CN113362610B - Method, system, and computer-readable storage medium for identifying an offending traffic participant - Google Patents
Method, system, and computer-readable storage medium for identifying an offending traffic participant Download PDFInfo
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- CN113362610B CN113362610B CN202110586457.5A CN202110586457A CN113362610B CN 113362610 B CN113362610 B CN 113362610B CN 202110586457 A CN202110586457 A CN 202110586457A CN 113362610 B CN113362610 B CN 113362610B
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- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses a method, a system and a computer readable storage medium for identifying an illegal traffic participant object, wherein the method comprises the following steps: acquiring perception information of first perception equipment at a scene entrance and perception information of second perception equipment in a scene; identifying a target traffic participant at a scene entrance by using roadside license plate identification equipment to acquire identity information of the target traffic participant; acquiring object characteristic information of a target traffic participant according to the sensing information of the first sensing equipment, and binding the identity information and the object characteristic information to acquire binding information and record the binding information in a traffic participant searching set; identifying object characteristic information of the illegal traffic participating object; and acquiring target binding information from the binding information according to the object characteristic information, thereby acquiring the identity information of the illegal object and broadcasting the identity information and the illegal behavior. By utilizing the scheme of the invention, the traffic participant violating the scene regulations can be accurately identified.
Description
Technical Field
The present invention relates generally to the field of intelligent traffic management. More particularly, the present invention relates to methods, systems, and computer-readable storage media for identifying offending traffic-engaging objects.
Background
This section is intended to provide a background or context to the embodiments of the disclosure recited in the claims. The description herein may include concepts that could be pursued, but are not necessarily ones that have been previously conceived or pursued. Thus, unless otherwise indicated herein, what is described in this section is not prior art to the description and claims in this application and is not admitted to be prior art by inclusion in this section.
Current intelligent traffic management involves automatic identification of traffic objects such as people, vehicles, and roads, and automatic detection of illegal activities. Through automatic identification and detection, traffic key management targets can be intelligently analyzed, and therefore traffic efficiency is improved and traffic travel order is optimized. However, there is currently no good management solution for locations such as service areas where vehicles are parked. In particular, there is currently no effective detection or notification scheme for various violations of vehicles within a service area. Therefore, how to accurately judge and timely notify the vehicle violation behaviors in the similar places becomes a problem to be solved by current vehicle management.
Disclosure of Invention
In order to solve at least the technical problems described in the above background section, the present invention proposes a scheme for identifying an illegal traffic participant in a scene. By using the scheme of the invention, the traffic participant object which violates the regulation can be effectively determined in some scenes, thereby being beneficial to realizing efficient intelligent traffic management. In view of this, the present invention provides solutions in the following aspects.
In a first aspect, the present invention provides a method for identifying an offending traffic-involved object, comprising: acquiring perception information of first perception equipment at a scene entrance; identifying a target traffic participant at a scene entrance by using roadside license plate identification equipment to acquire identity information of the target traffic participant, wherein the target traffic participant is a traffic participant entering the scene; acquiring object characteristic information related to a target traffic participant from the sensing information of the first sensing equipment according to the identity information of the target traffic participant; binding the identity information of the target traffic participation object with the corresponding object characteristic information to obtain binding information of the target traffic participation object, and recording the binding information of the target traffic participation object in a traffic participation object search set; acquiring perception information of second perception equipment in the scene; identifying an illegal traffic participant according to the perception information of the second perception device so as to acquire object characteristic information of the illegal traffic participant; acquiring target binding information from the binding information of the traffic participant searching set according to the object characteristic information of the illegal traffic participant; acquiring identity information of an illegal traffic participant based on the target binding information; and outputting the identity information of the illegal traffic participating object and the corresponding illegal behavior.
In one embodiment, the scene comprises a service area scene and the offending traffic participant is a traffic participant violating a service area specification.
In one embodiment, the identity information further includes identification position information of a target traffic participant and time information of a time when the identity information is acquired, wherein acquiring object feature information related to the target traffic participant from the perception information of the first perception device according to the identity information of the target traffic participant comprises: acquiring traffic participation object perception information related to a target traffic participation object from perception information of the first perception device according to the time information in the identity information; and acquiring object characteristic information related to the target traffic participation object based on the traffic participation object perception information and the identification position information of the target traffic participation object.
In one embodiment, obtaining traffic participant perception information related to a target traffic participant from the perception information of the first perception device comprises: and selecting the traffic participation object perception information which is closest to the time indicated by the time information from the perception information of the first perception device.
In one embodiment, the obtaining of the object feature information related to the target traffic participation object based on the traffic participation object perception information and the identification position information of the target traffic participation object comprises: acquiring the perception position information at the moment indicated by the moment information according to the perception information of the traffic participant; and performing matching operation on the perception position information and the identification position information so as to acquire object characteristic information related to the target traffic participant from the traffic participant perception information according to the matching result.
