CN114092683A

CN114092683A - Tire deformation identification method and device based on visual feedback and depth network

Info

Publication number: CN114092683A
Application number: CN202111319379.9A
Authority: CN
Inventors: 张�杰; 史鹏; 孔烜; 邓露; 戴丙维
Original assignee: Hunan Zhongdeng Technology Co ltd
Current assignee: Hunan Zhongdeng Technology Co ltd
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-02-25

Abstract

The application discloses a tire deformation amount identification method, device and equipment based on visual feedback and a depth network and a readable storage medium, wherein the method comprises the following steps: recognizing lanes according to the acquired vehicle images, and focusing the road side camera according to the relation between the lanes and the focal length of the road side camera; acquiring a tire image by using the focused road side camera, and identifying the tire image by using a semantic segmentation algorithm obtained by pre-training to obtain a rim area and a tire area; detecting a rim area and a tire area to obtain pixel points of the rim area and pixel points of the tire area; calculating an image scale factor according to pixel points of the rim area and the diameter of the rim; and calculating the deformation of the tire according to the pixel points of the tire area and the image scale factor. According to the technical scheme, the tire deformation amount is recognized in a non-contact mode through the tire image, so that convenience and accuracy of tire deformation amount recognition are improved, and recognition cost is reduced.

Description

Tire deformation identification method and device based on visual feedback and depth network

Technical Field

The application relates to the technical field of intelligent transportation, in particular to a tire deformation amount identification method, device and equipment based on visual feedback and a depth network and a readable storage medium.

Background

With the continuous development of the intelligent transportation field, it is vital that various information of vehicles is obtained intelligently, efficiently and accurately. The magnitude of the deformation of a tire, which is the only component of a vehicle in contact with a road surface, is an important evaluation index for evaluating the aspects of vehicle driving comfort, driving safety, traffic economy, contact force identification accuracy and the like.

At present, the following method is often adopted for identifying the tire deformation: the tire deformation recognition is carried out based on the change of the signal of the tire internal sensor, and the tire deformation recognition is carried out based on the vehicle speed of a running tire, wherein the tire deformation recognition based on the change of the signal of the tire internal sensor is that the tire deformation is determined by using the distance between the wave crest and the wave trough in the signal according to the change of the signal of a longitudinal accelerometer in the sensor in the moving process of the tire, but the tire sensor has the problems of higher installation requirement, limited service life of a battery and the like; tire deformation recognition based on a vehicle speed relation of a running tire is based on the fact that the vehicle speed changes after the tire deforms in the moving process, therefore, the tire deformation is calculated reversely after the rotation speed of the tire is measured, specifically, the circumference of the tire is obtained according to the vehicle speed change, and whether the tire deforms or not is determined.

In summary, how to identify the tire deformation amount without using a tire sensor is a technical problem to be solved urgently by those skilled in the art.

Disclosure of Invention

In view of the above, an object of the present application is to provide a tire deformation amount identification method, device, apparatus and readable storage medium based on visual feedback and depth network, for identifying tire deformation amount without using a tire sensor.

In order to achieve the above purpose, the present application provides the following technical solutions:

a tire deformation amount identification method based on visual feedback and a depth network comprises the following steps:

acquiring a vehicle image of a target vehicle in a pre-established virtual detection area by using a traffic camera;

recognizing a lane of the target vehicle according to the vehicle image, and focusing the road side camera according to a preset relationship between the lane and a focal length of the road side camera and the lane of the target vehicle;

acquiring a tire image of the target vehicle by using the focused road side camera, and identifying the tire image by using a semantic segmentation algorithm obtained by pre-training to obtain a rim area and a tire area;

detecting the rim area and the tire area to obtain pixel points of the rim area and pixel points of the tire area;

calculating an image scale factor according to the pixel points of the rim area and the diameter of the rim;

and calculating the deformation of the tire according to the pixel points of the tire area and the image scale factor.

Preferably, the detecting the rim area and the tire area to obtain the pixel points of the rim area and the pixel points of the tire area includes:

performing edge detection on the rim area and the tire area to obtain rim edge pixel points and tire edge pixel points;

calculating an image scale factor according to the pixel points of the rim area and the rim diameter, wherein the image scale factor comprises the following steps:

selecting any three pixel points from the rim edge pixel points, and acquiring the coordinates of the selected pixel points;

calculating the coordinates of the circle center of the rim and the number of the pixel points on the diameter of the rim according to the selected coordinates of the pixel points;

and calculating a first scale factor by using the diameter of the rim and the number of pixel points on the diameter of the rim.

