CN113470372A - Method, system, and computer-readable storage medium for identifying an offending vehicle - Google Patents
Method, system, and computer-readable storage medium for identifying an offending vehicle Download PDFInfo
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- CN113470372A CN113470372A CN202110587440.1A CN202110587440A CN113470372A CN 113470372 A CN113470372 A CN 113470372A CN 202110587440 A CN202110587440 A CN 202110587440A CN 113470372 A CN113470372 A CN 113470372A
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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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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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
Abstract
The invention discloses a method, a system and a computer readable storage medium for identifying an offending vehicle, wherein the method comprises the following steps: acquiring perception information of first perception equipment at a tunnel entrance and perception information of second perception equipment in a tunnel; identifying a target vehicle at a tunnel entrance by using roadside license plate identification equipment to acquire identity information of the target vehicle; acquiring object characteristic information of a target vehicle according to the perception information of the first perception device, and binding the identity information and the object characteristic information to obtain binding information and record the binding information in a vehicle search set; identifying object characteristic information of the violation vehicle; 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 using the scheme of the invention, the vehicles violating the driving regulations in the tunnel 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 an offending vehicle.
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 tunnels. In particular, there is currently no effective detection or notification scheme for various violations of vehicles traveling in tunnels. 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 background section above, the present invention proposes a solution for identifying an offending vehicle in a scene, such as a tunnel. By using the scheme of the invention, the vehicles violating the driving regulations of the tunnel can be effectively determined, thereby being beneficial to improving the efficient and safe traffic in the tunnel and expanding the application scene of 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 of identifying an offending vehicle, comprising: acquiring perception information of first perception equipment at a tunnel entrance; identifying a target vehicle at a tunnel entrance by using roadside license plate identification equipment to acquire identity information of the target vehicle, wherein the target vehicle is a vehicle entering the tunnel; acquiring object characteristic information related to the target vehicle from the sensing information of the first sensing equipment according to the identity information of the target vehicle; binding the identity information of the target vehicle and the corresponding object characteristic information to obtain binding information of the target vehicle, and recording the binding information of the target vehicle in a vehicle searching set; acquiring perception information of second perception equipment in the tunnel; identifying an illegal vehicle according to speed information in the perception information of the second perception device so as to obtain object characteristic information of the illegal vehicle; acquiring target binding information from the binding information of the vehicle searching set according to the object characteristic information of the illegal vehicle; acquiring identity information of the violation vehicle based on the target binding information; and outputting the identity information of the violation vehicle and the corresponding violation behavior.
In one embodiment, the identity information further includes identification position information of the target vehicle and time information of the time when the identity information is acquired, wherein acquiring object feature information related to the target vehicle from the perception information of the first perception device according to the identity information of the target vehicle includes: acquiring vehicle perception information related to a target vehicle from perception information of the first perception device according to time information in the identity information; and acquiring object feature information related to the target vehicle based on the vehicle awareness information and the identification position information of the target vehicle.
In one embodiment, obtaining vehicle awareness information related to a target vehicle from the awareness information of the first awareness device includes: and selecting the vehicle perception information 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 vehicle based on the vehicle awareness information and the identification position information of the target vehicle includes: acquiring perception position information at the moment indicated by the moment information according to the vehicle perception information; 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 vehicle from the vehicle perception information according to the matching result.
In one embodiment, the obtaining of the perception location information at the time indicated by the time information according to the vehicle perception information includes: obtaining time difference information according to the time information in the vehicle 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 vehicle perception information.
In one embodiment, the perceptual location information comprises perceptual location information of one or more candidate vehicles, wherein performing a matching operation on the perceptual location information and the recognition location information so as to obtain object feature information related to the target vehicle from the vehicle perceptual information according to the matching result comprises: determining a distance difference between a location indicated by the perceived location information of one or more candidate vehicles 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 vehicle corresponding to the minimum distance difference from the vehicle perception information to serve as the object characteristic information of the target vehicle.
