CN110809228A - Speed measurement method, device, equipment and computer readable storage medium - Google Patents
Speed measurement method, device, equipment and computer readable storage medium Download PDFInfo
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- CN110809228A CN110809228A CN201810792554.8A CN201810792554A CN110809228A CN 110809228 A CN110809228 A CN 110809228A CN 201810792554 A CN201810792554 A CN 201810792554A CN 110809228 A CN110809228 A CN 110809228A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 181
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- 238000000926 separation method Methods 0.000 claims description 14
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- 238000004590 computer program Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 abstract description 59
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The invention provides a speed measuring method, a device, equipment and a computer readable storage medium, wherein the method comprises the following steps: the first image acquisition equipment acquires a first image, and the second image acquisition equipment acquires a second image; the first image and the second image have the same partial image; calculating the movement displacement of the movable carrier according to the spacing distance between the first image acquisition device and the second image acquisition device and the relative displacement of the same partial images of the first image and the second image; acquiring the interval time of the first image acquisition equipment and the second image acquisition equipment for acquiring images; and determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of the acquired images. The scheme solves the problems of low vehicle displacement/speed measurement precision and high cost in the prior art, reduces the vehicle displacement/speed measurement cost and improves the accuracy of the measurement result.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a speed measurement method, apparatus, device, and computer-readable storage medium.
Background
The measurement of vehicle displacement/speed is a basic measurement project in the transportation industry and the automobile industry. Such as vehicle speed measurement, overspeed measurement, acceleration measurement, etc., are dependent on this basic measurement item. The high-precision measurement of the vehicle displacement/speed can be used for evaluating the vehicle performance, the road condition and the like, and has important significance for the aspects of traffic rule formulation, traffic accident identification and the like.
The existing vehicle displacement/speed measurement technology mainly comprises GPS speed measurement, radar speed measurement, photoelectric or electromagnetic induction speed measurement, optical speed measurement and the like. The GPS speed measurement is specifically used for measuring the moving speed of a vehicle through a GPS positioning system, and the GPS data of the speed measurement method is delayed, slow in data updating and poor in real-time performance; and the GPS satellite signal is poor in the urban high-rise forest environment, thus resulting in low accuracy of the measurement result. The radar speed measurement method utilizes the Doppler effect principle, when a transmitted wave and a reflecting object move relatively, the frequency of the reflected wave changes, and the speed of a vehicle is determined according to the frequency change of the reflected wave. The photoelectric or electromagnetic induction speed measurement is realized by mounting a photoelectric or electromagnetic induction device on a wheel, and the vehicle speed is measured according to the rotating speed of the wheel, and the measurement accuracy of the speed measurement method depends on the conditions of the inflation state, the wear state of the wheel, the vehicle-mounted condition and the like of the wheel, so the measurement accuracy is not high. The optical speed measurement specifically comprises a laser Doppler speed measurement method and a grating filtering speed measurement method, and the optical speed measurement technology can improve the measurement accuracy to a certain extent. However, the optical speed measurement scheme has extremely high requirements on coherent light sources, and laser measurement equipment or grating devices have high cost and low cost performance for common users.
Therefore, the vehicle displacement/speed measurement technology in the prior art has low measurement precision or high measurement cost.
Disclosure of Invention
The invention provides a speed measuring method, a speed measuring device, speed measuring equipment and a computer readable storage medium, which can accurately obtain the moving speed of a movable carrier without purchasing expensive measuring equipment. The method and the device not only solve the problems of low measurement precision or high measurement cost of the vehicle displacement/speed measurement technology in the prior art, but also reduce the cost of vehicle displacement/speed measurement and improve the accuracy of the measurement result.
The first aspect of the invention provides a speed measuring method, which is used for a movable carrier, wherein at least two image acquisition devices are installed on the movable carrier, and a first image acquisition device and a second image acquisition device are arranged at a front-back interval in the moving direction of the movable carrier; the method comprises the following steps: the first image acquisition equipment acquires a first image, and the second image acquisition equipment acquires a second image; the first image and the second image have the same partial image; calculating the movement displacement of the movable carrier according to the spacing distance between the first image acquisition device and the second image acquisition device and the relative displacement of the same partial images of the first image and the second image; acquiring the interval time of the first image acquisition equipment and the second image acquisition equipment for acquiring images; and determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of the acquired images.
