CN110941003B - Vehicle identification method, device, storage medium and electronic equipment - Google Patents
Vehicle identification method, device, storage medium and electronic equipment Download PDFInfo
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- CN110941003B CN110941003B CN201911025250.XA CN201911025250A CN110941003B CN 110941003 B CN110941003 B CN 110941003B CN 201911025250 A CN201911025250 A CN 201911025250A CN 110941003 B CN110941003 B CN 110941003B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
Abstract
The present disclosure relates to a vehicle identification method, apparatus, storage medium, and electronic device to reduce data processing amount when identifying a target vehicle during vehicle tracking travel. The method comprises the following steps: acquiring GPS position information of a plurality of vehicles to be identified; taking the preset range of each GPS position information as a to-be-detected area; scanning in each area to be detected by using a millimeter wave radar to obtain target data, and determining a target area where each vehicle to be identified is located in each area to be detected according to the target data; and performing vehicle identification on each target area to determine a target vehicle.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a vehicle identification method, apparatus, storage medium, and electronic device.
Background
Environmental awareness in vehicle autopilot technology mainly includes three aspects, road surface, static objects and dynamic objects. The purpose of environment perception is that a driving path which can ensure the specification, safety and rapid arrival at a destination can be identified and planned in real time, reliably and accurately based on the driving performance and the consensus rule; in the driving process, objects which are around the driving path and have potential safety hazards to driving safety can be accurately identified in real time, and reference basis is provided for the objects to take necessary operations to avoid traffic safety accidents and for efficient driving, economical driving and smooth driving of vehicles. Wherein the environmental awareness provides a data reference for identifying a tracked target vehicle when the vehicle is performing a tracking run.
In the related art, the environmental sensing method includes acquiring two-dimensional or three-dimensional image information of the surrounding environment of the vehicle based on a visual sensor, and sensing the driving environment through an image analysis and identification technology. Two-dimensional or three-dimensional distance information of the surrounding environment of the vehicle is obtained based on a laser radar or a microwave radar, and the driving environment is sensed through a distance analysis and identification technology. The method comprises the steps of obtaining various different forms of information of the surrounding environment of the vehicle based on various sensors, and sensing the running environment through multi-information fusion. However, these methods have a large data processing amount.
Disclosure of Invention
An object of the present disclosure is to provide a vehicle identification method, apparatus, storage medium and electronic device to solve the problems in the related art.
In order to achieve the above object, according to a first aspect of embodiments of the present disclosure, there is provided a vehicle identification method including:
acquiring GPS position information of a plurality of vehicles to be identified;
taking the preset range of each GPS position information as a to-be-detected area;
scanning in each area to be detected by using a millimeter wave radar to obtain target data, and determining a target area where each vehicle to be identified is located in each area to be detected according to the target data;
and performing vehicle identification on each target area to determine a target vehicle.
Optionally, the acquiring the GPS location information of the plurality of vehicles to be identified includes:
the vehicle-mounted communication radio station of the vehicle is communicated with each vehicle to be identified so as to receive the GPS position information of the vehicle to be identified, which is sent by each vehicle to be identified.
Optionally, the determining, according to the target data, a target area where each vehicle to be identified is located in each of the areas to be detected includes:
extracting coordinate data representing the vehicle to be identified from the target data, wherein the coordinate data is a coordinate of the vehicle to be identified relative to the millimeter wave radar;
and determining the target area in the area to be detected according to the coordinate data, wherein the range of the target area is smaller than that of the area to be detected.
Optionally, the performing vehicle identification on each target area to determine a target vehicle includes:
carrying out image recognition on vehicles in each target area to obtain a set comprising vehicle image characteristic information;
after the preset time interval, carrying out image recognition on the vehicles in each target area again to obtain a new set comprising vehicle image characteristic information;
and judging whether the same vehicle image characteristic information exists in the set obtained again and the set obtained last time, and if so, taking the vehicle corresponding to the vehicle image characteristic information as the target vehicle.
