CN111103437A - Monocular distance measurement-based adjacent vehicle acceleration detection method and device - Google Patents
Monocular distance measurement-based adjacent vehicle acceleration detection method and device Download PDFInfo
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- CN111103437A CN111103437A CN201910867530.9A CN201910867530A CN111103437A CN 111103437 A CN111103437 A CN 111103437A CN 201910867530 A CN201910867530 A CN 201910867530A CN 111103437 A CN111103437 A CN 111103437A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/16—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by evaluating the time-derivative of a measured speed signal
Abstract
The application provides an adjacent vehicle acceleration detection method and device based on monocular distance measurement, and relates to the field of electric data processing. According to the embodiment of the invention, the average speed and time of the adjacent vehicles running from the first distance to the third distance and the average speed and time of the adjacent vehicles running from the third distance to the second distance are respectively obtained, and the acceleration of the adjacent vehicles is obtained according to the average speed difference and the time difference, so that the artificial error of the driver in judging the acceleration is avoided, the driving safety is improved, and meanwhile, because the acceleration information of the adjacent vehicles is measured and recorded, the basis can be provided for the responsibility determination of traffic police when a traffic accident occurs.
Description
Technical Field
The application belongs to the field of electric data processing, and particularly relates to an adjacent vehicle acceleration detection method and device based on monocular distance measurement.
Background
At present, when a driver uses a vehicle to drive on a highway, misjudgment is usually carried out on the acceleration of the vehicle adjacent to the driver, and the misjudgment easily causes traffic accidents such as rear-end collision, scraping and the like, thereby causing serious threat to the personal safety of the driver.
Disclosure of Invention
The invention mainly aims to provide a method and a device for detecting the acceleration of an adjacent vehicle based on monocular distance measurement.
In a first aspect, a method for detecting acceleration of an adjacent vehicle based on monocular distance measurement is provided, and the method includes:
when the width of an image of an adjacent vehicle in a camera is larger than a first safety threshold value, acquiring the license plate specification of the adjacent vehicle and acquiring a first shooting angle;
when the width of the adjacent vehicle is larger than a second safety threshold, acquiring a second shooting angle, and acquiring a time difference of the adjacent vehicle changing from the first safety threshold to the second safety threshold, wherein the second safety threshold is larger than the first safety threshold;
acquiring a third shooting angle of the image representing the median time of the time difference;
acquiring a first vehicle distance between the vehicle and the adjacent vehicle in a preset vehicle distance database according to the license plate specification and the first shooting angle, acquiring a second vehicle distance between the vehicle and the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the second shooting angle, and acquiring a third vehicle distance between the vehicle and the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the third shooting angle;
according to the formula
Obtaining that the adjacent vehicle travels from the first vehicle distance to the third vehicle distanceAverage speed in the course of the distance between vehicles, according to the formula
Acquiring the average speed of the adjacent vehicles in the process of driving from the third vehicle distance to the second vehicle distance, wherein d1Is a first vehicle distance d2Is the second vehicle distance, d3Is the third vehicle distance, t1-t3For the time difference, t, from the first to the third vehicle distance3-t2The time difference from the third vehicle distance to the second vehicle distance is obtained, and v' is the current speed of the vehicle;
according to the formula
Acquiring the acceleration of the adjacent vehicle in the process of driving from the first vehicle distance to the third vehicle distance.
In one possible implementation manner, the obtaining the license plate specification of the adjacent vehicle includes:
and acquiring the license plate specification through the pixel value of the license plate.
In another possible implementation manner, the obtaining the license plate specification through the pixel values of the license plate includes:
acquiring pixel values of license plates of the adjacent vehicles through a license plate recognition algorithm;
determining the length and width pixels of the license plate according to the pixel values;
and determining the license plate specification of the adjacent vehicles according to the ratio of the length pixels to the width pixels.
In yet another possible implementation manner, the determining the license plate specification of the adjacent vehicle according to the ratio of the length and the width pixels includes:
and comparing the proportion with a preset proportion database, and determining the license plate specification according to the comparison result.
