CN109859464A - Congestion Lane determining method and Related product - Google Patents
Congestion Lane determining method and Related product Download PDFInfo
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- CN109859464A CN109859464A CN201910009335.2A CN201910009335A CN109859464A CN 109859464 A CN109859464 A CN 109859464A CN 201910009335 A CN201910009335 A CN 201910009335A CN 109859464 A CN109859464 A CN 109859464A
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Abstract
This application provides a kind of determination methods in congestion lane, described method includes following steps: acquiring the First Speed of vehicle, as First Speed is lower than given threshold, acquire the N picture in setting time section, it identifies the rgb value of each pixel in N picture, extracts the first most picture of the pixel of yellow in N picture；The second picture and third picture after the first picture are extracted, double sudden strain of a muscle middle lines after rear double sudden strain of a muscle warning lights that the same vehicle of pixel composition of yellow is determined to the first picture, second picture and third picture analyzing, after acquisition between double sudden strain of a muscle warning lights；Extract the first picture, in second picture and third picture the most picture of red pixel as the 4th picture, α horizontal zone is added in the 4th picture, lane in the same direction is determined according to brake warning lamp in α horizontal zone, and the position according to this pair sudden strain of a muscle middle line and lane in the same direction determines the serial number in congestion lane.Technical solution provided by the present application has the advantages that user experience is high.
Description
Technical field
This application involves terminal device and field of traffic, and in particular to a kind of congestion Lane determining method and related production
Product.
Background technique
In the prior art, terminal has been the most used electronic device of user, for example, mobile phone, car-mounted terminal, plate
Computer etc. equipment.
The confirmation in congestion lane confirms that this mode is unfavorable for the hair of traffic information based on artificial in existing traffic information
Cloth, for congestion lane, artificial confirmation can be can confirm that, can not also be confirmed, in addition, existing navigation software also can only be true
The position for determining congestion can not determine the lane of congestion, so the user experience of existing navigation software is poor.
Apply for content
The embodiment of the present application provides the determination method and Related product in a kind of congestion lane, by acquiring picture, to adopting
Collection picture is analyzed to automatically determine congestion lane, improves user experience.
In a first aspect, the embodiment of the present application provides a kind of determination method in congestion lane, described method includes following steps:
The First Speed for acquiring vehicle acquires N figures in setting time section if First Speed is lower than given threshold
Piece identifies the rgb value of each pixel in N picture, determines that rgb value is the pixel of yellow in N picture, extracts N figures
The first most picture of the pixel of yellow in piece；
Extract the second picture and third picture after the first picture, wherein acquisition the first picture first time with adopt
Integrate the difference of the second time of second picture as preset value, acquires the second time of second picture and the third of acquisition third picture
The difference of time is preset value；
The pixel of yellow, which forms rear double sudden strains of a muscle with vehicle, to be determined to the first picture, second picture and third picture analyzing
After warning light, double double sudden strain of a muscle middle lines dodged between warning light after acquisition；
Extract the first picture, in second picture and third picture the most picture of red pixel as the 4th picture,
4th picture adds α horizontal zone, lane in the same direction is determined according to brake warning lamp in α horizontal zone, according in this pair sudden strain of a muscle
The position in line and lane in the same direction determines the serial number in congestion lane, and α is the integer more than or equal to 2, and N is the integer more than or equal to 3.
Optionally, described that the pixel of yellow, which forms together, to be determined to the first picture, second picture and third picture analyzing
Vehicle it is rear it is double dodge warning lights after, double double sudden strain of a muscle middle lines dodged between warning lights specifically include after acquisition:
Whether the multiple yellow pixels for determining the first picture extract the flavine point β 1 of yellow pixel, determine β 1
In some squares, such as in the square γ 1 in existing square, β 1 is added into square γ 1, if not existing
Square in, the point centered on β 1, newly-generated square γ 2, traverse a picture in multiple yellow pixels obtain
To the picture comprising multiple squares, the square of overlapping is divided into a yellow area and obtains that there are multiple yellow areas
Picture determines in multiple yellow areas that pixel quantity, as double flashing light regions, is extracted in A yellow area for setting quantitative range
The double flashing light regions 1 nearest from the first picture lower edge in A yellow area search for double flashing light regions 1 and are in same horizontal line
Double flashing light regions 2, the distance difference in double flashing light regions 1 with double flashing light regions 2 is calculated, if distance difference is in setting difference range
It is interior, extract the first distance in double flashing light regions 1 with double 2 horizontal central lines of flashing light region and the first picture lower edge；Determine the second figure
Multiple white pixel points of piece extract the white vegetarian refreshments β 2 that multiple white pixels are selected, determine β 2 whether it is existing square in, such as
In the square γ 3 in existing square, β 2 is added into square γ 2, as not it is existing it is square in, with β 2
Centered on point, newly-generated square γ 4 traverses multiple white pixel points in a picture and obtains comprising multiple squares
Picture, the square of overlapping is divided into a white area and obtains the picture with multiple white areas, is determined multiple white
In color region pixel quantity in F yellow area for setting quantitative range as double flashing light regions, extract in F yellow area from
Double flashing light regions 4 that double flashing light regions 3 are in same horizontal line, meter are searched in the nearest double flashing light regions 3 of second picture lower edge
The distance difference for calculating double flashing light regions 3 with double flashing light regions 4 calculates double flashing lights if the distance difference is in setting difference range
The second distance in region 3 and double flashing light region 4 horizontal central lines and second picture lower edge handles third picture to obtain double flashing lights
Region 5 and double flashing light regions 6, calculate the third in double flashing light regions 5 and double 6 horizontal central lines of flashing light region and third picture lower edge
Distance calculates the difference of first distance and third distance, is located at first distance as the difference is lower than difference threshold and second distance
Between third distance, determines double flashing light regions 1 and double flashing light regions 2 are rear double sudden strain of a muscle warning lights with vehicle, extract double flashing lights
The vertical center line in region 1 and double flashing light regions 2 dodges middle line as this pair；β 1, β 2, γ 1, γ 2, γ 3, γ 4, A, F are positive whole
Number.