According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle identification device including:
the system comprises an acquisition module, a recognition module and a recognition module, wherein the acquisition module is used for acquiring GPS position information of a plurality of vehicles to be recognized;
the setting module is used for taking the preset range of each GPS position information as a to-be-detected area;
the determining module is used for scanning in each to-be-detected area by using a millimeter wave radar to obtain target data, and determining a target area where each to-be-identified vehicle is located in each to-be-detected area according to the target data;
and the identification module is used for carrying out vehicle identification on each target area so as to determine a target vehicle.
Optionally, the obtaining module includes:
and the receiving submodule is used for communicating with each vehicle to be identified through a vehicle-mounted communication radio station of the vehicle so as to receive the GPS position information of each vehicle to be identified, which is sent by each vehicle to be identified.
Optionally, the determining module includes:
the extraction submodule is used for extracting coordinate data representing the vehicle to be identified from the target data, wherein the coordinate data is the coordinate of the vehicle to be identified relative to the millimeter wave radar;
and the determining submodule is used for determining the target area in the area to be detected according to the coordinate data, and the range of the target area is smaller than that of the area to be detected.
Optionally, the identification module comprises:
the first identification submodule is used for carrying out image identification on the vehicles in each target area so as to obtain a set comprising vehicle image characteristic information;
the second identification submodule is used for carrying out image identification on the vehicles in the target areas again after a preset time interval so as to obtain a new set comprising vehicle image characteristic information;
and the judging submodule is used for judging whether the same vehicle image characteristic information exists in the set obtained again and the set obtained last time, and if so, taking the vehicle corresponding to the vehicle image characteristic information as the target vehicle.
According to a third aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the methods of the first aspect.
According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any of the first aspects.
By adopting the technical scheme, the following technical effects can be at least achieved:
the method comprises the steps of acquiring GPS position information of a plurality of vehicles to be identified, taking a preset range of the GPS position information of each vehicle to be identified as a region to be detected, scanning each region to be detected by using a millimeter wave radar to respectively obtain corresponding target data, determining a target region where each vehicle to be identified is located in each region to be detected according to the target data, and identifying the vehicles in each target region to determine the target vehicles. By adopting the method, when the automobile is automatically driven and surrounding vehicles are identified, the area to be detected comprising the vehicles to be identified is determined according to the GPS position information of the vehicles to be identified, and the range of the area to be detected is smaller than the environment range which can be detected by the detection device. In this way, the amount of data processing at the time of identifying the surrounding vehicle can be reduced.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of vehicle identification according to an exemplary embodiment of the present disclosure.
Fig. 2 is a block diagram illustrating a vehicle identification apparatus according to an exemplary embodiment of the present disclosure.
Fig. 3 is a block diagram illustrating an electronic device according to an exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The automatic driving technology includes automatic tracking driving, specifically, an automatically driving vehicle can calculate driving parameters of the automatically driving vehicle by acquiring driving data of a tracked vehicle and according to the acquired driving data of the tracked vehicle and data such as a safety distance between the vehicle and the vehicle, and further, the vehicle can be controlled to automatically drive according to the driving parameters.
The automatic tracking driving of the vehicle is usually realized by establishing a link between the automatic driving vehicle and the tracked vehicle in advance. However, this method is not very flexible. Therefore, in order to further improve the method, a method of automatically identifying a tracked vehicle is proposed so that a tracked vehicle can flexibly select a tracked target vehicle in any situation.
In the related art, the environmental data around the automatically traveling vehicle may be acquired by an environmental awareness technology, and which vehicles around the automatically traveling vehicle meet the tracked traveling condition may be analyzed according to the environmental data. However, this method has a problem that the data processing amount is large in the process of data analysis processing.
In view of the above, embodiments of the present disclosure provide a vehicle identification method, apparatus, storage medium and electronic device to reduce data processing amount when identifying a target vehicle during vehicle tracking driving.
Fig. 1 is a flowchart illustrating a vehicle identification method according to an exemplary embodiment of the present disclosure, as shown in fig. 1, the method including:
s101, acquiring GPS position information of a plurality of vehicles to be identified.
