CN110909626A - Vehicle line pressing detection method and device, mobile terminal and storage medium - Google Patents
Vehicle line pressing detection method and device, mobile terminal and storage medium Download PDFInfo
- Publication number
- CN110909626A CN110909626A CN201911065468.8A CN201911065468A CN110909626A CN 110909626 A CN110909626 A CN 110909626A CN 201911065468 A CN201911065468 A CN 201911065468A CN 110909626 A CN110909626 A CN 110909626A
- Authority
- CN
- China
- Prior art keywords
- target vehicle
- points
- tire
- vehicle
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 51
- 230000015654 memory Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 9
- 239000000126 substance Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 14
- 230000008569 process Effects 0.000 abstract description 4
- 230000009466 transformation Effects 0.000 description 7
- 238000013135 deep learning Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005291 magnetic effect Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 230000003936 working memory Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30236—Traffic on road, railway or crossing
Abstract
The application discloses vehicle line ball detection method, device, mobile terminal and storage medium relates to the intelligent transportation field, has solved the drawback that present vehicle line ball violation manual work detects the precision low, inefficiency, and its technical scheme main points are: acquiring an image to be detected, wherein the image to be detected comprises a target vehicle and a lane line; determining two credible tire points of the target vehicle; wherein, the credible tire points are as follows: a tire touchdown point visually obtainable based on an image to be detected; determining the contact points of the other two tires of the target vehicle according to the two credible tire points; determining whether the target vehicle presses the line or not according to the two credible tire points, the contact points of the other two tires and the lane line; the application also discloses a vehicle line pressing device, a mobile terminal and a storage medium; the vehicle tire position can be accurately positioned, whether the vehicle is pressed is detected, the judgment process is efficient and simple, and the detection efficiency and the accuracy of the detection result can be improved.
Description
Technical Field
The invention relates to the field of intelligent traffic, in particular to a vehicle line pressing detection method and device, a mobile terminal and a storage medium.
Background
In the field of intelligent transportation, how to determine the accurate position of the vehicle attitude in a three-dimensional perspective is a very important topic. Particularly, in the illegal judgment of whether the vehicle is pressed, the tire position of the vehicle is determined mainly by a traditional manual checking mode. However, since the conventional manual review mode is mainly observed through eyes, the judgment of the ubiquitous situation that the vehicle tire is shielded by the vehicle body is relatively subjective, and the judgment results of different people are often inconsistent.
Disclosure of Invention
An object of the present application is to provide a vehicle pressing line detection method, apparatus, mobile terminal and storage medium, which can accurately position the position of a vehicle tire, detect whether a vehicle is pressing a line, have a high efficiency and a simple determination process, and can improve the detection efficiency and the accuracy of the detection result.
According to an aspect of the present application, there is provided a vehicle wire pressing detection method including: acquiring an image to be detected, wherein the image to be detected comprises a target vehicle and a lane line; determining two trusted tire points for the target vehicle; wherein the trusted tire point is: the tire touch point can be visually acquired based on the image to be detected; determining the contact points of the other two tires of the target vehicle according to the two credible tire points; and determining whether the target vehicle presses the line or not according to the two credible tire points, the contact points of the other two tires and the lane line.
According to another aspect of the present application, there is also provided a vehicle wire pressing detection device including: the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring an image to be detected, and the image to be detected comprises a target vehicle and a lane line; a first determination module for determining two trusted tire points of the target vehicle; wherein the trusted tire point is: a tire touchdown point visually obtainable based on an image to be detected; a second determination module for determining the contact points of the other two tires of the target vehicle according to the two credible tire points; and the judging module is used for determining whether the target vehicle presses the line according to the two credible tire points, the contact points of the other two tires and the lane line.
According to another aspect of the present application, there is also provided a mobile terminal including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle lane line detection method as described above.
According to another aspect of the present application, there is also provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle line press detection method described above.
Additionally, the determining two trusted tire points for the target vehicle includes: acquiring the relative positions of the central point of the front roof and the central point of the rear roof of the target vehicle; taking the direction from the tail of the target vehicle to the head of the target vehicle as a reference, and taking the contact points of two rear tires as two credible tire points of the target vehicle if the position of the middle point of the front roof is above the position of the middle point of the rear roof; and if the position of the front roof middle point is below the position of the rear roof middle point, taking the contact points of the two front wheels as the credible tire points of the target vehicle.
