CN108986473A - Vehicle mounted traffic unlawful practice identification and processing system and method - Google Patents
Vehicle mounted traffic unlawful practice identification and processing system and method Download PDFInfo
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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
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
A kind of vehicle mounted traffic unlawful practice identification and processing system and method comprising: traffic rules are modeled, is facilitated and subsequent added, deletes inside the rule base of system, changing, searching some traffic rules；Using existing onboard sensor detection information, the extraction and fusion of information are then carried out, necessary input information needed for traffic rules carry out logic judgment is provided；The verifying and decision of traffic rules carry out statistics judgement using the relevant machine learning techniques of data and direct loic judge, obtain the conclusion for whether being breached and how being breached about traffic rules under current scene；After obtaining the conclusion that traffic rules are breached, the movement state information of vehicle when showing violation；Data relevant to event are stored and do teletransmission to system, and by In-vehicle networking.The present invention is stored and has been transmitted to the details for being related to traffic violations, and sufficient evidence can be provided for subsequent divisions of responsibility.
Description
Technical field
The present invention relates to advanced driving assistance system fields, and specifically, the present invention provides a kind of vehicle mounted traffics to know in violation of rules and regulations
Not with processing system and method.
Background technique
Advanced driving assistance system (Advanced Driver Assistant System), abbreviation ADAS are to utilize peace
Loaded on the miscellaneous sensor on vehicle, environmental data inside and outside first time collecting cart carries out quiet, dynamic object distinguishes
The technical processing such as knowledge, detecting and tracking, so as to allow driver to discover the danger that may occur in the most fast time, with
Arouse attention and improve the active safety technologies of safety.
ADAS use sensor mainly have camera, radar, laser and ultrasonic wave etc., can detect light, heat, pressure or
Other variables for being used to monitor vehicle condition, are usually located inside the front/rear collision bumper, side-view mirror, control stick of vehicle or keep out the wind
On glass.Based on the ADAS technology of early stage is mainly alarmed with passive type, when vehicle detection is to potential danger, it can sound an alarm and mention
Awake motorist pays attention to abnormal vehicle or road conditions.For newest ADAS technology, active intervention is also very common.
But ADAS scheme in Vehicles Collected from Market and traffic rules are not introduced into, vehicle owner and traffic police can not be provided
The evidence that sufficient accident responsibility divides；General automobile data recorder is also simple recording image information, to being related to traffic
The key message of rule does not carry out detailed record and refers to so that vehicle owner clarifies responsibility.When traffic accident occurs,
Often there is the partition problem of accident responsibility, event both sides often strongly go to shirk responsibility from oneself interests angle.This
The case where sample, overtakes other vehicles in rear car acceleration, rear car is inserted under the situations such as vehicle, front truck car slipping, pedestrian's blackmail frequent occurrence.
Summary of the invention
The object of the present invention is to provide sufficient accident responsibility to vehicle owner and traffic police when traffic accident occurs
The evidence of division.
It is a further object of the invention that when special scenes occur and driving and carrying out interaction appropriate, for example remind
Front someone may have blackmail behavior, avoid unexpected accident.
For this purpose, it includes: sensor that the present invention, which devises a kind of vehicle mounted traffic unlawful practice identification and processing system, the system,
Module, main processor modules, memory module；
The sensor module is configured to continue recording information of vehicles and ambient condition information；
The main processor modules include three units: signal processing and integrated unit, traffic rules judging unit, data
Parsing and processing unit, signal processing and integrated unit are configured to the information of vehicles and ambient enviroment of the record of sensor module
Information is extracted and is merged, and traffic rules judging unit is configured to prestore the unlawful practice of modelling, according to signal processing
Input with integrated unit judges whether traffic rules are breached, and data parsing and processing unit are configured to be obtained according to judgement result
Data after preset time and event trigger before taking event to trigger in preset time, and it is transmitted to memory module；
Memory module is configured to after obtaining the judgement result that traffic rules are breached, preset time before event is triggered
And the data after event triggering in preset time are stored.
The sensor module and the main processor modules communicate to connect, the information transmission that sensor module will test
To main processor modules；The main processor modules and memory module communicate to connect, and main processor modules will treated information
It is transmitted to memory module.
Preferably, the sensor module includes vehicle-mounted camera, vehicle mounted electric magnetic wave radar, cartborne ultrasound wave radar, vehicle
Carry one or more of laser radar and navigator.
Preferably, the information of vehicles include this vehicle speed, this vehicle yaw acceleration, this vehicle acceleration, his vehicle speed, he
Vehicle acceleration, Ta Che are at a distance from this vehicle, the azimuth information of Ta Che and this vehicle；The ambient condition information include road etc.