The approximate location of the vehicle can be determined using GPS positioning. It is understood that in the related art, there is an inevitable error in the GPS positioning, and the GPS error range is usually several meters to several tens of meters. Therefore, only the approximate position of any vehicle to be identified can be confirmed based on the GPS position information of the vehicle to be identified.
And S102, taking the preset range of each piece of GPS position information as an area to be detected.
According to the GPS position information of any vehicle to be identified, the range of the vehicle can be confirmed. Exemplarily, a circle is made by taking the obtained GPS coordinate position of the vehicle to be identified as a center of the circle and taking the error as a radius, and a range covered by the circle is taken as an area to be detected of the vehicle to be identified. The maximum error value of the GPS positioning may be used as the radius value, or the average error value of the GPS positioning may be used as the radius value. In this way, the vehicle to be identified can be made to be in the area to be detected.
If the average error value of the GPS positioning is taken as the radius value and is taken as the preset range, for example, if the data in the GPS error data set is 2, 5, 8, 15, 18, 21, and 22, the average value of the data set is calculated to obtain the average error of the GPS data set as 13 meters. Then, the obtained GPS coordinate position of the vehicle to be identified can be used as a circle center, and a circle is drawn with the average error value of 13 meters as a radius, so as to obtain the region to be detected of the vehicle to be identified.
It should be noted that the region to be detected is not necessarily a circular region, and may be a region of any other shape.
S103, scanning in each to-be-detected area by using a millimeter wave radar to obtain target data, and determining the target area of each to-be-identified vehicle in each to-be-detected area according to the target data.
The millimeter wave radar is a radar which works in a millimeter wave band for detection. The frequency is between 10GHz and 200 GHz. The millimeter wave radar mainly has 3 frequency bands, namely 24GHz, 77GHz and 79 GHz. Millimeter wave radars in different frequency bands have different performance and cost. The millimeter wave speed measurement principle is based on Doppler effect, the distance measurement is related to a radar system, the pulse radar system is determined by delay time, and the continuous wave radar system is obtained by discrete Fourier transform of echo signals and local oscillation difference frequency signals. Thus, unlike the cartesian coordinate system of the laser, the raw data of the millimeter wave radar is a polar coordinate system based on distance and angle. It is understood that cartesian coordinates and polar coordinates may be transformed into each other according to a trigonometric function.
Illustratively, taking the forward millimeter wave radar ESR of delford as an example, the radar can return data of 64 targets at most per frame, and relevant information of each target, such as relative position and relative speed of the target and the millimeter wave radar device, can be analyzed according to the data of the target.
Therefore, the millimeter wave radar device is used for scanning in the to-be-detected area where each vehicle to be identified is located, and target data corresponding to each vehicle to be identified can be obtained. According to the target data of the vehicle to be identified, the position area where the vehicle to be identified is located can be further confirmed in the area to be detected.
It is worth mentioning that since the error range of the GPS positioning is between several meters and several tens of meters, the range of the region to be detected and the range of the target region may be the same if the error of the GPS positioning is small, in a possible case. In another possible case, if the error of the GPS positioning is large, the range of the region to be detected may be larger than the range of the target region.
And S104, vehicle identification is carried out on each target area to determine a target vehicle.
And identifying the vehicles in each target area, and taking the vehicles to be identified which meet preset conditions as target vehicles. The target vehicle may be plural.
For example, a vehicle to be identified that meets the tracked vehicle conditions is taken as the target vehicle. For example, a vehicle in front of the autonomous vehicle, which has a good traveling state and is always within the recognition range of the autonomous vehicle, is set as the target vehicle. Further, a vehicle is selected from the plurality of target vehicles as the tracked vehicle.