Optionally, the calculating the movement displacement of the movable carrier according to the separation distance between the first image capturing device and the second image capturing device and the relative displacement of the same partial image of the first image and the second image specifically includes: judging whether the direction of the relative displacement and the advancing direction of the movable carrier are in the same preset pointing range or not; determining the sum of the separation distance and the relative displacement as a first total displacement of the movable carrier if the direction of the relative displacement and the advancing direction of the movable carrier are within the same preset pointing range; and said determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of the acquired images specifically comprises: determining a quotient of the first total displacement and the interval time as a movement speed of the movable carrier.
Optionally, the method further comprises: if the direction of the relative displacement and the advancing direction of the movable carrier are not in the same preset pointing range, determining the difference value between the spacing distance and the relative displacement as a second total displacement of the movable carrier; and the determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of the acquired images specifically further comprises: determining a quotient of the second total displacement and the interval time as a movement speed of the movable carrier.
Optionally, after calculating the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of the acquired images, the method further includes: predicting the moving speed range; and adjusting the spacing distance between the first image acquisition device and the second image acquisition device and/or the spacing time for acquiring images according to the predicted movement speed range.
Optionally, after the determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of the image acquisition, further comprising: judging whether the moving speed of the movable carrier is lower than a preset threshold value or not; if the moving speed of the movable carrier is lower than the preset threshold, acquiring adjacent images acquired by the first image set device or the second image set device every other preset time period; calculating a third total displacement of the movable carrier over the preset time period from the neighboring images; determining a quotient of the third total displacement and the preset time period as a current velocity of the movable carrier.
A second aspect of the present invention provides a speed measuring apparatus for a movable carrier, on which at least two image capturing devices are mounted, wherein a first image capturing device and a second image capturing device are arranged at a distance from each other in a moving direction of the movable carrier; the device comprises: the first image acquisition equipment is used for acquiring a first image; the second image acquisition equipment is used for acquiring a second image; the first image and the second image have the same partial image; the calculation module is used for calculating the movement displacement of the movable carrier according to the spacing distance between the first image acquisition device and the second image acquisition device and the relative displacement of the same partial images of the first image and the second image; the acquisition module is used for acquiring the interval time of the acquisition images of the first image acquisition device and the second image acquisition device; a determining module for determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of the collected images.
Optionally, the calculation module is specifically configured to: judging whether the direction of the relative displacement and the advancing direction of the movable carrier are in the same preset pointing range or not; determining the sum of the separation distance and the relative displacement as a first total displacement of the movable carrier if the direction of the relative displacement and the advancing direction of the movable carrier are within the same preset pointing range; and the determining module is specifically configured to: determining a quotient of the first total displacement and the interval time as a movement speed of the movable carrier.
Optionally, the computing module is further specifically configured to: if the direction of the relative displacement and the advancing direction of the movable carrier are not in the same preset pointing range, determining the difference value between the spacing distance and the relative displacement as a second total displacement of the movable carrier; and the determining module is specifically further configured to: determining a quotient of the second total displacement and the interval time as a movement speed of the movable carrier.
Optionally, the method further comprises: the prediction module is used for predicting the moving speed range; and the adjusting module is used for adjusting the spacing distance between the first image acquisition device and the second image acquisition device and/or the spacing time for acquiring images according to the predicted movement speed range.
Optionally, the method further comprises: the judging module is used for judging whether the moving speed of the movable carrier is lower than a preset threshold value or not; the acquisition module is further configured to acquire adjacent images acquired by the first image gathering device or the second image gathering device every preset time period if the moving speed of the movable carrier is lower than the preset threshold; the calculation module is further configured to calculate a third total displacement of the movable carrier within the preset time period from the neighboring images; the determining module is further configured to determine a quotient of the third total displacement and the preset time period as a current speed of the movable carrier.
A third aspect of the invention provides a movable carrier apparatus comprising: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to perform the method of the first aspect of the invention and any of its alternatives.
A fourth aspect of the present invention provides a computer-readable storage medium comprising: a program which, when run on a computer, causes the computer to perform the method of the first aspect of the invention and any of its alternatives.