In yet another possible implementation form of the method,
the acquisition first shooting angle, the acquisition second shooting angle, the acquisition third shooting angle include:
according toFormula (II)
A first photographing angle is acquired, wherein α1Is the first photographing angle, β is the maximum photographing angle of the in-vehicle photographing apparatus, Δ w1The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a first safety threshold value1The width of the image when the width exceeds a first safety threshold value; and the number of the first and second groups,
according to the formula
Acquiring a photographing angle, wherein α2Is the second photographing angle, β is the maximum photographing angle of the vehicle-mounted photographing apparatus, Δ w2The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a second safety threshold value2The width of the image when the width exceeds a second safety threshold value; and the number of the first and second groups,
according to the formula
Acquiring a photographing angle, wherein α3Is the third photographing angle, β is the maximum photographing angle of the in-vehicle photographing apparatus, Δ w3The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image at the median time of the time difference to the central axis of the image3Is the width of the image at the median time instant representing the time difference.
In a second aspect, there is provided a monocular distance measurement based adjacent vehicle acceleration detection apparatus, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the license plate specification of an adjacent vehicle and acquiring a first shooting angle when the width of an image of the adjacent vehicle in a camera is larger than a first safety threshold;
the second acquisition module is used for acquiring a second shooting angle and acquiring the time difference of the adjacent vehicle changing from the first safety threshold to the second safety threshold when the width of the adjacent vehicle is larger than the second safety threshold, wherein the second safety threshold is larger than the first safety threshold;
a third acquisition module, configured to acquire a third shooting angle of the image at the median time of the time difference;
the vehicle distance acquisition module is used for acquiring a first vehicle distance between the vehicle and the adjacent vehicle in a preset vehicle distance database according to the license plate specification and the first shooting angle, acquiring a second vehicle distance between the vehicle and the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the second shooting angle, and acquiring a third vehicle distance between the vehicle and the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the third shooting angle;
a vehicle speed acquisition module for obtaining the vehicle speed according to a formula
Acquiring the average speed of the adjacent vehicles in the process of driving from the first distance to the third distance according to a formula
Acquiring the average speed of the adjacent vehicles in the process of driving from the third vehicle distance to the second vehicle distance, wherein d1Is a first vehicle distance d2Is the second vehicle distance, d3Is the third vehicle distance, t1-t3For the time difference, t, from the first to the third vehicle distance3-t2The time difference from the third vehicle distance to the second vehicle distance is obtained, and v' is the current speed of the vehicle;
an acceleration acquisition module for obtaining an acceleration according to a formula
Acquiring the acceleration of the adjacent vehicle in the process of driving from the first vehicle distance to the third vehicle distance.
In one possible implementation manner, the obtaining the license plate specification of the adjacent vehicle includes:
and acquiring the license plate specification through the pixel value of the license plate.
In another possible implementation manner, the obtaining apparatus includes:
the pixel value acquisition unit is used for acquiring the pixel values of the license plates of the adjacent vehicles through a license plate recognition algorithm;
the length and width pixel determining unit is used for determining the length and width pixels of the license plate according to the pixel values;
and the license plate specification determining unit is used for determining the license plate specification of the adjacent vehicle according to the ratio of the length pixels and the width pixels.
In yet another possible implementation manner, the determining the license plate specification of the adjacent vehicle according to the ratio of the length and the width pixels includes:
and comparing the proportion with a preset proportion database, and determining the license plate specification according to the comparison result.
In yet another possible implementation form of the method,
the acquisition first shooting angle, the acquisition second shooting angle, the acquisition third shooting angle include:
according to the formula
A first photographing angle is acquired, wherein α1Is the first photographing angle, β is the maximum photographing angle of the in-vehicle photographing apparatus, Δ w1The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a first safety threshold value1The width of the image when the width exceeds a first safety threshold value; and the number of the first and second groups,
according to the formula
Acquiring a photographing angle, wherein α2Is the second photographing angle, β is the maximum photographing angle of the vehicle-mounted photographing apparatus, Δ w2The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a second safety threshold value2The width of the image when the width exceeds a second safety threshold value; and the number of the first and second groups,
according to the formula
Acquiring a photographing angle, wherein α3Is the third photographing angle, β is the maximum photographing angle of the in-vehicle photographing apparatus, Δ w3The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image at the median time of the time difference to the central axis of the image3Is the width of the image at the median time instant representing the time difference.