In one embodiment, the acquiring the perception position information at the time indicated by the time information according to the perception information of the traffic participant comprises: obtaining time difference information according to the time information in the traffic participant perception information and the time information in the identity information; and acquiring the perception position information at the time indicated by the time information based on the time difference information and the speed information in the perception information of the traffic participation object.
In one embodiment, the perceived location information includes perceived location information of one or more candidate traffic-participating objects, wherein performing a matching operation on the perceived location information and the identifying location information so as to obtain object feature information related to the target traffic-participating object from the traffic-participating object perception information according to the matching result includes: determining a distance difference between a location indicated by the perceived location information of the one or more candidate traffic participant objects and a location indicated by the identified location information; selecting a minimum distance difference from one or more of the distance differences; and acquiring object characteristic information of the candidate traffic participation object corresponding to the minimum distance difference from the traffic participation object perception information to serve as the object characteristic information of the target traffic participation object.
In one embodiment, identifying the offending traffic-engaging object based on the perception information of the second perception device includes: acquiring object characteristic information, position information and speed information of a target traffic participant in the scene according to the perception information of the second perception device, wherein the object characteristic information at least comprises category information; identifying the target traffic-participating object as an offending traffic-participating object in response to the speed information indicating that the speed of the target traffic-participating object is zero and the category information of the target traffic-participating object does not match the category information of a preset area within the scene; or in response to the speed information indicating that the speed of the target traffic-participating object is zero and the position information of the target traffic-participating object does not match the position of the preset area within the scene, identifying the target traffic-participating object as an illegal traffic-participating object.
In one embodiment, outputting the identity information of the offending traffic-engaging object and the corresponding offending behavior comprises: generating violation information associated with a category information mismatch or a location mismatch for the violation traffic engagement object; and broadcasting the violation information to the violation traffic-involved object directionally according to the position information of the violation traffic-involved object.
In a second aspect, the present invention provides a system for identifying an offending traffic-involved object, comprising: the first perception device is arranged at a scene entrance and used for acquiring perception information at the scene entrance; the roadside license plate recognition device is used for recognizing a target traffic participant at a scene entrance so as to acquire identity information of the target traffic participant, wherein the target traffic participant is a traffic participant entering the scene; the second perception device is arranged in the scene and used for acquiring perception information in the scene; and an information processing center, which is in communication connection with the first sensing device, the roadside license plate recognition device and the second sensing device, and is configured to: acquiring perception information of first perception equipment at a scene entrance; acquiring object characteristic information related to a target traffic participant from the perception information of the first perception device according to the identity information of the target traffic participant; binding the identity information of the target traffic participation object with the corresponding object characteristic information to obtain binding information of the target traffic participation object, and recording the binding information of the target traffic participation object in a traffic participation object search set; acquiring perception information of second perception equipment in the scene; identifying an illegal traffic participant according to the perception information of the second perception device so as to obtain object characteristic information of the illegal traffic participant; acquiring target binding information from the binding information of the traffic participant searching set according to the object characteristic information of the illegal traffic participant; acquiring identity information of an illegal traffic participant based on the target binding information; and outputting the identity information of the illegal traffic participant and the corresponding illegal action.
In one embodiment, the first sensing device comprises a lidar and/or a camera.
In one embodiment, the roadside license plate recognition device includes a bayonet camera.
In one embodiment, the second sensing device comprises a lidar and/or a camera.
In a third aspect, the invention provides a computer readable storage medium having stored thereon computer readable instructions for identifying an offending traffic-engaging object, which computer readable instructions, when executed by one or more processors, implement a method as described in the first aspect and its various embodiments.