Grade, length, curvature, width, grade information and carriageway type, lane line, lane speed limit, lane width information.
Preferably, signal processing and integrated unit extract the information of vehicles and ambient condition information of sensor module record,
And merge extracted information of vehicles and ambient condition information, to obtain this vehicle movement state information, his vehicle moves
Status information, road information and lane information, wherein described vehicle movement state information is by described vehicle speed, this vehicle sideway
Acceleration and Ben Che acceleration information fusion gained；His vehicle movement state information by his vehicle speed, his vehicle acceleration,
Vehicle is at a distance from this vehicle and Ta Che merges gained with the azimuth information of this vehicle for he；The road information by the road etc.
Grade, length, curvature, width, grade information fusion gained；The lane information is limited by the carriageway type, lane line, lane
Speed, lane width information fusion gained.
Preferably, the unlawful practice include illegally overtake other vehicles, illegal lane change, one of front truck car slipping and blackmail behavior or
It is a variety of.
Preferably, memory module is that vehicle-mounted memory and/or In-vehicle networking ECU, the memory module touch the event
Data after preset time and event trigger before sending out in preset time are stored into vehicle-mounted memory, or pass through In-vehicle networking
ECU is stored to cloud.
Preferably, the system also includes output modules violating the regulations, after obtaining the judgement result that traffic rules are breached, disobey
Chapter output module shows violation information.
Preferably, the system also includes network transmission module, network transmission module can be by In-vehicle networking by event
Data after preset time and event trigger before triggering in preset time carry out remote transmission.
Preferably, output module violating the regulations includes that instrument or middle control display screen or the electronics communicated with electronic system in vehicle are set
It is standby.
Preferably, network transmission module obtains communication by the network system of In-vehicle networking and the police, before event is triggered
Data after preset time and event triggering in preset time carry out remote transmission to the police.
The present invention has also been devised a kind of traffic violations Activity recognition and processing method based on vehicle-mounted multisensory, including with
Lower step:
Unlawful practice is modeled and is added in traffic rules library by the foundation of S1, traffic rules library, facilitates subsequent handing over
It adds, delete, changing, searching some traffic rules inside logical rule base；
The extraction and fusion of S2, information, information of vehicles and ambient condition information are persistently recorded, and by the information of record into
Row extracts and fusion, necessary input information needed for obtaining traffic rules judgement；
The verifying and decision of S3, traffic rules carry out logic judgment to the necessary input information, obtain current scene
Under the traffic rules conclusion that whether is breached and how to be breached, after obtaining the conclusion that traffic rules are breached；
If the traffic rules under S4, current scene are breached, data relevant to event are stored
Preferably, the unlawful practice in step S1 include illegally overtake other vehicles, illegal lane change, front truck car slipping and blackmail behavior
One of or it is a variety of.
Preferably, when the unlawful practice in step S1 is illegally to overtake other vehicles, necessary input letter described in step 2
Breath include the lane line information of present road, present road current lane and side lane speed-limiting messages and this vehicle movement
The movement state information of status information, side lane state of motion of vehicle information or vehicle of jumping a queue；The logic in step S3
Judgement include relatively side lane vehicle or vehicle of jumping a queue speed whether be more than the affiliated lane of present road speed limit；Step S4
Described in data relevant to event include that lane where the front and back video of preset time, this vehicle speed, this vehicle occurs for event
Speed limit, the speed limit in lane where the speed of illegal passing vehicle and illegal passing vehicle.
Preferably, when the unlawful practice in step S1 is illegal lane change, necessary input letter described in step 2
Breath includes the lane line information of present road, the speed-limiting messages in each lane of present road, the motion state for vehicle of jumping a queue, this vehicle
Motion state and Ben Che and front truck range information；The logic judgment in step S3 include judgement jump a queue vehicle whether
Whether this vehicle is greater than the length of a vehicle body at a distance from front truck when being compacted line, yellow line, or jumping a queue；Described in step S4 with
The relevant data of event include that the video of front and back preset time, the lane line information of present road, present road occur for event
The range information of the speed-limiting messages in each lane, the motion state for vehicle of jumping a queue, the motion state of this vehicle and Ben Che and front truck.
Preferably, when the unlawful practice in step S1 is front truck car slipping, necessary input letter described in step 2
Breath includes the motion state of front truck；The logic judgment in step S3 includes the speed and acceleration for judging front truck and whether having backward
Degree；Data relevant to event described in step S4 include that the front and back video of preset time and the movement shape of front truck occur for event
State.