Optionally, described to be specifically included in the 4th picture α horizontal zone of addition:
α horizontal line is set in the 4th picture, the region between 2 horizontal lines adjacent in α horizontal line is determined as
The region of the first level line of lower side in α horizontal line and the 4th picture lower edge is determined as first by α -1 horizontal zones
Horizontal zone.
Optionally, described to determine lane in the same direction according to brake warning lamp in α horizontal zone such as α=2, it is dodged according to this pair
The position in middle line and lane in the same direction determines that the serial number in congestion lane specifically includes:
It determines that the region between 2 horizontal lines is the second horizontal zone, extracts first level region and the second horizontal zone
The first warning lamp region is extracted in w warning lamp region in domain from w warning lamp region, is searched and the first warning lamp region
In same horizontal line and the second warning lamp region of horizontal distance recently, by the first warning lamp region and the second warning lamp region
A warning lamp group is formed, the remaining warning lamp region in w warning lamp region is traversed and obtains m warning lamp group, obtain m+1
M+1 center line for warning lamp group carries out center line of the centre distance between m+1 center line within the scope of distance threshold
Merging obtains x center line, determines that x is lane quantity, take x as the center in each lane, mark off x+1 lane line, determine
It is double to dodge middle line the y lane line and y+1 lane line adjacent with x+1 lane line, determine the congestion of the lane y, wherein x, m is big
In the integer for being equal to 2, the y is more than or equal to 2 and is less than or equal to x.
Second aspect, provides a kind of electronic device, and the electronic device includes:
Sensor, if First Speed is lower than given threshold, acquires N picture for acquiring the First Speed of vehicle；
Processor identifies the rgb value of each pixel in N picture, determines that rgb value is the pixel of yellow in N picture
Point extracts the first most picture of the pixel of yellow in N picture；Extract the second picture and third figure after the first picture
Piece, wherein the difference of the first time of the first picture of acquisition and the second time of acquisition second picture are preset value, acquisition second
The difference of the third time of the second time and acquisition third picture of picture is preset value；To the first picture, second picture and
It is double after acquisition to dodge between warning light after third picture analyzing determines that the pixel of yellow forms rear double sudden strain of a muscle warning lights with vehicle
Double sudden strain of a muscle middle lines；Extract the first picture, in second picture and third picture the most picture of red pixel as the 4th picture,
4th picture adds α horizontal zone, lane in the same direction is determined according to brake warning lamp in α horizontal zone, according in this pair sudden strain of a muscle
The position in line and lane in the same direction determines the serial number in congestion lane, and α is the integer more than or equal to 2, and N is the integer more than or equal to 3.
Optionally, the processor extracts yellow pixel specifically for determining multiple yellow pixels of the first picture
Flavine point β 1, determine β 1 whether in existing square, such as it is existing it is square in square γ 1 in, β 1 is added
It is added in square γ 1, if in existing square, the point centered on β 1, newly-generated square γ 2 does not traverse one
Multiple yellow pixels in picture obtain the picture comprising multiple squares, and the square of overlapping is divided into a yellow
Region obtains the picture with multiple yellow areas, determines that pixel quantity is in the A of setting quantitative range in multiple yellow areas
A yellow area is double flashing light regions, extracts double flashing light regions 1 nearest from the first picture lower edge in A yellow area, searches
Suo Shuan flashing light region 1 is in double flashing light regions 2 of same horizontal line, calculates the range difference in double flashing light regions 1 with double flashing light regions 2
Value extracts double flashing light regions 1 and double 2 horizontal central lines of flashing light region and the first picture if distance difference is in setting difference range
The first distance of lower edge；The multiple white pixel points for determining second picture extract the white vegetarian refreshments β 2 that multiple white pixels are selected, really
β 2 is determined whether in existing square, and such as in the square γ 3 in existing square, β 2 is added into square γ 2
Interior, if not in existing square, the point centered on β 2, newly-generated square γ 4 is traversed multiple in a picture
White pixel point obtains the picture comprising multiple squares, and the square of overlapping is divided into a white area and is obtained with more
The picture of a white area determines in multiple white areas that pixel quantity in F yellow area for setting quantitative range is double
Double flashing light regions 3 nearest from second picture lower edge in F yellow area are extracted in flashing light region, are searched at double flashing light regions 3
In double flashing light regions 4 of same horizontal line, the distance difference in double flashing light regions 3 with double flashing light regions 4 is calculated, such as the distance difference
In setting difference range, calculate the second of double flashing light regions 3 and double 4 horizontal central lines of flashing light region and second picture lower edge away from
From handling to obtain double flashing light regions 5 and double flashing light regions 6 to third picture, calculate 6 water of double flashing light regions 5 and double flashing light regions
The third distance of flat middle line and third picture lower edge calculates the difference of first distance and third distance, if the difference is lower than poor
Value threshold value and second distance are located between first distance and third distance, and determining double flashing light regions 1 are same with double flashing light regions 2
Rear double sudden strain of a muscle warning lights of vehicle extract double flashing light regions 1 with the vertical center line in double flashing light regions 2 as this pair sudden strain of a muscle middle line；β 1, β 2,
γ 1, γ 2, γ 3, γ 4, A, F are positive integer.