By the scheme, the illegal traffic participant in the scene (such as a service area) can be effectively identified. Specifically, by using the perception information and the license plate recognition operation, the invention can accurately recognize and store the information of the traffic participant entering the scene. Further, by sensing the traffic participation object again in the service area, the scheme of the invention can accurately identify the traffic participation object in the violation service area. Therefore, the scheme of the invention promotes the effective management and monitoring of the traffic participation objects in the scene, and effectively discovers and timely processes the offenders.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. In the drawings, several embodiments of the disclosure are illustrated by way of example and not by way of limitation, and like or corresponding reference numerals indicate like or corresponding parts and in which:
FIG. 1 is an exemplary scene diagram schematically illustrating a scheme for identifying an offending traffic participant object in which the present invention is applied;
FIG. 2 is a flow diagram that schematically illustrates a method for identifying an offending traffic-engaging object, in accordance with an embodiment of the present invention;
fig. 3 is a flow chart schematically illustrating a method for acquiring object characteristic information related to a target traffic participant according to an embodiment of the present invention;
fig. 4 is a flow chart schematically illustrating another method for acquiring object characteristic information related to a target traffic participant according to an embodiment of the present invention; and
FIG. 5 is a schematic block diagram that schematically illustrates a system for identifying an offending traffic-engaging object, in accordance with an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few, and not all, of the disclosed embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It should be understood that the terms "first," "second," "third," and "fourth," etc. in the claims, description, and drawings of the present disclosure are used to distinguish between different objects and are not used to describe a particular order. The terms "comprises" and "comprising," when used in the specification and claims of this disclosure, 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 is also to be understood that the terminology used in the description of the disclosure herein is for the purpose of describing particular embodiments only, and is not intended to be limiting of the disclosure. As used in the specification and claims of this disclosure, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the term "and/or" as used in the specification and claims of this disclosure refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Fig. 1 is a diagram schematically illustrating an exemplary scenario 100 in which the inventive approach for identifying an offending traffic-engaging object is applied. In the context of the present invention, the aforementioned scenarios may include various environments for parking traffic-participating objects, such as various service areas on highways, various parking lots (e.g., commercial or civil), various traffic tunnels or bridge culverts, and the like. Based on this, it is understood that fig. 1 shows the scenario as a service area for exemplary purposes only. Further, in the context of the present invention, the aforementioned traffic-participating objects may be objects related to road/traffic activities, such as motor vehicles and/or non-motor vehicles, etc.
As shown in fig. 1, according to the solution of the present invention, a first sensing device 101 configured to collect sensing information within a service coverage area thereof may be disposed at an entrance of a service area. In one implementation scenario, the first sensing device 101 may include a lidar (shown as dots in fig. 1) and/or a camera. In an application scene in which the laser radar and the camera are used in a matched manner, the laser radar and the camera can be used for acquiring point cloud data and video data at the same time and in the same scene. When target detection is respectively carried out on point cloud data and video data and detection results are fused, an initial fusion result can be obtained. When the target is a traffic-engaging object and the traffic-engaging object is a vehicle, the aforementioned initial fusion result may, for example, include various types of information about the vehicles (such as vehicles 102 and 103 shown in fig. 1), including, but not limited to, one or more of the following: identity (ID) information of vehicles in the perception area, vehicle category information, vehicle position information, lane information where the vehicles are located, vehicle perception time information, vehicle size information, vehicle speed information, and/or vehicle image feature information.
Further, along the direction in which the traffic participant enters the scene, that is, along the direction in which the vehicle enters the service area in this example, a roadside license plate recognition device 104 is disposed at a distance behind the first sensing device and in front of the entrance of the service area, and is used for recognizing the vehicle about to enter the server so as to obtain the identity information of the target vehicle (for example, the license plate number of the vehicle). In the context of the present invention, a vehicle entering a service area is a target vehicle, and the inventive solution is directed to monitoring such one or more target vehicles in order to determine violating vehicles specified in the service area. According to different embodiments, the roadside license plate recognition device can be various types of cameras. Preferably, the camera may be a bayonet camera.
After the first perception device and the roadside license plate recognition device respectively acquire information about the vehicle (or the target vehicle), they may transmit the acquired information to the information processing center 105 of the present invention. In one embodiment, the information processing center herein may be implemented as a computing unit or module and is used to perform processing of information (including fusion operations of various data) and optionally host operations on various devices interconnected. In operation, the information processing center may obtain object characteristic information of the target vehicle, for example, characteristic information of a vehicle entering a service area, based on the perception information of the first perception device. Further, the information processing center may bind the identity information of the target vehicle obtained by the roadside license plate recognition device and the corresponding object feature information to obtain binding information of the target vehicle, and record the binding information of the target vehicle in the vehicle search set. Taking the example that the target vehicle is a motor vehicle in the service area and the identity information thereof is a license plate number, the binding operation performed by the information processing center may be to bind the license plate number with a specific feature of the motor vehicle (such as a model, color or category of the vehicle), and record such binding information (similar to the mapping correspondence) in a vehicle lookup set, such as in a dedicated database. Therefore, the scheme of the invention establishes an effective way for the vehicles entering the service area to inquire.
In order to effectively determine an illegal traffic participant violating the parking regulations of a service area after a target traffic participant (e.g., a plurality of vehicles shown in the lower part of fig. 1) stops in the service area, the present invention proposes to provide a second sensing device 106 in the service area opposite to the entrance of the service area to collect sensed data in the service area, wherein the sensed data may include information about the illegal traffic participant. In the context of the present invention, a violation may include a behavior that violates a specification set for the scenario. In the case of a service area, violation of a service area specification may involve behavior of a false dock. In one implementation scenario, the second sensing device and the first sensing device of the present invention have the same processing capability as the sensing of the offending traffic-involved object in the service area, and thus the technical description of the first sensing device is also applicable to the second sensing device.