Preferably, when the unlawful practice in step S1 is blackmail behavior,
Necessary input information described in step 2 include the type of current object, current object at a distance from this vehicle, when
The vertically and horizontally velocity variations of preceding object and the vertically and horizontally acceleration change of current object；The logic judgment in step S3 includes
Judge that current object leaves the movement state information of current object in the time of danger zone and whether mutates；Institute in step S4
The data relevant to event stated include that the front and back video of preset time, the type for referring to current object, current object occur for event
At a distance from this vehicle, vertically and horizontally velocity variations and vertically and horizontally acceleration change.
Preferably, the information of vehicles include this vehicle speed, this vehicle yaw acceleration, this vehicle acceleration, his vehicle speed, he
Vehicle acceleration, Ta Che are at a distance from this vehicle, the azimuth information of Ta Che and this vehicle；The ambient condition information include road etc.
Grade, length, curvature, width, grade information and carriageway type, lane line, lane speed limit and lane width information.
Preferably, the information of vehicles of record and ambient condition information are extracted and are merged packet described in step S2
It includes: extracting the information of vehicles and ambient condition information of record, and extracted information of vehicles and ambient condition information are melted
It closes, to obtain this vehicle movement state information, his vehicle movement state information, road information and lane information, wherein described vehicle
Movement state information merges gained by described vehicle speed, this vehicle yaw acceleration and Ben Che acceleration information；His vehicle is transported
Dynamic status information is by his vehicle speed, his vehicle acceleration, Ta Che at a distance from this vehicle and the azimuth information of Ta Che and this vehicle
Fusion gained；The road information is by the grade of the road, length, curvature, width, grade information fusion gained；The vehicle
Road information is by the carriageway type, lane line, lane speed limit, lane width information fusion gained.
Preferably, the method also includes step S5: being done data relevant to event in step S4 by In-vehicle networking
Teletransmission operation makes reference for subsequent evidence obtaining.
A kind of computer readable storage medium has also been devised in the present invention, for storing computer instruction, described instruction by
The step of one computer or processor realize method as mentioned when executing.
A kind of electronic equipment, including processor and memory has also been devised in the present invention, is stored with calculating in the memory
Machine instruction, the processor realize the step in the method when executing described instruction.
By above-mentioned technical proposal, the present invention is at least had the advantage that
1, the data before the present invention triggers event in preset time and after event triggering in preset time store, and are
Subsequent divisions of responsibility provides sufficient evidence；
2, it is interacted actively with driver when special scenes occur, it can be to avoid unexpected accident.
3, it can choose and provide field data to the police in time, the equal behaviors that prevent from destorying the scene are to the unfavorable shadow of duty goal
It rings.
4, the existing advanced driving assistance system of vehicle can be made full use of, structure is simple, at low cost.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
General frame figure Fig. 1 of the invention；
The traffic violations Activity recognition and processing method flow chart of vehicle-mounted multisensory Fig. 2 of the invention；
Decision flowchart of illegally overtaking other vehicles Fig. 3 of the invention；
Illegal lane change decision flowchart Fig. 4 of the invention；
Front truck car slipping decision flowchart Fig. 5 of the invention；
Blackmail behavior decision flowchart Fig. 6 of the invention.
Main parts size description of symbols:
1, sensor module 11, vehicle mounted electric magnetic wave radar 12, vehicle-mounted camera 13, cartborne ultrasound wave radar
14, mobile lidar 15, navigator 2, main processor modules 21, information processing and integrated unit
22, traffic rules judging unit 23, data parsing and processing unit 3, memory module
31, vehicle-mounted 32 In-vehicle networking ECU 4 of memory, display module violating the regulations
Specific embodiment
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, to the traffic violations identification proposed according to the present invention based on vehicle-mounted multisensory and processing system its
Specific embodiment, structure, method, step, feature and its effect, detailed description is as follows.
On the hardware foundation of the existing radar, camera installed the present invention is based on traditional ADAS function, according to existing
Public traffic rules library, it is established that internal distinctive traffic rules logical base, radar, camera persistently record surrounding vehicles,
The movement state information of pedestrian or its moving object call the traffic rule inside traffic logical base when specific scene occurs
Then judge, obtain the violation vehicle responsibility of current scene, and when output end shows violation vehicle movement state information, it is defeated
Outlet can be instrument, middle control display screen also or the electronic equipment that can communicate with Department of Electronics in vehicle, and pass through with the police
The agreements such as network transmit the information of necessary evidence, prevent responsible party from deliberately changing the erroneous judgement that responsibility is caused at scene.
