CN109887303B - Lane-changing behavior early warning system and method - Google Patents
Lane-changing behavior early warning system and method Download PDFInfo
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- CN109887303B CN109887303B CN201910312021.XA CN201910312021A CN109887303B CN 109887303 B CN109887303 B CN 109887303B CN 201910312021 A CN201910312021 A CN 201910312021A CN 109887303 B CN109887303 B CN 109887303B
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Abstract
The invention provides a random lane change behavior early warning system and a method, wherein a monitoring video stream is obtained, a traffic road surface without a vehicle passes is taken as an original frame image, an image of the vehicle is taken as a current frame image, and the two frame images are subjected to image difference operation to obtain vehicle position and track information; and analyzing the vehicle motion information according to the motion track of the vehicle and by combining the lane line and the lane direction of the road surface, if the transverse displacement change in the vehicle motion information exceeds a set threshold value, giving an early warning, and performing violation evidence collection on the vehicle according to the vehicle information.
Description
Technical Field
The disclosure relates to a lane-change-at-will behavior early warning system and method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the increasing improvement of the living standard of people, the keeping quantity of vehicles in China continuously rises, and the frequency of vehicle traffic accidents is continuously improved. In order to guarantee the safety of people, the government of China pays a large amount of manpower and material resources in the aspect of traffic monitoring and management, but traffic accidents caused by vehicle violation behaviors still occur continuously. On the other hand, in some complicated or high-flow road sections, traffic accidents frequently occur due to the illegal behavior of vehicles to change lanes randomly.
According to the inventor, the existing intelligent detection system for vehicle violation in the prior art is low in sensitivity, and can not detect the violation behaviors of the vehicle changing lanes randomly in time and accurately.
Disclosure of Invention
The invention provides a system and a method for early warning the behavior of changing lanes at will, which aim to solve the problems, and the system and the method carry out real-time analysis on image information collected in a traffic monitoring video according to an intelligent video analysis technology, quickly capture the behavior of changing lanes at will of a vehicle according to the tracking analysis of a vehicle motion track and the combination of lane lines and road lane information, provide timely and effective information for a traffic control center, and feed back current information to a vehicle owner in time through the communication connection between the traffic control center and vehicle-mounted equipment to form the common acquisition of the information of the two parties.
According to some embodiments, the following technical scheme is adopted in the disclosure:
a lane-change-free behavior early warning method comprises the following steps:
acquiring a monitoring video stream, taking a traffic road surface without a vehicle as an original frame image, taking an image with the vehicle as a current frame image, and carrying out image difference operation on the two frame images to obtain vehicle position and track information;
and analyzing the vehicle motion information according to the motion track of the vehicle and by combining the lane line and the lane direction of the road surface, if the transverse displacement change in the vehicle motion information exceeds a set threshold value, early warning is carried out, and violation evidence is obtained for the vehicle according to the vehicle information.
The method is based on the characteristics of the lane change behavior at will, extracts the transverse displacement change characteristics of the vehicle in the lane, carries out early warning and recording on the lane change behavior at will by setting the threshold value, ensures the accuracy of information, and can further avoid the lane change behavior at will by combining with subsequent punishment measures.
As a further limitation, after the monitoring video stream is acquired, the video image is framed, and when the image violation of a certain frame is analyzed, the image is subjected to standard processing and evidence collection.
The method saves the traditional monitoring snapshot link, and further saves the system operation reaction processing time.
As a further limitation, in the moving vehicle detection based on the difference method of the VI BE algorithm background modeling, a traffic road surface where no vehicle passes is used as an original frame image, an image where a vehicle appears is used as a current frame image, and the two frame images are subjected to image difference operation and grayscale binarization operation processing.
As a further limitation, it is determined whether the lateral displacement variation of the vehicle motion trajectory exceeds a first threshold, and if so, it is determined whether the two are consistent with a predetermined direction according to the road surface marking information of the traffic road surface and the vehicle motion direction, and if so, it is determined that there is no free lane change, and if not, it is determined that there is a risk of free lane change. The vehicle can be warned.