In one embodiment, identifying an offending vehicle from speed information in the perception information of the second perception device comprises: in response to speed information of a target vehicle indicating a speed equal to zero, identifying the target vehicle as an offending vehicle for which an offending tie-up behavior exists; or in response to the speed information of the target vehicle indicating that the speed is below the lowest speed limit, identifying the target vehicle as an offending vehicle with an offending slow-moving behavior; or in response to the speed information of the target vehicle indicating that the speed is higher than the highest speed limit, identifying the target vehicle as an offending vehicle for which an offending speeding action exists.
In one embodiment, the perception information of the second perception device further includes location information of an offending vehicle, wherein outputting the identity information of the offending vehicle and the corresponding offending behavior includes: generating violation information associated with one of an illegal tie-down behavior, an illegal slow-moving behavior, or an illegal speeding behavior for the violating vehicle; and broadcasting the violation information to the violation vehicle according to the position information of the violation vehicle.
In a second aspect, the present invention provides a system for identifying an offending vehicle, comprising: the first sensing equipment is arranged at a tunnel entrance and used for acquiring sensing information at the tunnel entrance; the roadside license plate recognition equipment is used for recognizing a target vehicle at a tunnel entrance so as to acquire identity information of the target vehicle, wherein the target vehicle is a vehicle entering the tunnel; the second sensing equipment is arranged in the tunnel and used for acquiring sensing information in the tunnel; and an information processing center, which is in communication connection with the first perception device, the roadside license plate recognition device and the second perception device, and is configured to: acquiring perception information of first perception equipment at a tunnel entrance; acquiring object characteristic information related to the target vehicle from the sensing information of the first sensing equipment according to the identity information of the target vehicle; binding the identity information of the target vehicle and the corresponding object characteristic information to obtain binding information of the target vehicle, and recording the binding information of the target vehicle in a vehicle searching set; acquiring perception information of second perception equipment in the tunnel; identifying an illegal vehicle according to speed information in the perception information of the second perception device so as to obtain object characteristic information of the illegal vehicle; acquiring target binding information from the binding information of the vehicle searching set according to the object characteristic information of the illegal vehicle; acquiring identity information of the violation vehicle based on the target binding information; and outputting the identity information of the violation vehicle and the corresponding violation behavior.
In one embodiment, the first sensing device comprises a lidar and/or a camera. In one embodiment, the second sensing device comprises a lidar and/or a camera. In one embodiment, the roadside license plate recognition device includes a bayonet camera.
In a third aspect, the present invention provides a computer readable storage medium having stored thereon computer readable instructions for identifying an offending vehicle, which when executed by one or more processors implement a method as described in the first aspect and its various embodiments.
By the scheme, illegal vehicles in the tunnel 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 vehicle entering the tunnel. Further, by sensing the vehicles again in the tunnel, the scheme of the invention can accurately identify the vehicles violating the driving regulations in the tunnel. Therefore, the scheme of the invention promotes effective management and monitoring of vehicles running in the tunnel, and effectively discovers and timely treats 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 vehicle in which the present invention is applied;
FIG. 2 is a flow chart that schematically illustrates a method for identifying an offending vehicle, in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart that schematically illustrates a method for obtaining object characteristic information relating to a target vehicle, in accordance with an embodiment of the present invention;
FIG. 4 is a flow chart that schematically illustrates another method for obtaining object characteristic information relating to a target vehicle, in accordance with an embodiment of the present invention; and
FIG. 5 is a schematic block diagram that schematically illustrates a system for identifying an offending vehicle, 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 vehicle is applied. In the context of the present invention, the aforementioned scenarios may include various traffic tunnels and the like. Further, in the context of the present invention, the aforementioned vehicles may be motor vehicles and/or non-motor vehicles or the like associated with road/traffic activities.
As shown in fig. 1, according to the solution of the present invention, a first sensing device 102 may be disposed at an entrance 101 of a tunnel, and is configured to collect sensing information within a sensing coverage range thereof. Depending on the sensing capability of the first sensing device, the sensing coverage range can cover a region within a certain distance range around the tunnel entrance, so that vehicles entering and/or not entering the tunnel can be sensed. In one embodiment, the first sensing device may include a lidar (shown as a dot 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 vehicle, the aforementioned initial fusion results may, for example, include various types of information about the vehicle (such as vehicles 103 and 104 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, information of lanes in which the vehicles are located, vehicle perception time information, vehicle size information, vehicle speed information, and/or vehicle image feature information.