In addition, the determining the touchdown points of the other two tires of the target vehicle according to the two credible tire points comprises: determining a driving direction of the target vehicle; acquiring an intersection point of a straight line where the driving direction is located and a horizontal line where a vanishing point of the lane line is located; and determining the contact points of the other two tires of the target vehicle according to the intersection point and the two credible tire points.
Additionally, said determining the touchdown points of two other tires of the target vehicle from the intersection point and the two trusted tire points comprises: respectively connecting the two credible tire points with the intersection point to obtain two side contour lines; acquiring a middle point of a connecting line of two unreliable tire points; wherein the untrusted tire points are: a tire contact point which cannot be intuitively obtained from the image to be detected; acquiring a straight line which is parallel to a connecting line of the two credible tire points and passes through the middle point; and determining other two tire contact points of the target vehicle according to the intersection points of the straight line and the two side contour lines.
Additionally, the determining the direction of travel of the target vehicle includes: acquiring a left front vehicle vertex, a right front vehicle vertex, a left rear vehicle roof point and a right rear vehicle vertex of the target vehicle by taking the direction from the tail to the head of the target vehicle as a reference; calculating a first midpoint of a connecting line of the left front vehicle top point and the right front vehicle top point and a second midpoint of a connecting line of the left rear vehicle top point and the right rear vehicle top point; and determining the driving direction of the target vehicle according to the direction indicated by the connecting line of the first midpoint and the second midpoint.
In addition, the determining the driving direction of the target vehicle according to the direction indicated by the connecting line of the first midpoint and the second midpoint includes: acquiring an included angle between a connecting line of the first midpoint and the second midpoint and the lane line; if the included angle is smaller than a preset angle, determining that the running direction of the target vehicle is straight; otherwise, determining the driving direction of the target vehicle as right driving or left driving.
In addition, determining whether the target vehicle presses the line according to the two credible tire points, the contact points of the other two tires and the lane line comprises the following steps: determining a quadrangle according to the two credible tire points and the contact points of the other two tires; and determining whether the target vehicle is pressed or not by judging whether the intersection point exists between the quadrangle and the lane line or not.
The application has the following beneficial effects:
the method comprises the steps of positioning to obtain two credible tire points of a target vehicle based on an image to be detected comprising the target vehicle and a lane line, determining the accurate positions of the contact points of other two tires of the target vehicle according to the two credible tire points of the target vehicle, and detecting whether the vehicle presses the line through accurately positioning the positions of the tires of the vehicle, so that the subjectivity of manual detection can be eliminated, the judgment process is efficient and simple, and the detection efficiency and the accuracy of a detection result can be improved.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which are not to be construed as limiting the embodiments, in which elements having the same reference numerals are identified as similar elements, and in which the drawings are not to be construed as limited except as specifically noted.
FIG. 1 is a flow chart of a vehicle lane line detection method provided in accordance with one aspect of the present application;
FIG. 2 is a schematic diagram of computing vanishing points from a projective transformation matrix provided in accordance with an aspect of the present application;
FIG. 3 is another schematic illustration relating to vanishing points provided in accordance with an aspect of the present application;
fig. 4 is a schematic diagram of a vehicle line pressing detection method according to an actual scenario of the present application.
Detailed Description
The present application is described in further detail below with reference to the attached drawings.
In accordance with one or more embodiments, fig. 1 shows a flowchart of a vehicle line press detection method provided according to an aspect of the present application, the method including steps 101 to 104:
in step 101, acquiring an image to be detected, wherein the image to be detected comprises a target vehicle and a lane line; here, the target vehicle included in the image to be detected may be highlighted by a mark frame (e.g., a rectangular frame or an oval frame). The lane line is specifically a lane line included in a scene environment of a road in the image to be detected.
In step 102, determining two trusted tire points of the target vehicle; wherein the credible tire points are as follows: a tire touchdown point visually obtainable based on an image to be detected; here, the key point detection algorithm based on deep learning may be used to detect each tire contact point of the target vehicle, and since the accuracy of the detection result of the blocked portion of the target vehicle relative to the detection result of the non-blocked portion is low, it is necessary to determine the reliability of each detected tire contact point of the target vehicle, only the tire contact point represented by the detection result of the non-blocked portion is reserved, and the tire contact point represented by the detection result of the non-blocked portion is used as two reliable tire points of the target vehicle.