By adopting the method, the GPS position information of a plurality of vehicles to be identified is acquired, the preset range of the GPS position information of each vehicle to be identified is used as a region to be detected, then millimeter wave radars are used for scanning in each region to be detected to respectively obtain corresponding target data, the target region where each vehicle to be identified is located is determined in each region to be detected according to the target data, and vehicle identification is carried out on each target region to determine the target vehicle. By adopting the method, when the automobile is automatically driven and surrounding vehicles are identified, the area to be detected comprising the vehicles to be identified is determined according to the GPS position information of the vehicles to be identified, and the range of the area to be detected is smaller than the environment range which can be detected by the detection device. Therefore, the method can reduce the data processing amount when the target vehicle is identified in the process of vehicle tracking running.
Optionally, the acquiring the GPS location information of the plurality of vehicles to be identified may include:
the vehicle-mounted communication radio station of the vehicle is communicated with each vehicle to be identified so as to receive the GPS position information of the vehicle to be identified, which is sent by each vehicle to be identified.
A vehicle-mounted communication station, also called a radio communication station, is a communication method in which signals such as voice, text, data, and images to be transmitted are modulated on radio waves and transmitted to an opposite party through space and the ground, that is, a communication method in which information is transmitted in space by using radio electromagnetic waves. The vehicle-mounted communication radio station has better real-time property when sending and receiving information, can avoid information delay and has better anti-interference capability.
In a possible situation, such as when the vehicle enters a tunnel section, the 4G signal, 5G signal, etc. received by the vehicle will be limited, and a loss of information may occur. Therefore, the vehicle-mounted communication radio station is adopted for communication in the disclosure, so that the safety problem of the automatic driving vehicle caused by signal loss under similar road conditions is avoided.
Optionally, the determining, according to the target data, a target area in which each vehicle to be identified is located in each of the areas to be detected may include the following steps:
and extracting coordinate data representing the vehicle to be identified from the target data, wherein the coordinate data is the coordinate of the vehicle to be identified relative to the millimeter wave radar.
The raw data detected by the millimeter wave radar device includes data of a polar coordinate system based on distance and angle. Therefore, the coordinate data corresponding to each vehicle to be identified can be extracted from the data field obtained by scanning each region to be detected by the millimeter wave radar device.
It is worth mentioning that cartesian coordinates and polar coordinates can be transformed into each other according to a trigonometric function. Therefore, the coordinate data of the vehicle to be identified obtained as described above may be data in a cartesian coordinate system or may be data in a polar coordinate system. The present disclosure is not limited thereto.
And determining the target area in the area to be detected according to the coordinate data, wherein the range of the target area is smaller than that of the area to be detected.
According to the detected target data, the target area where the vehicle to be identified in the corresponding area to be detected is located can be further determined. Illustratively, the length and the width of the vehicle are determined according to the type of the vehicle, the range of the vehicle in the to-be-detected area is determined according to the length and the width of the vehicle and the coordinate information of the vehicle, and the range is used as the target area of the vehicle to be identified. Thus, the detection region range can be further narrowed. For example, according to the obtained coordinate position of the vehicle to be recognized, the target area is set with the coordinate point as a center point and the length and width of the vehicle as side lengths. For another example, according to the obtained coordinate position of the vehicle to be recognized, the target area is set with the coordinate point as a center point and a preset length as a radius.
In this way, the range of the region to be detected can be further reduced to the range of the target region. And then, the detection data in the target area range is processed, so that the data processing amount for identifying the target vehicle in the vehicle tracking running process can be further reduced. For example, in step S102, a circle is drawn with the GPS coordinate position of the vehicle to be recognized as the center of the circle and the average error value of 13 meters as the radius, so as to obtain the region to be detected of the vehicle to be recognized. And scanning by using a millimeter wave radar in the area to be detected to obtain the specific coordinate position of the vehicle in the area to be detected. A rectangular target area is further defined within the circular area to be inspected by the length and width of the vehicle according to the specific coordinate position of the vehicle. Assuming that the vehicle is 4.4 meters in length and 1.6 meters wide, the target area is a rectangular area 4.4 meters in length and 1.6 meters wide within the circular area of 13 meters radius. It is easy to find that the range of the target area is smaller than that of the area to be detected, so that the method further reduces the data processing amount when the target vehicle is identified in the vehicle tracking driving process.