Similarly, the second sensing device may also transmit the sensing information to the information processing center so as to obtain the object characteristic information of the illegal traffic participating object, and obtain the target binding information from the binding information of the aforementioned traffic participating object searching set according to the object characteristic information of the illegal traffic participating object. Then, the information processing center may acquire the identity information of the offending traffic participant based on the target binding information. After the identity information of the illegal traffic participant is determined, the information processing center can output the identity information of the illegal traffic participant and the corresponding illegal behavior. According to various embodiments, the input means may be a voice announcement or a video display, or a combination of both. In one scenario, a plurality of large display screens may be arranged in the service area, so that the information processing center selects one large display screen closest to the illegal traffic participant for display and broadcast.
While the invention has been described with reference to fig. 1, it is to be understood that the above description is intended to be illustrative and not restrictive, and that changes may be made to the scene shown in fig. 1 by those skilled in the art in light of the teachings of the present invention without departing from the spirit or essential scope thereof. For example, although the information processing center is shown as being separated from the first sensing device, the second sensing device and the roadside license plate recognition device, in some scenarios, the information processing center may be optionally arranged close to one of the three devices, so as to reduce the distance of data transmission and improve the stability of data transmission. Further, the information processing center may be disposed at a remote end (e.g., a cloud end). In this case, the identity information of the traffic violation participating object and the violation information determined at the remote end can be sent to the broadcasting device in the scene, so as to prompt the violation person (such as the vehicle owner) to pay attention and correct the violation.
Fig. 2 is a flow diagram that schematically illustrates a method 200 for identifying an offending traffic-engaging object, in accordance with an embodiment of the present invention. It will be appreciated that the method flow illustrated in fig. 2 may be implemented in the exemplary scenario illustrated in fig. 1, and thus what is described with respect to fig. 1 (e.g., with respect to the perceiving device) is equally applicable to fig. 2.
As shown in fig. 2, at step S201, perception information of a first perceiving device (e.g., the first perceiving device 101 in fig. 1) at a scene entrance is obtained. As previously described, when the first perception device is implemented as a lidar and a camera, the perception information may include point cloud data and video data within a perception range.
Next, at step S202, a roadside license plate recognition device is used to recognize a target traffic participant at a scene entrance, so as to obtain identity information of the target traffic participant. As previously described, this recognition action may be performed, for example, by the roadside license plate recognition device 104 shown in FIG. 1. After acquiring the identity information of the target traffic participant, at step S203, object feature information related to the target traffic participant is acquired from the sensing information of the first sensing device according to the identity information of the target traffic participant. As previously mentioned, the object characteristic information may include, for example, ID, category, location, lane and/or traffic participant image characteristic information about traffic participants within the scene, and the like. Then, the flow advances to step S204 to bind the identity information of the target transportation participant object and the corresponding object feature information to obtain the binding information of the target transportation participant object, and at step S205, the binding information of the target transportation participant object is recorded in a transportation participant object search set (e.g., a database).
Next, at step S206, perception information of a second perception device within the scene may be acquired. The second perceiving device is, for example, the second perceiving device 106 shown in fig. 1. In operation, the second perception device performs perception operation on the target traffic participation object included in the scene, so as to obtain perception information of the target traffic participation object in the scene. Further, at step S207, the illegal traffic-involved object may be identified according to the perception information of the second perception device, so as to obtain object feature information of the illegal traffic-involved object.
In order to identify the illegal traffic participant, in one implementation scenario, object feature information, position information and speed information of a target traffic participant object within the scene may be acquired according to perception information of the second perception device, wherein the object feature information includes at least category information. Then, in response to the speed information indicating that the speed of the target traffic participation object is zero and the category information of the target traffic participation object does not match the category information of the preset area within the scene, the target traffic participation object is identified as an illegal traffic participation object.
Taking the scene as a service area and the category information of the target traffic participant as a car as an example, when the car is parked in a parking area preset for parking a truck, the target traffic participant (i.e. a car in this example) is determined to violate the parking regulation of the service area, so that the target traffic participant becomes an illegal traffic participant in the context of the present invention. Additionally or alternatively, the target transportation engaging object is identified as the offending transportation engaging object in response to the speed information indicating that the speed of the target transportation engaging object is zero and the position information of the target transportation engaging object does not match the position of the preset area within the scene. For example, when the position information in the perception information indicates that the vehicle is parked at a position other than a parking position preset in the service area. In other words, the vehicle is parked at a non-parking area within the service area, such as a pedestrian passageway or a fire passageway, and thus it will also be determined as an offending traffic participant.