Further, in the direction in which the vehicle enters the scene, i.e. in this case, in the direction in which the vehicle enters the tunnel, a roadside license plate recognition device 105 is disposed within a certain distance behind the first sensing device and in front of the tunnel entrance, and is used for recognizing the vehicle about to enter the tunnel so as to acquire the identity information of the target vehicle (e.g. the license plate number of the vehicle). In the context of the present invention, a vehicle entering a tunnel is a target vehicle, whereas the solution of the present invention is intended to monitor such target vehicle or vehicles in order to determine an offending vehicle violating driving regulations in the tunnel. 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), the first perception device and the roadside license plate recognition device may transmit the acquired information to the information processing center 106 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 the tunnel, 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 a tunnel 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, for example, in a dedicated database. Therefore, the scheme of the invention establishes an effective way for the vehicle entering the tunnel to inquire.
In order to effectively determine an illegal vehicle violating the driving regulations in the tunnel after a target vehicle (such as the vehicle 107 shown in fig. 1) drives into the tunnel, the invention proposes to arrange a second sensing device 108 in the tunnel to collect sensing data of the tunnel, wherein the sensing data may include information about the illegal vehicle, such as speed information. In the context of the present invention, a violation may include a behavior that violates a driving specification set for the tunnel. For example, violation of a tunnel regulation may relate to a behavior of traveling within a tunnel at an inappropriate driving speed. In one implementation scenario, the second perception device and the first perception device of the present invention have the same processing capabilities as regards perceiving the offending vehicle within the tunnel, and therefore the technical description above regarding the first perception device also applies to the second perception device.
Similarly, the second perception device may also transmit perception information to the information processing center so as to obtain object feature information of the violation vehicle, and obtain target binding information from the binding information of the aforementioned vehicle search set according to the object feature information of the violation vehicle. Then, the information processing center may obtain identity information of the offending vehicle based on the target binding information. After the identity information of the violation vehicle is determined, the information processing center can output the identity information of the violation vehicle and the corresponding violation behavior. According to various embodiments, the output may be a video display. In one implementation scenario, multiple large displays (e.g., suspended from the tunnel interior walls) may be arranged in different sections within the tunnel (as shown at 109) so that the information processing center can select one large display through which the offending vehicle is about to travel for broadcast display.
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, thereby reducing the distance of data transmission and improving 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 violation vehicle and the violation information determined at the remote end can be sent to the broadcasting device in the tunnel, so as to prompt the violation person (e.g., the owner of the vehicle) to pay attention and correct the violation.
FIG. 2 is a flow chart that schematically illustrates a method 200 for identifying an offending vehicle, 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, sensing information of a first sensing device (such as the first sensing device 102 in fig. 1) at the entrance of the tunnel is acquired. 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 target vehicle at the entrance of the tunnel is identified by using a roadside license plate recognition device to obtain identity information of the target vehicle. As previously described, this recognition action may be performed, for example, by the roadside license plate recognition device 105 shown in FIG. 1. After the identity information of the target vehicle is obtained, at step S203, object feature information related to the target vehicle is obtained from the perception information of the first perception device according to the identity information of the target vehicle. As described above, the object feature information may include, for example, ID, category, position, lane, leading inter-head distance, leading inter-tail distance, and/or vehicle image feature information about the vehicle in the tunnel. Next, the flow advances to step S204 to bind the identity information of the target vehicle and the corresponding object feature information to obtain the binding information of the target vehicle, and at step S205, record the binding information of the target vehicle in a vehicle lookup set (e.g., a database).
Next, at step S206, perception information of a second perception device within the tunnel may be acquired. The second perceiving device is, for example, the second perceiving device 108 shown in fig. 1. In operation, the second perception device performs perception operation on the target vehicle in the tunnel, so that perception information of the target vehicle in the tunnel is obtained. Further, at step S207, the offending vehicle may be identified according to the speed information in the perception information of the second perception device, so as to acquire the object feature information of the offending vehicle.