As shown in Figure 1, the traffic violations identification of the invention based on vehicle-mounted multisensory and processing system mainly include passing
Sensor module 1, main processor modules 2, memory module 3, wherein
The sensor module 1 is configured to continue recording information of vehicles and ambient condition information；
The main processor modules 2 include three units: signal processing and integrated unit 21, traffic rules judging unit
22, data parsing and processing unit 23, signal processing and integrated unit 21 are configured to believe on the vehicle of the record of sensor module
Breath and ambient condition information are extracted and are merged, and traffic rules judging unit 22 is configured to prestore the violation row of modelling
For, judge whether the traffic rules under current scene are breached according to the input of signal processing and integrated unit, data parsing and
Processing unit 23 is configured to according to the number after preset time before judgement result acquisition event triggering and event triggering in preset time
According to, and it is transmitted to memory module 3；
Memory module 3 is configured to after obtaining the judgement result that traffic rules are breached, preset time before event is triggered
And the data after event triggering in preset time are stored.
Preferably, the system can also include output module 4 violating the regulations.
Sensor of the invention module 1 can obtain the information of ambient condition information and vehicle well, and be subsequent
Traffic rules judgement provides sufficient data, such as can be used to advanced driving assistance system and provide each biography of sensing data
Sensor, such as vehicle-mounted camera 11 (vehicle-mounted camera may include vehicle-mounted front camera and/or vehicle-mounted look around camera), vehicle
Carry electromagnetic radar 12, cartborne ultrasound wave radar 13, laser radar 14, navigator 15 etc.；Be also possible to it is existing in vehicle but
Not necessarily advanced driving assistance system provides the sensor of sensing data.The present invention utilizes sensor module 1, lasting to record
Information of vehicles and ambient condition information.Single-sensor or simple sensor combinations can only meet the realization of specific function, lead to
Cross signal processing and integrated unit 21 information of multiple sensors is subjected to fusion could be to ambient enviroment, peripheral motor and static
The feature of object is more preferably recorded.It is the advanced common technology in driving assistance system field by the information fusion of multiple sensors
Means, such as get up altogether by the transverse shifting feature for the object that camera obtains and by the longitudinal movement characteristic synthetic that radar measures
With the motion feature of composition object.Sensor module 1 continues recording information of vehicles and ambient condition information, wherein vehicle-mounted camera
11 identification target types are vehicle, pedestrian, bicycle or barrier etc., and provide the lane line of target, speed, acceleration and
Azimuth；Vehicle mounted electric magnetic wave radar 12 provides speed, acceleration and the azimuth of target；Cartborne ultrasound wave radar 13 provides low coverage
From obstacle information, mobile lidar 14 provides the point cloud information of ambient enviroment, target, navigator 15 provide road information,
Location information, lane information and POI information etc..
Signal processing and integrated unit 21 extract the information of vehicles and ambient condition information of sensor module (1) record, institute
State information of vehicles include this vehicle speed, this vehicle yaw acceleration, this vehicle acceleration, his vehicle speed, his vehicle acceleration, Ta Che and this
The azimuth information of the distance of vehicle, Ta Che and this vehicle；The ambient condition information includes the grade, length, curvature, width of road
Degree, grade information and carriageway type, lane line, lane speed limit, lane width information.Signal processing and integrated unit 21 are further
Extracted information of vehicles and ambient condition information are merged, to obtain this vehicle movement state information, his vehicle moves shape
State information, road information and lane information, wherein described vehicle movement state information is added by described vehicle speed, this vehicle sideway
Speed and Ben Che acceleration information fusion gained；His vehicle movement state information by his vehicle speed, his vehicle acceleration, he
Vehicle is at a distance from this vehicle and Ta Che merges gained with the azimuth information of this vehicle；The road information by the road grade,
Length, curvature, width, grade information fusion gained；The lane information is by the carriageway type, lane line, lane speed limit, vehicle
Road width information fusion gained.Traffic rules judging unit 22 is the unlawful practice for prestoring modelling, according to signal processing and
The input of integrated unit judges whether the traffic rules under current scene are breached, and the unlawful practice includes illegally overtaking other vehicles, being non-
One of method lane change, front truck car slipping and blackmail behavior are a variety of, and it further includes other that the unlawful practice, which is not limited to above-mentioned several,
Unlawful practice.After data parsing and processing unit 23 then obtain the preceding preset time of event triggering and event triggering according to judgement result
Data in preset time, and it is transmitted to memory module 3.