After the illegal traffic participation object is identified in the various manners described above and thus the object characteristic information thereof is obtained, the flow proceeds to step S208. At step S208, target binding information may be obtained from the binding information of the traffic-related object search set generated or updated at step S205 according to the object characteristic information of the violating traffic-related object. Next, at step S209, the identity information of the violation traffic-involved object may be acquired based on the target binding information, so that at step S210, the identity information of the violation traffic-involved object and the corresponding violation behavior may be output. In one embodiment, violation information associated with a category information mismatch or a location mismatch may be generated for the offending traffic participant. And then, the violation information can be directionally broadcasted to the violation traffic participant according to the position information of the violation traffic participant, so that the violation traffic participant can be effectively reminded and warned.
Fig. 3 is a flow chart that schematically illustrates a method 300 for obtaining object characteristic information relating to a target traffic participant object, in accordance with an embodiment of the present invention. It is understood that the scheme illustrated in the flow chart of fig. 3 may be one possible implementation manner of step S203 of the method of fig. 1, and thus the description about the method of fig. 1 is also applicable to the description about fig. 3 below. Further, in order to execute the method of fig. 3, the aforementioned identity information may further include identification position information of the target traffic participant and time information of the time when the identity information is acquired.
As shown in fig. 3, at step S301, traffic participant perception information related to the target traffic participant is obtained from the perception information of the first perception device according to the time information in the identity information. In one embodiment, the obtaining operation may be as shown in step S301-1, that is, selecting the traffic participation object perception information closest to the time indicated by the time information from the perception information of the first perception device. Next, at step S302, object feature information related to the target traffic participation object is acquired based on the aforementioned traffic participation object perception information and the identification position information of the target traffic participation object. In one embodiment, the aforementioned step S302 may be implemented by the processing shown in steps S302-1 and S302-2. Specifically, at step S302-1, the perception position information at the time indicated by the time information is acquired from the traffic-participating object perception information. Next, a matching operation is performed on the perception location information and the recognition location information at step S302-2 to acquire object feature information related to the target traffic participation object from the traffic participation object perception information according to a matching result.
Fig. 4 is a flow diagram that schematically illustrates another method 400 for obtaining object characteristic information relating to a target traffic-engaging object, in accordance with an embodiment of the present invention. It is understood that the flow scheme shown in fig. 4 can be considered as one possible implementation manner of step S302 in fig. 3 or as a specific implementation manner of steps S302-1 and S302-2, and therefore the description about step S302 or about steps S302-1 and S302-2 also applies to the following description in conjunction with fig. 4.
As shown in fig. 4, at step S401, time difference information is obtained from the time information in the aforementioned traffic-participation-object perception information and the time information in the identification information. Specifically, the time information in the traffic participant perception information records the time when the perception device performs the perception operation on the traffic participants (including the target traffic participant), and the identity information records the time when the roadside license plate recognition device performs the recognition operation on the target traffic participant. Accordingly, the time difference information indicates a difference between the time at the time of the sensing operation and the time at the time of the identification operation. Next, at step S402, the perceived location information at the time indicated by the time information is acquired based on the aforementioned time difference information and the speed information in the traffic-participating object perception information. In other words, in step S402, the speed information and the time difference are used to calculate the perceived position of the traffic participant when the first sensing device is used for sensing, that is, the corresponding position information of the traffic participant entering the scene at the time indicated by the time information in the identity information.
In one embodiment, the inferred perceived location information of the traffic participant may include longitude and latitude information corresponding to the traffic participant, and may be obtained through the following operation:
distance1＝(T s -T c )×V S (1)
ρ 2 ＝asin[sin(ρ 1 )·cos(Δ)+cos(ρ 1 )·sin(Δ)·cos(θ)] (6)
y＝sin(θ)·sin(Δ)·cos(ρ 1 ) (7)
x＝cos(Δ)-sin(ρ 1 )·sin(ρ 2 ) (8)
λ 2 ＝λ 1 +atan2(y,x) (9)
in equations (1) to (11) above, distance1 represents a displacement corresponding to an entry traffic participant (i.e., one or more candidate traffic participants to be mentioned later) waiting for performing a matching operation at the time of generating the identity information; bearing is a course angle in the perception information of the entrance traffic participating object (the clockwise included angle between the driving direction of the traffic participating object and the due north direction is 0-360 degrees); r represents the earth radius (i.e., 6371393 meters); ts represents the time indicated by the time information in the entrance traffic participant perception information; tc represents the time indicated by the time information in the identity information of the traffic participation object; v S The speed of the traffic participation object in the perception information is obtained; lat is the latitude of the position in the sensing information of the entrance traffic participating object; lon is the longitude of the position in the perception information of the entrance traffic participant; new _ lat is entry traffic participation corresponding to the identity information momentThe latitude of the location of the object; the new _ lon is the longitude of the corresponding position of the entrance traffic participant corresponding to the identity information moment; the rest symbols are intermediate variables in the operation.