In order to identify the offending vehicle, in one implementation scenario, speed information of the target vehicle in the tunnel may be obtained according to the perception information of the second perception device. Next, it is determined whether or not the target vehicle violates a travel rule in the tunnel in response to the instruction of the speed information. For example, when the speed of the target vehicle is zero, that is, the target vehicle stops traveling in the tunnel, potentially resulting in congestion and risk of vehicle collision in the tunnel, the target vehicle is identified as the offending vehicle. Similarly, when the speed information of the target vehicle indicates that its speed is lower than the lowest speed limit or higher than the highest speed limit, the target vehicle is also identified as an offending vehicle that has an offending jog or speeding accordingly.
After the offending vehicle is identified and thus the object characteristic information thereof is obtained in the various manners described above, the flow advances to step S208. At step S208, target binding information may be obtained from the binding information of the vehicle lookup set generated or updated in step S205 according to the object characteristic information of the offending vehicle. Next, at step S209, identity information of the violating vehicle may be obtained based on the target binding information, so that at step S210, the identity information of the violating vehicle and the corresponding violations may be output. In one embodiment, violation information associated with one of a violation stagnation behavior (i.e., speed is zero), a violation slow-moving behavior (i.e., speed is below the lowest speed limit), or a violation speeding behavior (i.e., speed is above the highest speed limit) is generated for the violation vehicle, and the violation information is broadcasted to the violation vehicle according to the location information of the violation vehicle, so that the violation vehicle can be effectively reminded and warned.
Fig. 3 is a flow chart schematically illustrating a method 300 for obtaining object characteristic information relating to a target vehicle according to 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 perform the method of fig. 3, the aforementioned identity information may further include identification position information of the target vehicle and time information of the time when the identity information is acquired.
As shown in fig. 3, at step S301, vehicle perception information related to the target vehicle is obtained from 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 vehicle 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 vehicle is acquired based on the aforementioned vehicle awareness information and the identification position information of the target vehicle. 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 vehicle perception information. Next, at step S302-2, a matching operation is performed on the perception location information and the recognition location information to acquire object feature information related to the target vehicle from the vehicle perception information according to a matching result.
Fig. 4 is a flow chart that schematically illustrates another method 400 for obtaining object characteristic information relating to a target vehicle, 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 of step S302 in fig. 3 or as one specific implementation 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 description below 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 vehicle awareness information and the time information in the identification information. Specifically, the time information in the vehicle sensing information records the time when the sensing device performs sensing operation on the vehicle (including the target vehicle), and the identity information records the time when the roadside license plate recognition device performs recognition operation on the target vehicle. 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 vehicle perception information. In other words, in step S402, the speed information and the time difference are used to calculate the position of the vehicle sensed by the first sensing device, that is, the corresponding position information of the vehicle entering the tunnel at the time indicated by the time information in the identity information.
In one embodiment, the estimated perceived location information of the vehicle may include longitude and latitude information corresponding to the vehicle, and may be obtained by the following operation:
distance1＝(Ts-Tc)×VS (1)
ρ2＝asin[sin(ρ1)·cos(Δ)+cos(ρ1)·sin(Δ)·cos(θ)] (6)
y＝sin(θ)·sin(Δ)·cos(ρ1) (7)
x＝cos(Δ)-sin(ρ1)·sin(ρ2) (8)
λ2＝λ1+atan2(y,x) (9)
in the above equations (1) to (11), the distance1 represents the displacement corresponding to the entry vehicle (i.e., one or more candidate vehicles to be mentioned later) waiting for the matching operation to be performed at the time of generation of the identity information; bearing is the heading angle (clockwise included angle between the vehicle running direction and the true north direction) in the perception information of the entrance vehicle: 0-360 degree; r represents the earth radius (i.e., 6371393 meters); ts represents a time indicated by time information in the entrance vehicle awareness information; tc represents a time indicated by the time information in the vehicle identification information; vSIs the vehicle speed in the perception information; lat is the latitude of the position in the entrance vehicle perception information; lon is the longitude of the location in the ingress vehicle awareness information; new _ lat is the latitude of the corresponding entrance vehicle position at the moment of identity information; the new _ lon is the longitude of the corresponding position of the entrance vehicle 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 the position indicated by the perceived position information of the one or more candidate vehicles and the position indicated by the identified position information is determined. As previously mentioned, the first sensing device of the present invention (e.g., lidar) may sense a plurality of objects within its coverage area, and in the context of the present invention, may sense one or more vehicles that are about to enter the tunnel. Thus, the aforementioned perceived location information may include perceived location information of one or more candidate vehicles. Correspondingly, the one or more candidate vehicles also have their corresponding identification position information, respectively.