And as a further limitation, judging whether the transverse displacement change of the motion trail of the vehicle exceeds a second threshold value, and if so, considering that the random lane change behavior occurs. The vehicle can be warned.
The second threshold is greater than the first threshold.
By way of further limitation, the vehicle information includes, but is not limited to, vehicle model, license plate number, and vehicle driver's license.
A behavior early warning system capable of changing lanes randomly comprises a traffic video image acquisition system, a traffic control center and a vehicle-mounted terminal, wherein the traffic video image acquisition system is configured to acquire monitoring video streams acquired by camera equipment at various traffic intersections;
the traffic control center is configured to be communicated with the traffic video image acquisition system and each vehicle-mounted terminal, a traffic road surface where no vehicle passes is used as an original frame image, an image where the vehicle appears is a current frame image, and the two frame images are subjected to image difference operation to obtain vehicle position and track information;
analyzing vehicle motion information according to the motion track of the vehicle and combining the lane line and the lane direction of the road surface, if the transverse displacement change in the vehicle motion information exceeds a first threshold value, early warning is carried out, and warning information is sent to the vehicle-mounted terminal;
and if the transverse displacement change in the vehicle motion information exceeds a first threshold value, sending alarm information to the vehicle-mounted terminal, and performing violation evidence obtaining on the vehicle.
The vehicle-mounted terminal comprises an output module, and the output module can output at least two different kinds of information.
A computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor of a terminal device and to execute a lane-change-of-will behavior warning method as described.
A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; the computer readable storage medium is used for storing a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the lane-change-free behavior early warning method.
Compared with the prior art, the beneficial effect of this disclosure is:
the method analyzes the image information collected in the traffic monitoring video in real time, quickly captures the behavior of the vehicle changing lanes at will according to the tracking analysis of the motion track of the vehicle and the combination of lane lines and road lane information, provides timely and effective information for a traffic control center, timely feeds back the current information to a vehicle owner through the communication connection between the traffic control center and vehicle-mounted equipment, strengthens the monitoring and detection of the vehicle changing lanes at will, and effectively reduces the occurrence of traffic accidents through early warning and warning.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic block diagram of an early warning system.
Fig. 2 is a flow chart of an implementation of the warning method.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in FIG. 1, the early warning and monitoring system for the vehicle to change lanes randomly comprises a traffic video image acquisition system, an intelligent video analysis system, a traffic control center and vehicle-mounted equipment.
The traffic video image acquisition system is configured to acquire monitoring video streams acquired by the camera equipment at each traffic intersection;
the traffic control center is configured to be communicated with the traffic video image acquisition system and each vehicle-mounted terminal, a traffic road surface where no vehicle passes is used as an original frame image, an image where the vehicle appears is a current frame image, and the two frame images are subjected to image difference operation to obtain vehicle position and track information;
analyzing vehicle motion information according to the motion track of the vehicle and combining the lane line and the lane direction of the road surface, if the transverse displacement change in the vehicle motion information exceeds a first threshold value, early warning is carried out, and warning information is sent to the vehicle-mounted terminal;
and if the transverse displacement change in the vehicle motion information exceeds a first threshold value, sending alarm information to the vehicle-mounted terminal, and performing violation evidence obtaining on the vehicle.
The vehicle-mounted terminal comprises an output module, and the output module can output at least two different kinds of information. In this embodiment, the output module is a display lamp, and can emit red light and yellow light.
FIG. 2 is a schematic flow chart of an implementation of the system for optionally changing the vehicle, which includes the following steps.
The first step is as follows: when the vehicle arrives at a specific traffic monitoring area, the vehicle-mounted equipment establishes communication connection with a traffic monitoring center.
The second step is that: providing a traffic monitoring video stream to an intelligent video analysis system;
the third step: detecting moving vehicles in traffic monitoring and tracking the moving tracks of the vehicles;
the fourth step: and analyzing the vehicle motion information according to the motion track and by combining the lane line and the lane direction of the road surface, and according to a set threshold value, early warning by a yellow light of the vehicle-mounted equipment when the vehicle breaks rules and regulations, and warning by a red light after the vehicle breaks rules and regulations are confirmed.