The beneficial effect that technical scheme that this application provided brought is: the number of the adjacent vehicles is obtained through calculation, so that misjudgment of a driver on the vehicle speed is reduced, the personal safety of the driver is guaranteed, and meanwhile, because the acceleration information of the adjacent vehicles is measured and recorded, a basis can be provided for determining responsibility of traffic police when a traffic accident happens.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
FIG. 1 is a flowchart of a method for detecting acceleration of an adjacent vehicle based on monocular distance measurement according to an embodiment of the present application;
FIG. 2 is a flowchart of a method for detecting acceleration of an adjacent vehicle based on monocular distance measurement according to another embodiment of the present application;
FIG. 3 is a schematic diagram illustrating an effect of a method for detecting acceleration of an adjacent vehicle based on monocular distance measurement according to another embodiment of the present application;
FIG. 4 is a schematic diagram illustrating an effect of a method for detecting acceleration of an adjacent vehicle based on monocular distance measurement according to another embodiment of the present application
Fig. 5 is a structural diagram of an adjacent vehicle acceleration detection device based on monocular distance measurement according to yet another embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
At present, when a driver uses a vehicle to drive on a highway, misjudgment is usually carried out on the acceleration of the vehicle adjacent to the driver, and the misjudgment easily causes traffic accidents such as rear-end collision, scraping and the like, thereby causing serious threat to the personal safety of the driver.
The application provides a method and a device for measuring the speed of an adjacent vehicle in a random scene under rapid movement, and aims to solve the technical problems in the prior art.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Example one
Fig. 1 is a flowchart of an adjacent vehicle acceleration detection method based on monocular distance measurement according to an embodiment of the present invention, including:
step S101, when the width of the image of the adjacent vehicle in the camera is larger than a first safety threshold value, the license plate specification of the adjacent vehicle is obtained, and a first shooting angle is obtained.
In the embodiment of the present invention, the vehicle traveling on the road usually does not make a large erroneous determination as to the vehicle speed of the vehicle in the left-right direction, and usually makes an erroneous determination as to the vehicle speed of the vehicle in the front-rear direction, and therefore the adjacent vehicle usually means the vehicle in the front-rear direction. For the adjacent vehicles in the front-rear direction, images may be acquired by the photographing apparatuses installed at the front-rear positions of the vehicles.
According to the imaging principle, the larger the volume of an object in an image, the closer the object is to a camera source, the visual judgment of the size of the volume of a vehicle in the image is the width change of the vehicle in the image, and the larger the width, the closer an adjacent vehicle is to the vehicle, so that a safety threshold value is set, and if the width of the adjacent vehicle in the image is larger than the safety threshold value, the subsequent steps are required to calculate the distance between the vehicles. The safety threshold may be set according to the needs of practical application, and the present invention is not limited, and is not described herein.
Obtaining license plate specifications of adjacent vehicles, comprising:
and acquiring the specification of the license plate according to the pixel value of the license plate.
In the embodiment of the invention, the image shot by the camera is composed of the pixel values, so that the license plate specification of the adjacent vehicle can be obtained through the pixel values of the license plate.
Fig. 2 is a flowchart of a method for measuring a distance between vehicles according to another embodiment of the present invention, in which obtaining a license plate specification according to a pixel value of a license plate includes:
step S201, obtaining the pixel value of the license plate of the adjacent vehicle through a license plate recognition algorithm.
In the embodiment of the invention, after the image is acquired, the license plate of the vehicle can be identified from the image through a license plate identification algorithm, and the pixel value of the license plate in the image is further acquired. The license plate recognition algorithm can be set according to the actual use requirement, and the invention is not limited and is not repeated.
Step S202, determining the length and width pixels of the license plate according to the pixel values.
Step S302, determining the license plate specification of the adjacent vehicle according to the ratio of the length pixels and the width pixels.
In the embodiment of the invention, because the distances between adjacent vehicles are different and the imaging sizes of the adjacent vehicles in the images are different, the license plate specification of the vehicle is difficult to determine directly through the length-width pixels of the license plate, and the length-width ratio of the license plate is not changed no matter how the imaging sizes are changed, so the license plate specification of the adjacent vehicle can be determined through the length-width pixel ratio of the license plate.
Determining the license plate specification of adjacent vehicles according to the ratio of the length pixels to the width pixels, comprising the following steps:
and comparing the proportion with a preset proportion database, and determining the license plate specification according to the comparison result.
In the embodiment of the invention, the standard proportions of various license plates are stored in the proportion database, and the license plate specification can be obtained by comparing the obtained license plate proportion of the adjacent vehicle with the proportion database. The existing license plate specifications are generally two types: 1. the international size blue plate and black plate of the nine-two type motor vehicle license plate are 440mm by 140 mm; 2. yellow brand is "440 mm by 220 mm".
