CN111582255A - Vehicle overrun detection method and device, computer equipment and storage medium - Google Patents
Vehicle overrun detection method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a vehicle overrun detection method, a vehicle overrun detection device, computer equipment and a storage medium. The method comprises the steps of obtaining an image to be detected shot by an image acquisition device, positioning a target vehicle in the image to be detected, identifying the type of the target vehicle, and obtaining the standard size of the vehicle with the corresponding type according to the type of the target vehicle; acquiring fixed parameters of the image acquisition equipment and the position of a target vehicle in an image to be detected, and calculating the size of the target vehicle by combining the model of the target vehicle; and then carrying out overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle, and outputting a detection result. Therefore, a plurality of cameras are not required to be distributed and controlled, the cost of manpower and material resources is reduced, the calculation mode is simple and clear, and the possibility of large-area popularization and distribution and control is provided.
Description
Technical Field
The present application relates to the field of image recognition technologies, and in particular, to a vehicle overrun detection method, apparatus, computer device, and storage medium.
Background
With the continuous development of social economy and the continuous improvement of the living standard of people in China, more and more vehicles run on roads, and the vehicle overrun detection is more and more important in order to reduce the frequency of traffic accidents and guarantee the safe traffic trip of people. The vehicle overrun detection is particularly shown in the aspects of whether the vehicle is overrun such as ultra-high, ultra-long and ultra-wide, and how to accurately judge whether the vehicle is overrun is a difficult point which troubles the reasonable law enforcement of traffic police.
In the conventional technology, generally, control cameras are arranged at the road junctions of the existing expressway, road traffic lights and the like, and whether illegal behaviors such as overlong, superwide and the like exist in the vehicle is roughly estimated by means of photographing and image collecting. However, generally, to obtain accurate and reliable size attributes of the length, width, height and the like of the vehicle, certain calculation is needed, and it is not enough to estimate the size of the vehicle by only depending on a picture, so most of the calculation methods at present are jointly distributed and controlled by multiple cameras and calculated by marking the actual sizes of some actual road signs, but such methods need more acquired parameters, and the required equipment and labor costs are higher, so that the method is not suitable for large-area distribution and control in cities.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle overrun detection method, apparatus, computer device, and storage medium, in view of the above-described problem that the cost of calculating the vehicle dimension is high at the time of conventional vehicle overrun detection.
A vehicle over-limit detection method, the method comprising:
acquiring an image to be detected shot by image acquisition equipment, wherein the image to be detected comprises a target vehicle;
identifying the model of a target vehicle, and acquiring the standard size of the vehicle of the corresponding model according to the model of the target vehicle;
acquiring fixed parameters of image acquisition equipment and the position of a target vehicle in the image to be detected, and calculating the size of the target vehicle by combining the model of the target vehicle;
and carrying out overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle, and outputting a detection result.
In one embodiment, the size of the target vehicle comprises a length of the target vehicle; the calculating the size of the target vehicle comprises: acquiring fixed parameters of image acquisition equipment and the position of a target vehicle in an image to be detected, wherein the fixed parameters of the image acquisition equipment comprise the height of a vertical line between the image acquisition equipment and the ground, a first angle of a shooting range of the image acquisition equipment and a second angle of the vertical line and the lower limit of the shooting range of the image acquisition equipment; and calculating the length of the target vehicle according to the position of the target vehicle in the image to be detected, the height of a vertical line between the image acquisition equipment and the ground, a first angle of a shooting range of the image acquisition equipment and a second angle of a lower limit of the shooting range of the vertical line and the image acquisition equipment.
In one embodiment, the position of the target vehicle in the image to be detected comprises a first pixel distance from the tail of the target vehicle to the bottom of the image to be detected, a second pixel distance from the body length of the target vehicle and a third pixel distance from the head of the target vehicle to the top of the image to be detected; according to the position that the target vehicle is located in waiting to detect the image, the height of perpendicular line between image acquisition equipment and the ground, the first angle of image acquisition equipment shooting range and the second angle of perpendicular line and image acquisition equipment shooting range lower limit, calculate the length of target vehicle, include: respectively calculating a first diagonal angle corresponding to the first pixel distance and a second diagonal angle corresponding to the second pixel distance according to the first angle of the shooting range of the image acquisition equipment, the first pixel distance from the tail of the target vehicle to the bottom of the image to be detected, the second pixel distance from the body length of the target vehicle and the third pixel distance from the head of the target vehicle to the top of the image to be detected; and calculating to obtain the length of the target vehicle by applying a trigonometric function relationship according to the height of the vertical line, a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment, a first diagonal angle corresponding to the first pixel distance and a second diagonal angle corresponding to the second pixel distance.
In one embodiment, the calculating the length of the target vehicle by applying trigonometric function relationship includes: l ═ h/tan (90 ° — angle 2- < 1- < 0)) - (h/tan (90 ° — angle 1- < 0)); wherein L represents the length of the target vehicle, h represents the height of the vertical line, angle 0 represents a second angle between the vertical line and the lower limit of the shooting range of the image acquisition device, angle 1 represents a first diagonal angle corresponding to a first pixel distance, and angle 2 represents a second diagonal angle corresponding to a second pixel distance.
In one embodiment, the method for acquiring the second angle between the vertical line and the lower limit of the shooting range of the image acquisition device comprises the following steps: acquiring a sample image shot by image acquisition equipment, wherein the sample image comprises a sample vehicle and the length of the marked sample vehicle; acquiring the distance from the end point of the vertical line on the ground to the lower limit critical point of the shooting range of the image acquisition equipment; and calculating to obtain a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment according to the distance, the length of the sample vehicle and the height of the vertical line.