Optionally, the processor is specifically used for that α horizontal line is arranged in the 4th picture, will be adjacent in α horizontal line
Region between 2 horizontal lines is determined as α -1 horizontal zones, by the first level line and the 4th of lower side in α horizontal line
The region of picture lower edge is determined as first level region.
Optionally, such as α=2, the processor is the second horizontal zone specifically for the region determined between 2 horizontal lines
W warning lamp region in first level region and the second horizontal zone is extracted in domain, and the is extracted from w warning lamp region
One warning lamp region searches and is in same horizontal line and the second warning lamp area of horizontal distance recently with the first warning lamp region
First warning lamp region and the second warning lamp region are formed a warning lamp group, traverse the residue in w warning lamp region by domain
Warning lamp region obtains m warning lamp group, obtains m+1 center line of m+1 warning lamp group, will be between m+1 center line
Center line of the centre distance within the scope of distance threshold merges to obtain x center line, determines that x is lane quantity, is every with x
The center in a lane marks off x+1 lane line, determines double sudden strain of a muscle middle lines the y lane line and y+ adjacent with x+1 lane line
1 lane line determines the congestion of the lane y, wherein x, and m is the integer more than or equal to 2, and the y is more than or equal to 2 and is less than or equal to x.
The third aspect, provides a kind of computer readable storage medium, and storage is used for the computer journey of electronic data interchange
Sequence, wherein the computer program makes computer execute the method that first aspect provides.
Fourth aspect, provides a kind of computer program product, and the computer program product includes storing computer journey
The non-transient computer readable storage medium of sequence, the computer program are operable to that computer is made to execute first aspect offer
Method.
Implement the embodiment of the present application, has the following beneficial effects:
As can be seen that technical solution provided by the present application acquires First Speed, when First Speed is lower than given threshold, adopt
Collect N picture, extract three pictures in N picture, rear double double sudden strains of a muscle dodged with vehicle are then determined to the analysis of three pictures
Center line determines this lane congestion in this way, and lane in the same direction is then being determined by brake warning lamp, according to lane in the same direction and double
The position dodged between center line determines that specific congestion lane improves user's so as to automatically identify congestion lane
Experience Degree.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the present application, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of structural schematic diagram of terminal provided by the embodiments of the present application.
Fig. 2 is a kind of flow diagram of the determination method in congestion lane disclosed in the embodiment of the present application.
Fig. 2 a is a kind of congestion lane schematic diagram.
Fig. 3 a is that yellow area divides schematic diagram.
Fig. 3 b is multiple turn signal area schematics.
Fig. 3 c is horizontal zone schematic diagram.
Fig. 3 d is lane line and first pair of sudden strain of a muscle center line schematic diagram.
Fig. 3 e is that lane center merges schematic diagram.
Fig. 4 is a kind of structural schematic diagram of electronic device disclosed in the embodiment of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Based on this Shen
Please in embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall in the protection scope of this application.
The description and claims of this application and term " first ", " second ", " third " and " in the attached drawing
Four " etc. are not use to describe a particular order for distinguishing different objects.In addition, term " includes " and " having " and it
Any deformation, it is intended that cover and non-exclusive include.Such as it contains the process, method of a series of steps or units, be
System, product or equipment are not limited to listed step or unit, but optionally further comprising the step of not listing or list
Member, or optionally further comprising other step or units intrinsic for these process, methods, product or equipment.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Refering to fig. 1, Fig. 1 be a kind of terminal structure schematic diagram, as shown in Figure 1, the terminal may include intelligent terminal (such as
Android intelligent terminal, iOS intelligent terminal, Windows Phone intelligent terminal) etc..As shown in Figure 1, the terminal includes: place
Manage device 101, input unit 102, communications module 103 (optional), memory 104 and camera 105.
Above-mentioned input unit 102 includes but is not limited to: touching display screen, voice capture device etc..Above-mentioned communications module
Including but not limited to: telecommunication mould group or short-range communication mould group etc..
Above-mentioned terminal is specifically as follows: smart phone, intelligent vehicle mounted terminal or tablet computer, for convenience of description, this
In illustrate by taking intelligent vehicle mounted terminal as an example.
Referring to Fig.2, Fig. 2 provides a kind of determination method in congestion lane, this method is executed by terminal as shown in Figure 1,
This method is as shown in Fig. 2, include the following steps:
Step S201, the First Speed for acquiring vehicle acquires in setting time section if First Speed is lower than given threshold
N picture；
The First Speed of above-mentioned acquisition vehicle can be acquired by acceleration transducer, and above-mentioned acquisition N picture can be by
Camera acquires, which is specifically as follows position of rear view mirror among vehicle front truck cursor position or vehicle, certainly in reality
In, N picture can also be acquired by the camera of other positions, the application does not limit to the specific of above-mentioned camera
Position only needs the centerline deviation of its position and vehicle normally.
Above-mentioned N picture is the N picture in setting time section, and above-mentioned setting time section is lesser time zone
Between, such as 10s clock, at this time since speed is very slow, almost it is considered that the displacement very little of the vehicle of the N picture, acquires in this way
N picture analysis to congestion lane analyze it is more accurate.
Step S202, the rgb value for identifying each pixel in N picture determines that rgb value is the picture of yellow in N picture
Vegetarian refreshments extracts the first most picture of the pixel of yellow in N picture.
The rgb value of above-mentioned yellow is specifically as follows (255,255,0).Certainly in practical applications, can also allow for using
Certain error range.