Memory module 3, including vehicle-mounted memory 31 and/or In-vehicle networking ECU32 will cache after obtaining judgement result
In event trigger before data after preset time and event triggering in preset time stored, the preset time is according to visitor
Family demand is set, and the memory module stores data into vehicle-mounted memory, or will be counted by In-vehicle networking ECU
Cloud is arrived according to storage, it is subsequent to directly acquire.
Data can also be carried out remote transmission by In-vehicle networking ECU32 by the system, for example, the network system with the police
System obtains communication, notifies at once when accident occurs about the collected critical data relevant to accident of this vehicle institute, meets
A possibility that accident generation moment just obtains related real time data.Alternatively, communication transmitting device can also be separately provided, by phase
It closes data and carries out remote transmission.
Output module 4 violating the regulations breaks rules and regulations the display of output module 4 in violation of rules and regulations after obtaining the judgement result that traffic rules are breached
Information, the movement state information of vehicle or be the information for prompting user the to break rules and regulations when violation information is violating the regulations are described violating the regulations
Output module 4 is set as when violation information instruction is transferred in reception, and the violation information of vehicle when showing violation may be alternatively provided as only
Vehicle violation information when occurring just exporting violation for rule situation, can be arranged specific output condition according to the demand of user.It disobeys
Chapter output module 4 preferably includes instrument and middle control display screen, may also comprise the electronic equipment that can be communicated with Department of Electronics in vehicle,
Such as mobile phone, tablet computer etc..
The present invention also provides a kind of traffic violations Activity recognition and processing method based on vehicle-mounted multisensory, such as Fig. 2
It is shown, it mainly comprises the steps that
S1, traffic rules library pre-establish, and by traffic violations behavior modeling and are added in traffic rules library, specifically
Include:
The foundation in traffic rules library carries out the abstract modeling of expert system to public traffic rules library, will be common
Unlawful practice is all modeled and is added in traffic rules library, facilitate it is subsequent inside traffic rules library add, delete, change,
Some traffic rules is searched, the later period can expand more rules, and the system configuration for inventing itself varies without；System operation
Each period can provide input data to the Different Rule of rule base, draw a conclusion, and then pack when intercepting sensing data
Specific rule classification and number.
The unlawful practice include illegally overtake other vehicles, illegal lane change, one of front truck car slipping and blackmail behavior or a variety of, institute
It states unlawful practice and is not limited to above-mentioned several, further include other unlawful practices.
Modeling process includes: the input that every kind of traffic rules are arranged, output parameter, by a large amount of vehicle in every kind of traffic
The lower training sample of rule is trained model, obtains the decision threshold of often middle traffic rules, most test sample to model into
Row verifying, so that traffic rules be modeled.For judging that vehicle is jumped a queue, it is first determined the input and output of this traffic rules,
Input vertically and horizontally speed, acceleration of front truck when jumping a queue for vehicle, with this vehicle distance, in the position in this vehicle lane, this vehicle speed,
Position in this lane；Lateral distance, the relatively transverse speed of his vehicle and this vehicle when output occurs for behavior of jumping a queue.Then lead to
Cross the training sample that a large amount of vehicle is jumped a queue this model be trained and obtain model parameter, finally with test sample to model into
Row verifying, so that vehicle be jumped a queue modelling.
The extraction and fusion of S2, information, sensor module continue recording information of vehicles and ambient condition information, the vehicle
Information include this vehicle speed, this vehicle yaw acceleration, this vehicle acceleration, his vehicle speed, his vehicle acceleration, Ta Che and this vehicle away from
From, the azimuth information of Ta Che and this vehicle；The ambient condition information includes grade, length, curvature, width, the gradient of road
Information and carriageway type, lane line, lane speed limit, lane width information.Extract information of vehicles and the week of sensor module record
Environmental information is enclosed, and extracted information of vehicles and ambient condition information are merged, to obtain this vehicle motion state letter
Breath, his vehicle movement state information, road information and lane information, wherein described vehicle movement state information is by the Ben Cheche
Speed, this vehicle yaw acceleration and Ben Che acceleration information fusion gained；His vehicle movement state information by his vehicle speed,
Vehicle acceleration, Ta Che are at a distance from this vehicle and Ta Che merges gained with the azimuth information of this vehicle for he；The road information is by institute
State the grade, length, curvature, width, grade information fusion gained of road；The lane information is by the carriageway type, lane
Line, lane speed limit, lane width information fusion gained；Go out traffic rules judgement needed for necessary input information.