In one embodiment, the dimensions of the target vehicle include a width and a height of the target vehicle; the calculating the size of the target vehicle comprises: acquiring a reference characteristic of a target vehicle; determining a reference dimension of the reference feature according to the model of the target vehicle; and respectively calculating the width of the target vehicle and the height of the target vehicle according to the proportion of the reference features occupying the width and the height of the body of the target vehicle and the reference size of the reference features.
In one embodiment, the vehicle standard dimensions include a standard length, a standard width, and a standard height of the vehicle, and the dimensions of the target vehicle include a length, a width, and a height of the target vehicle; the detecting method comprises the following steps of carrying out overrun detection on a target vehicle according to the standard size of the vehicle and the size of the target vehicle, and outputting a detection result, wherein the overrun detection comprises the following steps: if the length, the width and the height of the target vehicle are respectively matched with the standard length, the standard width and the standard height, determining that the target vehicle is not out of limit, and outputting a qualified detection result; otherwise, determining that the target vehicle is out of limit, and outputting an unqualified detection result.
A vehicle over-limit detection device, the device comprising:
the device comprises an image acquisition module to be detected, a data acquisition module and a data processing module, wherein the image acquisition module is used for acquiring an image to be detected shot by image acquisition equipment, and the image to be detected comprises a target vehicle;
the standard size acquisition module is used for identifying the model of the target vehicle and acquiring the standard size of the vehicle of the corresponding model according to the model of the target vehicle;
the calculation module is used for acquiring fixed parameters of the image acquisition equipment and the position of the target vehicle in the image to be detected, and calculating the size of the target vehicle according to the model of the target vehicle;
and the detection module is used for carrying out overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle and outputting a detection result.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method as described above when executing the computer program.
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 set forth above.
According to the vehicle overrun detection method, the vehicle overrun detection device, the computer equipment and the storage medium, the target vehicle in the image to be detected is positioned by acquiring the image to be detected shot by the image acquisition equipment, the model of the target vehicle is identified, and the standard size of the vehicle of the corresponding model is acquired according to the model of the target vehicle; acquiring fixed parameters of the image acquisition equipment and the position of a target vehicle in an image to be detected, and calculating the size of the target vehicle by combining the model of the target vehicle; and then carrying out overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle, and outputting a detection result. Therefore, a plurality of cameras are not required to be distributed and controlled, the cost of manpower and material resources is reduced, the calculation mode is simple and clear, and the possibility of large-area popularization and distribution and control is provided.
Drawings
FIG. 1 is a diagram of an exemplary implementation of a vehicle over-limit detection method;
FIG. 2 is a schematic flow chart of a vehicle over-limit detection method according to one embodiment;
FIG. 3 is a schematic flow chart illustrating the steps for calculating the width and height of a target vehicle in one embodiment;
FIG. 4 is a schematic flow chart diagram illustrating the steps for calculating the length of a target vehicle in one embodiment;
FIG. 5 is a schematic diagram of a length of a target vehicle calculated in one embodiment;
FIG. 6 is a schematic flow chart of a vehicle over-limit detection method in another embodiment;
FIG. 7 is a block diagram showing the construction of a vehicle overrun detection apparatus according to an embodiment;
FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle overrun detection method provided by the application can be applied to the application environment shown in fig. 1. The image capturing device 102 communicates with the server 104 through a network, specifically, the image capturing device 102 may be a monocular camera with an image capturing function deployed at intersections such as highways, road traffic lights, and the like, and the server 104 may be implemented by an independent server or a server cluster composed of a plurality of servers. In this embodiment, the image acquisition device 102 is configured to acquire an image to be detected, and send the acquired image to be detected to the server 104 through a network, and the server 104 locates a target vehicle in the image to be detected, identifies the model of the target vehicle, and acquires a vehicle standard size of a corresponding model according to the model of the target vehicle; acquiring fixed parameters of the image acquisition equipment and the position of a target vehicle in an image to be detected, and calculating the size of the target vehicle by combining the model of the target vehicle; and then carrying out overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle, and outputting a detection result. Therefore, a plurality of cameras are not required to be distributed and controlled, the cost of manpower and material resources is reduced, the calculation mode is simple and clear, and the possibility of large-area popularization and distribution and control is provided.
In one embodiment, as shown in fig. 2, a vehicle over-limit detection method is provided, which is described by taking the method as an example applied to the server in fig. 1, and includes the following steps:
and step 210, acquiring an image to be detected shot by the image acquisition equipment.
The image to be detected is an image which needs to be subjected to vehicle overrun detection, in the embodiment, the image to be detected comprises a target vehicle, and the vehicle overrun detection is to detect whether the target vehicle in the image to be detected has an overrun condition of being ultrahigh, overlong or ultrawide.
And step 220, identifying the model of the target vehicle, and acquiring the standard size of the vehicle of the corresponding model according to the model of the target vehicle.
The model number refers to a number composed of pinyin letters and arabic numerals and designated to a type of vehicle for identifying the vehicle, and is usually embodied on a main outer surface of the vehicle, such as a tail or a head of the vehicle, and the number can indicate a brand, a type, corresponding main characteristic parameters (such as a standard size of the vehicle) and the like of the vehicle. In the embodiment, the model of the target vehicle in the image to be detected is identified, so that the standard size of the vehicle of the corresponding model is obtained according to the model of the target vehicle. Specifically, the model of the target vehicle may be identified by using a vehicle model identification model based on deep learning, for example, by detecting and locating a number region of a body of the target vehicle in an image to be detected, and then inputting the located number region into the vehicle model identification model based on deep learning, so as to obtain the model of the target vehicle and a vehicle standard size corresponding to the model.
