CN111583670B - Method for monitoring overspeed driving by using unmanned aerial vehicle, monitoring system and unmanned aerial vehicle - Google Patents
Method for monitoring overspeed driving by using unmanned aerial vehicle, monitoring system and unmanned aerial vehicle Download PDFInfo
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- CN111583670B CN111583670B CN202010376367.9A CN202010376367A CN111583670B CN 111583670 B CN111583670 B CN 111583670B CN 202010376367 A CN202010376367 A CN 202010376367A CN 111583670 B CN111583670 B CN 111583670B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
- G08G1/054—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed photographing overspeeding vehicles
Abstract
The invention belongs to the technical field of vehicle running monitoring, and discloses a method for monitoring overspeed driving by using an unmanned aerial vehicle, a monitoring system and the unmanned aerial vehicle, wherein the method comprises the steps of obtaining a motion track in a picture within a certain period of time; calculating the current speed of all vehicles with motion tracks obtained within a certain period of time; calculating the relative displacement between the vehicle and the unmanned aerial vehicle and the real-time speed of the vehicle; and calling a single-target tracking algorithm to track the overspeed vehicle, and capturing and identifying the license plate number by adjusting the focal length of a lens of the unmanned aerial vehicle. The invention overcomes the defect that the bayonet speed measuring equipment can only carry out the snapshot recognition of the license plate of the overspeed driving vehicle at a specific position; and meanwhile, the interval speed measurement method is supplemented, and the real instantaneous speed of the vehicle is obtained.
Description
Technical Field
The invention belongs to the technical field of vehicle running monitoring, and particularly relates to a method and a monitoring system for monitoring overspeed driving by using an unmanned aerial vehicle, and the unmanned aerial vehicle.
Background
At present, highway overspeed driving is a main cause of highway traffic accidents. The reaction of a driver is lagged in overspeed driving, the visual field is narrowed, various information is judged slowly, and meanwhile, once an emergency happens due to factors such as poor vehicle stability and the like, correct measures cannot be taken timely, so that accident damage is increased. At the present stage, a monitoring mode for overspeed driving in an expressway is mainly a fixed radar speed measuring device, but a bayonet device can only monitor overspeed driving behaviors in a specific place, a fixed blind area exists, and meanwhile, the speed of a driver can be changed in a targeted manner by combining the prompt of various navigation software so as to avoid monitoring, so that potential safety hazards are caused; the inter-zone speed measuring equipment can only measure the average speed of the vehicle in a certain inter-zone and cannot reflect the real driving process of the driver in the distance and time. The manpower patrol is incapable of acting on the illegal behaviors of speeding.
Aiming at real-time monitoring and snapshot of the overspeed driving illegal behaviors in the highway, the problem is perfectly solved by adopting an unmanned aerial vehicle to monitor the overspeed driving behaviors. The unmanned aerial vehicle stably flies at a certain height at a certain speed, and the pod lens points to the road surface at a certain angle; performing multi-target tracking on all vehicles on the road surface; determining the current speed of each vehicle according to the current speed, the height, the pod angle and the moving distance of each vehicle in a picture within a certain period of time; determining overspeed vehicles and calculating overspeed degree aiming at the speed-limiting interval of the current road section; the pod tracks the speeding vehicle and captures the license plate number.
In the prior art, the conventional bayonet speed measuring equipment is only arranged at limited positions, namely, the license plate of an overspeed driving vehicle at a specific position is only captured and identified.
In the second prior art, the existing inter-zone speed measuring equipment can only measure the average speed of the vehicle in a certain inter-zone, and cannot reflect the real driving process of the driver in the distance and time.
Through the above analysis, the problems and defects of the prior art are as follows: (1) In the prior art, the fixed bayonet speed measuring equipment only carries out the snapshot recognition of license plate to the speeding vehicle at a specific position, so that the limitation is very large, and the speeding vehicle outside the range can not be grabbed.
(2) In the prior art, the position of the bayonet speed measuring equipment is known: the position of the bayonet speed measuring equipment can be accurately predicted by a plurality of navigation systems, and a driver can change the vehicle speed in a targeted manner so as to avoid monitoring and cause potential safety hazards.
(3) In the prior art, the speed measured by the interval speed measurement is an average value in a certain interval, and more traffic accidents are caused by instantaneous overspeed driving events.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a method for monitoring overspeed driving by using an unmanned aerial vehicle, a monitoring system and the unmanned aerial vehicle.