Returning to the flow, at step S403, a distance difference between a location indicated by the perceived location information of the one or more candidate traffic participation objects and a location indicated by the recognition location information is determined. As previously mentioned, the first perceiving device of the present invention (e.g., lidar) may perceive a plurality of objects within its coverage area, and in the context of the present invention may perceive one or more traffic engaging objects that are about to enter the service area. Thus, the aforementioned perceived location information may include perceived location information of one or more candidate traffic participant objects. Correspondingly, the one or more candidate traffic participation objects also respectively have corresponding identification position information.
In one embodiment, the distance difference can be obtained by the following operation:
wherein lon2 is new _ lon in formula (10), new _ lat is new _ lat in formula (11), lat1 is lat in formula (4), and lon1 is lon in formula (5); distance2 is the Distance difference; the remaining symbols are intermediate variables.
After one or more distance differences are calculated, for example, by operating as above, a distance difference having the smallest value, i.e., the smallest distance difference, may be selected from one or more of the aforementioned distance differences at step S404. Thus, in step S405, the object feature information of the candidate traffic participation object corresponding to the minimum distance difference is obtained from the traffic participation object perception information, and the object feature information is used as the object feature information of the target traffic participation object, that is, the object feature information related to the target traffic participation object is obtained.
Fig. 5 is a schematic block diagram that schematically illustrates a system 500 for identifying an offending traffic-engaging object, in accordance with an embodiment of the present invention. It is understood that the system shown in fig. 5 is only one implementation of the solution of the present invention, and those skilled in the art can also adapt the system 500 to different application scenarios according to the teachings of the present invention. Further, since fig. 5 is a simplified illustration of the system shown in fig. 1, the description with respect to fig. 1 applies equally to the description with respect to fig. 5.
As shown in fig. 5, the system 500 includes a first perception device 101, a roadside license plate recognition device 104, a second perception device 106, an information processing center 105, and an illegal broadcasting device 501. As described above, the first sensing device 101, the roadside license plate recognition device 104, the second sensing device 106, and the information processing center 105 cooperatively operate to determine the illegal traffic participating objects in the service area, and the violation playing device 501 is configured to broadcast the illegal traffic participating objects, for example, directionally broadcast the illegal traffic, so as to remind a driver driving a vehicle of correcting the illegal operation in time.
Although the system architecture of the present invention is described above in terms of multiple devices and information processing centers, in some implementation scenarios, the present invention may also be implemented in a modular design. The modular design of the invention is described in detail below, taking the traffic participant as a vehicle as an example.
Specifically, the first sensing device and the second sensing device of the present invention may, for example, constitute a service area entrance multi-source sensing module and a service area intra-multi-source sensing module, respectively, which may sense a vehicle in a detection area in real time, so as to obtain sensing information about the vehicle, including but not limited to an ID, a category, a location, a lane, a sensing time, a size, speed information, and/or vehicle image feature information of the vehicle.
For another example, the roadside license plate recognition operation of the present invention can be implemented by a license plate recognition module. Specifically, the entrance license plate recognition module can recognize the license plate in the detection area in real time and output the license plate to an information processing center (which is implemented as a calculation unit), so that the identity information of the vehicle can be obtained. The identity information may include, but is not limited to, the license plate number, location, and time of day information of the vehicle.
Further, the aforementioned obtaining of the vehicle perception information related to the target vehicle from the perception information of the first perception device may be implemented by the information screening module. That is, the information screening module may screen the entry vehicle perception information closest to the time according to the time information of the vehicle identity information to form entry vehicle screening perception information, that is, the context of the present invention, which is the vehicle perception information related to the target vehicle.
Similar to the above, acquiring the perception-location information at the time indicated by the time information according to the vehicle perception information may be implemented by the time alignment module. In an embodiment, the time alignment module may calculate a position corresponding to the identity information time of each vehicle according to the position, time, and speed information in the screening perception information of the entry vehicle, so as to form entry vehicle alignment perception information, that is, perception position information in the context of the present invention. The ingress vehicle alignment awareness information may include, but is not limited to, the ID, category, alignment location, alignment time, size, speed information, and/or vehicle image characteristic information of the vehicle.
For the binding operation, the present invention may also be provided with an identity information binding module, which is configured to perform a position optimal matching (i.e., find the minimum distance difference) according to the position in the vehicle identity information and the alignment position in the entry vehicle alignment sensing information, so as to complete the binding of the vehicle identity information and the object feature information in the entry vehicle sensing information. Thus, vehicle fusion information may be formed via fusion, which may include, but is not limited to, the ID, category, location, perceived time, size, speed information, license plate number, and/or vehicle image feature information of the vehicle.