And step 230, acquiring fixed parameters of the image acquisition equipment and the position of the target vehicle in the image to be detected, and calculating the size of the target vehicle by combining the model of the target vehicle.
The fixed parameters of the image capturing device refer to the intrinsic characteristic parameters of the image capturing device measured or calibrated after the image capturing device is controlled, and the intrinsic characteristic parameters are not changed normally, for example, the fixed parameters may include the height of a vertical line between the measured image capturing device and the ground, the angle of a shooting range of the image capturing device, and the like. The position of the target vehicle in the image to be detected may be a pixel distance of the body of the target vehicle occupying the image to be detected, a pixel distance of a boundary point of the body of the target vehicle reaching the edge of the image to be detected, and the like. The dimensions of the target vehicle include the actual length, width, and height of the target vehicle. In this embodiment, the model of the target vehicle is combined, the reference characteristics of the vehicle are marked, the actual length, the actual width and the actual height of the target vehicle are obtained through calculation according to the obtained fixed parameters of the image acquisition equipment and the position of the target vehicle in the image to be detected, so that a plurality of cameras do not need to be arranged and controlled, and the cost of manpower and material resources is reduced.
And 240, carrying out overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle, and outputting a detection result.
The vehicle standard size comprises a standard length, a standard width and a standard height corresponding to the model of the target vehicle, and the size of the target vehicle comprises the actual length, the actual width and the actual height of the target vehicle calculated through the steps; the detection result comprises a detection result that the target vehicle is unqualified due to overrun and a detection result that the target vehicle is not qualified due to overrun. Specifically, if the actual length, width and height of the target vehicle are respectively matched with the determined standard length, standard width and standard height, that is, the actual length, width and height of the target vehicle are respectively in the error ranges corresponding to the determined standard length, standard width and standard height, it is determined that the target vehicle is not overrun, and thus the detection result that the target vehicle is not overrun is output. And if the actual length, width and height of the target vehicle are not matched with any one of the determined standard length, standard width and standard height, determining that the target vehicle is out of limit, and outputting a detection result that the out of limit is not qualified.
According to the vehicle overrun detection method, the image to be detected shot by the image acquisition equipment is obtained, the target vehicle in the image to be detected is positioned, the model of the target vehicle is identified, and the standard size of the vehicle with the corresponding model is obtained according to the model of the target vehicle; acquiring fixed parameters of the image acquisition equipment and the position of a target vehicle in an image to be detected, and calculating the size of the target vehicle by combining the model of the target vehicle; and then carrying out overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle, and outputting a detection result. Therefore, a plurality of cameras are not required to be distributed and controlled, the cost of manpower and material resources is reduced, the calculation mode is simple and clear, and the possibility of large-area popularization and distribution and control is provided.
In one embodiment, the size of the target vehicle includes a width and a height of the target vehicle, and then as shown in fig. 3, calculating the size of the target vehicle may specifically include the following steps:
in step 310, a reference characteristic of the target vehicle is obtained.
The reference features refer to some attribute features of the vehicle itself, such as a license plate or a lamp of the vehicle, which can be used for measuring the width and the height of the vehicle. Since the size of the license plate and the size of the headlight corresponding to the vehicle model are relatively fixed under the condition that the vehicle model is fixed, in this embodiment, the width and the height of the target vehicle are calculated by obtaining the reference feature of the target vehicle.
In step 320, a reference dimension of the reference feature is determined based on the model of the target vehicle.
Wherein the reference dimension of the reference feature refers to the size of the reference feature. Taking the reference feature as an example of the license plate, the corresponding reference dimension refers to a standard length and a standard width of the license plate. Since the corresponding license plate size is different for different types of vehicles, for example, for small cars and large cars, the corresponding license plate size is typically 440mm 140mm, and for agricultural transportation vehicles, the corresponding license plate size is typically 300mm 165 mm. Therefore, in the present embodiment, the reference dimension of the corresponding reference feature is determined according to the model of the target vehicle.
And step 330, respectively calculating the width of the target vehicle and the height of the target vehicle according to the proportion of the reference features occupying the width and the height of the body of the target vehicle respectively and the reference size of the reference features.
Specifically, the target vehicle and the reference feature in the target vehicle can be respectively located in the image to be detected through the location model, and the embodiment takes the reference feature as an example for description. And then measuring the pixel distance occupied by the length and the width of the license plate respectively and the pixel distance occupied by the width and the height of the body of the target vehicle respectively, and further calculating the proportion of the length of the license plate occupying the width of the body of the target vehicle. Similarly, the height of the target vehicle can be obtained by calculating the proportion of the width of the license plate occupying the height of the target vehicle body and then converting the width of the license plate according to the actual size of the license plate.
According to the method, the width and the height of the target vehicle are calculated by obtaining the reference characteristics of the target vehicle, the calculation mode is simple and clear, and compared with the method for distributing and controlling the actual markers through multiple cameras and measuring the actual markers, the cost of manpower and material resources is reduced.