In step 103, from the two trusted tire points, touchdown points of two other tires of the target vehicle are determined. Here, it can be understood that, by using the key point detection algorithm based on the deep learning, although each tire contact point of the target vehicle can be detected respectively, the problems that the judgment is subjective and the judgment result is often inconsistent in the conventional manual detection method are solved, and the detection efficiency is improved, however, since the accuracy of the detection result of the tire position of the vehicle of the shielded portion of the target vehicle is not high, a satisfactory detection effect cannot be achieved by the key point detection algorithm based on the deep learning. In the embodiment of the present application, the accurate position of the contact point of the tire of the shielded portion of the target vehicle is calculated according to the two trusted tire points of the target vehicle, that is: and the contact points of the other two tires of the target vehicle are obtained, so that the accuracy and the reliability of the judgment result can be further improved.
In step 104, whether the target vehicle is pressed is determined according to the two credible tire points, the contact points of the other two tires and the lane line.
In an embodiment of the present application, in step 102, the determining two reliable tire points of the target vehicle may include: acquiring the relative positions of the midpoint of the front roof and the midpoint of the rear roof of the target vehicle; taking the direction from the tail of the target vehicle to the head of the target vehicle as a reference, and taking the contact points of two rear tires as two credible tire points of the target vehicle if the position of the middle point of the front roof is above the position of the middle point of the rear roof; and if the position of the front roof middle point is below the position of the rear roof middle point, taking the contact points of the two front wheels as the credible tire points of the target vehicle. If the position of the middle point of the front roof is above the position of the middle point of the rear roof, namely the tail of the vehicle is visible and the head of the vehicle is invisible, taking the contact points of two rear tires as two credible tire points of the target vehicle; and if the position of the middle point of the front roof is below the position of the middle point of the rear roof, namely the head is visible and the tail is invisible, taking the contact points of the two front wheels as the credible tire points of the target vehicle.
In an embodiment of the present application, in step 103, the determining the touchdown points of the other two tires of the target vehicle according to the two trusted tire points may include: determining a driving direction of the target vehicle; acquiring an intersection point of a straight line where the driving direction is located and a horizontal line where a vanishing point of the lane line is located; and determining the contact points of the other two tires of the target vehicle according to the intersection point and the two credible tire points. Here, an intersection point of a straight line where the traveling direction is located and a horizontal line where a vanishing point of the lane line is located may be referred to as: vanishing points on the vehicle side contour lines. The theory relating to projective transformation of three-dimensional images referred to here is a prior art, and therefore, only this will be briefly described below. In conjunction with the schematic diagrams about vanishing points in one example as shown in fig. 2 and 3, the projective transformation matrix is as follows:
wherein, the letters a, b, c … … s are parameters for projective transformation, when there are two nonzero elements in the three elements p, q, r, two vanishing points will be generated, if p ≠ 0, r ≠ 0, then, the obtained result is:
wherein x represents a horizontal axis coordinate, y represents a vertical axis coordinate, and z represents a vertical axis coordinate; x ' represents a horizontal axis coordinate obtained after projection transformation, y ' represents a vertical axis coordinate obtained after projection transformation, and z ' represents a vertical axis coordinate obtained after projection transformation;
when x → ∞, one vanishing point is at 1/p on the x-axis, and the coordinate in the y-direction is 0;
when y → ∞, one vanishing point is at 1/r on the z-axis, and the y-direction coordinate is 0.
It is not difficult to find that the vanishing point of the lane line and the vanishing point of the vehicle-side contour line in the present embodiment are on the same horizontal line.
Continuing with the above-described embodiment, in an embodiment of the present application, the determining the contact points of the other two tires of the target vehicle according to the intersection point and the two trusted tire points may include: respectively connecting the two credible tire points with the intersection point to obtain two side contour lines; acquiring a midpoint of a connecting line of two unreliable tire points; wherein the untrusted tire points are: a tire contact point which cannot be intuitively obtained from the image to be detected; acquiring a straight line which is parallel to a connecting line of the two credible tire points and passes through the midpoint; and determining other two tire contact points of the target vehicle according to the intersection points of the straight line and the two side contour lines. In this embodiment, based on the two untrusted tire points, the accurate positions of the contact points of the other two tires of the target vehicle are determined through the perspective projection relationship, and particularly, the accurate positions of the contact points of the tires of the shielded portion of the target vehicle can be calculated, so that the accuracy and reliability of the determination result can be further improved.