Obtain first shooting angle, include:
according to the formula
A first photographing angle is acquired, wherein α1Is the first photographing angle, β is the maximum photographing angle of the in-vehicle photographing apparatus, Δ w1The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a first safety threshold value1Is the width of the image when the width exceeds a first security threshold.
And step S102, when the width of the adjacent vehicle is larger than a second safety threshold, acquiring a second shooting angle, and acquiring the time difference of the adjacent vehicle from the first safety threshold to the second safety threshold, wherein the second safety threshold is larger than the first safety threshold.
In the embodiment of the present invention, the closer the vehicle is, the greater the imaging in the photographing apparatus, and therefore the second safety threshold is greater than the first safety threshold, when the distance to the adjacent vehicle is greater than the second safety threshold, it is indicated that the adjacent vehicle is closer to the own vehicle than the first safety threshold period.
Acquiring a second shooting angle, including:
according to the formula
Acquiring a photographing angle, wherein α2Is the second photographing angle, β is the maximum photographing angle of the vehicle-mounted photographing apparatus, Δ w2The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a second safety threshold value2Is the width of the image when the width exceeds a second security threshold.
In step S103, a third shooting angle of the image at the median time point representing the time difference is acquired.
In the embodiment of the present invention, a median is taken from the time differences, an image at the median time is obtained, and a third shooting angle is obtained according to the image at the median time.
Acquiring a third shooting angle, comprising:
according to the formula
Acquiring a photographing angle, wherein α3Is the third photographing angle, β is the maximum photographing angle of the in-vehicle photographing apparatus, Δ w3The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image at the median time of the time difference to the central axis of the image3Is the width of the image at the median time instant representing the time difference.
And step S104, acquiring a first vehicle distance between the vehicle and the adjacent vehicle in a preset vehicle distance database according to the license plate specification and the first shooting angle, acquiring a second vehicle distance between the vehicle and the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the second shooting angle, and acquiring a third vehicle distance between the vehicle and the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the third shooting angle.
In the embodiment of the invention, the vehicle distance database stores the pixel values of the license plates with different specifications within a certain distance between the maximum shooting angles of the vehicle-mounted shooting equipment, so that the vehicle distance between the vehicle and the adjacent vehicle can be obtained through the obtained license plate specification, the shooting angles and the pixel values.
Step S105, according to the formula
Acquiring the average speed of the adjacent vehicles in the process of driving from the first distance to the third distance according to a formula
Acquiring the average speed of the adjacent vehicles in the process of driving from the third vehicle distance to the second vehicle distance, wherein d1Is a first vehicle distance d2Is the second vehicle distance, d3Is the third vehicle distance, t1-t3For the time difference, t, from the first to the third vehicle distance3-t2The time difference from the third distance to the second distance is obtained, and v' is the current speed of the vehicle.
Step S106, according to the formula
The acceleration of the adjacent vehicle in the process of traveling from the first vehicle distance to the third vehicle distance is acquired.
According to the embodiment of the invention, the average speed and time of the adjacent vehicles running from the first distance to the third distance and the average speed and time of the adjacent vehicles running from the third distance to the second distance are respectively obtained, and the acceleration of the adjacent vehicles is obtained according to the average speed difference and the time difference, so that the artificial error of the driver in judging the acceleration is avoided, the driving safety is improved, and meanwhile, because the acceleration information of the adjacent vehicles is measured and recorded, the basis can be provided for the responsibility determination of traffic police when a traffic accident occurs.
Fig. 3 is a schematic diagram illustrating an effect of a method for detecting acceleration of an adjacent vehicle based on monocular distance measurement according to another embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating an effect of a method for detecting acceleration of an adjacent vehicle based on monocular distance measurement according to another embodiment of the present invention.
Fig. 5 is a structural diagram of an adjacent vehicle acceleration detection apparatus based on monocular distance measurement according to an embodiment of the present invention, including:
the first obtaining module 501 is configured to obtain a license plate specification of an adjacent vehicle and obtain a first shooting angle when a width of an image of the adjacent vehicle in the camera is greater than a first safety threshold.