According to the speed measuring method, the speed measuring device, the speed measuring equipment and the computer readable storage medium, the first image and the second image are respectively acquired through the two image acquisition equipment, the same partial image of the first image and the second image is ensured, and then the moving displacement of the movable carrier is calculated according to the spacing distance between the first image acquisition equipment and the second image acquisition equipment and the relative displacement of the same partial image of the first image and the second image; and determining the moving speed of the movable carrier according to the moving displacement and the interval time of the first image acquisition equipment and the second image acquisition equipment for acquiring the images. Therefore, the moving speed of the movable carrier can be accurately obtained by combining the image processing technology without purchasing expensive measuring equipment. The method and the device not only solve the problems of low measurement precision or high measurement cost of the vehicle displacement/speed measurement technology in the prior art, but also reduce the cost of vehicle displacement/speed measurement and improve the accuracy of the measurement result.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart illustrating a method of speed measurement in accordance with an exemplary embodiment of the present invention;
FIG. 2A is a schematic view of a camera head installation according to an exemplary embodiment of the present invention;
2B-2E are schematic diagrams of shooting by the camera 1 and the camera 2 in scenes of time t1 and time t2 according to an exemplary embodiment of the present invention;
FIG. 3 is a flow chart illustrating a method of speed measurement according to another exemplary embodiment of the present invention;
FIG. 4 is a block diagram illustrating a speed measurement device in accordance with an exemplary embodiment of the present invention;
FIG. 5 is a block diagram illustrating a speed measurement device according to another exemplary embodiment of the present invention;
fig. 6 is a block diagram illustrating a speed measuring apparatus according to an exemplary embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart illustrating a speed measurement method according to an exemplary embodiment of the present invention. Fig. 2A is a schematic view of camera installation according to an exemplary embodiment of the present invention.
As shown in fig. 1, the main execution body of the present embodiment is a speed measurement device, which may be disposed in a movable carrier on which at least two image capturing apparatuses are mounted, wherein the first image capturing apparatus and the second image capturing apparatus are disposed at a distance from each other in the moving direction of the movable carrier. The present embodiment provides a speed measuring method, which includes the following steps:
step 101: the method comprises the steps that a first image acquisition device acquires a first image, and a second image acquisition device acquires a second image; the first image and the second image have the same partial image.
The movable carrier may be a vehicle, and the first image capturing device and the second image capturing device may be high-speed cameras mounted on the vehicle, and the two high-speed cameras are spaced back and forth in a moving direction of the vehicle. Such as horizontally disposed camera 1 and camera 2 as shown in fig. 2A. The cameras 1 and 2 may be any shape, which is not limited in this embodiment.
In this step, two images are acquired by two image acquisition devices mounted on a movable carrier and it is ensured that the first image and the second image have the same partial image, i.e. the two preceding and succeeding images have portions that coincide. The specific contents of the overlapping portions are not limited. Specifically, as shown in fig. 2A, two cameras are mounted on the vehicle, and the two cameras are mounted in the vehicle advancing direction at a certain preset interval. For example, the exposure shooting time of the two cameras can be controlled separately. To achieve high speed, sharp shots, the camera may achieve short exposure times (e.g., microseconds). A light source may be added to the camera to obtain a sharp image at short exposure times. For example, the light source may emit strong light when the camera is exposed for shooting. In the specific shooting process, the first camera 1 shoots firstly to acquire a first image, and then the second camera 2 shoots when shooting nearby through the first camera 1, so that a second image can be acquired, and the overlapped part of the first image and the second image is ensured. In practical application, images acquired by the two cameras can be screened, and two images with repeated parts of the two images are screened out and respectively used as a first image and a second image.
Step 102: and calculating the movement displacement of the movable carrier according to the spacing distance between the first image acquisition device and the second image acquisition device and the relative displacement of the same partial images of the first image and the second image.
The distance is preset when the image acquisition device is installed, and the size of the distance can be determined according to an empirical value, or according to the corresponding relationship between various parameters of the movable carrier and the distance, and the determination mode of the distance is not limited in this embodiment. The relative displacement refers to the relative displacement of the overlapped parts in the two front and back images, such as the object a appearing in the first image, and also appearing in the second image as a1, where the relative displacement may be the relative displacement of a and a 1.
In this step, the movement displacement of the movable carrier can be calculated by the separation distance between the first image acquisition device and the second image acquisition device and the relative displacement of the same partial images of the first image and the second image. The relative displacement may be obtained by using an image processing technique, or may be obtained by using other methods, and the determination method of the relative displacement is not limited in this embodiment.
Step 103: and acquiring the interval time of the acquisition images of the first image acquisition device and the second image acquisition device.
In this step, the interval time is a time interval between the two image capturing devices when capturing images, and the interval time may be set in advance. For example, as shown in fig. 2A, in a camera 1 and a camera 2, assuming that the camera 1 acquires a first image at a first time and the camera 2 acquires a second image at a second time, the interval is the interval between the first time and the second time. The interval time may be obtained in a pre-stored database, or may be obtained by analyzing the first image and the second image, which is not limited in this embodiment.