Preferably, calculating the tire deformation according to the pixel points of the tire area and the image scale factor includes:

determining a tire contact central point and a highest edge point of the upper edge of the tire according to the circle center of the rim;

respectively obtaining a first preset number of tire upper edge pixel points from two sides of the highest edge point, and forming a tire upper edge point group by the obtained tire upper edge pixel points and the highest edge point;

calculating the number of mean pixel points between the tire upper edge point group and the rim circle center according to the tire upper edge point group;

on the contact length between the tire and the ground, respectively acquiring a second preset number of tire lower edge pixel points from two sides of the tire contact center point, and forming a tire lower edge point group by the acquired tire lower edge pixel points and the tire contact center;

calculating the minimum number of pixel points between the tire lower edge point group and the circular center of the rim according to the tire lower edge point group;

calculating the number of pixel points of the vertical deflection of the tire according to the number of the average pixel points and the minimum pixel points;

and obtaining the vertical deflection of the tire according to the number of the pixel points of the vertical deflection of the tire and the first scale factor.

determining a tire contact central point according to the circle center of the rim;

respectively selecting lower edge pixel points of the tire from two sides of the center point of the tire, and calculating the slope of each lower edge pixel point of the tire and the contact center point of the tire;

comparing the slope of the selected lower edge pixel point and the tire contact center point with a threshold, determining the lower edge pixel point of the tire, of which the slope of the left side of the tire contact center point and the tire contact center point is greater than or equal to the threshold, as a left critical point, and determining the lower edge pixel point of the tire, of which the slope of the right side of the tire contact center point and the tire contact center point is greater than or equal to the threshold, as a right critical point;

determining the number of pixel points between the left critical point and the right critical point, and calculating the contact length between the tire and the ground according to the number of the pixel points between the left critical point and the right critical point and the first scale factor.

Preferably, according to the pixel point of the rim area and the rim diameter, calculating an image scale factor, including:

acquiring the number of pixel points contained in the rim area;

calculating the area of the rim by using the diameter of the rim;

obtaining a second scale factor according to the area of the rim and the number of pixel points contained in the rim area;

calculating the tire deformation according to the pixel points of the tire area and the image scale factor, and the method comprises the following steps:

acquiring the number of pixel points contained in the upper half area of the tire and the number of pixel points contained in the lower half area of the tire, and calculating the difference value between the number of pixel points contained in the upper half area and the number of pixel points contained in the lower half area of the tire;

and calculating the deformation area of the tire according to the difference value and the second scale factor.

Preferably, recognizing the lane of the target vehicle from the vehicle image includes:

detecting the vehicle image by using a pre-trained target detection algorithm to obtain position information of a vehicle target detection frame corresponding to the target vehicle;

and determining the lane of the target vehicle according to the position information of the vehicle target detection frame.

Preferably, after calculating the tire deformation amount according to the pixel points of the tire area and the image scale factor, the method further includes:

and judging whether the tire deformation is in a corresponding preset range, and if not, performing early warning.

A tire deformation amount recognition apparatus based on visual feedback and a depth network, comprising:

the acquisition module is used for acquiring a vehicle image of a target vehicle in a pre-established virtual detection area by using a traffic camera;

the focusing module is used for identifying the lane of the target vehicle according to the vehicle image and focusing the road side camera according to the preset relationship between the lane and the focal length of the road side camera and the lane of the target vehicle;

the first identification module is used for acquiring a tire image of the target vehicle by using the focused road side camera, and identifying the tire image by using a semantic segmentation algorithm obtained by pre-training to obtain a rim area and a tire area;

the detection module is used for detecting the rim area and the tire area to obtain pixel points of the rim area and pixel points of the tire area;

the first calculation module is used for calculating an image scale factor according to the pixel points of the rim area and the diameter of the rim;

and the second calculation module is used for calculating the tire deformation according to the pixel points of the tire area and the image scale factor.

a memory for storing a computer program;

a processor for processing a computer program to implement the steps of the method for identifying a tire deformation amount based on visual feedback and a depth network as claimed in any one of the above.

A readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the visual feedback and depth network-based tire deformation amount identification method according to any one of the above.

The application provides a tire deformation amount identification method, a tire deformation amount identification device, tire deformation amount identification equipment and a readable storage medium based on visual feedback and a depth network, wherein the method comprises the following steps: acquiring a vehicle image of a target vehicle in a pre-established virtual detection area by using a traffic camera; recognizing a lane of a target vehicle according to the vehicle image, and focusing a road side camera according to a preset relationship between the lane and a focal length of the road side camera and the lane of the target vehicle; acquiring a tire image of a target vehicle by using the focused road side camera, and identifying the tire image by using a semantic segmentation algorithm obtained by pre-training to obtain a rim area and a tire area; detecting a rim area and a tire area to obtain pixel points of the rim area and pixel points of the tire area; calculating an image scale factor according to pixel points of the rim area and the diameter of the rim; and calculating the deformation of the tire according to the pixel points of the tire area and the image scale factor.

According to the technical scheme, the lane of the target vehicle is recognized firstly, then the road side camera is automatically focused according to the lane of the target vehicle, and the road side camera after automatic focusing is utilized to complete the acquisition of the tire image with high resolution, so that the accuracy of tire deformation identification is improved conveniently. Then, the obtained tire image is identified by utilizing a semantic segmentation algorithm obtained by pre-training to obtain a rim area and a tire area, the rim area and the tire area are detected to obtain pixel points of the rim area and pixel points of the tire area, an image scale factor is calculated according to the pixel points of the rim area and the diameter of the rim, and then the tire deformation is calculated according to the pixel points of the tire area and the image scale factor, so that the tire deformation is identified in a non-contact manner by utilizing the tire image obtained by the road side camera after automatic focusing without utilizing a tire sensor, therefore, the convenience of tire deformation identification can be improved, the identification cost of the tire deformation is reduced, and the tire deformation can be quantified in an automatic manner, and the accuracy of tire deformation amount identification can be improved by means of deep learning.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a flowchart of a tire deformation amount identification method based on visual feedback and a depth network according to an embodiment of the present application;

fig. 2 is a schematic diagram of an established virtual detection area according to an embodiment of the present application;

FIG. 3 is an original tire image obtained as provided by an embodiment of the present application;

FIG. 4 is a graph of recognition results obtained by recognition using a semantic segmentation algorithm obtained by pre-training according to an embodiment of the present application;

FIG. 5 is a schematic diagram of calculating a first scaling factor according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of calculating vertical deflection of a tire according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of calculating a contact length of a tire with a ground according to an embodiment of the present application;

FIG. 8 is a schematic diagram of calculating a deformation area of a tire according to an embodiment of the present application;

FIG. 9 is a schematic diagram illustrating detection of all vehicles included in a vehicle image by using a pre-trained target detection algorithm according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a tire deformation amount identification device based on visual feedback and a depth network according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a tire deformation amount identification device based on visual feedback and a depth network according to an embodiment of the present application.

Detailed Description

Under the condition of overlarge tire deformation, the contact area and the friction force between the tire and the road surface are increased, so that the problems of deflection, shaking, steering failure and the like of an automobile are caused, and the comfort and the safety of a human body are directly influenced. In addition, the tire with large deformation leads to the increase of oil consumption during the running process, thereby causing the increase of traffic running cost.

When the air pressure is too high, the tire is slightly deformed, the contact area between the tire and the road surface and the friction force are reduced, and the braking performance of the wheel is affected. In the running process of the tire, the vibration transmitted into the vehicle body is increased, and the comfort of the human body is reduced. In addition, the deformation of the tire can directly reflect the change of the contact force of the tire under the same tire pressure. The tire deformation is significant, indicating a high wheel load. Tire deformation was insignificant, indicating low wheel load.

Therefore, high-precision, automated quantification of tire deformation is an important basis for ensuring vehicle driving safety, driving comfort, traffic economy and contact force identification.

Therefore, the application provides a tire deformation amount identification method, a tire deformation amount identification device, tire deformation amount identification equipment and a readable storage medium based on visual feedback and a depth network, which are used for identifying the tire deformation amount based on the visual feedback and the depth network so as to realize identification of the tire deformation amount without a tire sensor.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1, which shows a flowchart of a tire deformation amount identification method based on visual feedback and a depth network provided in an embodiment of the present application, a tire deformation amount identification method based on visual feedback and a depth network provided in an embodiment of the present application may include:

s11: and acquiring a vehicle image of a target vehicle in a pre-established virtual detection area by using a traffic camera.