In the embodiment of the present invention, the vehicle traveling on the road usually does not make a large erroneous determination as to the vehicle speed of the vehicle in the left-right direction, and usually makes an erroneous determination as to the vehicle speed of the vehicle in the front-rear direction, and therefore the adjacent vehicle usually means the vehicle in the front-rear direction. For the adjacent vehicles in the front-rear direction, images may be acquired by the photographing apparatuses installed at the front-rear positions of the vehicles.
According to the imaging principle, the larger the volume of an object in an image, the closer the object is to a camera source, the visual judgment of the size of the volume of a vehicle in the image is the width change of the vehicle in the image, and the larger the width, the closer an adjacent vehicle is to the vehicle, so that a safety threshold value is set, and if the width of the adjacent vehicle in the image is larger than the safety threshold value, the subsequent steps are required to calculate the distance between the vehicles. The safety threshold may be set according to the needs of practical application, and the present invention is not limited, and is not described herein.
Obtaining license plate specifications of adjacent vehicles, comprising:
and acquiring the specification of the license plate according to the pixel value of the license plate.
In the embodiment of the invention, the image shot by the camera is composed of the pixel values, so that the license plate specification of the adjacent vehicle can be obtained through the pixel values of the license plate.
A first acquisition module comprising:
and the pixel value acquisition unit is used for acquiring the pixel values of the license plates of the adjacent vehicles through a license plate recognition algorithm.
In the embodiment of the invention, after the image is acquired, the license plate of the vehicle can be identified from the image through a license plate identification algorithm, and the pixel value of the license plate in the image is further acquired. The license plate recognition algorithm can be set according to the actual use requirement, and the invention is not limited and is not repeated.
And the length and width pixel determining unit is used for determining the length and width pixels of the license plate according to the pixel values.
And the license plate specification determining unit is used for determining the license plate specification of the adjacent vehicle according to the ratio of the length pixels to the width pixels.
In the embodiment of the invention, because the distances between adjacent vehicles are different and the imaging sizes of the adjacent vehicles in the images are different, the license plate specification of the vehicle is difficult to determine directly through the length-width pixels of the license plate, and the length-width ratio of the license plate is not changed no matter how the imaging sizes are changed, so the license plate specification of the adjacent vehicle can be determined through the length-width pixel ratio of the license plate.
Determining the license plate specification of adjacent vehicles according to the ratio of the length pixels to the width pixels, comprising the following steps:
and comparing the proportion with a preset proportion database, and determining the license plate specification according to the comparison result.
In the embodiment of the invention, the standard proportions of various license plates are stored in the proportion database, and the license plate specification can be obtained by comparing the obtained license plate proportion of the adjacent vehicle with the proportion database. The existing license plate specifications are generally two types: 1. the international size blue plate and black plate of the nine-two type motor vehicle license plate are 440mm by 140 mm; 2. yellow brand is "440 mm by 220 mm".
Obtain first shooting angle, include:
according to the formula
Acquiring a shooting angle, wherein α is shootingPhotographing angle β is the maximum photographing angle of the vehicle-mounted photographing apparatus, Δ w1The horizontal distance from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a first safety threshold value, and L is the width of the image when the width exceeds the first safety threshold value.
The second obtaining module 502 is configured to obtain a second shooting angle when the width of the adjacent vehicle is greater than a second safety threshold, and obtain a time difference when the adjacent vehicle changes from the first safety threshold to the second safety threshold, where the second safety threshold is greater than the first safety threshold.
In the embodiment of the present invention, the closer the vehicle is, the greater the imaging in the photographing apparatus, and therefore the second safety threshold is greater than the first safety threshold, when the distance to the adjacent vehicle is greater than the second safety threshold, it is indicated that the adjacent vehicle is closer to the own vehicle than the first safety threshold period.
Acquiring a second shooting angle, including:
according to the formula
Acquiring a photographing angle, wherein α2Is the second photographing angle, β is the maximum photographing angle of the vehicle-mounted photographing apparatus, Δ w2The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a second safety threshold value2Is the width of the image when the width exceeds a second security threshold.
A third obtaining module 503, configured to obtain a third shooting angle of the image at the median time point representing the time difference.
In the embodiment of the present invention, a median is taken from the time differences, an image at the median time is obtained, and a third shooting angle is obtained according to the image at the median time.
Acquiring a third shooting angle, comprising:
according to the formula
Acquiring a photographing angle, wherein α3The third shooting angle is β the most important shooting device on the vehicleLarge shooting angle, Δ w3The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image at the median time of the time difference to the central axis of the image3Is the width of the image at the median time instant representing the time difference.