Step 104: and determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time for acquiring the images.
In this step, after the movement displacement of the movable carrier and the interval time for acquiring the image are determined, the movement speed of the movable carrier can be determined. The moving displacement obtained by the scheme of image processing in the step 102 is more accurate, simple and convenient, and similarly, the interval time can be easily obtained in the step 103, so that expensive measuring equipment is not required to be purchased, the moving speed of the movable carrier can be accurately obtained by combining an image processing technology, the problem of difficulty in image matching caused by different shooting angles in the prior art is solved, the cost of vehicle displacement/speed measurement is reduced, and the accuracy of a measurement result is improved.
Fig. 3 is a flowchart illustrating a speed measurement method according to another exemplary embodiment of the present invention.
As shown in fig. 3, the present embodiment provides a speed measurement method, which is based on the speed measurement method shown in an exemplary embodiment of the present invention, and further includes: the specific calculation of the moving displacement of the movable carrier, the specific determination of the moving speed, the adjustment of the interval time according to the change of the moving speed, the speed determination during low-speed movement and the like.
Step 301: the method comprises the steps that a first image acquisition device acquires a first image, and a second image acquisition device acquires a second image; the first image and the second image have the same partial image.
In this embodiment, the implementation manner of step 301 refers to the description of step 101 in the embodiment shown in fig. 1 in detail.
Step 302: and judging whether the direction of the relative displacement and the advancing direction of the movable carrier are in the same preset pointing range or not. If yes, go to step 303. Otherwise, step 305 is performed.
In this step, after the first image and the second image are obtained in step 301, the relative displacement of the same partial image may be obtained from the two images through an image processing technique, and the positional relationship between the relative displacement and the advancing direction of the movable carrier may be obtained by judging whether the direction of the relative displacement and the advancing direction of the movable carrier are within the same preset pointing range; the preset pointing range may be an angular range, for example, a range of an included angle between the direction of the relative displacement and the advancing direction of the movable carrier, for example, when the included angle between the direction of the relative displacement and the advancing direction of the movable carrier is in an acute angle range, the direction of the relative displacement and the advancing direction of the movable carrier are determined to be in the same preset pointing range.
Step 303: the sum of the separation distance and the relative displacement is determined as a first total displacement of the movable carrier.
In this step, if the direction of the relative displacement and the advancing direction of the movable carrier are within the same preset pointing range, for example, the preset pointing range is an acute angle range, as shown in fig. 2A, taking two cameras on a vehicle as an example, it is described that the direction of the relative displacement of the same partial images in the two images is toward the advancing direction of the vehicle, which may be caused by the vehicle traveling faster, and the sum of the separation distance and the relative displacement of the two cameras is the actual total displacement of the vehicle, that is, the first total displacement of the movable carrier. Therefore, the distance between the two cameras during installation is considered, tiny relative displacement is obtained through image matching analysis, the influence of the relative displacement on the total displacement of the vehicle when the vehicle speed is fast is fully considered, and the accuracy of the vehicle speed measurement result is improved.
Step 304: the quotient of the first total displacement and the interval time is determined as the displacement speed of the movable carrier.
In this step, a first total displacement of the movable carrier is calculated in step 303, and the time when the displacement occurs is the interval time between the two image capturing devices when capturing the images, so that the quotient of the first total displacement and the interval time is determined as the moving speed of the movable carrier. Therefore, the moving speed of the movable carrier can be obtained only by simple calculation, and the measurement cost is reduced.
Step 305: the difference of the separation distance and the relative displacement is determined as a second total displacement of the movable carrier.
In this step, if the direction of the relative displacement and the advancing direction of the movable carrier are not within the same preset pointing range, for example, the preset pointing range is an acute angle range, as shown in fig. 2A, taking two cameras on the vehicle as an example, it is described that the direction of the relative displacement of the same partial images in the two images is different from the advancing direction of the vehicle, which may be caused by a slower vehicle speed, and the difference obtained by subtracting the relative displacement from the separation distance between the two cameras is the actual total displacement of the vehicle, that is, the second total displacement of the movable carrier. Therefore, the distance between the two cameras during installation is considered, tiny relative displacement is obtained through image matching analysis, the influence of the relative displacement on the total displacement of the vehicle when the vehicle speed is slow is fully considered, and the accuracy of the vehicle speed measurement result is improved.
Step 306: the quotient of the second total displacement and the interval time is determined as the movement speed of the movable carrier.