The fifth step: and carrying out violation evidence obtaining on the vehicle according to the vehicle information provided by the vehicle-mounted equipment.
After the vehicle arrives at a specific traffic monitoring area, the vehicle-mounted equipment establishes communication with a traffic monitoring center, and the traffic center obtains specific vehicle information through the vehicle-mounted equipment, wherein the vehicle information comprises but is not limited to vehicle model, license plate number, vehicle driving license and the like.
When the vehicle arrives at the monitoring area of the traffic video acquisition system, the vehicle-mounted equipment of the vehicle establishes communication with the traffic control center. The traffic video acquisition system adopts an automatic storage and evidence obtaining system based on video stream, transmits monitored video images to the intelligent video analysis system in a frame-by-frame mode, and carries out standard processing and evidence obtaining on the images when analyzing that the images of a certain frame violate regulations, thereby saving the traditional monitoring snapshot link and further saving the system operation reaction processing time.
In the second step, the traffic monitoring video transmitted to the intelligent video analysis system is real-time, and the system is automatically stored and evidence obtained based on video streams.
In the third step, the intelligent video analysis system detects moving vehicles based on a difference method of VI BE algorithm background modeling, takes a traffic road surface without vehicles as an original frame image, takes an image of a vehicle as a current frame image, performs image difference operation on the two frame images, performs gray level binarization operation processing, and quickly obtains accurate and effective vehicle position and track information.
According to the motion detection of the vehicle, the related information such as the position of the vehicle, the direction of the motion track, the coordinate change and the like can be obtained. When the vehicle illegal lane change turning detection is carried out, the lane running direction information analysis in the real traffic monitoring scene is combined, and the direction pointing information related to the position of the lane is distinguished from the specified running direction of the lane.
The intelligent video analysis system judges whether the vehicle motion track has large transverse displacement change or not, and judges whether the vehicle motion track and the vehicle motion track are consistent with a specified direction or not according to the road sign information of the traffic road and the vehicle motion direction. If the displacement is generated transversely, the displacement direction is judged, and two threshold values are set in advance during running calculation, wherein one threshold value is used for warning that the lane is about to be changed randomly, and the other threshold value is used for warning that the lane is changed randomly.
And judging whether the vehicle behavior is judged according to the geometric direction of the vehicle track according to the motion track and the direction of the lane line and the lane direction of the road surface, judging whether the vehicle has the behavior of changing the lane randomly according to a preset threshold value, and giving a warning in advance. If the vehicle has the violation behavior of changing lanes at will, the vehicle-mounted equipment also needs to give a warning in advance to remind the vehicle owner to avoid traffic accidents caused by the fact that the vehicle changes lanes at will.
Specifically, if the lane transverse displacement change is met and the motion trail of the tracked vehicle reaches a first threshold value, the intelligent video analysis system feeds back information to the traffic monitoring center, and the traffic monitoring department flashes a yellow light on the vehicle-mounted equipment to give a warning according to the communication relation with the vehicle-mounted equipment; if the movement track of the vehicle reaches the second threshold value due to the fact that the vehicle speed is too fast or the vehicle owner reacts too slowly, the vehicle-mounted equipment gives a red light and buzzes for reminding, and other traffic accidents caused by the violation behaviors of changing lanes randomly are avoided.
In the monitoring system, after detecting that the vehicle has a violation behavior, the traffic control center obtains real-time vehicle information according to communication contact with the vehicle-mounted equipment, wherein the vehicle information includes but is not limited to a vehicle model, a license plate number, a vehicle driving license and the like, and the traffic control center can collect and store corresponding violation vehicles.