In one embodiment, the size of the target vehicle includes a length of the target vehicle, and then as shown in fig. 4, calculating the size of the target vehicle may specifically include the following steps:
and step 410, acquiring fixed parameters of the image acquisition equipment and the position of the target vehicle in the image to be detected.
Specifically, the fixed parameters of the image acquisition device refer to the height of a vertical line between the image acquisition device and the ground after the image acquisition device is controlled, a first angle of a shooting range of the image acquisition device, and a second angle between the vertical line and a lower limit of the shooting range of the image acquisition device. The height of a vertical line between the image acquisition equipment and the ground can be obtained through measurement, a first angle of a shooting range of the image acquisition equipment is determined by the image acquisition equipment, and a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment can be obtained through a calibration mode. The position of the target vehicle in the image to be detected comprises a first pixel distance from the tail of the target vehicle to the bottom of the image to be detected, a second pixel distance from the body length of the target vehicle and a third pixel distance from the head of the target vehicle to the top of the image to be detected.
In this embodiment, when the height of a vertical line between the image capturing device and the ground and the first angle of the capturing range of the image capturing device are known, a second angle between the vertical line and the lower limit of the capturing range of the image capturing device can be obtained through calibration by the following method, specifically, a sample image captured by the image capturing device is obtained, wherein the sample image includes the length of a sample vehicle and a labeled sample vehicle, the distance between an end point of the vertical line on the ground and a critical point of the lower limit of the capturing range of the image capturing device is obtained, and the second angle between the vertical line and the lower limit of the capturing range of the image capturing device can be obtained through mathematical calculation according to the distance, the length of the sample vehicle, the height of the vertical line and the first angle of the capturing range of the image.
And step 420, calculating the length of the target vehicle according to the fixed parameters of the image acquisition equipment and the position of the target vehicle in the image to be detected.
Specifically, according to a first angle of a shooting range of the image acquisition device, a first pixel distance from a tail of a target vehicle to the bottom of an image to be detected, a second pixel distance from a body length of the target vehicle and a third pixel distance from a head of the target vehicle to the top of the image to be detected, a first diagonal angle corresponding to the first pixel distance and a second diagonal angle corresponding to the second pixel distance are respectively calculated, so that the length of the target vehicle is calculated by applying a trigonometric function relation according to the height of a vertical line, a second angle between the vertical line and a lower limit of the shooting range of the image acquisition device, the first diagonal angle corresponding to the first pixel distance and the second diagonal angle corresponding to the second pixel distance.
For example, as shown in fig. 5, point o is the position of the image capturing device controlled at the intersection, point h represents the height of a vertical line between the image capturing device and the ground, points p0 to p4 represent some points on the ground, such as point p0 being the end point of the vertical line on the ground, point p 1-point p4 being the projection distances of the sight line range that the image capturing device can captureIf the distance is greater than the preset threshold, a line segment p0-p1 refers to the projection distance corresponding to the sight-line blind area of the image acquisition equipment, p2-p3 refers to a target vehicle acquired in the sight-line range, p2 refers to the tail end point of the vehicle, p3 refers to the head end point, 0-6 respectively represent corresponding included angles, ∠ + ∠ 2+ ∠ 3 refers to a first angle of the shooting range of the image acquisition equipment, is a known quantity, and is assumed to be theta, ∠ is a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment, under the condition that the first angle theta of the shooting range of the image acquisition equipment is fixed, the length ratios of the line segments p1-p4 can respectively convert the values of the head end point 1, ∠, ∠, wherein the line segment p1-p2 refers to the first pixel distance of the tail end point of the target vehicle reaching the bottom of the image, the line segment p2-p3 refers to the second pixel distance of the body length point of the target vehicle, the line segment p3-p4 refers to the top point of the target vehicle reaching the top of the image, and the target
In the same way
Then ≦ 0 may be calculated by calibration, assuming that the line segment p2-p3 is a calibrated known vehicle, i.e. the length of the vehicle is known, and if the length of the vehicle is L', and the distance between p0-p2 is set to x, then: tan (. sub.0 +. sub.1 +. sub.2) ═ L' + x/h, tan (. sub.0 +. sub.1) ═ x/h, by the above two formulas, spread the tangent function value, through subducing parameter x, can solve. sub.0, its specific calculation process is as follows:
the expression of tan (, less 1+ less 2) ═ L' + x/h, tan (, less 1) ═ x/h can be given as:
x + L ═ h ═ tan (° 0 +. 1 +. 2), x ═ h ═ tan (° 0 +. 1), the two are subtracted to obtain:
L'＝h*[tan(∠0+∠1+∠2)-tan(∠0+∠1)]。
since ≈ 1 and ═ 2 are known, it is not assumed that ═ 0 is y, a ═ 1 +. 2, b ═ 1, at this time: tan (y + a) -tan (y + b) ═ L'/h. And (3) developing the sine function according to a formula to obtain:
the method is obtained by general division and pin term:
further, when tan ═ a, tan B ═ B, and tan ═ Y are given, the following results were obtained:
and (3) removing a denominator, simplifying to obtain a value of Y, and further obtaining the angle 0-arctanyY.