Step S203, the second picture and third picture after the first picture are extracted, wherein the first of the first picture of acquisition
The difference of time and the second time of acquisition second picture are preset value, acquire the second time and the acquisition third figure of second picture
The difference of the third time of piece is preset value；
Above-mentioned preset value can be the inverse of the frequency of double flashing light flashings.
Step S204, pixel composition same of yellow is determined to the first picture, second picture and third picture analyzing
After rear double sudden strain of a muscle warning lights of vehicle, double double sudden strain of a muscle middle lines dodged between warning lights after acquisition；
Step S205, extract the first picture, in second picture and third picture the most picture of red pixel as the
Four pictures, add α horizontal zone in the 4th picture, determine lane in the same direction, foundation according to brake warning lamp in α horizontal zone
The position in this pair sudden strain of a muscle middle line and lane in the same direction determines the serial number in congestion lane, and above-mentioned α can be the integer more than or equal to 2, specifically
, with 3,4 etc..
Technical solution provided by the present application acquires First Speed, when First Speed is lower than given threshold, N figures of acquisition
Piece extracts three pictures in N picture, then determines rear double double sudden strain of a muscle center lines dodged with vehicle to the analysis of three pictures,
This lane congestion is determined in this way, is then determining lane in the same direction by brake warning lamp, according to lane in the same direction and double sudden strain of a muscle centers
Position between line determines specific congestion lane, so as to automatically identify congestion lane, improves the Experience Degree of user.
The effect of the technical solution of the application is described in detail below with reference to Fig. 2 a.
As shown in Figure 2 a, it is assumed here that the lane of congestion is specifically as follows two-way 8 lane, two-way equal for road
It is arranged symmetrically, i.e., is here lane 1, lane by 4 lane numbers for convenience of description here with 4 unidirectional lanes
2, lane 3, lane 4, are getting congestion, and First Speed is centainly less than given threshold, so the acquisition by speed can
Tentatively to judge whether congestion, in addition, each lane all has vehicle certainly for the lane of congestion, say for convenience
Bright, Fig. 2 a indicates vehicle by square, indicated by the rectangular block of rendering car light (including but not limited to turn signal and
Brake indicating lamp).
Refering to Fig. 2 a, Fig. 2 a is a kind of schematic diagram of vehicle congestion, it is assumed here that the 2nd article of lane is the lane of congestion, right
For the vehicle of congestion, needs prompt subsequent vehicle that accident or vehicle trouble occur here by double flashing lights, for
The determination of double flashing lights, a picture is not enough to judge that it is in double and dodges, so its needs is judged by least 3 pictures
Whether have it is double dodge, i.e., two have double pictures dodged, one without double pictures dodged, by vehicle tail it is double dodge it is determining with
Afterwards, double double sudden strain of a muscle middle lines (as shown in Fig. 2 a dotted line) for dodging warning light are extracted, then foundation is double dodges middle line to determine specific congestion
Lane, for the section of congestion, as shown in Figure 2 a, corresponding all lanes all have vehicle, and most vehicle
It can be than more frequently touching on the brake in congestion, according to the national standard of vehicle, the Vehicular warning lamp for the later tailstock that touches on the brake is (red
Color) it can open, then it is determined that the quantity of Vehicular warning lamp can determine the quantity in lane in the same direction, and then determine lane in the same direction
Then lane line dodges the lane that middle line is located at the determining congestion between the lane line of that 2 serial numbers according to this pair.
Optionally, above-mentioned that the pixel of yellow, which forms together, to be determined to the first picture, second picture and third picture analyzing
Vehicle it is rear it is double dodge warning lights after, double double sudden strain of a muscle middle lines dodged between warning lights can specifically include after acquisition:
Whether the multiple yellow pixels for determining the first picture extract the flavine point β 1 of yellow pixel, determine β 1
In some squares, such as in the square γ 1 in existing square, β 1 is added into square γ 1, if not existing
Square in, the point centered on β 1, newly-generated square γ 2, traverse a picture in multiple yellow pixels obtain
To the picture comprising multiple squares, the square of overlapping is divided into a yellow area and obtains that there are multiple yellow areas
Picture determines in multiple yellow areas that pixel quantity, as double flashing light regions, is extracted in A yellow area for setting quantitative range
The double flashing light regions 1 nearest from the first picture lower edge in A yellow area search for double flashing light regions 1 and are in same horizontal line
Double flashing light regions 2 of (horizontal line is parallel with picture lower edge line) calculate double flashing light regions 1 at a distance from double flashing light regions 2
Difference (horizontal distance of the pixel in picture) extracts double flashing light areas if distance difference is in setting difference range (optional)
The first distance in domain 1 and double 2 horizontal central lines of flashing light region and the first picture lower edge；Determine multiple white pixels of second picture
Point extracts the white vegetarian refreshments β 2 that multiple white pixels are selected, and β 2 is determined whether in existing square, such as in existing square
Square γ 3 in, β 2 is added into square γ 2, if not it is existing square in, point, newly-generated centered on β 2
One square γ 4, the multiple white pixel points traversed in a picture obtain the picture comprising multiple squares, by overlapping
Square is divided into a white area and obtains the picture with multiple white areas, determines pixel number in multiple white areas
Amount, as double flashing light regions, is extracted in F yellow area most from second picture lower edge in F yellow area for setting quantitative range
Close double flashing light regions 3 search for double flashing light regions 3 and are in same horizontal line (horizontal line is parallel with the first picture lower edge line)
Double flashing light regions 4, calculate the distance difference (pixel is at a distance from picture) in double flashing light regions 3 with pair flashing light regions 4, such as away from
Deviation value is being set in difference range, calculates double flashing light regions 3 and double 4 horizontal central lines of flashing light region and second picture lower edge
Second distance, handling to obtain double flashing light regions 5 and double flashing light regions 6 to third picture, (specific extracting method may refer to the
One picture handles to obtain double methods for the regions 1 and double flashing light regions 2 such as dodging), it is horizontal to calculate double flashing light regions 5 and double flashing light regions 6
The third distance of middle line and third picture lower edge calculates the difference of first distance and third distance, as the difference is lower than difference
Threshold value and second distance are located between first distance and third distance, determine that double flashing light regions 1 and double flashing light regions 2 are with vehicle
Tail portion two turn signal regions, determine double flashing light regions 1 and double flashing light regions 2 be with vehicle it is rear it is double dodge warning lights, mention
Take double flashing light regions 1 (vertical with horizontal central line) as this pair sudden strain of a muscle middle line with the vertical center line in double flashing light regions 2.
