CN110824188A - Speed measuring method and device for highway vehicles, coder-decoder and storage device - Google Patents
Speed measuring method and device for highway vehicles, coder-decoder and storage device Download PDFInfo
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- 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
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Abstract
The invention discloses a speed measuring method and device for vehicles on a highway, a coder-decoder and a storage device. The speed measuring method comprises the following steps: calibrating a first camera and a second camera; acquiring a plurality of frames of first images captured by a first camera, determining a first target image from the plurality of frames of first images, identifying the license plate number of each vehicle in the first target image, recording the shooting time of the first target image, and calculating the distance between the vehicle and a first marker at the moment; collecting multiple frames of second images captured by a second camera, determining a second target image from the multiple frames of second images, identifying the license plate number of each vehicle in the second target image, recording the shooting time of the second target image, and calculating the distance between the vehicle and a second marker at the moment; the distance between the first marker and the second marker is obtained, the running speed of the same vehicle is calculated according to the running data of the vehicle, the running speeds of the vehicles with the same license plate number in the expressway scene are intelligently calculated through double-camera calibration, and the speed measurement precision is high.
Description
Technical Field
The application relates to the technical field of video vehicle speed analysis, in particular to a speed measuring method and device for vehicles on a highway, a coder-decoder and a storage device.
Background
With the rapid development of science and technology, motor vehicles bring convenience to life of people and simultaneously cause a series of potential safety hazards, wherein overspeed driving becomes a main cause of traffic accidents, so that the speed measurement of the motor vehicles and the monitoring of overspeed vehicles become an indispensable part of an intelligent traffic control system. At present, vehicle speed measuring methods based on radar and sensors are relatively mature, but in some areas without radar, the vehicle speed measuring method based on video images is very important, and the method mainly needs to solve the problem that the distance and time for vehicle movement are obtained from an image sequence, but on a highway, because the speed of the vehicle is relatively high, the precision for obtaining the distance and time for vehicle movement is poor, and therefore, people are increasingly concerned about how to intelligently and accurately measure the speed of the vehicles on the highway.
Disclosure of Invention
The application provides a speed measuring method and device for vehicles on a highway, a coder-decoder and a storage device, which can intelligently calculate the vehicle displacement and time of the same license plate number through double-camera calibration in a highway scene, thereby calculating the running speed of the vehicle and having high speed measuring precision.
In order to solve the technical problem, the application adopts a technical scheme that: the method for measuring the speed of the vehicles on the highway is provided, the vehicles are measured by adopting a double camera, the double camera comprises a first camera and a second camera, a first marker is arranged corresponding to the first camera, a second marker is arranged corresponding to the second camera, and the method for measuring the speed comprises the following steps:
calibrating the first camera and the second camera, and converting pixel coordinates into actual coordinates;
collecting multiple frames of first images captured by the first camera, determining a first target image from the multiple frames of first images, identifying the license plate number of each vehicle in the first target image, recording the shooting time of the first target image, and calculating the distance between the vehicle in the first target image and a first marker at the moment;
collecting multiple frames of second images captured by the second camera, determining a second target image from the multiple frames of second images, identifying the license plate number of each vehicle in the second target image, recording the shooting time of the second target image, and calculating the distance between the vehicle in the second target image and a second marker at the moment;
the method comprises the steps of obtaining the distance between a first marker and a second marker, calculating the moving distance of a vehicle corresponding to the same license plate number according to the distance between the first marker and the second marker, the distance between the vehicle in a first target image and the first marker and the distance between the vehicle in a second target image and the second marker, and calculating the driving speed of the vehicle according to the moving distance, the shooting time of the first target image and the shooting time of the second target image.