Continuing with the above embodiment, the determining the driving direction of the target vehicle may include: taking the direction from the tail of the target vehicle to the head of the target vehicle as a reference, and acquiring a left front vehicle vertex, a right front vehicle vertex, a left rear vehicle roof point and a right rear vehicle vertex of the target vehicle; calculating a first midpoint of a connecting line of the top point of the left front vehicle and the top point of the right front vehicle and a second midpoint of a connecting line of the top point of the left rear vehicle and the top point of the right rear vehicle; and determining the driving direction of the target vehicle according to the direction indicated by the connecting line of the first midpoint and the second midpoint. Here, the vertices of the target vehicle may be detected using a key point detection algorithm based on deep learning. Optionally, in other embodiments, a key point detection algorithm based on deep learning may be further used to detect positions of the headlights of the target vehicle, and determine a driving direction of the target vehicle according to a midpoint of a connecting line between two front headlights and a midpoint of a connecting line between two rear headlights. However, the roadside image capturing device often acquires the image to be detected from an oblique top view angle, so that there is generally no occlusion in the four vertices of the target vehicle in the image to be detected. In another embodiment, the driving direction determined from the four vertexes of the target vehicle may be regarded as a first result, the driving direction determined from the four lamp positions of the target vehicle may be regarded as a second result, and the first result may be regarded as the finally determined driving direction of the target vehicle when the first result and the second result are identical. In this case, since the first result and the second result are the same, here, the following is also expressed: and taking the second result as the finally determined driving direction of the target vehicle.
Continuing to the above-described embodiment, the determining the driving direction of the target vehicle according to the direction indicated by the connection line of the first midpoint and the second midpoint may include: acquiring an included angle between a connecting line of the first midpoint and the second midpoint and the lane line; if the included angle is smaller than a preset angle, determining that the running direction of the target vehicle is straight; otherwise, determining the driving direction of the target vehicle as right driving or left driving. Here, in some embodiments, the preset angle may be set to 5 °, that is: if the included angle is smaller than 5 degrees, determining that the running direction of the target vehicle is straight running, and if the included angle is larger than or equal to 5 degrees and is based on that the lane line is inclined to the right, determining that the running direction of the target vehicle is inclined to the right running; and if the included angle is larger than or equal to 5 degrees and the lane line is deviated to the left, determining that the driving direction of the target vehicle is deviated to the left.
In an embodiment of the present application, in step 104, determining whether the target vehicle is pressed according to the two trusted tire points, the contact points of the two other tires, and the lane line may include: determining a quadrangle according to the two credible tire points and the contact points of the other two tires; and determining whether the target vehicle presses the line or not by judging whether intersection points exist between the quadrangle and the lane line or not. Here, two reliable tire points may be connected, the contact points of the other two tires may be connected, one reliable tire point and the contact point of one tire adjacent thereto may be connected, the other reliable tire point and the contact point of the other tire adjacent thereto may be connected, a quadrangle may be obtained, whether an intersection point exists between the quadrangle and the lane line may be determined, and if yes, a vehicle line may be pressed; otherwise, the vehicle may be determined not to be pressed.
In an actual application scenario of the present application, as shown in fig. 4, where 4 is a schematic diagram of vehicle line pressing detection in the actual application scenario, the method includes:
step S1, an image to be detected including the target vehicle and the lane line is acquired.
In step S2, a preset key point of the target vehicle is detected. Wherein, presetting the key points may include: 4 tire touchdown points, 4 front and rear tail light points, and 4 roof point locations for the target vehicle. In the practical application scene, the named and used view angle direction of each key point is the direction from the tail of the vehicle to the head of the vehicle, and the contact points of 4 tires are respectively as follows: a left rear tire contact point, a right front tire contact point, a left front tire contact point; the 4 front and rear tail lamp points are respectively as follows: a left rear tail lamp point, a right front tail lamp point and a left front tail lamp point; the 4 vehicle vertexes are respectively: left rear roof point, right front roof point, left front roof point. In the practical application scene, 4 front and rear tail lamp points are reserved points and are only used when necessary.
In step S3, the traveling direction of the target vehicle is determined. Specifically, the traveling direction of the target vehicle may be determined based on 4 roof points of the target vehicle.
Step S4, an intersection of a straight line in which the traveling direction is located and a horizontal line in which the vanishing point of the lane line is located is obtained. This intersection point may be referred to as: vanishing point of the vehicle side profile.