For double flashing lights of same vehicle, it is in same horizontal line, is yellow pixel at work, when not working,
For the color (white) of lampshade, and the difference of the distance between a Che Zuoshuan flashing light and right double flashing lights is little, thus with
The double flashing lights in the tail portion of vehicle be in same horizontal line and the distance between can determine the tail in vehicle together within the set range
Portion pair flashing lights carry out processing to 3 pictures in this way and determine that 2 have double flashing lights, a no double flashing lights, and double flashing lights are in picture
Position be nearly at identical position and can determine that the double flashing lights in tail portion with vehicle are in running order, combining its speed
It spends very low, so that it may determine that it is in failure or accident condition.
Refering to Fig. 3 a, for double flashing lights, it is white when not flashing that color, which is yellow, when flashing, but for vehicle,
Its color is it could also be possible that yellow, then needing exist for distinguishing this 2 yellow, in addition, also there is other things
It may be yellow, such as paster, icon etc. is required to be distinguished here, in order to distinguish it, needs exist for traversing
In addition all pixels give a square being sized, the size of the square can be smaller, such as dimension of picture
1mm*1mm, the size of certain square can also be 20*20 (pixel), and for double flashing lights, no matter it is in that position,
All had around its luminous position white lampshade, be for lampshade it is not irradiative, square dimensions lesser in this way are
The differentiation of double flashing lights and other component can be distinguished.It must be continuous large stretch of region for the size of yellow vehicle body,
So being easily discriminated vehicle body and double flashing lights (being referred to as turn signal) in this manner.In this way for picture 1 (i.e. first
Picture), picture as shown in Figure 3a, for first yellow pixel, due to the square not being sized, needs are built
A square centered on the pixel is found, yellow pixel surrounding in this way can be included in the square, in this way
Traverse all yellow pixels, so that it may obtain diagram as shown in Figure 3a, (point of black is for diagram shown in Fig. 3 a
Newly-built square yellow pixel), for turn signal, the range of size is relatively fixed, it is not too large will not be too small, this
The filtering to body color can be thus achieved for range intervals in we with sample, because for the vehicle body of yellow, the range of yellow
Than the range of turn signal much.In addition, for double flashing lights, periphery is other indicator lights, such as brake indicating lamp, any
Decoration be the region for not allowing to be attached to turn signal, so a smaller square being sized can be very good by
The region recognition of double flashing lights comes out, generally all smaller in addition for decoration, then can also be filtered by range, thus
Avoid some noises.
Refering to Fig. 3 b, as shown in Figure 3b, for multiple yellow areas, it can be determined as double flashing lights, then with vehicle
The double flashing lights in tail portion are those, by the analysis of experience, determine that the turn signal region closest to lower edge margin is immediate
Turn signal region 1 occupies a lane in vehicle trouble or traffic accident since two turn signals are in the tail portion with vehicle, and
Positioned at the center in lane, by it was verified that most situation is the turn signal for being in same horizontal line with turn signal region 1
Region 2 and when two turn signals are in set distance range, turn signal region 1 and turn signal region 2 are the tail portion with vehicle
Two turn signal regions realize the differentiation in the turn signal region to the tail portion with vehicle in this way, are to determine that this pair dodges
Flashing, second picture is carried out to the processing of similar white pixel point here, third picture is carried out to the processing of yellow pixel,
Due to the time interval very little between three pictures, and speed at this time is very low, then three pictures handle to obtain double flashing lights
It within the set range, can be capable of determining whether dodging for double flashing lights by this setting with affirmative at a distance from respective picture bottom margin
It is bright, thus judge the vehicle whether failure or traffic accident.
The implementation method of above-mentioned steps S205 is specifically as follows, and α horizontal line is arranged in the 4th picture and (schemes here from 3
It is the time interval very little because of 3 pictures, the in this way lane line for the 4th picture as the 4th picture that one is selected in piece
Processing can reach preferably corresponding with double sudden strain of a muscle middle lines), as shown in Figure 3c, by taking 2 horizontal lines as an example (dotted line in such as 3c), α
First level region of the horizontal zone between the nethermost horizontal line of a picture and the 4th picture lower edge and
The second horizontal zone between two horizontal lines extracts w warning lamp area in first level region and the second horizontal zone
The first warning lamp region is extracted in domain from w warning lamp region, is searched and is in same horizontal line (i.e. with the first warning lamp region
The line parallel with α horizontal line) and the second warning lamp region of horizontal distance recently, the first warning lamp region and second are warned
Lamp region form a warning lamp group, traverse w warning lamp region in remaining warning lamp region (remove the first warning lamp region with
Warning lamp region other than second warning lamp region) m warning lamp group is obtained, obtain m+1 center of m+1 warning lamp group
Line merges center line of the centre distance between m+1 center line within the scope of distance threshold to obtain x center line
(refering to Fig. 3 e) determines that x is lane quantity, take x as the center in each lane, mark off x+1 lane line (i.e. at x center
The x-1 middle line that two neighboring center line is determined in line is the lane line between x lane, is added in x center line arranged on left and right sides
The line of 2 and x centerline parallel is added to obtain x+1 lane line), determine double sudden strain of a muscle middle lines y vehicle adjacent with x+1 lane line
Diatom and y+1 lane line, determine the congestion of the lane y.