In order to solve the above technical problem, another technical solution adopted by the present application is: provided is a speed measuring device of a highway vehicle, including: a camera calibration module: the first camera and the second camera are calibrated, and pixel coordinates are converted into actual coordinates;
a first snapshot module: the first camera is used for capturing a plurality of frames of first images captured by the first camera, determining a first target image from the plurality of frames of first images, identifying the license plate number of each vehicle in the first target image, recording the shooting time of the first target image, and calculating the distance between the vehicle in the first target image and a first marker at the moment;
the second snapshot module: the second camera is used for capturing a plurality of frames of second images captured by the second camera, determining a second target image from the plurality of frames of second images, identifying the license plate number of each vehicle in the second target image, recording the shooting time of the second target image, and calculating the distance between the vehicle in the second target image and a second marker at the moment;
the vehicle speed calculation module: the system is used for acquiring the distance between a first marker and a second marker, calculating the moving distance of the vehicle corresponding to the same license plate number according to the distance between the first marker and the second marker, the distance between the vehicle in the first target image and the first marker and the distance between the vehicle in the second target image and the second marker, and calculating the driving speed of the vehicle according to the moving distance, the shooting time of the first target image and the shooting time of the second target image.
In order to solve the above technical problem, the present application adopts another technical solution that: providing a codec, which comprises a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing the speed measurement method; the processor is configured to execute the program instructions stored in the memory to measure a travel speed of the vehicle.
In order to solve the above technical problem, the present application adopts another technical solution that: a storage device is provided, which stores a program file capable of realizing the speed measuring method.
The beneficial effect of this application is: the speed measuring method, the speed measuring device, the coder-decoder and the storage device of the highway vehicle adopt the double cameras to measure the speed, and through the mode, the invention can intelligently calculate the vehicle displacement and the time of the same license plate number in a highway scene through double-camera calibration, thereby calculating the running speed of the vehicle, and having high speed measuring precision and good speed measuring precision for the vehicles with the speed of more than 120 codes in the highway scene.
Drawings
FIG. 1 is a schematic flow chart of a method for measuring speed of a highway vehicle according to an embodiment of the invention;
fig. 2 is a schematic view of the arrangement direction of the dual cameras according to the first embodiment of the present invention;
FIG. 3 is a schematic view of the direction of installation of a dual camera according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a speed measuring device of a highway vehicle according to an embodiment of the invention;
fig. 5 is a schematic structural diagram of a first snapshot module in the speed measuring device of fig. 4;
fig. 6 is a schematic structural diagram of a second snapshot module in the tachometer of fig. 4;
FIG. 7 is a block diagram of a codec according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a memory device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
According to the embodiment of the invention, the speed of the vehicle is measured by adopting the double cameras, the double cameras comprise the first camera and the second camera, the first marker is arranged corresponding to the first camera, and the second marker is arranged corresponding to the second camera.
Fig. 1 is a schematic flow chart of a speed measuring method for a highway vehicle according to an embodiment of the invention. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 1 if the results are substantially the same. As shown in fig. 1, the method comprises the steps of:
step S101: and calibrating the first camera and the second camera, and converting the pixel coordinates into actual coordinates.
In step S101, the pixel coordinates are converted into actual coordinates by a projection matrix M method, that is, the pixel distance is converted into an actual distance.
Step S102: the method comprises the steps of collecting a plurality of frames of first images captured by a first camera, determining a first target image from the plurality of frames of first images, identifying the license plate number of each vehicle in the first target image, recording the shooting time of the first target image, and calculating the distance between the vehicle in the first target image and a first marker at the moment.
In step S102, acquiring a plurality of frames of first images captured by a first camera, and determining a first target image from the plurality of frames of first images includes: evaluating the image quality of a plurality of frames of first images captured by a first camera; and using a preferred algorithm to take the image with the best image quality as the first target image.