Aiming at the identification of the illegal operation, the invention can also be provided with a vehicle illegal judgment module which is used for judging according to the speed information in the vehicle fusion information. For example, when the speed information indicates that the vehicle speed is 0, it may be determined whether the vehicle is within the parking area according to a preset parking area in combination with the position information in the fusion information. When the vehicle position is not within the parking area, it is determined that the vehicle is illegally parked. Further, whether the vehicle violates rules or not can be judged by combining the category information in the fusion information according to the preset parking area category. For example, if the vehicle position is within the parking area but the vehicle type does not match the parking area type, it may be determined that the vehicle is not parked according to the vehicle type and thus a violation is caused. Based on this, violation information for the violating vehicle may be formed, which may include, but is not limited to, vehicle ID, category, location, violation time, violation category, vehicle size, speed information, license plate number, or vehicle image feature information.
In order to realize the searching and broadcasting of the illegal vehicle, the invention can also be provided with an identity information searching module and a broadcasting module. In an embodiment, the identity information search module may match identity information belonging to itself in the vehicle fusion information according to the vehicle category, size, vehicle image feature information, and the like in the violation information, so as to form violation broadcast information, where the information may include, but is not limited to, an ID, a category, a location, a violation time, a violation category, a size, speed information, and/or a license plate number of a vehicle. And then, the playing module can automatically select the broadcasting equipment closest to the illegal vehicle or display a large screen according to the illegal broadcasting information and the position information in the illegal broadcasting information, and can broadcast the illegal category according to the license plate number. For example, for vehicles parking in violation, the broadcast device or the large display screen closest to the vehicle can be selected to play the violation message, so as to prompt the owner or driver to correct the violation in time.
From the above description of the modular design of the present invention, it can be seen that the system of the present invention can be flexibly arranged according to application scenarios or requirements without being limited to the architecture shown in the accompanying drawings. Further, it should also be understood that any module, unit, component, server, computer, or device performing operations of examples of the invention may include or otherwise access a computer-readable medium, such as a storage medium, computer storage medium, or data storage device (removable) and/or non-removable) such as a magnetic disk, optical disk, or magnetic tape. Computer storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules or other data. Based on this, the present invention also discloses a computer readable storage medium having stored thereon computer readable instructions for identifying an offending traffic participant, which when executed by one or more processors, implement the methods and operations previously described in connection with the figures.
As used in this specification and claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Although the embodiments of the present invention are described above, the descriptions are only examples adopted for understanding the present invention, and are not intended to limit the scope and application scenarios of the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method of identifying an offending traffic participant, comprising:
acquiring perception information of first perception equipment at a scene entrance;
identifying a target traffic participant at a scene entrance by using roadside license plate identification equipment to acquire identity information of the target traffic participant, wherein the target traffic participant is a traffic participant entering the scene; the identity information also comprises identification position information of the target traffic participant and time information of the moment when the identity information is acquired;
acquiring object feature information related to a target traffic participant from the perception information of the first perception device according to the identity information of the target traffic participant, specifically comprising: acquiring traffic participation object perception information related to a target traffic participation object from perception information of the first perception device according to the time information in the identity information; obtaining time difference information according to the time information in the traffic participant perception information and the time information in the identity information; acquiring perceived position information at a time indicated by the time information based on the time difference information and speed information in the traffic participation object perception information, wherein the perceived position information comprises perceived position information of one or more candidate traffic participation objects; determining a distance difference between a location indicated by the perceived location information of the one or more candidate traffic participant objects and a location indicated by the identified location information; selecting a smallest distance difference from one or more of the distance differences; acquiring object characteristic information of a candidate traffic participation object corresponding to the minimum distance difference from the traffic participation object perception information to serve as the object characteristic information of the target traffic participation object;
binding the identity information of the target traffic participation object with the corresponding object characteristic information to obtain binding information of the target traffic participation object, and recording the binding information of the target traffic participation object in a traffic participation object search set;
acquiring perception information of second perception equipment in the scene;
identifying an illegal traffic participant according to the perception information of the second perception device so as to obtain object characteristic information of the illegal traffic participant;
acquiring target binding information from the binding information of the traffic participant searching set according to the object characteristic information of the illegal traffic participant;
acquiring identity information of an illegal traffic participant based on the target binding information; and
and outputting the identity information of the illegal traffic participation object and the corresponding illegal action.
2. The method of claim 1, wherein the scene comprises a service area scene, and wherein the offending traffic-engaging object is a traffic-engaging object that violates a service area specification.
3. The method according to claim 1, wherein obtaining traffic participant perception information related to a target traffic participant from the perception information of the first perception device comprises:
and selecting the traffic participation object perception information which is closest to the time indicated by the time information from the perception information of the first perception device.