Refering to described in Fig. 3 d, wherein x=3, so it has 4 lane lines, as shown in Figure 3d, double sudden strains of a muscle center lines are empty
Line, such as double center lines that dodge determine the 2nd lane congestion between the 2nd lane line and the 3rd lane.
W warning lamp region in said extracted first level region and the second horizontal zone, can specifically include:
Multiple pixels that brightness value in first level region and the second horizontal zone is greater than luminance threshold are extracted, it will be more
The continuous red pixel in position in a pixel gathers to obtain E red area, extracts area in E red area
In w red area of setting areal extent, which is w warning lamp region.
Due to the warning lamp that warning lamp is light yellow, brightness is greater than the region not worked certainly, then extracting luminance threshold
Multiple pixels, then from E red area extract the suitable region of area (i.e. in red area area setting area
Range) obtain w warning lamp region.
The setting of this area is primarily to red vehicle is excluded, for warning lamp, area is certain
In areal extent, this areal extent can determine which is not described herein again according to debugging, and for red vehicle, it is red
Elemental area is far longer than warning lamp region, so the filtering of this area can remove red vehicle and recognize warning lamp region
It is fixed.
Refering to Fig. 3 e, as shown in Figure 3 e, m+1 center line is as shown in the dotted line of Fig. 3 e, in the same lanes
Vehicle for, the center line between two warning lamps of different vehicle may be deviated, but deviation is generally little, such as scheme
Shown in lane 3, lane 4 shown in 3e, thus for the distance between more center lines the center line of distance threshold can be with
Merge, X center line can be accessed in this way, realize the statistics of lane quantity.
Refering to Fig. 4, Fig. 4 provides a kind of electronic device for the application, and the electronic device includes:
Sensor 401, if First Speed is lower than given threshold, acquires N picture for acquiring the First Speed of vehicle；
The sensor can be different sensor according to different acquisition data, such as the sensor to test the speed can be
Velocity sensor, such as gyroscope, acquisition N picture can be imaging sensor, such as camera.
Processor 402, for identification in N picture each pixel rgb value, determine in N picture that rgb value is yellow
Pixel, extract the first most picture of the pixel of yellow in N picture；Extract second picture after the first picture and
Third picture, wherein the difference of the second time of the first time and acquisition second picture of the first picture of acquisition is preset value, is adopted
Integrate the difference of the second time of second picture and the third time of acquisition third picture as preset value；To the first picture, the second figure
It is double after acquisition to dodge warning light after piece and third picture analyzing determine that the pixel of yellow forms rear double sudden strain of a muscle warning lights with vehicle
Between double sudden strain of a muscle middle lines；Extract the first picture, in second picture and third picture the most picture of red pixel as the 4th
Picture, adds α horizontal zone in the 4th picture, determines lane in the same direction according to brake warning lamp in α horizontal zone, foundation should
The position in double sudden strain of a muscle middle lines and lane in the same direction determines the serial number in congestion lane, and α is the integer more than or equal to 2, and N is more than or equal to 3
Integer.
Above-mentioned electronic device is specifically as follows: smart phone, tablet computer or intelligent vehicle mounted terminal.
The embodiment of the present application also provides a kind of computer storage medium, wherein computer storage medium storage is for electricity
The computer program of subdata exchange, it is as any in recorded in above method embodiment which execute computer
A kind of some or all of the determination method in congestion lane step.
The embodiment of the present application also provides a kind of computer program product, and the computer program product includes storing calculating
The non-transient computer readable storage medium of machine program, the computer program are operable to that computer is made to execute such as above-mentioned side
Some or all of the determination method in any congestion lane recorded in method embodiment step.
It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the application is not limited by the described action sequence because
According to the application, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know
It knows, embodiment described in this description belongs to alternative embodiment, related actions and modules not necessarily the application
It is necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed device, it can be by another way
It realizes.For example, the apparatus embodiments described above are merely exemplary, such as the division of the unit, it is only a kind of
Logical function partition, there may be another division manner in actual implementation, such as multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of device or unit,
It can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also be realized in the form of software program module.
If the integrated unit is realized in the form of software program module and sells or use as independent product
When, it can store in a computer-readable access to memory.Based on this understanding, the technical solution of the application substantially or
Person says that all or part of the part that contributes to existing technology or the technical solution can body in the form of software products
Reveal and, which is stored in a memory, including some instructions are used so that a computer equipment
(can be personal computer, server or network equipment etc.) executes all or part of each embodiment the method for the application
Step.And memory above-mentioned includes: USB flash disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), mobile hard disk, magnetic or disk.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can store in a computer-readable memory, memory
May include: flash disk, read-only memory (English: Read-Only Memory, referred to as: ROM), random access device (English:
Random Access Memory, referred to as: RAM), disk or CD etc..
The embodiment of the present application is described in detail above, specific case used herein to the principle of the application and
Embodiment is expounded, the description of the example is only used to help understand the method for the present application and its core ideas；
At the same time, for those skilled in the art can in specific embodiments and applications according to the thought of the application
There is change place, in conclusion the contents of this specification should not be construed as limiting the present application.