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 calculating one or more distance differences by, for example, the above operations, 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 vehicle corresponding to the minimum distance difference is obtained from the vehicle sensing information, and the object feature information is used as the object feature information of the target vehicle, that is, the object feature information related to the target vehicle is obtained.
FIG. 5 is a schematic block diagram that schematically illustrates a system 500 for identifying an offending vehicle, 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 102, a roadside license plate recognition device 105, a second perception device 108, an information processing center 106, and a violation reporting device 501. As described above, the first sensing device 102, the roadside license plate recognition device 105, the second sensing device 108 and the information processing center 106 cooperate to determine the illegal vehicle in the tunnel, and the violation playing device 501 (including, for example, the large screen display 109 shown in fig. 1) is used for broadcasting the illegal vehicle, for example, directionally broadcasting the illegal vehicle, so as to remind the driver driving the vehicle of guiding the illegal operation in time, for example, accelerating or decelerating the vehicle.
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.
For example, the first sensing device and the second sensing device of the present invention may respectively constitute a tunnel entrance multi-source sensing module and a tunnel interior multi-source sensing module, 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 ID, category, location, lane, sensing time, 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, the category, the alignment location, the alignment time, the size, the speed information, and/or the vehicle image feature 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, the vehicle violation may be deemed to be stopped in the tunnel. For another example, when the speed information indicates that the traveling speed of the vehicle is lower than the predetermined minimum speed limit, the vehicle may be determined to be an offending vehicle. Based on this, violation information for the violating vehicle may be formed, which may include, but is not limited to, a vehicle ID, a category, a location, a violation time, a violation category (e.g., violation of parking, speeding, or low speed driving), a vehicle size, speed information, a 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 a vehicle parking in violation, the broadcast device closest to the vehicle or the large screen may be selected to play the violation message. For vehicles running at an overspeed or a low speed, the vehicles can be indicated to broadcast the illegal behaviors by broadcasting equipment or a large display screen on the tunnel road section through which the vehicles pass, and drivers are reminded to correct the illegal behaviors 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 vehicle, which when executed by one or more processors, implement the methods and operations described previously 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 for facilitating understanding of 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 (13)
1. A method of identifying an offending vehicle, comprising:
acquiring perception information of first perception equipment at a tunnel entrance;
identifying a target vehicle at a tunnel entrance by using roadside license plate identification equipment to acquire identity information of the target vehicle, wherein the target vehicle is a vehicle entering the tunnel;
acquiring object characteristic information related to the target vehicle from the sensing information of the first sensing equipment according to the identity information of the target vehicle;
binding the identity information of the target vehicle and the corresponding object characteristic information to obtain binding information of the target vehicle, and recording the binding information of the target vehicle in a vehicle searching set;
acquiring perception information of second perception equipment in the tunnel;
identifying an illegal vehicle according to speed information in the perception information of the second perception device so as to obtain object characteristic information of the illegal vehicle;
acquiring target binding information from the binding information of the vehicle searching set according to the object characteristic information of the illegal vehicle;
acquiring identity information of the violation vehicle based on the target binding information; and
and outputting the identity information of the illegal vehicle and the corresponding illegal action.
2. The method of claim 1, wherein the identity information further comprises identification position information of a target vehicle and time information of a time when the identity information is acquired, and wherein acquiring object feature information related to the target vehicle from the perception information of the first perception device according to the identity information of the target vehicle comprises:
acquiring vehicle perception information related to a target vehicle from perception information of the first perception device according to time information in the identity information; and
object feature information related to the target vehicle is acquired based on the vehicle awareness information and the identification position information of the target vehicle.
