitoring device on the pre- travel route.
In a kind of preferred embodiment of the invention, in addition to：
It is described pre- for when the target vehicle drives into the pre- travel route positioned at the taking module of monitoring device
Monitoring device on travel route locks the target vehicle and shot.
In a kind of preferred embodiment of the invention, first monitored picture is gathered by gunlock and obtained；
The characteristic information extracting module includes：
First acquisition submodule, for obtaining the classification vehicle of all vehicles, category color in first monitored picture；
First judging submodule, the classification car of classification vehicle, category color and doubtful vehicle for judging all vehicles
Whether type, category color are identical；
First determination sub-module, for judging that first monitored picture includes doubtful vehicle；
First extracting sub-module, the characteristic information for extracting the doubtful vehicle；Wherein, the feature of the doubtful vehicle
Travel direction of the information including doubtful vehicle, travel speed, classification vehicle, category color.
In a kind of preferred embodiment of the invention, second monitored picture is gathered by ball machine and obtained；
The acquisition module includes：
Calculating sub module, the doubtful vehicle is calculated for the travel direction according to the doubtful vehicle, travel speed
Coordinate；
Receiving submodule, for controlling the ball machine to rotate to angle corresponding with the coordinate, receives the ball machine and exists
Second monitored picture of the angle acquisition.
In a kind of preferred embodiment of the invention, the judge module includes：
Second acquisition submodule, for obtaining the car plate of the doubtful vehicle, segmenting vehicle, subdivision color；
Second judging submodule, for judging the car plate of the doubtful vehicle, segmenting vehicle, subdivision color in default car
It whether there is occurrence in characteristic information data storehouse；
Second determination sub-module, for judging the doubtful vehicle as target vehicle.
In a kind of preferred embodiment of the invention, the generation module includes：
3rd acquisition submodule, travel direction, travel speed for obtaining the target vehicle；
Calculating sub module, the target vehicle is calculated for the travel direction using the target vehicle, travel speed
Pre- travel route.
For device embodiment, because it is substantially similar to embodiment of the method, so description is fairly simple, it is related
Part illustrates referring to the part of embodiment of the method.
Each embodiment in this specification is described by the way of progressive, what each embodiment was stressed be with
Between the difference of other embodiment, each embodiment identical similar part mutually referring to.
It should be understood by those skilled in the art that, the embodiment of the embodiment of the present invention can be provided as method, device or calculate
Machine program product.Therefore, the embodiment of the present invention can using complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present invention can use it is one or more wherein include computer can
With in the computer-usable storage medium (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present invention is with reference to method according to embodiments of the present invention, terminal device (system) and computer program
The flow chart and/or block diagram of product is described.It should be understood that can be by computer program instructions implementation process figure and/or block diagram
In each flow and/or square frame and the flow in flow chart and/or block diagram and/or the combination of square frame.These can be provided
Computer program instructions are set to all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to produce a machine so that held by the processor of computer or other programmable data processing terminal equipments
Capable instruction is produced for realizing in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames
The device for the function of specifying.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing terminal equipments
In the computer-readable memory worked in a specific way so that the instruction being stored in the computer-readable memory produces bag
The manufacture of command device is included, the command device is realized in one flow of flow chart or multiple flows and/or one side of block diagram
The function of being specified in frame or multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing terminal equipments so that
Series of operation steps is performed on computer or other programmable terminal equipments to produce computer implemented processing, so that
The instruction performed on computer or other programmable terminal equipments is provided for realizing in one flow of flow chart or multiple flows
And/or specified in one square frame of block diagram or multiple square frames function the step of.
Although having been described for the preferred embodiment of the embodiment of the present invention, those skilled in the art once know base
This creative concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to
Including preferred embodiment and fall into having altered and changing for range of embodiment of the invention.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or terminal device including a series of key elements are not only wrapped
Those key elements, but also other key elements including being not expressly set out are included, or also include being this process, method, article
Or the intrinsic key element of terminal device.In the absence of more restrictions, by wanting that sentence "including a ..." is limited
Element, it is not excluded that also there is other identical element in the process including the key element, method, article or terminal device.