The verifying and decision of S3, traffic rules carry out logic judgment to the necessary input information, obtain current scene
Under the traffic rules conclusion that whether is breached and how to be breached；
The step S3 can be completed by following steps: the relevant machine learning of maintenance data divides current scene
Class is ready to extract key message, carries out statistics judgement and logic judgment using the relevant machine learning techniques of data,
The conclusion whether lower traffic rules of current scene are breached and how to be breached is obtained, is obtaining what traffic rules were breached
Determine result after, show violation when vehicle violation information, the violation information be break rules and regulations when vehicle movement state information or
Person is the information for prompting user to break rules and regulations；
If the traffic rules under S4, current scene are breached, data relevant to event are stored.
The data relevant to event can be relevant vehicle movement state information, his vehicle movement state information, road
Road information and lane information etc.；
The method can also include: that step S4 data relevant to event are teletransmission behaviour by In-vehicle networking
Make, relevant data are stored beyond the clouds by teletransmission, are made reference for subsequent evidence obtaining；Or it transmits relevant data to
Police's network.
The triggering that traffic rules the determine generation either violating the regulations for the generation of collision accident.In the threshold that traffic rules determine
When value is difficult to selected, the method that machine learning can be used carries out study to parameter and is calculated.
After decision is obtained a result, system will be before the event triggering in caching, when presetting after preset time and event triggering
Interior data are stored into system, subsequent to directly acquire.Optionally, it directly can remotely be passed by In-vehicle networking
It is defeated.For example, obtain communication with the network systems of the police, notify at once collected with accident phase about this vehicle institute when accident occurs
The critical data of pass.
Method of the invention is illustrated using the non-limiting example of specific traffic violations below, wherein being previously mentioned
Design parameter can subsequent adjustment.
Embodiment one is illegally overtaken other vehicles, as shown in figure 3, the lane line of present road where judging this vehicle by vehicle-mounted camera
Information is obtained the speed-limiting messages of present road current lane and side lane by navigator, by vehicle mounted electric magnetic wave radar and is taken the photograph
The motion state of this vehicle and the motion state of side lane vehicle or vehicle of jumping a queue are obtained as head, wherein the movement shape of vehicle
State includes speed, acceleration and azimuth；The traffic rules of hypervelocity behavior judgement are carried out, i.e. side lane vehicle or vehicle of jumping a queue
Speed be more than the affiliated lane of present road speed limit after, traffic rules are breached.Front and back occurs for storage event 1-5 minutes at this time
Video and this vehicle speed, the speed limit in lane where this vehicle, the speed of illegal passing vehicle, illegal passing vehicle where vehicle
The speed limit etc. in road, is then carried out data transmission by In-vehicle networking.
Embodiment two, illegal lane change, as shown in figure 4, the lane of present road where obtaining this vehicle by vehicle-mounted camera
Line information is obtained the speed-limiting messages in each lane of present road by navigator, passes through vehicle mounted electric magnetic wave radar and camera
The motion state for obtaining vehicle of jumping a queue obtains the range information of jump a queue vehicle and this vehicle by cartborne ultrasound wave radar, this vehicle
Motion state is obtained by vehicle-mounted particular sensor such as velocity sensor, electric stabilizing system ESP, engine, vehicle-mounted motor etc.；
Traffic rules modelling, when current vehicle is in a certain specific speed, when by road solid line, double solid line, yellow line etc., Qi Tache
It cannot jump a queue, separately in the location that can be jumped a queue, if Ben Che follows front truck to travel, be less than spy in Ben Che and leading vehicle distance
It is, for example, less than the length of a vehicle body in the case where determining threshold value, it is also illegally that similar scene can lead to that other vehicles, which are jumped a queue,
Cross the mode constantly added come it is perfect, but realize input, output and processing mode be all with the former；Event triggering can be with
Be divided into two kinds: accident occurs or traffic rules are breached, this configuration user is optional.Event occurs postscript copyist part and front and back occurs
The video and the lane line information of present road of preset time, the speed-limiting messages in each lane of present road, vehicle of jumping a queue
Motion state, the motion state of this vehicle and Ben Che and front truck range information, for subsequent evidence obtaining refer to.
Embodiment three, front truck car slipping, as shown in figure 5, obtaining the movement of front truck by vehicle mounted electric magnetic wave radar and camera
State can determine whether front truck car slipping once front truck has speed backward, the fusion of this sensor, which can accurately obtain front truck, is
The no velocity and acceleration having backward, the mode than simple automobile data recorder recording image are more accurate, reliable.