In general, after the image acquisition equipment is controlled, the position does not change, so the value of < 0 does not change, therefore, the value of < 0 obtained by calibration calculation in the above steps can be used as a known quantity for subsequently calculating the actual length of the target vehicle, assuming that a target vehicle to be solved appears in p2-p3 at this moment, the length is marked as L, then the distance between each line segment p1-p4, namely p1-p2 represents the first pixel distance of the tail of the target vehicle reaching the bottom of the image in the image, the line segment p2-p3 represents the second pixel distance of the body length of the target vehicle, the line segments p3-p4 represent the third pixel distance of the head of the target vehicle reaching the top of the image, the sizes of < 1 >, < 2 > and < 3 corresponding to the target vehicle are respectively solved, wherein, the value 1 is the first opposite angle corresponding to the first pixel distance, the angle 2 represents a second opposite angle corresponding to the second pixel distance, and the angle 3 represents a third opposite angle corresponding to the third pixel distance. At the moment, because the included angle of h and the ground is a right angle, and the size of < 0 is known, therefore, based on the trigonometric function relationship, the values of < 4, < 5, < 6 are easily obtained, namely < 6 ═ 90 ° - < 0, < 5 ═ 90 ° - < 1- < 0, and < 4 ═ 90 ° - < 2- < 1- < 0.
Let the length of p0-p3 be LGeneral assemblyAnd the distance between p0 and p2 is x, tan (∠ 4) is h/LGeneral assembly；tan(∠5)＝h/x。
The length of the target vehicle is therefore: l ═ LGeneral assembly-x＝(h/tan(∠4))-(h/tan(∠5))。
According to the embodiment, the shot sample image is utilized, the included angle of the lower boundary distance vertical line of the visual field of the image acquisition equipment is calculated according to the size of the marked vehicle in the sample image and the positions of the upper boundary and the lower boundary of the marked vehicle in the image, and then the real length of the target vehicle in the image to be detected which is actually acquired is calculated according to some parameters, so that a large amount of manpower and equipment are saved for field measurement, and the workload is greatly reduced. Compare in many cameras cloth accuse, it is possible to the wide area popularization cloth accuse camera, and cloth accuse camera's efficiency is higher.
In one embodiment, the vehicle over-limit detection method of the present application is further described by a specific embodiment, as shown in fig. 6, comprising the steps of:
In step 602, the model of the target vehicle is identified.
And step 604, acquiring the reference characteristics of the target vehicle according to the model of the target vehicle.
At step 605, a reference dimension of the reference feature is determined.
And 606, acquiring the proportion of the reference features occupying the width and the height of the body of the target vehicle.
And step 612, determining that the target vehicle is out of limit, and outputting an unqualified detection result.
According to the vehicle overrun detection method, multiple cameras do not need to be distributed, the cost of manpower and material resources is reduced, the possibility of large-area distribution and control is provided, the calculation mode is simple and clear, and the efficiency of vehicle overrun detection is improved.
It should be understood that although the various steps in the flow charts of fig. 1-6 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 described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-6 may include multiple 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 in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 7, there is provided a vehicle overrun detection apparatus including: an image acquisition module 701 to be detected, a standard size acquisition module 702, a calculation module 703 and a detection module 704, wherein:
the to-be-detected image acquisition module 701 is used for acquiring an image to be detected, which is shot by the image acquisition equipment, wherein the image to be detected comprises a target vehicle;
a standard size obtaining module 702, configured to identify a model of a target vehicle, and obtain a vehicle standard size of a corresponding model according to the model of the target vehicle;
the calculation module 703 is configured to obtain fixed parameters of the image acquisition device and a position of the target vehicle in the image to be detected, and calculate a size of the target vehicle according to a model of the target vehicle;
and the detection module 704 is used for performing overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle and outputting a detection result.
In one embodiment, the size of the target vehicle includes a length of the target vehicle; the calculation module 703 comprises: the device comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring fixed parameters of image acquisition equipment and the position of a target vehicle in an image to be detected, and the fixed parameters of the image acquisition equipment comprise the height of a vertical line between the image acquisition equipment and the ground, a first angle of a shooting range of the image acquisition equipment and a second angle of the vertical line and the lower limit of the shooting range of the image acquisition equipment; the first calculating unit is used for calculating the length of the target vehicle according to the position of the target vehicle in the image to be detected, the height of a vertical line between the image acquisition equipment and the ground, a first angle of a shooting range of the image acquisition equipment and a second angle of the vertical line and the lower limit of the shooting range of the image acquisition equipment.
In one embodiment, the position of the target vehicle in the image to be detected comprises a first pixel distance of the tail of the target vehicle reaching the bottom of the image to be detected, a second pixel distance of the body length of the target vehicle and a third pixel distance of the head of the target vehicle reaching the top of the image to be detected; the first computing unit is specifically configured to: respectively calculating a first diagonal angle corresponding to the first pixel distance and a second diagonal angle corresponding to the second pixel distance according to the first angle of the shooting range of the image acquisition equipment, the first pixel distance from the tail of the target vehicle to the bottom of the image to be detected, the second pixel distance from the body length of the target vehicle and the third pixel distance from the head of the target vehicle to the top of the image to be detected; and calculating to obtain the length of the target vehicle by applying a trigonometric function relationship according to the height of the vertical line, a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment, a first diagonal angle corresponding to the first pixel distance and a second diagonal angle corresponding to the second pixel distance.
In one embodiment, the calculating the length of the target vehicle using trigonometric functions includes: l ═ h/tan (90 ° — angle 2- < 1- < 0)) - (h/tan (90 ° — angle 1- < 0)); wherein L represents the length of the target vehicle, h represents the height of the vertical line, angle 0 represents a second angle between the vertical line and the lower limit of the shooting range of the image acquisition device, angle 1 represents a first diagonal angle corresponding to a first pixel distance, and angle 2 represents a second diagonal angle corresponding to a second pixel distance.