Claims (10)
1. a kind of determination method in congestion lane, which is characterized in that described method includes following steps:
The First Speed for acquiring vehicle acquires the N picture in setting time section, knows if First Speed is lower than given threshold
The rgb value of each pixel in other N picture determines that rgb value is the pixel of yellow in N picture, is extracted yellow in N picture
The first most picture of the pixel of color；
Extract the second picture and third picture after the first picture, wherein the first time of the first picture of acquisition and acquisition the
The difference of second time of two pictures is preset value, acquires the second time of second picture and the third time of acquisition third picture
Difference be preset value；
The pixel of yellow, which forms rear double sudden strain of a muscle prompts with vehicle, to be determined to the first picture, second picture and third picture analyzing
After lamp, double double sudden strain of a muscle middle lines dodged between warning light after acquisition；
Extract the first picture, the most picture of red pixel is as the 4th picture in second picture and third picture, the 4th
Picture adds α horizontal zone, determines lane in the same direction according to brake warning lamp in α horizontal zone, according to this pair sudden strain of a muscle middle line and
The position in lane in the same direction determines the serial number in congestion lane, and α is the integer more than or equal to 2, and N is the integer more than or equal to 3.
2. the method according to claim 1, wherein described to the first picture, second picture and third picture
After analysis determines that the pixel of yellow forms rear double sudden strain of a muscle warning lights with vehicle, double double sudden strain of a muscle middle lines dodged between warning lights after acquisition
It specifically includes:
Whether the multiple yellow pixels for determining the first picture extract the flavine point β 1 of yellow pixel, determine β 1 existing
In square, such as it is existing square in square γ 1 in, β 1 is added into square γ 1, if not it is existing just
In rectangular, the point centered on β 1, newly-generated square γ 2, traverse a picture in multiple yellow pixels wrapped
The square of overlapping is divided into a yellow area and obtains the figure with multiple yellow areas by the picture containing multiple squares
Piece determines in multiple yellow areas that pixel quantity, as double flashing light regions, extracts A in A yellow area for setting quantitative range
The double flashing light regions 1 nearest from the first picture lower edge in a yellow area search for double flashing light regions 1 and are in same horizontal line
Double flashing light regions 2 calculate the distance difference in double flashing light regions 1 with double flashing light regions 2, if distance difference is in setting difference range
It is interior, extract the first distance in double flashing light regions 1 with double 2 horizontal central lines of flashing light region and the first picture lower edge；Determine the second figure
Multiple white pixel points of piece extract the white vegetarian refreshments β 2 that multiple white pixels are selected, determine β 2 whether it is existing square in, such as
In the square γ 3 in existing square, β 2 is added into square γ 2, as not it is existing it is square in, with β 2
Centered on point, newly-generated square γ 4 traverses multiple white pixel points in a picture and obtains comprising multiple squares
Picture, the square of overlapping is divided into a white area and obtains the picture with multiple white areas, is determined multiple white
In color region pixel quantity in F yellow area for setting quantitative range as double flashing light regions, extract in F yellow area from
Double flashing light regions 4 that double flashing light regions 3 are in same horizontal line, meter are searched in the nearest double flashing light regions 3 of second picture lower edge
The distance difference for calculating double flashing light regions 3 with double flashing light regions 4 calculates double flashing lights if the distance difference is in setting difference range
The second distance in region 3 and double flashing light region 4 horizontal central lines and second picture lower edge handles third picture to obtain double flashing lights
Region 5 and double flashing light regions 6, calculate the third in double flashing light regions 5 and double 6 horizontal central lines of flashing light region and third picture lower edge
Distance calculates the difference of first distance and third distance, is located at first distance as the difference is lower than difference threshold and second distance
Between third distance, determines double flashing light regions 1 and double flashing light regions 2 are rear double sudden strain of a muscle warning lights with vehicle, extract double flashing lights
The vertical center line in region 1 and double flashing light regions 2 dodges middle line as this pair；β 1, β 2, γ 1, γ 2, γ 3, γ 4, A, F are positive whole
Number.
3. the method according to claim 1, wherein described specifically wrap in the 4th picture α horizontal zone of addition
It includes:
α horizontal line is set in the 4th picture, the region between 2 horizontal lines adjacent in α horizontal line is determined as α -1
The region of the first level line of lower side in α horizontal line and the 4th picture lower edge is determined as first level by horizontal zone
Region.
4. according to the method described in claim 3, it is characterized in that, such as α=2, described according to brake alarming in α horizontal zone
Lamp determines lane in the same direction, and the position for dodging middle line and lane in the same direction according to this pair determines that the serial number in congestion lane specifically includes:
It determines that the region between 2 horizontal lines is the second horizontal zone, extracts in first level region and the second horizontal zone
W warning lamp region, extract the first warning lamp region from w warning lamp region, lookup is in the first warning lamp region
Same horizontal line and the second warning lamp region of horizontal distance recently, the first warning lamp region and the second warning lamp region are formed
One warning lamp group traverses the remaining warning lamp region in w warning lamp region and obtains m warning lamp group, obtains m+1 warning
M+1 center line of lamp group merges center line of the centre distance between m+1 center line within the scope of distance threshold
X center line is obtained, determines that x is lane quantity, take x as the center in each lane, mark off x+1 lane line, determine double dodge
Middle line the y lane line and y+1 lane line adjacent with x+1 lane line, determine the congestion of the lane y, wherein x, m be greater than etc.
In 2 integer, the y is more than or equal to 2 and is less than or equal to x.