Step S5, two trusted tire points of the target vehicle are determined. In fig. 4, the two reliable tire points are the left rear tire contact point and the right rear tire contact point, as viewed from the rear of the vehicle toward the front of the vehicle.
In step S6, touchdown points of two other tires of the target vehicle are determined. Specifically, the two reliable tire points determined in step S5 and the vanishing points of the vehicle side contour line determined in step S4 are connected to obtain two side contour lines; acquiring a midpoint of a connecting line of two unreliable tire points; wherein the untrusted tire points are: a tire contact point that cannot be intuitively obtained from the image to be detected; and acquiring a straight line which is parallel to a connecting line of the two credible tire points and passes through the middle point, wherein the straight line and an intersection point which is respectively intersected with the two side contour lines are contact points of the other two tires of the target vehicle, and the contact points of the other two tires are credible tire points of the other two tires of the target vehicle. In fig. 4, the confidence tire points of the other two tires are the exact locations of the left front tire touchdown point and the right front tire touchdown point.
And step S7, determining whether the target vehicle is pressed according to the two credible tire points determined in the step S5, the contact points of the two outer tires determined in the step S6 and the lane line.
Compared with the prior art, the vehicle line pressing detection method provided by the embodiment is based on the to-be-detected image comprising the target vehicle and the lane line, two credible tire points of the target vehicle are obtained through positioning, the accurate positions of the contact points of the other two tires of the target vehicle are determined according to the two credible tire points of the target vehicle, whether the vehicle presses the line or not is detected through accurately positioning the positions of the tires of the vehicle, the subjectivity of manual detection can be eliminated, the judgment process is efficient and simple, and the detection efficiency and the accuracy of the detection result can be improved.
Further, in an embodiment of the present application, there is also provided a vehicle wire pressing detection device including: the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring an image to be detected, and the image to be detected comprises a target vehicle and a lane line; a first determination module for determining two trusted tire points of the target vehicle; wherein the trusted tire point is: a tire touch location that can be visually obtained based on an image to be detected; a second determination module for determining the contact points of the other two tires of the target vehicle according to the two credible tire points; and the judging module is used for determining whether the target vehicle presses the line according to the two credible tire points, the contact points of the other two tires and the lane line.
In one aspect, the determining two trusted tire points for the target vehicle comprises: acquiring the relative positions of the midpoint of the front roof and the midpoint of the rear roof of the target vehicle; taking the direction from the tail to the head of the target vehicle as a reference, and taking the contact points of two rear tires as two reliable tire points of the target vehicle if the position of the middle point of the front roof is above the position of the middle point of the rear roof; and if the position of the front roof middle point is below the position of the rear roof middle point, taking the contact points of the two front wheels as the credible tire points of the target vehicle.
In one aspect, said determining the touchdown points of two other tires of the target vehicle from the two trusted tire points comprises: determining a driving direction of the target vehicle; acquiring an intersection point of a straight line of the driving direction and a horizontal line of a vanishing point of the lane line; and determining the contact points of the other two tires of the target vehicle according to the intersection point and the two credible tire points.
In one aspect, said determining the touchdown points of two other tires of the target vehicle from the intersection point and the two trusted tire points comprises: respectively connecting the two credible tire points with the intersection point to obtain two side contour lines; acquiring a midpoint of a connecting line of two unreliable tire points; wherein the untrusted tire points are: a tire contact point that cannot be intuitively obtained from the image to be detected; acquiring a straight line which is parallel to a connecting line of the two credible tire points and passes through the midpoint; and determining other two tire contact points of the target vehicle according to the intersection points of the straight line and the two side contour lines.
In one aspect, the determining the driving direction of the target vehicle includes: taking the direction from the tail of the target vehicle to the head of the target vehicle as a reference, and acquiring a left front vehicle vertex, a right front vehicle vertex, a left rear vehicle roof point and a right rear vehicle vertex of the target vehicle; calculating a first midpoint of a connecting line of the left front vehicle vertex and the right front vehicle vertex and a second midpoint of a connecting line of the left rear vehicle roof point and the right rear vehicle roof point; and determining the driving direction of the target vehicle according to the direction indicated by the connecting line of the first midpoint and the second midpoint.
In one aspect, the determining the driving direction of the target vehicle according to the direction indicated by the connection line between the first midpoint and the second midpoint includes: acquiring an included angle between a connecting line of the first midpoint and the second midpoint and the lane line; if the included angle is smaller than a preset angle, determining that the running direction of the target vehicle is straight; otherwise, determining the driving direction of the target vehicle as right driving or left driving.