In this embodiment, identifying the license plate number of each vehicle in the first target image includes:
detecting the license plate position coordinates of each vehicle in the first target image by using a Yolo3 detection algorithm, identifying the license plate number of each vehicle by using a Gru algorithm according to the license plate position coordinates, and after identifying the license plate number of each vehicle in the first target image, the method comprises the following steps: and caching the license plate number of each vehicle in the first target image. In the embodiment, a plurality of vehicles can exist in the video image, and the Yolo3 detection algorithm and the Gru algorithm are adopted to identify the license plate numbers of all the vehicles in the video image, so that the accuracy is high, and the result is reliable. When the driving speed of the vehicle is subsequently calculated, the moving distance and the moving time of the same vehicle in different video images need to be found out.
The step of calculating the distance of the vehicle in the first target image to the first marker at this time includes: and detecting the coordinates of the first marker in the first target image and the first coordinates of the vehicle in the first target image by using a Yolo3 detection algorithm, and calculating the distance between the vehicle and the first marker in the first target image by using a calibration algorithm according to the first coordinates of the vehicle and the first marker coordinates.
Step S103: and acquiring a plurality of frames of second images captured by the second camera, determining a second target image from the plurality of frames of second images, identifying the license plate number of each vehicle in the second target image, recording the shooting time of the second target image, and calculating the distance between the vehicle in the second target image and the second marker at the moment.
In step S103, acquiring a plurality of frames of second images captured by the second camera, and determining a second target image from the plurality of frames of second images includes: evaluating the image quality of a plurality of frames of second images captured by the second camera; and using a preferred algorithm to take the image with the best image quality as a second target image.
In this embodiment, identifying the license plate number of each vehicle in the second target image includes: detecting the license plate position coordinates of each vehicle in the second target image by using a Yolo3 detection algorithm, identifying the license plate number of each vehicle by using a Gru algorithm according to the license plate position coordinates, wherein after identifying the license plate number of each vehicle in the second target image, the method comprises the following steps: and comparing the license plate number of each vehicle in the first target image with the license plate number of each vehicle in the second target image, associating the same license plate number according to a comparison result, and calculating the driving speed according to the same vehicle driving data when subsequently calculating the driving speed of the vehicle.
The step of calculating the distance of the vehicle in the second target image to the second marker at this time includes: detecting the coordinates of the second marker in the second target image and the second coordinates of the vehicle by using a Yolo3 detection algorithm; and calculating the distance between the vehicle and the second marker in the second target image by using a calibration algorithm according to the second coordinate of the vehicle and the coordinate of the second marker.
Step S104: the method comprises the steps of obtaining the distance between a first marker and a second marker, calculating the moving distance of a vehicle corresponding to the same license plate number according to the distance between the first marker and the second marker, the distance between the vehicle in a first target image and the first marker, and the distance between the vehicle in a second target image and the second marker, and calculating the running speed of the vehicle according to the moving distance, the shooting time of the first target image and the shooting time of the second target image.
In one embodiment, when the first camera and the second camera are set in the same direction, as shown in fig. 2, fig. 2 is a schematic diagram of the direction in which the two cameras are set according to the first embodiment of the present invention, and at this time, the traveling speed of the vehicle is calculated according to the following formula:
v is (dis1+ dis2-dis3)/(t2-t1), where v is the driving speed of the vehicle, dis1 is the distance between the first marker and the second marker, dis2 is the distance between a certain vehicle in the first target image and the first marker, dis3 is the distance between the vehicle and the second marker in the second target image, t1 is the shooting time of the first target image, and t2 is the shooting time of the second target image.
In another embodiment, when the first camera and the second camera are set to be opposite, as shown in fig. 3, fig. 3 is a schematic diagram of the setting direction of the dual cameras according to the second embodiment of the present invention, and at this time, the traveling speed of the vehicle is calculated according to the following formula:
v is (dis1+ dis2+ dis3)/(t2-t1), where v is the driving speed of the vehicle, dis1 is the distance between the first marker and the second marker, dis2 is the distance between a certain vehicle in the first target image and the first marker, dis3 is the distance between the vehicle and the second marker in the second target image, t1 is the shooting time of the first target image, and t2 is the shooting time of the second target image.