Optionally, the vehicle identification for each target area to determine a target vehicle may include the following steps:
carrying out image recognition on vehicles in each target area to obtain a set comprising vehicle image characteristic information; after the preset time interval, carrying out image recognition on the vehicles in each target area again to obtain a new set comprising vehicle image characteristic information; and judging whether the same vehicle image characteristic information exists in the set obtained again and the set obtained last time, and if so, taking the vehicle corresponding to the vehicle image characteristic information as the target vehicle.
It is understood that if a certain vehicle to be identified continues to travel ahead of the automatically traveling vehicle, the vehicle may be regarded as the tracked target vehicle. By means of the image recognition technology, the image characteristic information of the vehicle to be recognized can be recognized, and therefore the target vehicle can be recognized accurately from the vehicles to be recognized.
Specifically, at the current moment, the GPS position information of a plurality of vehicles to be identified around the autonomous vehicle is acquired, then the to-be-detected area and the target area where the vehicle to be identified is located are determined, and then the vehicles in each target area are subjected to image identification, so as to obtain a set including vehicle image feature information. Then, after a preset time interval, for example, after 30 seconds, the GPS position information of a plurality of new vehicles to be identified around the autonomous vehicle is acquired again, then a new region to be detected and a target region where the new vehicle to be identified is located are determined, and then image identification is performed on vehicles in each new target region to obtain a new set including vehicle image feature information. And judging whether the same vehicle image characteristic information exists in the two sets, and if so, considering that the vehicle is continuously in the detection range of the automatic driving vehicle, so that the vehicle can be taken as the target vehicle.
It should be noted that, in the raw data acquired by the millimeter wave radar device, a tracking status field corresponding to the detected obstacle is further included, and therefore, if the vehicle that is automatically tracked and travels has established a tracking relationship with a tracked vehicle, it is possible to determine whether the tracked vehicle has failed in tracking from the tracking status field in the data acquired by the millimeter wave radar device, and if the tracking has failed, a new tracked vehicle may be selected from the target vehicles. Thus, in this manner, unsafe problems of automatically traveling vehicles due to a communication disconnection with the tracked vehicle can be safeguarded.
Based on the same inventive concept, the present disclosure further provides a vehicle identification apparatus for implementing the steps of the vehicle identification method provided by the above method embodiment, as shown in fig. 2, the apparatus 200 includes:
an obtaining module 210, configured to obtain GPS location information of multiple vehicles to be identified;
the setting module 220 is configured to use a preset range of each piece of GPS location information as an area to be detected;
the determining module 230 is configured to scan in each to-be-detected region by using a millimeter wave radar to obtain target data, and determine, according to the target data, a target region where each to-be-identified vehicle is located in each to-be-detected region;
and an identification module 240, configured to perform vehicle identification on each of the target areas to determine a target vehicle.
By adopting the device, the GPS position information of a plurality of vehicles to be identified is acquired, the preset range of the GPS position information of each vehicle to be identified is used as a region to be detected, then millimeter wave radars are used for scanning in each region to be detected to respectively obtain corresponding target data, the target region where each vehicle to be identified is located is determined in each region to be detected according to the target data, and vehicle identification is carried out on each target region to determine the target vehicle. By adopting the mode, when the automobile is automatically driven and surrounding vehicles are identified, the area to be detected comprising the vehicles to be identified is determined according to the GPS position information of the vehicles to be identified, and the range of the area to be detected is smaller than the environment range which can be detected by the detection device. In this way, the data processing amount for identifying the target vehicle during the vehicle tracking running can be reduced.
Optionally, the obtaining module 210 includes:
and the receiving submodule is used for communicating with each vehicle to be identified through a vehicle-mounted communication radio station of the vehicle so as to receive the GPS position information of each vehicle to be identified, which is sent by each vehicle to be identified.