5. a kind of electronic device, which is characterized in that the electronic device includes:
Sensor, if First Speed is lower than given threshold, acquires N picture for acquiring the First Speed of vehicle；
Processor, for identification in N picture each pixel rgb value, determine that rgb value in N picture is the pixel of yellow
Point extracts the first most picture of the pixel of yellow in N picture；Extract the second picture and third figure after the first picture
Piece, wherein the difference of the first time of the first picture of acquisition and the second time of acquisition second picture are preset value, acquisition second
The difference of the third time of the second time and acquisition third picture of picture is preset value；To the first picture, second picture and
It is double after acquisition to dodge between warning light after third picture analyzing determines that the pixel of yellow forms rear double sudden strain of a muscle warning lights with vehicle
Double sudden strain of a muscle middle lines；Extract the first picture, in second picture and third picture the most picture of red pixel as the 4th picture,
4th picture adds α horizontal zone, lane in the same direction is determined according to brake warning lamp in α horizontal zone, according in this pair sudden strain of a muscle
The position in line and lane in the same direction determines the serial number in congestion lane, and α is the integer more than or equal to 2, and N is the integer more than or equal to 3.
6. electronic device according to claim 5, which is characterized in that
The processor extracts the flavine point β 1 of yellow pixel specifically for multiple yellow pixels of determining first picture,
Determine that β 1 whether in existing square, such as in the square γ 1 in existing square, is added into square γ by β 1
In 1, if not in existing square, the point centered on β 1, newly-generated square γ 2 is traversed more in a picture
A yellow pixel obtains the picture comprising multiple squares, and the square of overlapping, which is divided into a yellow area, to be had
The picture of multiple yellow areas, determine in multiple yellow areas pixel quantity A yellow area for setting quantitative range as
Double flashing light regions 1 nearest from the first picture lower edge in A yellow area are extracted in double flashing light regions, search for double flashing light regions 1
Double flashing light regions 2 in same horizontal line calculate the distance difference in double flashing light regions 1 with double flashing light regions 2, such as distance difference
In setting difference range, extract the first of double flashing light regions 1 and double 2 horizontal central lines of flashing light region and the first picture lower edge away from
From；Whether the multiple white pixel points for determining second picture extract the white vegetarian refreshments β 2 that multiple white pixels are selected, determine β 2 existing
Square in, such as it is existing square in square γ 3 in, β 2 is added into square γ 2, if not existing
In square, the point centered on β 2, newly-generated square γ 4, traverse a picture in multiple white pixel points obtain
The square of overlapping is divided into a white area and obtains the figure with multiple white areas by the picture comprising multiple squares
Piece determines in multiple white areas that pixel quantity, as double flashing light regions, extracts F in F yellow area for setting quantitative range
The double flashing light regions 3 nearest from second picture lower edge in a yellow area search for double flashing light regions 3 and are in same horizontal line
Double flashing light regions 4 calculate the distance difference in double flashing light regions 3 with double flashing light regions 4, if the distance difference is in setting difference range
It is interior, the second distance in double flashing light regions 3 with double flashing light region 4 horizontal central lines and second picture lower edge is calculated, to third picture
Processing obtains double flashing light regions 5 and double flashing light regions 6, calculates double flashing light regions 5 and double 6 horizontal central lines of flashing light region and third figure
The third distance of piece lower edge, calculate first distance and third distance difference, as the difference be lower than difference threshold and second away from
It offs normal between first distance and third distance, determines double flashing light regions 1 and pair flashing light regions 2 are rear double sudden strain of a muscle prompts with vehicle
Lamp, the vertical center line for extracting double flashing light regions 1 and double flashing light regions 2 dodge middle line as this pair；β 1, β 2, γ 1, γ 2, γ 3, γ
4, A, F are positive integer.
7. electronic device according to claim 5, which is characterized in that
The processor, be specifically used for the 4th picture be arranged α horizontal line, by 2 horizontal lines adjacent in α horizontal line it
Between region be determined as α -1 horizontal zones, by the first level line of lower side in α horizontal line and the 4th picture lower edge
Region is determined as first level region.
8. electronic device according to claim 7, which is characterized in that such as α=2,
The processor is the second horizontal zone specifically for the region determined between 2 horizontal lines, extracts first level region
And the second w warning lamp region in horizontal zone, the first warning lamp region is extracted from w warning lamp region, search with
First warning lamp region is in the second nearest warning lamp region of same horizontal line and horizontal distance, by the first warning lamp region and
Second warning lamp region forms a warning lamp group, traverses the remaining warning lamp region in w warning lamp region and obtains m warning
Lamp group obtains m+1 center line of m+1 warning lamp group, by the centre distance between m+1 center line in distance threshold range
Interior center line merges to obtain x center line, determines that x is lane quantity, take x as the center in each lane, mark off x+1
A lane line determines double sudden strain of a muscle middle lines the y lane line and y+1 lane line adjacent with x+1 lane line, determines that the lane y is gathered around
Stifled, wherein x, m are the integer more than or equal to 2, and the y is more than or equal to 2 and is less than or equal to x.
9. according to electronic device described in claim 5-8 any one, which is characterized in that the electronic device are as follows: intelligent hand
Machine, tablet computer or intelligent vehicle mounted terminal.
10. a kind of computer readable storage medium, which is characterized in that it stores the computer program for being used for electronic data interchange,
Wherein, the computer program makes computer execute the method as described in claim 1-4 any one.
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| CN201910009335.2A CN109859464A (en) | 2019-01-04 | 2019-01-04 | Congestion Lane determining method and Related product |
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| CN201910009335.2A CN109859464A (en) | 2019-01-04 | 2019-01-04 | Congestion Lane determining method and Related product |
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