In one aspect, in addition, determining whether the target vehicle is pressed according to the two credible tire points, the contact points of the other two tires and the lane line comprises: determining a quadrangle according to the two credible tire points and the contact points of the other two tires; and determining whether the target vehicle is a pressed line or not by judging whether the intersection point exists between the quadrangle and the lane line or not.
It is to be understood that the present embodiment is an embodiment of an apparatus corresponding to the embodiment of the vehicle pressed line detecting method, and the present embodiment can be implemented in cooperation with the embodiment of the vehicle pressed line detecting method. The related technical details mentioned in the embodiments of the vehicle line pressing detection method are valid in the present embodiment, and are not described herein again in order to reduce repetition.
An embodiment of the present application further provides a mobile terminal, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle lane line detection method as described above.
The embodiment of the application also provides a storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the vehicle line pressing detection method is realized.
For example, the computer readable instructions, when executed, cause the one or more processors to:
acquiring an image to be detected, wherein the image to be detected comprises a target vehicle and a lane line;
determining two trusted tire points for the target vehicle; wherein the trusted tire point is: a tire touchdown point visually obtainable based on an image to be detected;
determining the contact points of the other two tires of the target vehicle according to the two credible tire points;
and determining whether the target vehicle presses the line or not according to the two credible tire points, the contact points of the other two tires and the lane line.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Program instructions which invoke the methods of the present application may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or a solution according to the aforementioned embodiments of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not any particular order.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (e.g., Central Processing Units (CPUs)), input/output interfaces, network interfaces, and memory.
Memory may include forms of volatile Memory in a computer readable medium, Random Access Memory (RAM), and/or non-volatile Memory such as Read Only Memory (ROM) or flash Memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, Phase-Change RAM (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash Memory or other Memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
The basic principles and main features of the solution and the advantages of the solution have been shown and described above. It will be understood by those skilled in the art that the present solution is not limited to the embodiments described above, which are merely illustrative of the principles of the solution, but that various changes and modifications may be made without departing from the spirit and scope of the solution, and that such changes and modifications are within the scope of the claimed solution. The scope of the present solution is defined by the appended claims and equivalents thereof.
Claims (10)
1. A vehicle line pressing detection method is characterized by comprising the following steps:
acquiring an image to be detected, wherein the image to be detected comprises a target vehicle and a lane line;
determining two trusted tire points for the target vehicle; wherein the trusted tire point is: a tire touchdown point visually obtainable based on an image to be detected;
determining the contact points of the other two tires of the target vehicle according to the two credible tire points;
and determining whether the target vehicle presses the line or not according to the two credible tire points, the contact points of the other two tires and the lane line.
2. The vehicle wire pressing detection method according to claim 1, characterized in that: the determining two trusted tire points of the target vehicle includes:
acquiring the relative positions of the midpoint of the front roof and the midpoint of the rear roof of the target vehicle;
taking the direction from the tail of the target vehicle to the head of the target vehicle as a reference, and taking the contact points of two rear tires as two credible tire points of the target vehicle if the position of the middle point of the front roof is above the position of the middle point of the rear roof;
and if the position of the front roof middle point is below the position of the rear roof middle point, taking the contact points of the two front wheels as the credible tire points of the target vehicle.
3. The vehicle wire pressing detection method according to claim 1, characterized in that: determining the touchdown points of the other two tires of the target vehicle according to the two credible tire points, comprising:
determining a driving direction of the target vehicle;
acquiring an intersection point of a straight line where the driving direction is located and a horizontal line where a vanishing point of the lane line is located;
and determining the contact points of the other two tires of the target vehicle according to the intersection point and the two credible tire points.
4. The vehicle wire pressing detection method according to claim 3, characterized in that: said determining the touchdown points of two other tires of the target vehicle based on the intersection point and the two trusted tire points comprises:
respectively connecting the two credible tire points with the intersection point to obtain two side contour lines;
acquiring a midpoint of a connecting line of two unreliable tire points; wherein the untrusted tire points are: a tire contact point which cannot be intuitively obtained from the image to be detected;
acquiring a straight line which is parallel to a connecting line of the two credible tire points and passes through the midpoint;
and determining other two tire contact points of the target vehicle according to the intersection points of the straight line and the two side contour lines.