4. The method of claim 1, wherein identifying an offending traffic-engaging object based on the perception information of the second perception device comprises:
acquiring object characteristic information, position information and speed information of a target traffic participant in the scene according to the perception information of the second perception device, wherein the object characteristic information at least comprises category information;
identifying the target traffic-participating object as an offending traffic-participating object in response to the speed information indicating that the speed of the target traffic-participating object is zero and the category information of the target traffic-participating object does not match the category information of a preset area within the scene; or
In response to the speed information indicating that the speed of the target traffic-participating object is zero and the position information of the target traffic-participating object does not match the position of the preset area within the scene, identifying the target traffic-participating object as an offending traffic-participating object.
5. The method of claim 4, wherein outputting the identity information of the offending traffic-involved object and the corresponding offending behavior comprises:
generating violation information associated with a category information mismatch or a location mismatch for the violation traffic engagement object; and
and broadcasting the violation information to the violation traffic-involved object directionally according to the position information of the violation traffic-involved object.
6. A system for identifying an offending traffic participant, comprising:
the first perception device is arranged at a scene entrance and used for acquiring perception information at the scene entrance;
the roadside license plate recognition device is used for recognizing a target traffic participant at a scene entrance so as to acquire identity information of the target traffic participant, wherein the target traffic participant is a traffic participant entering the scene; the identity information also comprises identification position information of a target traffic participant and time information of the moment when the identity information is acquired;
the second perception device is arranged in the scene and used for acquiring perception information in the scene; and
an information processing center, communicatively connected to the first sensing device, the roadside license plate recognition device, and the second sensing device, and configured to:
acquiring perception information of first perception equipment at a scene entrance;
acquiring object feature information related to a target traffic participant from the perception information of the first perception device according to the identity information of the target traffic participant, specifically comprising: acquiring traffic participation object perception information related to a target traffic participation object from perception information of the first perception device according to the time information in the identity information; obtaining time difference information according to the time information in the traffic participant perception information and the time information in the identity information; acquiring perceived position information at a time indicated by the time information based on the time difference information and speed information in the traffic participation object perception information, wherein the perceived position information comprises perceived position information of one or more candidate traffic participation objects; determining a distance difference between a location indicated by the perceived location information of the one or more candidate traffic participant objects and a location indicated by the identified location information; selecting a minimum distance difference from one or more of the distance differences; acquiring object characteristic information of a candidate traffic participation object corresponding to the minimum distance difference from the traffic participation object perception information to serve as the object characteristic information of the target traffic participation object;
binding the identity information of the target traffic participant with the corresponding object characteristic information to obtain the binding information of the target traffic participant, and recording the binding information of the target traffic participant in a traffic participant search set;
acquiring perception information of second perception equipment in the scene;
identifying an illegal traffic participant according to the perception information of the second perception device so as to acquire object characteristic information of the illegal traffic participant;
acquiring target binding information from the binding information of the traffic participant searching set according to the object characteristic information of the illegal traffic participant;
acquiring identity information of an illegal traffic participant based on the target binding information; and
and outputting the identity information of the illegal traffic participation object and the corresponding illegal action.
7. The system of claim 6, wherein the first sensing device comprises a lidar and/or a camera.
8. The system of claim 6, wherein the roadside license plate recognition device comprises a bayonet camera.
9. The system according to claim 6, characterized in that the second perception device comprises a lidar and/or a camera.
10. A computer-readable storage medium having stored thereon computer-readable instructions for identifying an offending traffic-engaging object, which when executed by one or more processors implement the method of any of claims 1-5.
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| CN202110586457.5A CN113362610B (en) | 2021-05-27 | 2021-05-27 | Method, system, and computer-readable storage medium for identifying an offending traffic participant |
| PCT/CN2022/095591 WO2022247932A1 (en) | 2021-05-27 | 2022-05-27 | Method and system for recognizing traffic violation participant, and computer-readable storage medium |
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| CN114241765B (en) * | 2021-12-15 | 2023-01-03 | 重庆中信科信息技术有限公司 | Space-time logic-based method and device for analyzing traffic violation of directional lane and storage medium |
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| CN105788292A (en) * | 2016-04-07 | 2016-07-20 | 四川巡天揽胜信息技术有限公司 | Method and apparatus for obtaining driving vehicle information |
| CN106935035B (en) * | 2017-04-07 | 2019-07-23 | 西安电子科技大学 | Parking offense vehicle real-time detection method based on SSD neural network |
| CN108335492A (en) * | 2018-01-23 | 2018-07-27 | 西安艾润物联网技术服务有限责任公司 | Vehicle parking detection method and computer readable storage medium |
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| CN111105621B (en) * | 2019-12-17 | 2021-11-16 | 浙江大华技术股份有限公司 | Method and device for detecting illegal parking |
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