The highway vehicle speed measurement method provided by the first embodiment of the invention can intelligently calculate the vehicle displacement and time with the same license plate number in a highway scene through double-camera calibration, thereby calculating the running speed of the vehicle, and having high speed measurement precision, and good speed measurement precision for vehicles with the speed of more than 120 codes in the highway scene.
Fig. 4 is a schematic structural diagram of a speed measuring device of a highway vehicle according to an embodiment of the invention. As shown in fig. 4, the apparatus 40 includes a camera calibration module 41, a first capturing module 42, a second capturing module 43, and a vehicle speed calculation module 44.
The camera calibration module 41 is configured to calibrate the first camera and the second camera, and convert the pixel coordinates into actual coordinates.
In the present embodiment, the pixel coordinates are converted into actual coordinates by a projection matrix M method, that is, the pixel distance is converted into an actual distance.
The first capturing module 42 is coupled to the camera calibration module 41, and configured to capture multiple frames of first images captured by the first camera, determine a first target image from the multiple frames of first images, identify a license plate number of each vehicle in the first target image, record a capturing time of the first target image, and calculate a distance between the vehicle in the first target image and the first marker at the time.
Preferably, referring to fig. 5, the first capturing module 42 includes: the image quality of a plurality of frames of first images captured by a first camera is evaluated by the first determining unit 421, and one frame of image with the best image quality is taken as a first target image by using a preferred algorithm; the first recognition unit 422 detects the license plate position coordinates of each vehicle in the first target image by using a Yolo3 detection algorithm, and recognizes the license plate number of each vehicle by using a Gru algorithm according to the license plate position coordinates; the caching unit 423 caches the license plate number of the vehicle identified by the first identifying unit 422; the first calculation unit 424 detects the first marker coordinates and the first coordinates of the vehicle in the first target image using the Yolo3 detection algorithm, and calculates the distance between the vehicle and the first marker in the first target image using the calibration algorithm based on the first coordinates and the first marker coordinates of the vehicle.
The second snapshot module 43 is coupled to the camera calibration module 41, and configured to collect multiple frames of second images captured by the second camera, determine a second target image from the multiple frames of second images, identify a license plate number of each vehicle in the second target image, record shooting time of the second target image, and calculate a distance between the vehicle in the second target image and the second marker at the time.
Preferably, referring to fig. 6, the second capturing module 43 includes: the second determining unit 431, the second identifying unit 432, the comparing and associating unit 433 and the second calculating unit 434, the second determining unit 431 evaluates the image quality of a plurality of frames of second images captured by the second camera, and uses a preferred algorithm to take the image with the best image quality as a second target image; the second identifying unit 432 detects the license plate position coordinates of each vehicle in the second target image by using a Yolo3 detection algorithm, and identifies the license plate number of each vehicle by using a Gru algorithm according to the license plate position coordinates; the comparison and association unit 433 compares the license plate number of each vehicle in the first target image with the license plate number of each vehicle in the second target image, and associates the same license plate numbers according to the comparison result; the second calculation unit 434 detects the coordinates of the second marker and the second coordinates of the vehicle in the second target image using the Yolo3 detection algorithm; and calculating the distance between the vehicle and the second marker in the second target image by using a calibration algorithm according to the second coordinate of the vehicle and the coordinate of the second marker.
The vehicle speed calculation module 44 is coupled to the first capture module 42 and the second capture module 43, respectively, and the vehicle speed calculation module 44 is configured to obtain a distance between the first marker and the second marker, calculate a moving distance of a vehicle corresponding to the same license plate number according to the distance between the first marker and the second marker, the distance between the vehicle in the first target image and the first marker, and the distance between the vehicle in the second target image and the second marker, and calculate a driving speed of the vehicle according to the moving distance, the capturing time of the first target image, and the capturing time of the second target image.