In this step, a second total displacement of the movable carrier is calculated in step 305, and the time when the displacement occurs is the interval time between the two image capturing devices when capturing the images, so that the quotient of the second total displacement and the interval time is determined as the moving speed of the movable carrier. Therefore, the moving speed of the vehicle under the condition of relative displacement caused by low vehicle speed can be obtained only by simple calculation, the accuracy of a calculation result is improved, and the measurement cost is reduced.
Preferably, after step 304 or step 306, the method further comprises:
step 307: and predicting the moving speed range.
In the step, after the moving speed of the movable carrier is measured, the speed range of the movable carrier can be predicted in real time; as shown in fig. 2A, taking a vehicle as an example, a third camera may be installed on the vehicle, and the third camera acquires the surrounding environment information of the vehicle, and predicts the current moving speed range of the vehicle according to the surrounding environment information, such as determining the traffic information and the people flow information in the surrounding environment. The mapping relationship between the traffic flow information and the pedestrian flow information and the moving speed range is stored in advance. And comparing the determined traffic flow information and the pedestrian flow information with the pre-stored traffic flow information and pedestrian flow information to obtain the moving speed range of the matched traffic flow information and pedestrian flow information, wherein the moving speed range is the predicted current moving speed range of the vehicle. It is to be understood that the prediction of the moving speed range may be in other manners, and the prediction manner of the moving speed range is not limited in this embodiment.
Step 308: and adjusting the spacing distance between the first image acquisition device and the second image acquisition device and/or the spacing time for acquiring the images according to the predicted movement speed range.
In this step, since the moving speed of the vehicle affects the calculation of the total displacement of the vehicle, the distance between the first image acquisition device and the second image acquisition device can be adjusted according to the predicted range, so that the influence of the relative displacement on the total displacement of the vehicle is reduced, and the accuracy of the measurement result is improved. The shooting interval time of the camera 1 and the camera 2 can also be adjusted. For example, the interval time and the interval distance which need to be adjusted are determined according to the pre-stored mapping relationship between the preset speed range and the interval distance and the interval time. By predicting the moving speed range of the movable carrier and adjusting the interval distance and/or interval time influencing the speed calculation result in real time according to the prediction result, the speed measurement result can be obtained more accurately, and the flexibility and diversity of speed measurement are increased.
Preferably, after step 304 or step 306, the method further comprises:
step 309: and judging whether the moving speed of the movable carrier is lower than a preset threshold value. If yes, go to step 310, otherwise, end.
The preset threshold may be determined according to actual application experience or according to a level of image processing technology, which is not limited in this embodiment.
In this step, after the moving speed of the movable carrier is measured, the moving speed can be judged in real time, and whether the moving speed is lower than a preset threshold value or not is judged. If not, the description may continue with the measurement of the moving speed in steps 301 to 306. Otherwise, i.e. the moving speed is lower than the preset threshold, it means that the moving speed can be determined as follows.
Step 310: and if the moving speed of the movable carrier is lower than a preset threshold value, acquiring adjacent images acquired by the first image set device or the second image set device every preset time period.
Wherein, the adjacent images are acquired at preset time intervals, such as two continuous frames of images of one acquisition device. Of course, adjacent images extracted every two frames are also possible. The present embodiment does not limit the specific value of the preset time period.
In this step, taking the vehicle as an example, if the moving speed of the vehicle is lower than the preset threshold, it is indicated that the moving speed of the vehicle is slow, and at this time, two image capturing devices do not need to be used, and the moving speed of the vehicle can be determined only by an image captured by one of the image capturing devices. Then adjacent images acquired by either the first image gathering device or the second image gathering device at preset time intervals may be acquired. One image acquisition device is adopted to acquire image information, so that acquisition resources are greatly saved, and the measurement cost is reduced.
Step 311: a third total displacement of the movable carrier over the preset time period is calculated from the neighboring images.
In this step, from the adjacent images, a third total displacement of the movable carrier within a preset time period can be calculated. For example, the camera 1 shown in fig. 2A, assuming that the vehicle is traveling slowly, two consecutive frames of images collected by the camera can be used as adjacent images, and then a third total displacement of the vehicle can be obtained through image analysis. The scheme is simple and convenient, and the practicability is high.
Step 312: the quotient of the third total displacement and the preset time period is determined as the current speed of the movable carrier.