5. The vehicle wire pressing detection method according to claim 3, characterized in that: the determining the driving direction of the target vehicle comprises:
taking the direction from the tail of the target vehicle to the head of the target vehicle as a reference, and acquiring a left front vehicle vertex, a right front vehicle vertex, a left rear vehicle roof point and a right rear vehicle vertex of the target vehicle;
calculating a first midpoint of a connecting line of the top point of the left front vehicle and the top point of the right front vehicle and a second midpoint of a connecting line of the top point of the left rear vehicle and the top point of the right rear vehicle;
and determining the driving direction of the target vehicle according to the direction indicated by the connecting line of the first midpoint and the second midpoint.
6. The vehicle wire pressing detection method according to claim 5, characterized in that: the determining the driving direction of the target vehicle according to the direction indicated by the connection line of the first midpoint and the second midpoint comprises:
acquiring an included angle between a connecting line of the first midpoint and the second midpoint and the lane line;
if the included angle is smaller than a preset angle, determining that the running direction of the target vehicle is straight; otherwise, determining the driving direction of the target vehicle as right driving or left driving.
7. The vehicle wire pressing detection method according to any one of claims 1 to 6, characterized in that: determining whether the target vehicle is pressed according to the two credible tire points, the contact points of the other two tires and the lane line, wherein the step of determining whether the target vehicle is pressed comprises the following steps:
determining a quadrangle according to the two credible tire points and the contact points of the other two tires;
and determining whether the target vehicle is pressed or not by judging whether the intersection point exists between the quadrangle and the lane line or not.
8. A vehicle wire pressing detection device is characterized by comprising:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring an image to be detected, and the image to be detected comprises a target vehicle and a lane line;
a first determination module for determining two trusted tire points of the target vehicle; wherein the trusted tire point is: a tire touchdown point visually obtainable based on an image to be detected;
a second determination module for determining the contact points of the other two tires of the target vehicle according to the two credible tire points;
and the judging module is used for determining whether the target vehicle presses the line according to the two credible tire points, the contact points of the other two tires and the lane line.
9. A mobile terminal, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle line press detection method as claimed in any one of claims 1 to 7.
10. A storage medium having a computer program stored thereon, characterized by: the computer program, when executed by a processor, implements the vehicle line press detection method as recited in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911065468.8A CN110909626A (en) | 2019-11-04 | 2019-11-04 | Vehicle line pressing detection method and device, mobile terminal and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911065468.8A CN110909626A (en) | 2019-11-04 | 2019-11-04 | Vehicle line pressing detection method and device, mobile terminal and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110909626A true CN110909626A (en) | 2020-03-24 |
Family
ID=69814812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911065468.8A Pending CN110909626A (en) | 2019-11-04 | 2019-11-04 | Vehicle line pressing detection method and device, mobile terminal and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110909626A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111932882A (en) * | 2020-08-13 | 2020-11-13 | 广东飞达交通工程有限公司 | Real-time early warning system, method and equipment for road accidents based on image recognition |
| CN112861683A (en) * | 2021-01-29 | 2021-05-28 | 上海商汤临港智能科技有限公司 | Driving direction detection method and device, computer equipment and storage medium |
| CN113469121A (en) * | 2021-07-21 | 2021-10-01 | 浙江大华技术股份有限公司 | Vehicle state identification method and device |
| CN113591554A (en) * | 2021-06-18 | 2021-11-02 | 浙江大华技术股份有限公司 | Line pressing detection method and violation detection method |
| CN114565889A (en) * | 2022-02-25 | 2022-05-31 | 阿波罗智联(北京)科技有限公司 | Method and device for determining vehicle line pressing state, electronic equipment and medium |
| WO2022179016A1 (en) * | 2021-02-26 | 2022-09-01 | 上海商汤科技开发有限公司 | Lane detection method and apparatus, device, and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110210363A (en) * | 2019-05-27 | 2019-09-06 | 中国科学技术大学 | A kind of target vehicle crimping detection method based on vehicle-mounted image |