Example IV, blackmail behavior, as shown in fig. 6, may determine that current object by vehicle mounted electric magnetic wave radar and camera
Body be pedestrian, bicycle or other similar configurations, and can accurately obtain current object at a distance from this vehicle, current object in length and breadth
To velocity variations, vertically and horizontally acceleration change of current object etc.；Traffic rules modelling, in the current athletic posture of this vehicle
Under, the time that current object leaves danger zone can be calculated by the athletic posture of current object, danger zone may be defined as
Vehicle width both sides specific range, fore-and-aft distance may be selected to ignore, if the movement state information of current object occurs within this time
It is mutated or there is true Horizontal Distance to be less than given threshold, then assert that traffic rules are breached and trigger data records behavior.
Aforementioned four embodiment is only described in conjunction with four kinds of unlawful practices and described is according to the present invention sensed based on vehicle-mounted more
The traffic violations Activity recognition of device and the example of processing method, it should be understood that the other unlisted unlawful practices herein of processing may need
Otherwise same sensing data.
The embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the journey
The step of preceding method is realized when sequence is executed by processor, so that traffic violations behavior is identified and handles.
The embodiment of the invention also provides a kind of electronic equipment, including processor and memory, meter is stored in memory
The instruction of calculation machine, which realizes the step of realizing preceding method when executing described instruction, so that traffic violations behavior is known
Not with processing.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (16)
1. a kind of vehicle mounted traffic unlawful practice identification and processing system, which is characterized in that the system include: sensor module (1),
Main processor modules (2), memory module (3)；
The sensor module (1) is configured to continue recording information of vehicles and ambient condition information；
The main processor modules (2) include three units: signal processing and integrated unit (21), traffic rules judging unit
(22), data parsing and processing unit (23), signal processing and integrated unit (21) are configured to the record of sensor module
Information of vehicles and ambient condition information are extracted and are merged, and traffic rules judging unit (22) is configured to prestore modelling
Unlawful practice judges whether the traffic rules under current scene are breached according to the input of signal processing and integrated unit, data
When parsing and processing unit (23) are configured to default after triggering according to preset time and event before judgement result acquisition event triggering
Interior data, and it is transmitted to memory module (3)；
Memory module (3) is configured to after obtaining the judgement result that traffic rules are breached, by event trigger before preset time and
Data after event triggering in preset time are stored.
2. vehicle mounted traffic unlawful practice identification according to claim 1 and processing system, which is characterized in that the sensor
Module (1) includes vehicle-mounted camera (11), vehicle mounted electric magnetic wave radar (12), cartborne ultrasound wave radar (13), mobile lidar
(14) and one or more of navigator (15).
3. vehicle mounted traffic unlawful practice identification according to claim 2 and processing system, which is characterized in that signal processing and
Integrated unit (21) extracts the information of vehicles and ambient condition information of sensor module (1) record, and extracted vehicle is believed
Breath and ambient condition information are merged, thus obtain this vehicle movement state information, his vehicle movement state information, road information and
Lane information, wherein described vehicle movement state information is melted by this vehicle speed, this vehicle yaw acceleration and Ben Che acceleration information
Close gained；His vehicle movement state information is by his vehicle speed, his vehicle acceleration, Ta Che at a distance from this vehicle and Ta Che and this vehicle
Azimuth information merge gained；The road information merges institute by the grade of road, length, curvature, width, grade information
?；The lane information is by carriageway type, lane line, lane speed limit, lane width information fusion gained.
4. vehicle mounted traffic unlawful practice identification according to any one of claim 1-3 and processing system, which is characterized in that
Memory module (3) is vehicle-mounted memory (31) and/or In-vehicle networking ECU (32), before the memory module triggers the event
Data storage after preset time and event triggering in preset time is deposited into vehicle-mounted memory, or through In-vehicle networking ECU
It stores up to cloud.
5. vehicle mounted traffic unlawful practice identification according to any one of claim 1-3 and processing system, which is characterized in that
The system also includes output module violating the regulations (4), after obtaining the judgement result that traffic rules are breached, output module of breaking rules and regulations
(4) violation information is shown.
6. a kind of vehicle mounted traffic unlawful practice identification and processing method, which comprises the following steps:
S1, traffic rules library pre-establish, and by traffic violations behavior modeling and are added in traffic rules library；
The extraction and fusion of S2, information, information of vehicles and ambient condition information are persistently recorded, and by the information of vehicles of record and
Ambient condition information is extracted and is merged, necessary input information needed for obtaining traffic rules judgement；
The verifying and decision of S3, traffic rules carry out logic judgment to the necessary input information, obtain under current scene
The conclusion whether traffic rules are breached and how to be breached；
If the traffic rules under S4, current scene are breached, data relevant to event are stored.
7. vehicle mounted traffic unlawful practice identification according to claim 6 and processing method, which is characterized in that in step S1
The unlawful practice include illegally overtake other vehicles, illegal lane change, one of front truck car slipping and blackmail behavior or a variety of.