In this step, the third total displacement is the actual displacement of the movable carrier over the preset time period. The quotient of the third total displacement and the preset time period is the current speed of the movable carrier. Taking the above two consecutive frames of images of the camera 1 shown in fig. 2A as an example, where the interval time between two consecutive frames of images is a preset time period, the quotient of the third total displacement and the interval time between two consecutive frames of images is the current speed of the vehicle. Thus, the measurement result can be accurately obtained through simple calculation.
In the speed measuring method provided by this embodiment, the two image capturing devices respectively capture the first image and the second image, the relative displacement of the same partial image of the first image and the second image is analyzed, and when the direction of the relative displacement and the advancing direction of the movable carrier are within the same preset pointing range, the sum of the distance between the two image capturing devices and the relative displacement is determined as the first total displacement of the movable carrier, and the quotient of the first total displacement and the interval time is determined as the moving speed of the movable carrier. And when the direction of the relative displacement and the advancing direction of the movable carrier are not in the same preset pointing range, determining the difference value of the spacing distance and the relative displacement as a second total displacement of the movable carrier, and further determining the quotient of the second total displacement and the spacing time as the moving speed of the movable carrier. The speed measurement cost is reduced, the influence of the actual speed of the movable carrier on the measurement result is fully considered, the total displacement of the movable carrier is determined through the relative displacement and the spacing distance of the image acquisition equipment, and the accuracy of the measurement result is further improved. And the spacing distance and/or the spacing time are/is adjusted in real time, and a single image acquisition device is adopted to acquire image data in a low-speed driving state, so that the flexibility and diversity of speed measurement are enriched, acquisition resources are saved, and the practicability is higher.
It should be noted that, the manner of calculating the movement displacement of the movable carrier according to the separation distance between the first image capturing device and the second image capturing device and the relative displacement of the same partial image of the first image and the second image in the present application is not limited to the manner described in the above embodiment, and other manners capable of calculating the movement displacement of the movable carrier according to the above parameters are all applicable to the present application. For example, as shown in fig. 2A, taking a vehicle as an example, the camera 1 and the camera 2 are mounted on the vehicle, and when the focal length f of the camera 1 and the camera 2 is known, the moving displacement of the movable carrier can be calculated as follows:
as shown in fig. 2B to 2D, it is assumed that a shooting reference object is selected, the distance between two cameras is D, and the height of the two cameras from the ground is H. In the scene of time t1, the reference object is in the relative position with respect to the camera 1 and the camera 2 as shown in fig. 2B, and at a time point t1, the camera 1 captures a first image (as shown in fig. 2C), and the position d1 of the reference object in the first image is as shown in fig. 2C. In the scene of time t2, the reference object is in the relative position with the camera 1 and the camera 2 as shown in fig. 2D, and at the time point t2, the camera 2 captures a second image (as shown in fig. 2E), and the position D2 of the reference object in the second image is as shown in fig. 2E. In fig. 2C and 2E, assuming that the coordinate system is the direction of image progression, d1 and d2 are positions from the left side of the image (actually from the left side of the camera sensor's light-sensing surface), and d1 and d2 both refer to physical locations on the sensor that can be derived from pixel locations based on the physical size and image resolution of the sensor. Assuming that the first image and the second image are the same size, d2> d 1. Then the moving distance of the reference object between the first image and the second image can be obtained as follows:
Δd＝d2-d1
assuming that the moving displacement of the vehicle is b in the time period from t1 to t2, the geometric relationship can be:
therefore, the following steps are obtained:
the movement displacement of the vehicle can be obtained:
S＝D+b
the speed of the vehicle can then be found:
since d2-d1 are position differences based on the coordinate system, Δ d may have positive or negative values depending on the actual situation. Accordingly, b is therefore positive or negative. If b >0, the moving displacement of the vehicle is larger than the installation distance of the two cameras in the time difference of t2-t 1; b <0 indicates that the moving displacement of the vehicle is smaller than the installation distance of the two cameras within the time difference of t2-t 1.
It should be noted that the above-mentioned assumption that the coordinate system is the forward direction of the image is only an exemplary illustration of the present embodiment, and the present embodiment does not limit the selection manner of the coordinate learning. For example, the origin of the coordinate system may be set at the center of the image.
Fig. 4 is a block diagram illustrating a speed measuring device according to an exemplary embodiment of the present invention.
As shown in fig. 4, the present embodiment provides a speed measuring apparatus, which may be integrated in a movable carrier on which at least two image capturing devices are mounted, wherein a first image capturing device 41 and a second image capturing device 42 are arranged at a distance back and forth in the moving direction of the movable carrier. The device includes: a first image acquisition device 41, a second image acquisition device 42, a calculation module 43, an acquisition module 44 and a determination module 45.