The invention is realized in such a way that a method for monitoring overspeed driving by using an unmanned aerial vehicle comprises the following steps:
the unmanned aerial vehicle tracks vehicles on a highway by using a multi-target tracking algorithm (the multi-target algorithm is used for tracking the size and the position of a plurality of targets in a series of video frames, is a general name of an algorithm based on the purpose (tracking a plurality of targets simultaneously), can be realized by various existing methods such as Hungarian algorithm, KM algorithm matching and the like, and obtains a motion track in a picture within a certain period of time;
calculating the current speed of all vehicles with motion tracks obtained within a certain period of time; calculating the relative displacement between the vehicle and the unmanned aerial vehicle and the real-time speed of the vehicle;
and calling a single-target tracking algorithm to track the overspeed vehicle, and capturing and identifying the license plate number by adjusting the focal length of a lens of the unmanned aerial vehicle.
Further, before tracking the vehicles on the highway, the pod lens of the unmanned aerial vehicle points to the highway, and patrols and examines the lane lines and running vehicles of the highway.
Further, when vehicles on the highway are tracked, the focal length of a pod lens inspection mode of the unmanned aerial vehicle is unchanged, and the included angle of the pod to the ground is kept consistent.
Further, the method for calculating the relative displacement between the vehicle and the unmanned aerial vehicle and the real-time speed of the vehicle comprises the following steps:
and in a period of time delta t, obtaining the displacement s1 of the airplane according to the ground speed of the unmanned aerial vehicle, simultaneously, calculating the relative displacement sg between the vehicle and the airplane according to the pod ground angle and the airplane height, wherein the displacement s1 of the airplane is obtained according to the ground speed of the unmanned aerial vehicle in the time delta t, and the relative displacement sg between the vehicle and the airplane is obtained, so that the ground displacement of the vehicle is s2= s1+ sg, and the speed of the vehicle is s 2/delta t.
Further, during the tracking of the overspeed vehicles, the ground speed of each vehicle obtained through calculation is compared with the speed limit value to determine whether the overspeed vehicles exist; and calling a single target tracking algorithm (similar to the explanation of the multi-target algorithm, the single target tracking algorithm is used for tracking the size and the position of a single specific target in a series of video frames, is a general term of the algorithm based on the purpose, and can be realized by various existing methods, such as a KCF algorithm, a deep learning algorithm based on a twin network and the like) to track the overspeed vehicle.
And furthermore, the pod angle is adjusted to track the vehicle, and meanwhile, the focal length of the lens is increased to grab and identify the license plate number.
Another object of the present invention is to provide a monitoring system for monitoring speeding by using an unmanned aerial vehicle, comprising:
the pod lens points to the expressway and inspects lane lines and targets of the expressway;
the multi-target tracking module is used for tracking vehicles on the expressway by using a multi-target tracking algorithm; the system is also used for tracking the motion trail of each target vehicle in the picture within a certain period of time;
the vehicle speed calculation module is used for calculating the current vehicle speed of all vehicles existing in the picture within a period of time; within a period of time delta t, obtaining the displacement s1 of the airplane according to the ground-to-ground speed of the airplane, meanwhile, within the time delta t, the displacement of a target vehicle in a picture is sp, and calculating the relative displacement sg of the vehicle and the unmanned aerial vehicle according to the pod ground-to-ground angle and the airplane height, wherein the ground-to-ground displacement of the vehicle is s2= s1+ sg, and the speed of the vehicle is s 2/delta t;
the tracking and grabbing identification module is used for automatically tracking and grabbing the overspeed vehicle, identifying the license plate number and storing evidence; comparing the ground speed of each vehicle obtained by calculation with the speed limit value to determine whether overspeed vehicles exist; for an overspeed vehicle, a single-target tracking algorithm is called, the pod angle is adjusted to track the vehicle, and meanwhile, the focal length of a lens is increased to grab and identify the license plate number.
It is another object of the present invention to provide a program storage medium for receiving user input, the stored computer program causing an electronic device to execute the method for monitoring speeding using a drone.
Another object of the present invention is to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the method for monitoring speeding using a drone when executed on an electronic device.
Another object of the invention is to provide a drone implementing said method.
By combining all the technical schemes, the invention has the advantages and positive effects that: the method for monitoring the overspeed driving by using the unmanned aerial vehicle provided by the invention overcomes the defect that the checkpoint speed measuring equipment can only carry out snapshot recognition on the license plate of the overspeed driving vehicle at a specific position; and meanwhile, the interval speed measurement method is supplemented, and the real instantaneous speed of the vehicle is obtained.