The video image acquisition equipment simultaneously performs real-time data transmission with the traffic control center and the intelligent video analysis system, the intelligent video analysis system performs real-time capture on vehicles which randomly change lanes in the video images, and the traffic control department center performs real-time storage on video images of the vehicles which violate the regulations.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (7)
1. A lane-change-at-will behavior early warning method is characterized in that: the method comprises the following steps:
acquiring a monitoring video stream, detecting moving vehicles based on a difference method of VIBE algorithm background modeling, taking a traffic road surface without vehicles as an original frame image, taking an image of a vehicle as a current frame image, carrying out image difference operation on the two frame images, carrying out gray level binarization operation processing, and obtaining vehicle position and track information; the vehicle position and trajectory information specifically includes: the direction and coordinate changes of the vehicle position and motion trajectory;
the traffic video acquisition system adopts an automatic storage and evidence collection system based on video stream, transmits monitored video images to an intelligent video analysis system in a frame-by-frame mode, and performs standard processing and evidence collection on the images when the images of a certain frame are analyzed to be illegal;
analyzing vehicle motion information according to the motion track of the vehicle and in combination with the lane line and the road lane direction, judging whether the vehicle behavior is judged according to the geometric direction of the vehicle track according to the motion track and in combination with the lane line and the road lane direction, judging whether the vehicle has the behavior of changing lanes randomly according to a preset threshold value, if the transverse displacement change in the vehicle motion information exceeds the preset threshold value, early warning is carried out, and violation evidence is obtained for the vehicle according to the vehicle information;
judging whether the transverse displacement change of the vehicle motion track exceeds a first threshold value, if so, judging whether the transverse displacement change of the vehicle motion track is consistent with a specified direction according to the road surface mark information of the traffic road surface and the direction of the motion track, if so, judging that the vehicle does not have random lane change, and if not, judging that the vehicle has random lane change risk and giving an early warning to the vehicle;
judging whether the transverse displacement change of the vehicle motion track exceeds a second threshold value, and if so, determining that random lane changing behavior occurs; if the lane transverse displacement change is met and the movement track of the tracked vehicle reaches a first threshold value, the intelligent video analysis system feeds information back to the traffic monitoring center in time, and the traffic monitoring center flashes a yellow light to give a warning on the vehicle-mounted device according to the communication relation with the vehicle-mounted device; if the vehicle speed is too fast or the vehicle owner reacts too slowly to cause that the motion trail of the vehicle reaches a second threshold value, the vehicle-mounted equipment gives a red light and buzzes for reminding; the video image acquisition equipment simultaneously performs real-time data transmission with a traffic control center and an intelligent video analysis system, the intelligent video analysis system performs real-time capture on vehicles which randomly change lanes in the video images, and a traffic control department center performs real-time storage on video images of the vehicles which violate the regulations;
the method analyzes image information collected in the traffic monitoring video in real time, quickly captures the behavior of the vehicle changing lanes at will according to the tracking analysis of the vehicle motion track and the combination of lane lines and road lane information, provides timely and effective information for a traffic control center, and feeds back current information to an owner in time through the communication connection between the traffic control center and vehicle-mounted equipment.
2. The warning method for the behavior of changing lanes as claimed in claim 1, wherein: after the monitoring video stream is obtained, the video image is framed, and when the image violation of a certain frame is analyzed, the image is subjected to standard processing and evidence collection.
3. The lane-change-at-will behavior early warning method as claimed in claim 1, characterized in that: the second threshold is greater than the first threshold.
4. The lane-change-at-will behavior early warning method as claimed in claim 1, characterized in that: the vehicle information includes, but is not limited to, vehicle model, license plate number, and vehicle driver's license.