First, a virtual detection area may be established in advance in a shooting range of a traffic camera installed on a portal frame, and specifically, refer to fig. 2, which shows a schematic diagram of the established virtual detection area provided in an embodiment of the present application, where the virtual detection area may be specifically a quadrilateral area, the area may cover multiple traveling vehicles, the length of the area may be 25 meters, the direction is a vehicle traveling direction, the width is a sum of all detection lanes, the direction is perpendicular to the vehicle traveling direction, and the virtual detection area may be numbered so as to obtain lanes of the vehicle, and specifically, lane numbers from two sides of a road to a center of the road are sequentially increased, as shown in fig. 2, and include 3 lane numbers. The lane detection can be conveniently carried out on the basis of the virtual detection area, so that the convenience and the efficiency of the lane detection are improved.

When identifying the tire deformation, a traffic camera mounted on a portal frame can be used for shooting a vehicle image of a target vehicle in a pre-established virtual detection area. Specifically, a traffic camera mounted on the portal frame can be used to shoot a vehicle driving video running into the virtual detection area, and taking the traffic camera around the city in the Changsha city as an example, the traffic camera records the vehicle driving on the expressway, wherein the frame rate of the traffic camera is 30fps (i.e. the number of frames transmitted per second), and the resolution is 1920 × 1080 pixels. Then, the vehicle driving video can be subjected to framing to obtain a vehicle image, and at least one clear vehicle image containing the target vehicle is screened out.

S12: and recognizing the lane of the target vehicle according to the vehicle image, and focusing the road side camera according to the preset relationship between the lane and the focal length of the road side camera and the lane of the target vehicle.

After the vehicle image of the target vehicle is acquired, the lane of the target vehicle may be recognized from the vehicle image, and specifically, the lane number of the lane in which the target vehicle is located may be recognized. When the vehicle image is identified, lanes of all vehicles included in the vehicle image can be specifically identified according to the vehicle image, and lanes of the target vehicle can be obtained from the lanes.

Then, the road side camera may be automatically focused according to a preset relationship between the lane and the focal length of the road side camera (specifically, the camera located on the side of the road, specifically, the camera may be one side of the road or two sides of the road), and the lane of the target vehicle. When the lanes in the virtual detection area are numbered, the relationship between the lane numbers and the focal lengths of the road side cameras can be preset, then the road side cameras are automatically focused according to the relationship and the lane numbers corresponding to the lanes of the target vehicles, namely, the vehicles are logically judged at the specific positions of the lanes, and the information feedback of the road side cameras is completed, so that the automatic focusing of the road side cameras is realized, namely, the traffic cameras on the portal frame and the road side cameras are subjected to linkage control, in other words, the information of the high-altitude cameras and the road side cameras is fused in a visual feedback mode.

The road side camera is specifically a camera located on the side of the road, and specifically can be a camera located on one side of the road or on two sides of the road, and the road side camera is arranged outside the virtual detection area, so that vehicle related information captured by the traffic camera in the air can be transmitted to the road side camera, and specifically, the road side camera can be arranged 10 meters away from the virtual detection area, so that the chance of changing the lane of the vehicle can be reduced, and a transmission signal of the traffic camera in the air can be timely acquired.

Through the process, the focal length of the road side camera can be automatically adjusted based on the information feedback of the lane position, so that the tire image with high resolution can be automatically acquired (wherein the resolution of the tire image can reach 6000 x 4000 pixel points), and the accuracy of tire deformation identification can be improved.

S13: and acquiring a tire image of the target vehicle by using the focused road side camera, and identifying the tire image by using a semantic segmentation algorithm obtained by pre-training to obtain a rim area and a tire area.

On the basis of step S12, the focused road side camera may be used to capture a tire image of the target vehicle to capture a high-resolution tire image, thereby facilitating identification of the tire deformation amount based on the captured high-resolution tire image by computer vision feedback. Computer vision is a science for researching how to make a machine see, and further, the computer vision means that a camera and a computer are used for replacing human eyes to perform machine vision such as identification, tracking, measurement and the like on a target, and further image processing is performed, so that the computer processing becomes an image which is more suitable for human eye observation or is transmitted to an instrument for detection; the information feedback means that the control system transmits the information out, returns the action result of the information and influences the information output again, thereby playing the role of restriction and achieving the preset purpose.