Wherein the first image capturing device 41 is configured to capture a first image. The second image capturing device 42 is used to capture a second image. The first image and the second image have the same partial image.
And a calculating module 43, configured to calculate a movement displacement of the movable carrier according to the separation distance between the first image capturing device 41 and the second image capturing device 42 and a relative displacement of the same partial image of the first image and the second image.
An acquiring module 44, configured to acquire an interval between the acquisition of the images of the first image acquisition device 41 and the second image acquisition device 42.
A determining module 45 for determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time for acquiring the image.
The details of the above modules are described in the embodiment corresponding to fig. 1.
Fig. 5 is a block diagram illustrating a speed measuring device according to another exemplary embodiment of the present invention.
The speed measuring device provided in this embodiment is based on the speed measuring device shown in an exemplary embodiment shown in fig. 4, and further includes: a prediction module 46, an adjustment module 47, and a decision module 48.
Optionally, the calculating module 43 is specifically configured to: and judging whether the direction of the relative displacement and the advancing direction of the movable carrier are in the same preset pointing range or not. If the direction of the relative displacement and the advancing direction of the movable carrier are within the same preset pointing range, the sum of the separation distance and the relative displacement is determined as a first total displacement of the movable carrier. And the determining module 45 is specifically configured to: the quotient of the first total displacement and the interval time is determined as the displacement speed of the movable carrier.
Optionally, the calculating module 43 is further specifically configured to: and if the direction of the relative displacement and the advancing direction of the movable carrier are not in the same preset pointing range, determining the difference value between the spacing distance and the relative displacement as a second total displacement of the movable carrier. And the determining module 45 is specifically further configured to: the quotient of the second total displacement and the interval time is determined as the movement speed of the movable carrier.
Optionally, the method further comprises: and the prediction module 46 is used for predicting the moving speed range. And an adjusting module 47, configured to adjust an interval distance between the first image capturing device 41 and the second image capturing device 42 and/or an interval time for capturing an image according to the predicted moving speed range.
Optionally, the method further comprises: and a judging module 48, configured to judge whether the moving speed of the movable carrier is lower than a preset threshold. The acquiring module 44 is further configured to acquire adjacent images acquired by the first image gathering device or the second image gathering device every preset time period if the moving speed of the movable carrier is lower than a preset threshold. The calculation module 43 is further adapted to calculate a third total displacement of the movable carrier over the preset time period based on the neighboring images. The determination module 45 is further adapted to determine the quotient of the third total displacement and the preset time period as the current velocity of the movable carrier.
The details of the above modules are described in the embodiment corresponding to fig. 3.
Fig. 6 is a block diagram illustrating a speed measuring apparatus according to an exemplary embodiment of the present invention.
As shown in fig. 6, the present embodiment provides a movable carrier apparatus including: at least one processor 61 and a memory 62, one processor 61 being exemplified in fig. 6. The processors 61 and the memory 62 are connected by a bus 60, the memory 62 storing computer programs executable by the at least one processor 61, the computer programs being executed by the at least one processor 61 to cause the at least one processor 61 to perform the speed measurement method of fig. 1 or fig. 3 as in the above embodiments.
The relevant description may be understood by referring to the relevant description and effect corresponding to the steps in fig. 1 to fig. 3, and redundant description is not repeated here.
An embodiment of the present invention further provides a computer-readable storage medium, including: a program which, when run on a computer, causes the computer to perform all or part of the process of the method of the corresponding embodiment of fig. 1 or 3 described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (12)
1. A speed measurement method is used for a movable carrier, at least two image acquisition devices are mounted on the movable carrier, wherein a first image acquisition device and a second image acquisition device are arranged at a front-back interval in the moving direction of the movable carrier; characterized in that the method comprises:
the first image acquisition equipment acquires a first image, and the second image acquisition equipment acquires a second image; the first image and the second image have the same partial image;
calculating the movement displacement of the movable carrier according to the spacing distance between the first image acquisition device and the second image acquisition device and the relative displacement of the same partial images of the first image and the second image;
acquiring the interval time of the first image acquisition equipment and the second image acquisition equipment for acquiring images;
and determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of the acquired images.