5. A lane-change-at-will behavior early warning system is characterized in that: the system comprises a traffic video image acquisition system, a traffic control center and a vehicle-mounted terminal, wherein the traffic video image acquisition system is configured to acquire monitoring video streams acquired by camera equipment at each traffic intersection;
the traffic control center is configured to be communicated with the traffic video image acquisition system and each vehicle-mounted terminal, a traffic road surface where no vehicle passes is used as an original frame image, an image where the vehicle appears is a current frame image, and the two frame images are subjected to image difference operation to obtain vehicle position and track information; the traffic video image acquisition system adopts an automatic storage and evidence collection system based on video stream, transmits monitored video images to an intelligent video analysis system in a frame-by-frame mode, and performs standard processing and evidence collection on the images when the images of a certain frame are analyzed to be illegal;
analyzing vehicle motion information according to the motion track of the vehicle and combining the lane line and the lane direction of the road surface, if the transverse displacement change in the vehicle motion information exceeds a first threshold value, early warning is carried out, and warning information is sent to the vehicle-mounted terminal;
if the transverse displacement change in the vehicle motion information exceeds a first threshold value, sending alarm information to a vehicle-mounted terminal, and carrying out violation evidence obtaining on the vehicle;
judging whether the transverse displacement change of the vehicle motion track exceeds a first threshold value, if so, judging whether the transverse displacement change of the vehicle motion track is consistent with a specified direction according to the road surface mark information of the traffic road surface and the direction of the motion track, if so, judging that the vehicle does not have random lane change, and if not, judging that the vehicle has random lane change risk and giving an early warning to the vehicle;
judging whether the transverse displacement change of the vehicle motion track exceeds a second threshold value, and if so, determining that random lane changing behavior occurs;
the vehicle-mounted terminal comprises an output module, and the output module can output at least two different kinds of information; if the lane transverse displacement change is met and the movement track of the tracked vehicle reaches the first threshold value, the intelligent video analysis system feeds back information to the traffic monitoring center, and the traffic monitoring center flashes a yellow light to give a warning on the vehicle-mounted equipment according to the communication relation with the vehicle-mounted equipment; if the motion trail of the vehicle reaches a second threshold value due to the fact that the vehicle speed is too fast or the vehicle owner reacts too slowly, the vehicle-mounted equipment gives a red light and buzzes for reminding; the video image acquisition equipment simultaneously performs real-time data transmission with a traffic control center and an intelligent video analysis system, the intelligent video analysis system performs real-time capture on vehicles which randomly change lanes in the video images, and a traffic control department center performs real-time storage on video images of the vehicles which violate the regulations;
the lane-changing-at-will behavior early warning system analyzes image information collected in a traffic monitoring video in real time, quickly captures the behavior of the vehicle changing lanes at will according to the tracking analysis of the motion track of the vehicle and the combination of lane lines and road lane information, provides timely and effective information for a traffic control center, and feeds back current information to a vehicle owner in time through the communication connection between the traffic control center and vehicle-mounted equipment.
6. A computer-readable storage medium characterized by: a plurality of instructions are stored, the instructions are suitable for being loaded by a processor of the terminal equipment and executing the lane-change-at-will behavior early warning method as set forth in any one of claims 1 to 4.
7. A terminal device is characterized in that: comprising a processor and a computer readable storage medium, the processor for implementing instructions; the computer readable storage medium is used for storing a plurality of instructions, which are suitable for being loaded by a processor and executing the lane-change-at-will behavior early warning method as set forth in any one of claims 1-4.
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| CN110299027B (en) * | 2019-07-12 | 2021-12-14 | 山东交通学院 | Vehicle lane change monitoring and safety early warning method based on track data and map data |
| CN112446902A (en) * | 2020-11-24 | 2021-03-05 | 浙江大华技术股份有限公司 | Method and device for determining abnormality of target vehicle, storage medium, and electronic device |
| CN114283587A (en) * | 2021-12-29 | 2022-04-05 | 安徽达尔智能控制系统股份有限公司 | Crossroad vehicle violation lane change early warning management and control method and system based on radar vision monitoring |
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| CN101704367A (en) * | 2009-11-03 | 2010-05-12 | 奇瑞汽车股份有限公司 | Lane departure prewarning device and prewarning method |
| CN102622886B (en) * | 2012-03-23 | 2014-04-30 | 长安大学 | Video-based method for detecting violation lane-changing incident of vehicle |
| CN102785661B (en) * | 2012-08-20 | 2015-05-13 | 深圳先进技术研究院 | Lane departure control system and lane departure control method |
| CN105632175B (en) * | 2016-01-08 | 2019-03-29 | 上海微锐智能科技有限公司 | Vehicle behavior analysis method and system |
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