The vehicle distance obtaining module 504 is configured to obtain a first vehicle distance from the adjacent vehicle in a preset vehicle distance database according to the license plate specification and the first shooting angle, obtain a second vehicle distance from the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the second shooting angle, and obtain a third vehicle distance from the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the third shooting angle.
In the embodiment of the invention, the vehicle distance database stores the pixel values of the license plates with different specifications within a certain distance between the maximum shooting angles of the vehicle-mounted shooting equipment, so that the vehicle distance between the vehicle and the adjacent vehicle can be obtained through the obtained license plate specification, the shooting angles and the pixel values.
A vehicle speed obtaining module 505 for obtaining the vehicle speed according to the formula
Acquiring the average speed of the adjacent vehicles in the process of driving from the first distance to the third distance according to a formula
Acquiring the average speed of the adjacent vehicles in the process of driving from the third vehicle distance to the second vehicle distance, wherein d1Is a first vehicle distance d2Is the second vehicle distance, d3Is the third vehicle distance, t1-t3For the time difference, t, from the first to the third vehicle distance3-t2The time difference from the third distance to the second distance is obtained, and v' is the current speed of the vehicle.
An acceleration acquisition module 506 for obtaining the acceleration according to the formula
The acceleration of the adjacent vehicle in the process of traveling from the first vehicle distance to the third vehicle distance is acquired.
According to the embodiment of the invention, the average speed and time of the adjacent vehicles running from the first distance to the third distance and the average speed and time of the adjacent vehicles running from the third distance to the second distance are respectively obtained, and the acceleration of the adjacent vehicles is obtained according to the average speed difference and the time difference, so that the artificial error of the driver in judging the acceleration is avoided, the driving safety is improved, and meanwhile, because the acceleration information of the adjacent vehicles is measured and recorded, the basis can be provided for the responsibility determination of traffic police when a traffic accident occurs.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An adjacent vehicle acceleration detection method based on monocular distance measurement is characterized by comprising the following steps:
when the width of an image of an adjacent vehicle in a camera is larger than a first safety threshold value, acquiring the license plate specification of the adjacent vehicle and acquiring a first shooting angle;
when the width of the adjacent vehicle is larger than a second safety threshold, acquiring a second shooting angle, and acquiring a time difference of the adjacent vehicle changing from the first safety threshold to the second safety threshold, wherein the second safety threshold is larger than the first safety threshold;
acquiring a third shooting angle of the image representing the median time of the time difference;
acquiring a first vehicle distance between the vehicle and the adjacent vehicle in a preset vehicle distance database according to the license plate specification and the first shooting angle, acquiring a second vehicle distance between the vehicle and the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the second shooting angle, and acquiring a third vehicle distance between the vehicle and the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the third shooting angle;
according to the formula
Acquiring the average speed of the adjacent vehicles in the process of driving from the first distance to the third distance according to a formula
Acquiring the average speed of the adjacent vehicles in the process of driving from the third vehicle distance to the second vehicle distance, wherein d1Is a first vehicle distance d2Is the second vehicle distance, d3Is the third vehicle distance, t1-t3For the time difference, t, from the first to the third vehicle distance3-t2The time difference from the third vehicle distance to the second vehicle distance is obtained, and v' is the current speed of the vehicle;
according to the formula
Acquiring the acceleration of the adjacent vehicle in the process of driving from the first vehicle distance to the third vehicle distance.
2. The method of claim 1, wherein said obtaining license plate specifications for said neighboring vehicles comprises:
and acquiring the license plate specification through the pixel value of the license plate.
3. The method of claim 2, wherein obtaining the license plate specification from pixel values of the license plate comprises:
acquiring pixel values of license plates of the adjacent vehicles through a license plate recognition algorithm;
determining the length and width pixels of the license plate according to the pixel values;
and determining the license plate specification of the adjacent vehicles according to the ratio of the length pixels to the width pixels.
4. The method of claim 3, wherein determining the license plate specification of the neighboring vehicle based on the ratio of the length and width pixels comprises:
and comparing the proportion with a preset proportion database, and determining the license plate specification according to the comparison result.