2. The method according to claim 1, wherein the calculating of the movement displacement of the movable carrier according to the separation distance between the first image capturing device and the second image capturing device and the relative displacement of the same partial image of the first image and the second image comprises:
judging whether the direction of the relative displacement and the advancing direction of the movable carrier are in the same preset pointing range or not;
determining the sum of the separation distance and the relative displacement as a first total displacement of the movable carrier if the direction of the relative displacement and the advancing direction of the movable carrier are within the same preset pointing range; and
the determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of the acquired images specifically comprises:
determining a quotient of the first total displacement and the interval time as a movement speed of the movable carrier.
3. The method of claim 2, further comprising:
if the direction of the relative displacement and the advancing direction of the movable carrier are not in the same preset pointing range, determining the difference value between the spacing distance and the relative displacement as a second total displacement of the movable carrier; and
the determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of the acquired images specifically further includes:
determining a quotient of the second total displacement and the interval time as a movement speed of the movable carrier.
4. The method according to any one of claims 1-3, wherein after calculating the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of acquiring the image, further comprising:
predicting the moving speed range;
and adjusting the spacing distance between the first image acquisition device and the second image acquisition device and/or the spacing time for acquiring images according to the predicted movement speed range.
5. The method according to any of claims 1-3, further comprising, after said determining the moving speed of the movable carrier from the moving displacement of the movable carrier and the interval time of acquiring the image:
judging whether the moving speed of the movable carrier is lower than a preset threshold value or not;
if the moving speed of the movable carrier is lower than the preset threshold, acquiring adjacent images acquired by the first image set device or the second image set device every other preset time period;
calculating a third total displacement of the movable carrier over the preset time period from the neighboring images;
determining a quotient of the third total displacement and the preset time period as a current velocity of the movable carrier.
6. A speed measuring device is used for a movable carrier, at least two image acquisition devices are mounted on the movable carrier, wherein a first image acquisition device and a second image acquisition device are arranged at a front-back interval in the moving direction of the movable carrier; characterized in that the device comprises:
the first image acquisition equipment is used for acquiring a first image;
the second image acquisition equipment is used for acquiring a second image; the first image and the second image have the same partial image;
the calculation module is used for calculating the movement displacement of the movable carrier according to the spacing distance between the first image acquisition device and the second image acquisition device and the relative displacement of the same partial images of the first image and the second image;
the acquisition module is used for acquiring the interval time of the acquisition images of the first image acquisition device and the second image acquisition device;
a determining module for determining the moving speed of the movable carrier according to the moving displacement of the movable carrier and the interval time of the collected images.
7. The apparatus of claim 6, wherein the computing module is specifically configured to:
judging whether the direction of the relative displacement and the advancing direction of the movable carrier are in the same preset pointing range or not;
determining the sum of the separation distance and the relative displacement as a first total displacement of the movable carrier if the direction of the relative displacement and the advancing direction of the movable carrier are within the same preset pointing range; and
the determining module is specifically configured to:
determining a quotient of the first total displacement and the interval time as a movement speed of the movable carrier.
8. The apparatus of claim 7, wherein the computing module is further specifically configured to:
if the direction of the relative displacement and the advancing direction of the movable carrier are not in the same preset pointing range, determining the difference value between the spacing distance and the relative displacement as a second total displacement of the movable carrier; and
the determining module is specifically further configured to:
determining a quotient of the second total displacement and the interval time as a movement speed of the movable carrier.
9. The apparatus of any of claims 6-8, further comprising:
the prediction module is used for predicting the moving speed range;
and the adjusting module is used for adjusting the spacing distance between the first image acquisition device and the second image acquisition device and/or the spacing time for acquiring images according to the predicted movement speed range.
10. The apparatus of any of claims 6-8, further comprising:
the judging module is used for judging whether the moving speed of the movable carrier is lower than a preset threshold value or not;
the acquisition module is further configured to acquire adjacent images acquired by the first image gathering device or the second image gathering device every preset time period if the moving speed of the movable carrier is lower than the preset threshold;
the calculation module is further configured to calculate a third total displacement of the movable carrier within the preset time period from the neighboring images;
the determining module is further configured to determine a quotient of the third total displacement and the preset time period as a current speed of the movable carrier.
11. A movable carrier apparatus, comprising:
a memory; a processor; and a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor for the method of any one of claims 1 to 5.
12. A computer-readable storage medium, comprising: program which, when run on a computer, causes the computer to perform the method of any one of claims 1 to 5.
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| CN111596090A (en) * | 2020-06-17 | 2020-08-28 | 中国第一汽车股份有限公司 | Method and device for measuring vehicle running speed, vehicle and medium |
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