Method above to a kind of vehicle monitoring provided by the present invention and a kind of device of vehicle monitoring, have been carried out in detail
Introduce, specific case used herein is set forth to the principle and embodiment of the present invention, the explanation of above example
It is only intended to the method and its core concept for helping to understand the present invention；Simultaneously for those of ordinary skill in the art, according to this
The thought of invention, be will change in specific embodiments and applications, in summary, and this specification content should not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of method of vehicle monitoring, it is characterised in that including：
Doubtful vehicle is determined in the first monitored picture, and extracts the characteristic information of the doubtful vehicle；
Characteristic information based on the doubtful vehicle obtains the second monitored picture；
Judge whether the doubtful vehicle is target vehicle according to second monitored picture；
If so, then generating the pre- travel route of the target vehicle.
2. according to the method described in claim 1, it is characterised in that also include：
The characteristic information of target vehicle is sent to the monitoring device on the pre- travel route.
3. method according to claim 2, it is characterised in that also include：
When the target vehicle drives into the pre- travel route, the monitoring device on the pre- travel route locks the target
Vehicle is simultaneously shot.
4. method according to claim 1 or 2, it is characterised in that first monitored picture is gathered by gunlock and obtained；
It is described to determine doubtful vehicle in the first monitored picture, and include the step of extract the characteristic information of the doubtful vehicle：
Obtain the classification vehicle of all vehicles, category color in first monitored picture；
Judge whether classification vehicle, the category color of the classification vehicles of all vehicles, category color and doubtful vehicle are identical；
If so, then judging that first monitored picture includes doubtful vehicle；
Extract the characteristic information of the doubtful vehicle；Wherein, the characteristic information of the doubtful vehicle includes the traveling of doubtful vehicle
Direction, travel speed, classification vehicle, category color.
5. method according to claim 4, it is characterised in that second monitored picture is gathered by ball machine and obtained；
The step of characteristic information based on the doubtful vehicle obtains the second monitored picture includes：
Travel direction, travel speed according to the doubtful vehicle calculate the coordinate of the doubtful vehicle；
Control the ball machine to rotate to angle corresponding with the coordinate, receive second prison of the ball machine in the angle acquisition
Control picture.
6. according to the method described in claim 1, it is characterised in that described to judge described doubtful according to second monitored picture
The step of whether vehicle is target vehicle includes：
Obtain the car plate of the doubtful vehicle, segment vehicle, subdivision color；
Judge the doubtful vehicle car plate, subdivision vehicle, subdivision color in default vehicle characteristic information database whether
There is occurrence；
If so, then judging the doubtful vehicle as target vehicle.
7. method according to claim 6, it is characterised in that the step of the pre- travel route of the generation target vehicle
Suddenly include：
Obtain travel direction, the travel speed of the target vehicle；
The pre- travel route of the target vehicle is calculated using the travel direction of the target vehicle, travel speed.
8. a kind of device of vehicle monitoring, it is characterised in that including：
Characteristic information extracting module, for determining doubtful vehicle in the first monitored picture, and extracts the spy of the doubtful vehicle
Reference ceases；
Acquisition module, the second monitored picture is obtained for the characteristic information based on the doubtful vehicle；
Judge module, for judging whether the doubtful vehicle is target vehicle according to second monitored picture；
Generation module, for if so, then generating the pre- travel route of the target vehicle.
9. method according to claim 8, it is characterised in that also include：
Sending module, the characteristic information for sending target vehicle to the monitoring device on the pre- travel route.
10. method according to claim 9, it is characterised in that also include：
Positioned at the taking module of monitoring device, for when the target vehicle drives into the pre- travel route, the pre- traveling
Monitoring device on route locks the target vehicle and shot.
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