Alternatively, when the first camera and the second camera are set in the same direction, the vehicle speed calculation module 44 calculates the traveling speed of the vehicle according to the following formula:
v is (dis1+ dis2-dis3)/(t2-t1), where v is the driving speed of the vehicle, dis1 is the distance between the first marker and the second marker, dis2 is the distance between a certain vehicle in the first target image and the first marker, dis3 is the distance between the vehicle and the second marker in the second target image, t1 is the shooting time of the first target image, and t2 is the shooting time of the second target image.
Alternatively, when the first and second cameras are set to reverse, the vehicle speed calculation module 44 calculates the travel speed of the vehicle according to the following formula:
v is (dis1+ dis2+ dis3)/(t2-t1), where v is the driving speed of the vehicle, dis1 is the distance between the first marker and the second marker, dis2 is the distance between a certain vehicle in the first target image and the first marker, dis3 is the distance between the vehicle and the second marker in the second target image, t1 is the shooting time of the first target image, and t2 is the shooting time of the second target image.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a codec according to an embodiment of the invention. As shown in fig. 7, the codec 70 includes a processor 71 and a memory 72 coupled to the processor 71.
The memory 72 stores program instructions for implementing the method for measuring speed of a highway vehicle according to any of the embodiments described above.
Processor 71 is operative to execute program instructions stored in memory 72 to obtain a measured vehicle travel speed.
The processor 71 may also be referred to as a CPU (Central Processing Unit). The processor 71 may be an integrated circuit chip having signal processing capabilities. The processor 71 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a memory device according to an embodiment of the invention. The storage device of the embodiment of the present invention stores a program file 81 capable of implementing all the methods described above, wherein the program file 81 may be stored in the storage device in the form of a software product, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage device includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (11)
1. A method for measuring speed of vehicles on a highway is characterized in that a double camera is adopted to measure speed of the vehicles, the double camera comprises a first camera and a second camera, a first marker is arranged corresponding to the first camera, and a second marker is arranged corresponding to the second camera, and the method comprises the following steps:
calibrating the first camera and the second camera, and converting pixel coordinates into actual coordinates;
collecting multiple frames of first images captured by the first camera, determining a first target image from the multiple frames of first images, identifying the license plate number of each vehicle in the first target image, recording the shooting time of the first target image, and calculating the distance between the vehicle in the first target image and a first marker at the moment;
collecting multiple frames of second images captured by the second camera, determining a second target image from the multiple frames of second images, identifying the license plate number of each vehicle in the second target image, recording the shooting time of the second target image, and calculating the distance between the vehicle in the second target image and a second marker at the moment;
the method comprises the steps of obtaining the distance between a first marker and a second marker, calculating the moving distance of a vehicle corresponding to the same license plate number according to the distance between the first marker and the second marker, the distance between the vehicle in a first target image and the first marker and the distance between the vehicle in a second target image and the second marker, and calculating the driving speed of the vehicle according to the moving distance, the shooting time of the first target image and the shooting time of the second target image.
2. A method of measuring speed according to claim 1,
after the identifying a license plate number for each vehicle in the first target image, comprising:
caching the license plate number of each vehicle in the first target image;
after the identifying the license plate number of each vehicle in the second target image comprises: and comparing the license plate number of each vehicle in the first target image with the license plate number of each vehicle in the second target image, and associating the same license plate numbers according to the comparison result.
3. A method according to claim 1 wherein said calculating the distance of the vehicle from the first marker in the first target image at that time comprises:
acquiring the coordinates of the first marker and the first coordinates of the vehicle in the first target image;
and calculating the distance between the vehicle and the first marker in the first target image by using a calibration algorithm according to the first coordinate of the vehicle and the first marker coordinate.
4. A method according to claim 1 wherein said calculating the distance of the vehicle from the second marker in the second target image at that time comprises:
acquiring coordinates of the second marker and second coordinates of the vehicle in the second target image;
and calculating the distance between the vehicle and the second marker in the second target image by using a calibration algorithm according to the second coordinate of the vehicle and the coordinate of the second marker.