In addition, before the tire deformation amount is identified, an initial semantic segmentation algorithm can be selected in advance and trained to finally obtain the semantic segmentation algorithm capable of identifying the tire image. The semantic segmentation algorithm is a deep learning algorithm that associates a label or class with each pixel of the picture and is used to identify the set of pixels that constitute the distinguishable class.

The process of pre-training the semantic segmentation algorithm may specifically be:

1) shooting a tire video by using a camera, performing frame processing on the tire video, establishing a data set of various tire images, performing contour marking on the tire image data set, and dividing the marked data set. Specifically, tire videos shot by cameras (particularly cameras on two sides of a road) are subjected to frame division processing, and a data set of multiple tire images is established, wherein the data set mainly comprises six types, namely car tires, SUV tires, bus tires, passenger car tires, light truck tires and heavy truck tires, so that various tire images can be identified by a semantic segmentation algorithm obtained through final training; the calibration of the tire image data set mainly comprises rim and tire edge labeling, and the labeled boundary is tightly attached to the rim contour and the tire contour, so that the identification precision of the tire edge can be improved. The labeled data set is divided, for example, to include 1500 different tire images, wherein the training set, the verification set and the test set are 900, 300 and 300, respectively, and the proportion thereof is 60%, 20% and 20%.

2) Currently, commonly used semantic segmentation algorithms include FCNN, SegNet, Mask R-CNN, deep Lab, PSPNet, UNet, and the like. The semantic segmentation algorithm firstly utilizes an encoder to down-sample an input image, compresses the image scale, judges the category of each region of the image, then utilizes a decoder to up-sample a reduced characteristic image, restores the original image size, and finally completes the classification of all pixel points in the input image. In the application, the wire-UNet network framework is preferably used as an initial semantic segmentation algorithm and trained to obtain a final semantic segmentation algorithm, and of course, other semantic segmentation algorithms can be selected for training and recognition, and the process is similar to the training process of the wire-UNet network framework and is not repeated herein.

The specific implementation method comprises the following steps: the Tire edge is identified by utilizing the designed Tire-UNet network framework, the network can effectively identify the edge profile characteristics of the Tire, and the Tire edge identification precision is improved. The Tie-UNet network takes UNet as a network framework, and is formed by adding an expansion convolution and an attention mechanism module. In addition, a transfer learning mode is added in the network training of the wire-UNet network, so that the sample data volume can be reduced, the network convergence is accelerated, and the identification precision is improved. The method comprises the following specific steps: and fitting the Tie-UNet network model by using the training set obtained by division, then adjusting parameters of the model by using the verification set, and finally obtaining the trained semantic segmentation algorithm by evaluating the generalization capability of the model according to the test set.

Through the above process, the present application also adopts a semantic segmentation algorithm based on a Convolutional Neural Network (CNN) to perform tire image recognition, where the Convolutional Neural network is a kind of feedforward Neural network including convolution calculation and having a deep structure, and is one of typical algorithms of deep learning (deep learning). Convolutional neural networks have a characteristic learning ability, and can perform translation invariant classification on input information according to a hierarchical structure thereof, and are also called "translation invariant artificial neural networks".

After the semantic segmentation algorithm is obtained through pre-training, the rim region and the tire region in the obtained tire image can be identified by using the semantic segmentation algorithm obtained through pre-training, the identified rim region and the tire region are masked to form three regions with different colors, namely, the rim region, the tire and the background region, so that the three different regions can be separated, namely, the rim region and the tire region in the tire image can be obtained (the tire region mentioned here is the region outside the wheel, namely, the tire region outside the rim region). Specifically, reference may be made to fig. 3 and fig. 4, where fig. 3 illustrates an original tire image obtained by the embodiment of the present application, and fig. 4 is a graph of a recognition result obtained by performing recognition by using a semantic segmentation algorithm obtained by pre-training provided by the embodiment of the present application.

S14: and detecting the rim area and the tire area to obtain pixel points of the rim area and pixel points of the tire area.

On the basis of step S11, the rim area and the tire area obtained by the identification may be detected respectively to obtain pixel points of the rim area and pixel points of the tire area correspondingly, so as to facilitate identification of tire deformation based on the pixel points of the rim area and the pixel points of the tire area.