In one embodiment, the apparatus further includes a second angle obtaining module, configured to obtain a sample image captured by the image capturing device, where the sample image includes a sample vehicle and a length of the marked sample vehicle; acquiring the distance from the end point of the vertical line on the ground to the lower limit critical point of the shooting range of the image acquisition equipment; and calculating to obtain a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment according to the distance, the length of the sample vehicle and the height of the vertical line.
In one embodiment, the dimensions of the target vehicle include a width and a height of the target vehicle; the calculation module 703 comprises: a second acquisition unit configured to acquire a reference feature of the target vehicle; determining a reference dimension of the reference feature according to the model of the target vehicle; and the second calculation unit is used for calculating the width of the target vehicle and the height of the target vehicle according to the proportion of the reference feature occupying the width and the height of the body of the target vehicle and the reference size of the reference feature.
In one embodiment, the vehicle standard dimensions include a standard length, a standard width, and a standard height of the vehicle, and the dimensions of the target vehicle include a length, a width, and a height of the target vehicle; the detection module 704 is specifically configured to, if the length, the width, and the height of the target vehicle are respectively matched with the standard length, the standard width, and the standard height, determine that the target vehicle is not overrun, and output a qualified detection result; otherwise, determining that the target vehicle is out of limit, and outputting an unqualified detection result.
For specific limitations of the vehicle overrun detection device, reference may be made to the above limitations of the vehicle overrun detection method, which are not described herein again. The above-mentioned vehicle overrun detection device can be implemented by software, hardware or their combination. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing image data to be detected. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle over-limit detection method.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring an image to be detected shot by image acquisition equipment, wherein the image to be detected comprises a target vehicle;
identifying the model of a target vehicle, and acquiring the standard size of the vehicle of the corresponding model according to the model of the target vehicle;
acquiring fixed parameters of image acquisition equipment and the position of a target vehicle in the image to be detected, and calculating the size of the target vehicle by combining the model of the target vehicle;
and carrying out overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle, and outputting a detection result.
In one embodiment, the size of the target vehicle includes a length of the target vehicle; the processor when executing the computer program further realizes the following steps: acquiring fixed parameters of image acquisition equipment and the position of a target vehicle in an image to be detected, wherein the fixed parameters of the image acquisition equipment comprise the height of a vertical line between the image acquisition equipment and the ground, a first angle of a shooting range of the image acquisition equipment and a second angle of the vertical line and the lower limit of the shooting range of the image acquisition equipment; and calculating the length of the target vehicle according to the position of the target vehicle in the image to be detected, the height of a vertical line between the image acquisition equipment and the ground, a first angle of a shooting range of the image acquisition equipment and a second angle of a lower limit of the shooting range of the vertical line and the image acquisition equipment.
In one embodiment, the position of the target vehicle in the image to be detected comprises a first pixel distance of the tail of the target vehicle reaching the bottom of the image to be detected, a second pixel distance of the body length of the target vehicle and a third pixel distance of the head of the target vehicle reaching the top of the image to be detected; the processor when executing the computer program further realizes the following steps: respectively calculating a first diagonal angle corresponding to the first pixel distance and a second diagonal angle corresponding to the second pixel distance according to the first angle of the shooting range of the image acquisition equipment, the first pixel distance from the tail of the target vehicle to the bottom of the image to be detected, the second pixel distance from the body length of the target vehicle and the third pixel distance from the head of the target vehicle to the top of the image to be detected; and calculating to obtain the length of the target vehicle by applying a trigonometric function relationship according to the height of the vertical line, a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment, a first diagonal angle corresponding to the first pixel distance and a second diagonal angle corresponding to the second pixel distance.
In one embodiment, the processor, when executing the computer program, further performs the steps of: l ═ h/tan (90 ° — angle 2- < 1- < 0)) - (h/tan (90 ° — angle 1- < 0)); wherein L represents the length of the target vehicle, h represents the height of the vertical line, angle 0 represents a second angle between the vertical line and the lower limit of the shooting range of the image acquisition device, angle 1 represents a first diagonal angle corresponding to a first pixel distance, and angle 2 represents a second diagonal angle corresponding to a second pixel distance.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a sample image shot by image acquisition equipment, wherein the sample image comprises a sample vehicle and the length of the marked sample vehicle; acquiring the distance from the end point of the vertical line on the ground to the lower limit critical point of the shooting range of the image acquisition equipment; and calculating to obtain a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment according to the distance, the length of the sample vehicle and the height of the vertical line.
In one embodiment, the dimensions of the target vehicle include a width and a height of the target vehicle; the processor when executing the computer program further realizes the following steps: acquiring a reference characteristic of a target vehicle; determining a reference dimension of the reference feature according to the model of the target vehicle; and respectively calculating the width of the target vehicle and the height of the target vehicle according to the proportion of the reference features occupying the width and the height of the body of the target vehicle and the reference size of the reference features.
In one embodiment, the vehicle standard dimensions include a standard length, a standard width, and a standard height of the vehicle, and the dimensions of the target vehicle include a length, a width, and a height of the target vehicle; the processor when executing the computer program further realizes the following steps: if the length, the width and the height of the target vehicle are respectively matched with the standard length, the standard width and the standard height, determining that the target vehicle is not out of limit, and outputting a qualified detection result; otherwise, determining that the target vehicle is out of limit, and outputting an unqualified detection result.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring an image to be detected shot by image acquisition equipment, wherein the image to be detected comprises a target vehicle;
identifying the model of a target vehicle, and acquiring the standard size of the vehicle of the corresponding model according to the model of the target vehicle;
acquiring fixed parameters of image acquisition equipment and the position of a target vehicle in the image to be detected, and calculating the size of the target vehicle by combining the model of the target vehicle;
and carrying out overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle, and outputting a detection result.