5. The method for measuring speed according to claim 1, wherein the capturing a plurality of frames of first images captured by the first camera, and the determining a first target image from the plurality of frames of first images comprises:
evaluating the image quality of a plurality of frames of first images captured by the first camera;
and using a preferred algorithm to take the image with the best image quality as the first target image.
6. The method for measuring speed according to claim 1, wherein the acquiring a plurality of frames of second images captured by the second camera, and the determining a second target image from the plurality of frames of second images comprises:
evaluating the image quality of a plurality of frames of second images captured by the second camera;
and using a preferred algorithm to take the image with the best image quality as a second target image.
7. A method of measuring speed according to claim 1,
the calculating the moving distance of the vehicle corresponding to the same license plate number according to the distance between the first marker and the second marker, the distance between the vehicle in the first target image and the first marker, and the distance between the vehicle in the second target image and the second marker, and the calculating the driving speed of the vehicle according to the moving distance, the shooting time of the first target image and the shooting time of the second target image comprises:
when the first camera and the second camera are set to be in the same direction, the driving speed of the vehicle corresponding to the same license number is the ratio of the moving distance of the vehicle corresponding to the same license number to the driving time, the moving distance of the vehicle corresponding to the same license number is the sum of the distance between the first marker and the second marker and the distance between the vehicle of the license number in the first target image and the first marker, and then the distance between the vehicle of the license number in the second target image and the second marker is subtracted, and the driving time is the difference value between the shooting time of the second target image and the shooting time of the first target image.
8. A method of measuring speed according to claim 1,
the calculating the moving distance of the vehicle corresponding to the same license plate number according to the distance between the first marker and the second marker, the distance between the vehicle in the first target image and the first marker, and the distance between the vehicle in the second target image and the second marker, and the calculating the driving speed of the vehicle according to the moving distance, the shooting time of the first target image and the shooting time of the second target image comprises:
when the first camera and the second camera are set to be opposite, the driving speed of the vehicle corresponding to the same license plate number is the ratio of the moving distance and the driving time of the vehicle corresponding to the same license plate number, the moving distance of the vehicle corresponding to the same license plate number is the sum of the distance between the first marker and the second marker, the distance between the vehicle of the license plate number in the first target image and the first marker, and the distance between the vehicle of the license plate number in the second target image and the second marker, and the driving time is the difference value between the shooting time of the second target image and the shooting time of the first target image.
9. A speed measuring device of a highway vehicle, comprising:
a camera calibration module: the first camera and the second camera are calibrated, and pixel coordinates are converted into actual coordinates;
a first snapshot module: the first camera is used for capturing a plurality of frames of first images captured by the first camera, determining a first target image from the plurality of frames of first images, identifying the license plate number of each vehicle in the first target image, recording the shooting time of the first target image, and calculating the distance between the vehicle in the first target image and a first marker at the moment;
the second snapshot module: the second camera is used for capturing a plurality of frames of second images captured by the second camera, determining a second target image from the plurality of frames of second images, identifying the license plate number of each vehicle in the second target image, recording the shooting time of the second target image, and calculating the distance between the vehicle in the second target image and a second marker at the moment;
the vehicle speed calculation module: the system is used for acquiring the distance between a first marker and a second marker, calculating the moving distance of the vehicle corresponding to the same license plate number according to the distance between the first marker and the second marker, the distance between the vehicle in the first target image and the first marker and the distance between the vehicle in the second target image and the second marker, and calculating the driving speed of the vehicle according to the moving distance, the shooting time of the first target image and the shooting time of the second target image.
10. A codec comprising a processor, a memory coupled to the processor, wherein,
the memory stores program instructions for implementing a method of measuring speed as claimed in any of claims 1-8;
the processor is configured to execute the program instructions stored by the memory to measure a travel speed of a vehicle.
11. A storage device, characterized in that a program file capable of implementing the method for measuring speed according to any one of claims 1-8 is stored.
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