S15: and calculating an image scale factor according to the pixel points of the rim area and the diameter of the rim.

Considering that during the deformation of the tire, mainly the tire region is deformed, but the rim region is not deformed, an image scale factor of the tire image, which is a scale factor between the size of the tire image and the size of the real tire, can be calculated based on the rim region.

Specifically, the rim diameter, which refers to the actual physical size of the rim diameter, may be obtained first, specifically by identifying the tire image sidewall specification, and reading the rim diameter from the sidewall specification of the tire image. Then, an image scale factor can be calculated according to the pixel points of the rim area and the rim diameter.

S16: and calculating the deformation of the tire according to the pixel points of the tire area and the image scale factor.

Based on steps S14 and S15, the tire deformation amount may be calculated according to the pixel points of the tire area and the image scale factor, so as to realize quantification of the tire deformation amount, thereby obtaining a specific value of the tire deformation.

In addition, according to the above-described process, the tire image is acquired by the traffic camera and the road side camera, and the tire deformation amount is recognized based on the acquired tire image, without using a contact type tire sensor, so that the limitation and complexity of the tire deformation amount recognition can be reduced, the application range and convenience of the tire deformation amount can be improved, and the tire deformation amount recognition cost can be reduced.

The tire deformation amount identification method based on visual feedback and depth network provided by the embodiment of the application detects the rim area and the tire area to obtain the pixel points of the rim area and the tire area, and can include the following steps:

carrying out edge detection on a rim area and a tire area to obtain rim edge pixel points and tire edge pixel points;

according to the pixel point of the rim area and the diameter of the rim, calculating an image scale factor can include:

In the application, when the rim area and the tire area are detected to obtain the pixel points of the rim area and the pixel points of the tire area, the sub-pixel extraction can be specifically carried out on the rim area and the tire area so as to accurately detect the edge outline of the rim area and the tire area. The algorithms commonly used for the sub-pixels include a difference method, a curve fitting method and a moment-based edge detection algorithm. The method and the device can utilize the sub-pixel edge detection algorithm of Gaussian fitting to carry out edge detection on the rim area and the tire area so as to obtain the rim edge pixel points and the tire edge pixel points, and the algorithm has the characteristics of high precision, short operation time and the like. According to the algorithm, firstly, Canny operators are used for roughly extracting the edge of a rim area and the edge of a tire area, and then, a one-dimensional Gaussian function fitting formula is used for further converting pixel-level information into sub-pixel-level information. After the sub-pixel edge detection algorithm of Gaussian fitting is operated, the rim edge pixel points and the tire edge pixel points (namely, the pixel points are specifically sub-pixel points) can be accurately detected.

On the basis, when calculating the image scale factor according to the pixel points of the rim area and the rim diameter, any three pixel points can be selected from the pixel points at the edge of the rim, and the coordinates of the selected pixel points are obtained, wherein the coordinates of the selected three pixel points can be respectively expressed as (x)₁,y₁)、(x₂,y₂) And (x)₃,y₃) Specifically, the coordinates mentioned here are coordinates in a coordinate system with the upper left corner of the tire image as an origin, the left side as an x-axis, the right side as a y-axis, and the unit length as one pixel point, and specifically refer to fig. 5, which shows a schematic diagram for calculating the first scale factor provided in the embodiment of the present application. Then, calculating the coordinate of the circle center of the rim as (x) according to the coordinates of the selected three pixel points_c,y_c) And the number of the pixel points on the diameter of the rim, and then dividing the number of the pixel points on the diameter of the rim by the diameter of the rim to obtain a first scale factor, namely the number of the actual length corresponding to one pixel point represented by the first scale factor, wherein d in fig. 5 is the diameter of the rim in the tire image, and d can be regarded as the number of the pixel points on the diameter of the rim according to the unit length in the coordinate system as the size of one pixel point. The first scale factor can be accurately calculated through the process, and on the basis, the tire deformation can be calculated according to the tire edge pixel points and the first scale factor, so that the accuracy of tire deformation calculation is improved.