| WO2019175686A1 (en) * | 2018-03-12 | 2019-09-19 | Ratti Jayant | On-demand artificial intelligence and roadway stewardship system |
| CN110287884A (en) * | 2019-06-26 | 2019-09-27 | 长安大学 | A kind of auxiliary drive in crimping detection method |
-
2019
- 2019-11-04 CN CN201911065468.8A patent/CN110909626A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019175686A1 (en) * | 2018-03-12 | 2019-09-19 | Ratti Jayant | On-demand artificial intelligence and roadway stewardship system |
| CN110210363A (en) * | 2019-05-27 | 2019-09-06 | 中国科学技术大学 | A kind of target vehicle crimping detection method based on vehicle-mounted image |
| CN110287884A (en) * | 2019-06-26 | 2019-09-27 | 长安大学 | A kind of auxiliary drive in crimping detection method |
Non-Patent Citations (2)
| Title |
|---|
| PIERRE MARIE DAMON: "Vision Bawed Lane Crossing Point Tracking for Motorcycles" * |
| 邱康: "基于车载图像的车辆压线检测方法研究" * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111932882A (en) * | 2020-08-13 | 2020-11-13 | 广东飞达交通工程有限公司 | Real-time early warning system, method and equipment for road accidents based on image recognition |
| CN112861683A (en) * | 2021-01-29 | 2021-05-28 | 上海商汤临港智能科技有限公司 | Driving direction detection method and device, computer equipment and storage medium |
| WO2022161139A1 (en) * | 2021-01-29 | 2022-08-04 | 上海商汤智能科技有限公司 | Driving direction test method and apparatus, computer device, and storage medium |
| WO2022179016A1 (en) * | 2021-02-26 | 2022-09-01 | 上海商汤科技开发有限公司 | Lane detection method and apparatus, device, and storage medium |
| CN113591554A (en) * | 2021-06-18 | 2021-11-02 | 浙江大华技术股份有限公司 | Line pressing detection method and violation detection method |
| CN113469121A (en) * | 2021-07-21 | 2021-10-01 | 浙江大华技术股份有限公司 | Vehicle state identification method and device |
| CN114565889A (en) * | 2022-02-25 | 2022-05-31 | 阿波罗智联(北京)科技有限公司 | Method and device for determining vehicle line pressing state, electronic equipment and medium |
| CN114565889B (en) * | 2022-02-25 | 2023-11-14 | 阿波罗智联(北京)科技有限公司 | Method and device for determining vehicle line pressing state, electronic equipment and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110909626A (en) | Vehicle line pressing detection method and device, mobile terminal and storage medium | |
| CN109143207B (en) | Laser radar internal reference precision verification method, device, equipment and medium | |
| CN113657224B (en) | Method, device and equipment for determining object state in vehicle-road coordination | |
| CN109752003B (en) | Robot vision inertia point-line characteristic positioning method and device | |
| US20230215187A1 (en) | Target detection method based on monocular image | |
| JP2019028967A (en) | Method and device for positioning vehicle on lateral side, storage medium, and program article | |
| US11430228B2 (en) | Dynamic driving metric output generation using computer vision methods | |
| CN111595253B (en) | Method, device and equipment for determining distance between vehicle and lane line and storage medium | |
| WO2022183682A1 (en) | Target determination method and apparatus, electronic device, and computer-readable storage medium | |
| CN113792707A (en) | Terrain environment detection method and system based on binocular stereo camera and intelligent terminal | |
| CN111178150A (en) | Lane line detection method, system and storage medium | |
| WO2023065342A1 (en) | Vehicle, vehicle positioning method and apparatus, device, and computer-readable storage medium | |
| CN107492123A (en) | A kind of road monitoring camera self-calibrating method using information of road surface | |
| KR20190062852A (en) | System, module and method for detecting pedestrian, computer program | |
| CN113012197A (en) | Binocular vision odometer positioning method suitable for dynamic traffic scene | |
| CN115410167A (en) | Target detection and semantic segmentation method, device, equipment and storage medium | |
| CN111192329B (en) | Sensor calibration result verification method and device and storage medium | |
| Mulyanto et al. | Implementation 2D Lidar and Camera for detection object and distance based on RoS | |
| CN113706633B (en) | Three-dimensional information determination method and device for target object | |
| CN111833443A (en) | Landmark position reconstruction in autonomous machine applications | |
| CN110784680B (en) | Vehicle positioning method and device, vehicle and storage medium | |
| CN113494910A (en) | Vehicle positioning method and device based on UWB positioning and storage medium | |
| WO2023184869A1 (en) | Semantic map construction and localization method and apparatus for indoor parking lot | |
| CN110539748A (en) | congestion car following system and terminal based on look around | |
| CN110677491B (en) | Method for estimating position of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20231229 |