The invention adopts a program to control the whole process, combines an intelligent tracking identification method, realizes a universal automatic tracking focusing snapshot method aiming at a specific target through reasonable logic design, and completely solves the problems of high requirement on the proficiency of operators, large operation error in the operation process, heavy manual workload and the like in a manual tracking focusing mode; meanwhile, a static snapshot recognition method of the bayonet equipment is supplemented, the specific target is tracked while continuous snapshot recognition is carried out, and the snapshot recognition success rate is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a flowchart of a method for monitoring speeding by using an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2 is a schematic illustration of the calculation of each of the vehicle speeds provided by the embodiments of the present invention.
Fig. 3 is a schematic diagram of a method for monitoring speeding by using an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
In the prior art, the fixed bayonet speed measuring equipment only carries out the snapshot recognition of license plate to the speeding vehicle at a specific position, so that the limitation is very large, and the speeding vehicle outside the range can not be grabbed.
In the prior art, the position of the bayonet speed measuring equipment is known: the position of the bayonet speed measuring equipment can be accurately predicted by the aid of multiple navigation systems, and drivers can change the vehicle speed in a targeted manner to avoid monitoring, so that potential safety hazards are caused.
In the prior art, the speed measured by the interval speed measurement is an average value in a certain interval, and more traffic accidents are caused by instantaneous overspeed driving events.
In view of the problems in the prior art, the present invention provides a method for monitoring speeding by using an unmanned aerial vehicle, a monitoring system and an unmanned aerial vehicle, and the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method for monitoring speeding by using an unmanned aerial vehicle provided by the invention comprises the following steps:
s101, the unmanned aerial vehicle is set to fly at an airspeed of about 70km/h (the ground speed is related to the downwind and the upwind), and routine inspection is carried out on the expressway. The ground speed of the unmanned aerial vehicle is set as the airspeed +/-wind speed (downwind plus and upwind-), namely the downwind is more than 70km/h, the upwind is less than 70km/h, and the pod lens points to the expressway to inspect the lane lines and targets of the expressway.
S102, tracking vehicles on the expressway by using a multi-target tracking algorithm; the multi-target tracking algorithm can be realized in various ways, and aims to track the motion track of each target vehicle in a picture within a period of time, the focal length of the inspection mode is kept unchanged in the process, and the included angle of the pod to the ground is kept consistent.
S103, calculating the current speed of each vehicle according to all vehicles existing in the picture within a period of time; as shown in fig. 2, in a schematic diagram for calculating each vehicle speed, during a period of time Δ t, the displacement s1 of the aircraft can be obtained according to the ground speed of the aircraft, and meanwhile, during the period of time Δ t, the displacement of the target vehicle in the screen is sp, and the relative displacement sg between the vehicle and the aircraft can be calculated according to the pod ground angle and the aircraft height, so that the ground displacement of the vehicle is s2= s1+ sg, and the speed of the vehicle is s2/Δ t.
And S104, automatically tracking and grabbing the overspeed vehicle, identifying the license plate number and storing the evidence. And comparing the ground speed of each vehicle obtained by calculation in the S103 with the speed limit value to determine whether overspeed vehicles exist. For overspeed vehicles, a single-target tracking algorithm is called, the pod angle is adjusted by a program to track the vehicles, and meanwhile, the focal length of a lens is increased to grab and identify license plate numbers, wherein the purpose of tracking the vehicles is different from that of multi-target tracking.
And S105, recovering the conventional patrol mode.
Fig. 3 is a schematic diagram of a method for monitoring speeding by using an unmanned aerial vehicle according to an embodiment of the present invention.
The invention provides a monitoring system for monitoring overspeed driving by utilizing an unmanned aerial vehicle, which comprises:
and the pod lens points to the expressway to patrol and examine the expressway lane lines and targets.
The multi-target tracking module is used for tracking vehicles on the expressway by using a multi-target tracking algorithm; but also for tracking the motion trajectory in the picture for a certain period of time for each target vehicle.
The vehicle speed calculation module is used for calculating the current vehicle speed of all vehicles existing in the picture within a period of time; and in a period of time delta t, obtaining the displacement s1 of the airplane according to the ground-to-ground speed of the airplane, simultaneously obtaining the displacement sp of the target vehicle in the picture in the delta t time, and calculating the relative displacement sg between the vehicle and the unmanned aerial vehicle according to the pod ground-to-ground angle and the airplane height, wherein the ground-to-ground displacement of the vehicle is s2= s1+ sg, and the speed of the vehicle is s 2/delta t.