5. The method according to any one of claims 1 to 4, wherein the acquiring the first shooting angle, the acquiring the second shooting angle, and the acquiring the third shooting angle comprise:
according to the formula
A first photographing angle is acquired, wherein α1Is the first photographing angle, β is the maximum photographing angle of the in-vehicle photographing apparatus, Δ w1The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a first safety threshold value1The width of the image when the width exceeds a first safety threshold value; and the number of the first and second groups,
according to the formula
Acquiring a photographing angle, wherein α2Is the second photographing angle, β is the maximum photographing angle of the vehicle-mounted photographing apparatus, Δ w2The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a second safety threshold value2The width of the image when the width exceeds a second safety threshold value; and the number of the first and second groups,
according to the formula
Acquiring a photographing angle, wherein α3Is the third photographing angle, β is the maximum photographing angle of the in-vehicle photographing apparatus, Δ w3The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image at the median time of the time difference to the central axis of the image3Is the width of the image at the median time instant representing the time difference.
6. An adjacent vehicle acceleration detection device based on monocular distance measurement, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the license plate specification of an adjacent vehicle and acquiring a first shooting angle when the width of an image of the adjacent vehicle in a camera is larger than a first safety threshold;
the second acquisition module is used for acquiring a second shooting angle and acquiring the time difference of the adjacent vehicle changing from the first safety threshold to the second safety threshold when the width of the adjacent vehicle is larger than the second safety threshold, wherein the second safety threshold is larger than the first safety threshold;
a third acquisition module, configured to acquire a third shooting angle of the image at the median time of the time difference;
the vehicle distance acquisition module is used for acquiring a first vehicle distance between the vehicle and the adjacent vehicle in a preset vehicle distance database according to the license plate specification and the first shooting angle, acquiring a second vehicle distance between the vehicle and the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the second shooting angle, and acquiring a third vehicle distance between the vehicle and the adjacent vehicle in the preset vehicle distance database according to the license plate specification and the third shooting angle;
a vehicle speed acquisition module for obtaining the vehicle speed according to a formula
Acquiring the average speed of the adjacent vehicles in the process of driving from the first distance to the third distance according to a formula
Acquiring the average speed of the adjacent vehicles in the process of driving from the third vehicle distance to the second vehicle distance, wherein d1Is a first vehicle distance d2Is the second vehicle distance, d3Is the third vehicle distance, t1-t3For the time difference, t, from the first to the third vehicle distance3-t2The time difference from the third vehicle distance to the second vehicle distance is obtained, and v' is the current speed of the vehicle;
an acceleration acquisition module for obtaining an acceleration according to a formula
Acquiring the acceleration of the adjacent vehicle in the process of driving from the first vehicle distance to the third vehicle distance.
7. The apparatus of claim 6, wherein said obtaining license plate specifications for said neighboring vehicles comprises:
and acquiring the license plate specification through the pixel value of the license plate.
8. The apparatus of claim 7, wherein the first obtaining means comprises:
the pixel value acquisition unit is used for acquiring the pixel values of the license plates of the adjacent vehicles through a license plate recognition algorithm;
the length and width pixel determining unit is used for determining the length and width pixels of the license plate according to the pixel values;
and the license plate specification determining unit is used for determining the license plate specification of the adjacent vehicle according to the ratio of the length pixels and the width pixels.
9. The apparatus of claim 8, wherein determining a license plate specification of a neighboring vehicle based on the ratio of the length and width pixels comprises:
and comparing the proportion with a preset proportion database, and determining the license plate specification according to the comparison result.
10. The apparatus according to any one of claims 6 to 9, wherein the acquiring the first shooting angle, the acquiring the second shooting angle, and the acquiring the third shooting angle comprises:
according to the formula
A first photographing angle is acquired, wherein α1Is the first photographing angle, β is the maximum photographing angle of the in-vehicle photographing apparatus, Δ w1The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a first safety threshold value1The width of the image when the width exceeds a first safety threshold value; and the number of the first and second groups,
according to the formula
Acquiring a photographing angle, wherein α2Is the second photographing angle, β is the maximum photographing angle of the vehicle-mounted photographing apparatus, Δ w2The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image to the central axis of the image when the width exceeds a second safety threshold value2The width of the image when the width exceeds a second safety threshold value; and the number of the first and second groups,
according to the formula
Acquiring a photographing angle, wherein α3Is the third photographing angle, β is the maximum photographing angle of the in-vehicle photographing apparatus, Δ w3The horizontal distance L from the middle point of the license plate of the adjacent vehicle in the image at the median time of the time difference to the central axis of the image3Is the width of the image at the median time instant representing the time difference.
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