Optionally, the determining module 230 includes:
the extraction submodule is used for extracting coordinate data representing the vehicle to be identified from the target data, wherein the coordinate data is the coordinate of the vehicle to be identified relative to the millimeter wave radar;
and the determining submodule is used for determining the target area in the area to be detected according to the coordinate data, and the range of the target area is smaller than that of the area to be detected.
Optionally, the identifying module 240 includes:
the first identification submodule is used for carrying out image identification on the vehicles in each target area so as to obtain a set comprising vehicle image characteristic information;
the second identification submodule is used for carrying out image identification on the vehicles in the target areas again after a preset time interval so as to obtain a new set comprising vehicle image characteristic information;
and the judging submodule is used for judging whether the same vehicle image characteristic information exists in the set obtained again and the set obtained last time, and if so, taking the vehicle corresponding to the vehicle image characteristic information as the target vehicle.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 3 is a block diagram illustrating an electronic device 700 according to an example embodiment. As shown in fig. 3, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the electronic device 700, so as to complete all or part of the steps in the vehicle identification method. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the vehicle identification method described above.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the vehicle identification method described above is also provided. For example, the computer readable storage medium may be the memory 702 described above including program instructions executable by the processor 701 of the electronic device 700 to perform the vehicle identification method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle identification method when executed by the programmable apparatus.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (6)
1. A vehicle identification method, characterized in that the method comprises:
the method comprises the steps that a vehicle-mounted communication radio station of a vehicle is communicated with each vehicle to be identified so as to receive GPS position information of the vehicle to be identified, wherein the GPS position information is sent by each vehicle to be identified;
taking the preset range of each GPS position information as a to-be-detected area;
scanning each region to be detected according to a millimeter wave radar installed on the vehicle to obtain target data, and determining a target region where each vehicle to be identified is located in each region to be detected according to the target data, wherein the region to be detected is smaller than the sensing range of the millimeter wave radar, and the range of the target region is smaller than that of the region to be detected;
carrying out image recognition on vehicles in each target area to obtain a set comprising vehicle image characteristic information;
after the preset time interval, carrying out image recognition on the vehicles in each target area again to obtain a new set comprising vehicle image characteristic information;
and judging whether the same vehicle image characteristic information exists in the set obtained again and the set obtained last time, and if so, taking the vehicle corresponding to the vehicle image characteristic information as the identified target vehicle.
2. The method according to claim 1, wherein the determining a target area in which each vehicle to be identified is located in each of the areas to be detected according to the target data comprises:
extracting coordinate data representing the vehicle to be identified from the target data, wherein the coordinate data is a coordinate of the vehicle to be identified relative to the millimeter wave radar;
and determining the target area in the area to be detected according to the coordinate data.
3. A vehicle identification device, characterized in that the device comprises:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for communicating with each vehicle to be identified through a vehicle-mounted communication radio station of the vehicle so as to receive the GPS position information of each vehicle to be identified, which is sent by each vehicle to be identified;
the setting module is used for taking the preset range of each GPS position information as a to-be-detected area;
the determining module is used for scanning each area to be detected according to the millimeter wave radar installed on the vehicle to obtain target data, and determining a target area where each vehicle to be identified is located in each area to be detected according to the target data, wherein the area to be detected is smaller than the sensing range of the millimeter wave radar, and the range of the target area is smaller than that of the area to be detected;
the identification module is used for carrying out image identification on the vehicles in each target area to obtain a set comprising vehicle image characteristic information; after the preset time interval, carrying out image recognition on the vehicles in each target area again to obtain a new set comprising vehicle image characteristic information; and judging whether the same vehicle image characteristic information exists in the set obtained again and the set obtained last time, and if so, taking the vehicle corresponding to the vehicle image characteristic information as the identified target vehicle.
4. The apparatus of claim 3, wherein the determining module comprises:
the extraction submodule is used for extracting coordinate data representing the vehicle to be identified from the target data, wherein the coordinate data is the coordinate of the vehicle to be identified relative to the millimeter wave radar;
and the determining submodule is used for determining the target area in the area to be detected according to the coordinate data.
5. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as claimed in claim 1 or 2.
6. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of claim 1 or 2.
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