The tracking and grabbing identification module is used for automatically tracking and grabbing the overspeed vehicle, identifying the license plate number and storing evidence; comparing the ground speed of each vehicle obtained by calculation with the speed limit value to determine whether overspeed vehicles exist; for an overspeed vehicle, a single-target tracking algorithm is called, the pod angle is adjusted to track the vehicle, and meanwhile, the focal length of a lens is increased to grab and identify the license plate number.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus a necessary hardware platform, and may also be implemented by hardware entirely. With this understanding in mind, all or part of the technical solutions of the present invention that contribute to the background can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods according to the embodiments or some parts of the embodiments of the present invention.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (4)
1. A method of monitoring speeding with an unmanned aerial vehicle, the method comprising:
the unmanned aerial vehicle tracks vehicles on the highway by using a multi-target tracking algorithm and acquires a motion track in a picture within a certain period of time;
calculating the current speed of all vehicles with motion tracks obtained within a certain period of time; calculating the relative displacement between the vehicle and the unmanned aerial vehicle and the real-time speed of the vehicle;
calling a single-target tracking algorithm to track the overspeed vehicle, and capturing and identifying the license plate number by adjusting the focal length of a lens of the unmanned aerial vehicle;
before tracking vehicles on the expressway, a pod lens of the unmanned aerial vehicle points to the expressway to patrol the expressway lane lines and running vehicles;
in the process of tracking vehicles on the highway, the focal length of a pod lens inspection mode of the unmanned aerial vehicle is unchanged, and the included angle of the pod to the ground is kept consistent;
the method for calculating the relative displacement between the vehicle and the unmanned aerial vehicle and the real-time speed of the vehicle comprises the following steps:
within a period of time delta t, obtaining the displacement s1 of the airplane according to the ground speed of the unmanned aerial vehicle, meanwhile, within the time delta t, the displacement of the target vehicle in the picture is sp, and calculating the relative displacement sg between the vehicle and the airplane according to the pod ground angle and the airplane height, so that the ground displacement of the vehicle is s2= s1+ sg, and the speed of the vehicle is s 2/delta t;
in the process of tracking the overspeed vehicles, the ground speed of each vehicle obtained through calculation is compared with the speed limit value to determine whether the overspeed vehicles exist; calling a single-target tracking algorithm to track the overspeed vehicle;
adjusting the pod angle to track the vehicle, and simultaneously, increasing the focal length of the lens to grab and identify the license plate number;
the monitoring system for monitoring overspeed driving by using the unmanned aerial vehicle, which implements the method for monitoring overspeed driving by using the unmanned aerial vehicle, comprises:
the pod lens points to the expressway to patrol and examine the expressway lane lines and targets;
the multi-target tracking module is used for tracking vehicles on the expressway by using a multi-target tracking algorithm; also for tracking, for each target vehicle, a motion trajectory in the picture over a certain period of time;
the vehicle speed calculation module is used for calculating the current vehicle speed of all vehicles existing in the picture within a period of time;
within a period of time delta t, obtaining the displacement s1 of the airplane according to the ground speed of the airplane, meanwhile, within the time delta t, the displacement of a target vehicle in a picture is sp, and calculating the relative displacement sg of the vehicle and the unmanned aerial vehicle according to the pod ground angle and the airplane height, so that the ground displacement of the vehicle is s2= s1+ sg, and the speed of the vehicle is s 2/delta t;
the tracking and grabbing identification module is used for automatically tracking and grabbing the overspeed vehicle, identifying the license plate number and storing evidence; comparing the ground speed of each vehicle obtained by calculation with the speed limit value to determine whether overspeed vehicles exist; for overspeed vehicles, a single-target tracking algorithm is called, the pod angle is adjusted to track the vehicles, and meanwhile, the focal length of the lens is increased to grab and identify license plate numbers.
2. A program storage medium receiving user input, the stored computer program causing an electronic device to perform the method of monitoring speeding with a drone of claim 1.
3. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the method of monitoring speeding with a drone of claim 1 when executed on an electronic device.
4. A drone performing the method of claim 1.
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| CN107424412A (en) * | 2017-09-21 | 2017-12-01 | 程丹秋 | A kind of traffic behavior analysis system |
| CN108335489A (en) * | 2018-03-11 | 2018-07-27 | 西安电子科技大学 | Vehicle on highway behavior semantic analysis and abnormal behaviour monitoring system and method |
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| CN209641071U (en) * | 2019-04-02 | 2019-11-15 | 中国科学院重庆绿色智能技术研究院 | A kind of expressway dangerous driving monitoring system and device |
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