3. The method of claim 2, wherein obtaining vehicle awareness information related to a target vehicle from the awareness information of the first awareness device comprises:
and selecting the vehicle perception information closest to the time indicated by the time information from the perception information of the first perception device.
4. The method of claim 2, wherein obtaining object feature information related to the target vehicle based on the vehicle awareness information and the identification location information of the target vehicle comprises:
acquiring perception position information at the moment indicated by the moment information according to the vehicle perception information; and
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 vehicle from the vehicle perception information according to the matching result.
5. The method according to claim 4, wherein obtaining the perceptual location information at the time indicated by the time information based on the vehicle perception information comprises:
obtaining time difference information according to the time information in the vehicle perception information and the time information in the identity information; and
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 vehicle perception information.
6. The method of claim 5, wherein the perceptual location information comprises perceptual location information of one or more candidate vehicles, wherein performing a matching operation on the perceptual location information and identifying location information to obtain object feature information related to the target vehicle from the vehicle perceptual information according to the matching result comprises:
determining a distance difference between a location indicated by the perceived location information of one or more candidate vehicles and a location indicated by the identified location information;
selecting a minimum distance difference from one or more of the distance differences; and
and acquiring object characteristic information of the candidate vehicle corresponding to the minimum distance difference from the vehicle perception information as the object characteristic information of the target vehicle.
7. The method of claim 1, wherein identifying an offending vehicle based on speed information in the sensory information of the second sensory device comprises:
in response to speed information of a target vehicle indicating a speed equal to zero, identifying the target vehicle as an offending vehicle for which an offending tie-up behavior exists; or
In response to speed information of a target vehicle indicating that a speed is below a minimum speed limit, identifying the target vehicle as an offending vehicle that has an offending slow-moving behavior; or
In response to the speed information of the target vehicle indicating that the speed is above the highest speed limit, identifying the target vehicle as an offending vehicle for which an offending speeding activity exists.
8. The method according to claim 7, wherein the perception information of the second perception device further includes location information of an offending vehicle, and wherein outputting the identity information of the offending vehicle and the corresponding offending behavior comprises:
generating violation information associated with one of an illegal tie-down behavior, an illegal slow-moving behavior, or an illegal speeding behavior for the violating vehicle; and
and broadcasting the violation information to the violation vehicle according to the position information of the violation vehicle.
9. A system for identifying an offending vehicle, comprising:
the first sensing equipment is arranged at a tunnel entrance and used for acquiring sensing information at the tunnel entrance;
the roadside license plate recognition equipment is used for recognizing a target vehicle at a tunnel entrance so as to acquire identity information of the target vehicle, wherein the target vehicle is a vehicle entering the tunnel;
the second sensing equipment is arranged in the tunnel and used for acquiring sensing information in the tunnel; and
an information processing center in communication connection with the first perception device, the roadside license plate recognition device, the second perception device, and configured to:
acquiring perception information of first perception equipment at a tunnel entrance;
acquiring object characteristic information related to the target vehicle from the sensing information of the first sensing equipment according to the identity information of the target vehicle;
binding the identity information of the target vehicle and the corresponding object characteristic information to obtain binding information of the target vehicle, and recording the binding information of the target vehicle in a vehicle searching set;
acquiring perception information of second perception equipment in the tunnel;
identifying an illegal vehicle according to speed information in the perception information of the second perception device so as to obtain object characteristic information of the illegal vehicle;
acquiring target binding information from the binding information of the vehicle searching set according to the object characteristic information of the illegal vehicle;
acquiring identity information of the violation vehicle based on the target binding information; and
and outputting the identity information of the illegal vehicle and the corresponding illegal action.
10. The system of claim 9, wherein the first sensing device comprises a lidar and/or a camera.
11. The system of claim 9, wherein the roadside license plate recognition device comprises a bayonet camera.
12. The system according to claim 9, characterized in that the second perception device comprises a lidar and/or a camera.
13. A computer-readable storage medium having stored thereon computer-readable instructions for identifying an offending vehicle, which when executed by one or more processors, implement the method of any one of claims 1-8.
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| CN202110587440.1A CN113470372B (en) | 2021-05-27 | 2021-05-27 | Method, system, and computer-readable storage medium for identifying an offending vehicle |
| 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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