8. vehicle mounted traffic unlawful practice identification according to claim 6 and processing method, which is characterized in that if in step S1
Unlawful practice include illegally overtake other vehicles, necessary input information described in step 2 include present road lane line information, when
The movement state information of the speed-limiting messages and this vehicle in preceding road current lane and side lane, side lane state of motion of vehicle
The movement state information of information or vehicle of jumping a queue；The logic judgment in step S3 includes comparing side lane vehicle or jumping a queue
The speed of vehicle whether be more than the affiliated lane of present road speed limit；Data relevant to event include thing described in step S4
The speed limit, the speed of illegal passing vehicle in lane where the front and back video of preset time, this vehicle speed, this vehicle occur for part and non-
The speed limit in lane where method passing vehicle.
9. vehicle mounted traffic unlawful practice identification according to claim 6 and processing method, which is characterized in that if in step S1
Unlawful practice include illegal lane change, necessary input information described in step 2 include present road lane line information, when
Speed-limiting messages, the motion state for vehicle of jumping a queue, the motion state of this vehicle and the Ben Che in the preceding each lane of road and front truck away from
From information；The logic judgment in step S3 includes whether judgement vehicle of jumping a queue is compacted line, yellow line, or when jumping a queue this vehicle with
Whether the distance of front truck is greater than the length of a vehicle body；Data relevant to event described in step S4 include before event occurs
The lane line information of the video, present road of preset time, the speed-limiting messages in each lane of present road, vehicle of jumping a queue afterwards
The range information of motion state, the motion state of this vehicle and Ben Che and front truck.
10. vehicle mounted traffic unlawful practice identification according to claim 6 and processing method, which is characterized in that if step S1
In unlawful practice include front truck car slipping, necessary input information described in step 2 includes the motion state of front truck；Step S3
In the logic judgment include the velocity and acceleration for judging front truck and whether having backward；It is related to event described in step S4
Data include that the front and back video of the preset time and motion state of front truck occurs for event.
11. vehicle mounted traffic unlawful practice identification according to claim 6 and processing method, which is characterized in that if step S1
In unlawful practice include blackmail behavior, necessary input information described in step 2 includes the type of current object, current object
Body is at a distance from this vehicle, the vertically and horizontally acceleration change of the vertically and horizontally velocity variations of current object and current object；In step S3
The logic judgment include judge current object leave current object in the time of danger zone movement state information whether
It mutates；Data relevant to event described in step S4 include that event occurs the video of front and back preset time, refers to currently
The type of object, current object are at a distance from this vehicle, vertically and horizontally velocity variations and vertically and horizontally acceleration change.
12. vehicle mounted traffic unlawful practice identification according to claim 6 and processing method, which is characterized in that the vehicle
Information include this vehicle speed, this vehicle yaw acceleration, this vehicle acceleration, his vehicle speed, his vehicle acceleration, Ta Che and this vehicle away from
From, the azimuth information of Ta Che and this vehicle；The ambient condition information includes grade, length, curvature, width, the gradient of road
Information and carriageway type, lane line, lane speed limit and lane width information.
13. vehicle mounted traffic unlawful practice identification according to claim 12 and processing method, which is characterized in that in step S2
The described information of vehicles of record and ambient condition information are extracted and merged includes: information of vehicles and the week for extracting record
Environmental information is enclosed, and extracted information of vehicles and ambient condition information are merged, to obtain this vehicle motion state letter
Breath, his vehicle movement state information, road information and lane information, wherein described vehicle movement state information is by the Ben Cheche
Speed, this vehicle yaw acceleration and Ben Che acceleration information fusion gained；His vehicle movement state information by his vehicle speed,
Vehicle acceleration, Ta Che are at a distance from this vehicle and Ta Che merges gained with the azimuth information of this vehicle for he；The road information is by institute
State the grade, length, curvature, width, grade information fusion gained of road；The lane information is by the carriageway type, lane
Line, lane speed limit, lane width information fusion gained.
14. vehicle mounted traffic unlawful practice identification according to claim 6 and processing method, which is characterized in that the method
Further include step S5: data relevant to event in step S4 are done by teletransmission operation by In-vehicle networking.
15. a kind of computer readable storage medium, for storing computer instruction, which is characterized in that described instruction is by a meter
The step of calculation machine or processor realize the method as described in any claim in claim 6 to 14 when executing.
16. a kind of electronic equipment, including processor and memory, which is characterized in that computer instruction is stored in memory, it should
Processor realizes the step of method as described in any claim in claim 6 to 14 when executing described instruction.
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