In one embodiment, the size of the target vehicle includes a length of the target vehicle; the computer program when executed by the processor further realizes the steps of: acquiring fixed parameters of image acquisition equipment and the position of a target vehicle in an image to be detected, wherein the fixed parameters of the image acquisition equipment comprise the height of a vertical line between the image acquisition equipment and the ground, a first angle of a shooting range of the image acquisition equipment and a second angle of the vertical line and the lower limit of the shooting range of the image acquisition equipment; and calculating the length of the target vehicle according to the position of the target vehicle in the image to be detected, the height of a vertical line between the image acquisition equipment and the ground, a first angle of a shooting range of the image acquisition equipment and a second angle of a lower limit of the shooting range of the vertical line and the image acquisition equipment.
In one embodiment, the position of the target vehicle in the image to be detected comprises a first pixel distance of the tail of the target vehicle reaching the bottom of the image to be detected, a second pixel distance of the body length of the target vehicle and a third pixel distance of the head of the target vehicle reaching the top of the image to be detected; the computer program when executed by the processor further realizes the steps of: respectively calculating a first diagonal angle corresponding to the first pixel distance and a second diagonal angle corresponding to the second pixel distance according to the first angle of the shooting range of the image acquisition equipment, the first pixel distance from the tail of the target vehicle to the bottom of the image to be detected, the second pixel distance from the body length of the target vehicle and the third pixel distance from the head of the target vehicle to the top of the image to be detected; and calculating to obtain the length of the target vehicle by applying a trigonometric function relationship according to the height of the vertical line, a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment, a first diagonal angle corresponding to the first pixel distance and a second diagonal angle corresponding to the second pixel distance.
In one embodiment, the computer program when executed by the processor further performs the steps of: l ═ h/tan (90 ° — angle 2- < 1- < 0)) - (h/tan (90 ° — angle 1- < 0)); wherein L represents the length of the target vehicle, h represents the height of the vertical line, angle 0 represents a second angle between the vertical line and the lower limit of the shooting range of the image acquisition device, angle 1 represents a first diagonal angle corresponding to a first pixel distance, and angle 2 represents a second diagonal angle corresponding to a second pixel distance.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a sample image shot by image acquisition equipment, wherein the sample image comprises a sample vehicle and the length of the marked sample vehicle; acquiring the distance from the end point of the vertical line on the ground to the lower limit critical point of the shooting range of the image acquisition equipment; and calculating to obtain a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment according to the distance, the length of the sample vehicle and the height of the vertical line.
In one embodiment, the dimensions of the target vehicle include a width and a height of the target vehicle; the computer program when executed by the processor further realizes the steps of: acquiring a reference characteristic of a target vehicle; determining a reference dimension of the reference feature according to the model of the target vehicle; and respectively calculating the width of the target vehicle and the height of the target vehicle according to the proportion of the reference features occupying the width and the height of the body of the target vehicle and the reference size of the reference features.
In one embodiment, the vehicle standard dimensions include a standard length, a standard width, and a standard height of the vehicle, and the dimensions of the target vehicle include a length, a width, and a height of the target vehicle; the computer program when executed by the processor further realizes the steps of: if the length, the width and the height of the target vehicle are respectively matched with the standard length, the standard width and the standard height, determining that the target vehicle is not out of limit, and outputting a qualified detection result; otherwise, determining that the target vehicle is out of limit, and outputting an unqualified detection result.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle over-limit detection method, the method comprising:
acquiring an image to be detected shot by image acquisition equipment, wherein the image to be detected comprises a target vehicle;
identifying the model of the target vehicle, and acquiring the standard size of the vehicle of the corresponding model according to the model of the target vehicle;
acquiring fixed parameters of the image acquisition equipment and the position of the target vehicle in the image to be detected, and calculating the size of the target vehicle by combining the model of the target vehicle;
and carrying out overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle, and outputting a detection result.
2. The method of claim 1, wherein the size of the target vehicle comprises a length of the target vehicle; the calculating the size of the target vehicle comprises:
acquiring fixed parameters of the image acquisition equipment and the position of the target vehicle in the image to be detected, wherein the fixed parameters of the image acquisition equipment comprise the height of a vertical line between the image acquisition equipment and the ground, a first angle of a shooting range of the image acquisition equipment and a second angle of the vertical line and the lower limit of the shooting range of the image acquisition equipment;
and calculating the length of the target vehicle according to the position of the target vehicle in the image to be detected, the height of a vertical line between the image acquisition equipment and the ground, a first angle of a shooting range of the image acquisition equipment and a second angle of the vertical line and the lower limit of the shooting range of the image acquisition equipment.
3. The method according to claim 2, wherein the position of the target vehicle in the image to be detected comprises a first pixel distance of a tail of the target vehicle reaching a bottom of the image to be detected, a second pixel distance of a body length of the target vehicle, and a third pixel distance of a head of the target vehicle reaching a top of the image to be detected; the calculating the length of the target vehicle according to the position of the target vehicle in the image to be detected, the height of a vertical line between the image acquisition equipment and the ground, a first angle of a shooting range of the image acquisition equipment and a second angle of the vertical line and a lower limit of the shooting range of the image acquisition equipment comprises:
respectively calculating a first diagonal angle corresponding to the first pixel distance and a second diagonal angle corresponding to the second pixel distance according to a first angle of a shooting range of the image acquisition equipment, a first pixel distance from the tail of the target vehicle to the bottom of the image to be detected, a second pixel distance from the body length of the target vehicle and a third pixel distance from the head of the target vehicle to the top of the image to be detected;
and calculating to obtain the length of the target vehicle by applying a trigonometric function relationship according to the height of the vertical line, a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment, a first diagonal corresponding to the first pixel distance and a second diagonal corresponding to the second pixel distance.
4. The method of claim 3, wherein the calculating the length of the target vehicle using trigonometric functions comprises:
l ═ h/tan (90 ° — angle 2- < 1- < 0)) - (h/tan (90 ° — angle 1- < 0)); wherein L represents the length of the target vehicle, h represents the height of the vertical line, angle 0 represents a second angle between the vertical line and the lower limit of the shooting range of the image acquisition device, angle 1 represents a first diagonal angle corresponding to the first pixel distance, and angle 2 represents a second diagonal angle corresponding to the second pixel distance.
5. The method according to any one of claims 2 to 4, wherein the method for acquiring the second angle between the vertical line and the lower limit of the shooting range of the image acquisition device comprises the following steps:
acquiring a sample image shot by the image acquisition equipment, wherein the sample image comprises a sample vehicle and the length of the marked sample vehicle;
obtaining the distance from the end point of the vertical line on the ground to the lower limit critical point of the shooting range of the image acquisition equipment;
and calculating to obtain a second angle between the vertical line and the lower limit of the shooting range of the image acquisition equipment according to the distance, the length of the sample vehicle and the height of the vertical line.
6. The method of claim 1, wherein the dimensions of the target vehicle include a width and a height of the target vehicle; the calculating the size of the target vehicle comprises:
acquiring a reference characteristic of the target vehicle;
determining a reference dimension of the reference feature according to the model of the target vehicle;
and respectively calculating the width of the target vehicle and the height of the target vehicle according to the proportion of the reference feature occupying the width and the height of the body of the target vehicle and the reference size of the reference feature.
7. The method of claim 1, wherein the vehicle standard dimensions include a standard length, a standard width, and a standard height of a vehicle, and the dimensions of the target vehicle include a length, a width, and a height of the target vehicle; the detecting the overrun of the target vehicle according to the standard size of the vehicle and the size of the target vehicle and outputting a detection result comprises the following steps:
if the length, the width and the height of the target vehicle are respectively matched with the standard length, the standard width and the standard height, determining that the target vehicle is not out of limit, and outputting a qualified detection result; otherwise, determining that the target vehicle is out of limit, and outputting an unqualified detection result.
8. A vehicle overrun detection device, said device comprising:
the device comprises an image acquisition module to be detected, a data acquisition module and a data processing module, wherein the image acquisition module to be detected is used for acquiring an image to be detected shot by image acquisition equipment, and the image to be detected comprises a target vehicle;
the standard size acquisition module is used for identifying the model of the target vehicle and acquiring the standard size of the vehicle of the corresponding model according to the model of the target vehicle;
the calculation module is used for acquiring fixed parameters of the image acquisition equipment and the position of the target vehicle in the image to be detected, and calculating the size of the target vehicle by combining the model of the target vehicle;
and the detection module is used for carrying out overrun detection on the target vehicle according to the standard size of the vehicle and the size of the target vehicle and outputting a detection result.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. 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 of any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112396868A (en) * | 2020-11-05 | 2021-02-23 | 中国联合网络通信集团有限公司 | Collision early warning implementation method and system, computer equipment and storage medium |
| CN112849574A (en) * | 2021-01-08 | 2021-05-28 | 广州南沙珠江啤酒有限公司 | Beer packaging abnormity detection method, computer equipment, system and medium |
| CN113640303A (en) * | 2021-08-09 | 2021-11-12 | 联宝(合肥)电子科技有限公司 | Surface flaw detection equipment for notebook computer and detection method thereof |
| CN114708245A (en) * | 2022-04-21 | 2022-07-05 | 深圳信路通智能技术有限公司 | Vehicle dimension measuring method, device, computer equipment and storage medium |
| WO2023155483A1 (en) * | 2022-02-17 | 2023-08-24 | 广州广电运通金融电子股份有限公司 | Vehicle type identification method, device, and system |
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2020
- 2020-06-19 CN CN202010568135.3A patent/CN111582255A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112396868A (en) * | 2020-11-05 | 2021-02-23 | 中国联合网络通信集团有限公司 | Collision early warning implementation method and system, computer equipment and storage medium |
| CN112849574A (en) * | 2021-01-08 | 2021-05-28 | 广州南沙珠江啤酒有限公司 | Beer packaging abnormity detection method, computer equipment, system and medium |
| CN113640303A (en) * | 2021-08-09 | 2021-11-12 | 联宝(合肥)电子科技有限公司 | Surface flaw detection equipment for notebook computer and detection method thereof |
| WO2023155483A1 (en) * | 2022-02-17 | 2023-08-24 | 广州广电运通金融电子股份有限公司 | Vehicle type identification method, device, and system |
| CN114708245A (en) * | 2022-04-21 | 2022-07-05 | 深圳信路通智能技术有限公司 | Vehicle dimension measuring method, device, computer equipment and storage medium |
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