The tire deformation amount identification method based on visual feedback and depth network provided by the embodiment of the application calculates the tire deformation amount according to the pixel points and the image scale factors of the tire area, and can include the following steps:

determining a tire contact central point and a highest edge point of an upper edge of the tire according to the circle center of a rim;

respectively acquiring a first preset number of tire upper edge pixel points from two sides of the highest edge point, and forming a tire upper edge point group by the acquired tire upper edge pixel points and the highest edge point;

calculating the number of average pixel points between the upper edge point group of the tire and the circle center of the rim according to the upper edge point group of the tire;

on the contact length of the tire and the ground, respectively obtaining a second preset number of tire lower edge pixel points from two sides of the tire contact center point, and forming a tire lower edge point group by the obtained tire lower edge pixel points and the tire contact center;

calculating the minimum number of pixel points between the tire lower edge point group and the rim circle center according to the tire lower edge point group;

On the basis of obtaining the rim edge pixel point, the rim circle center coordinate and the first scale factor, when the tire deformation is calculated according to the pixel point and the image scale factor of the tire area, the vertical deflection of the tire can be obtained through calculation.

Referring to fig. 6, which shows a schematic diagram of calculating the vertical deflection of the tire according to the embodiment of the present application, first, a vertical line may be made through the center of the rim, where the intersection point of the vertical line and the upper edge of the tire is the highest edge point of the upper edge of the tire (meanwhile, the coordinates of the highest edge point of the upper edge of the tire are obtained), and the intersection point of the vertical line and the lower edge of the tire is the tire contact center (here, the tire contact center is the contact center of the tire and the ground) (meanwhile, the coordinates of the tire contact center are obtained). Then, the tire outer contour can be followed, and the highest edge point of the tire upper edge is taken as the center, the left side and the right side respectively obtain the tire upper edge pixel points of a first preset number (the coordinates of the tire upper edge pixel points can be obtained at the same time), and all the obtained tire upper edge pixel points and the tire upper edge highest edge point form the tire upper edge point group, that is, the number of the tire edge pixel points contained in the tire upper edge point group is twice the first preset number + 1. The first preset number may be set as needed, and fig. 6 illustrates that the first preset number is 5, and of course, other values may also be used, which is not limited in this application.

Can be used to obtain the edge point group on the tire

Calculating the mean distance L between the upper edge point group of the tire and the center of the rim circle₁Wherein n is the number of tire edge pixel points contained in the tire edge point group, (x)_i,y_i) Namely the coordinates of the ith tire edge pixel point contained in the tire edge point group. The mean distance L between the edge point group on the tire and the circle center of the rim is obtained through calculation₁Then, considering that the unit length in the coordinate system is the size of one pixel point, the average distance L between the edge point group on the tire and the circle center of the rim₁The number of the average pixel points between the edge point group on the tire and the circle center of the rim can also be regarded as the number of the average pixel points.

In addition, on the contact length between the tire and the ground, a second preset number of tire lower edge pixel points may be respectively obtained from both sides with the tire contact center point as the center (coordinates of each tire lower edge pixel point may be obtained at the same time), and all the obtained tire lower edge pixel points and the tire contact center may form a tire lower edge point group, that is, the number of the tire lower edge pixel points included in the tire lower edge point group is twice the second preset number + 1. The second preset number may be equal to the first preset number, and certainly may be different from the first preset number, which is not limited in the present application. Then, can utilize

Calculating a lower edge point of a tireMinimum distance L between group and circular center of rim₂Wherein n is the number of tire edge pixel points contained in the tire edge point group, (x)_i,y_i) Namely the coordinates of the ith tire edge pixel point contained in the tire lower edge point group. The minimum distance L between the lower edge point group of the tire and the circle center of the rim is obtained through calculation₂Then, considering that the unit length in the coordinate system is the size of one pixel point, the minimum distance L between the tire lower edge point group and the rim center of circle₂The minimum number of pixel points between the lower edge point group of the tire and the circle center of the rim can be considered.

Then, the number of pixels in the mean value between the upper edge point group of the tire and the center of the rim is subtracted from the number of pixels in the minimum value between the lower edge point group of the tire and the center of the rim to calculate the number of pixels with vertical deflection of the tire, and then the number of pixels with vertical deflection of the tire is multiplied by the first scale factor to obtain the vertical deflection of the tire.

In the process, the tire edge point group is formed, and the number of the average pixel points between the tire upper edge point group and the rim center and the minimum pixel points between the tire lower edge point group and the rim center are correspondingly calculated based on the tire edge point group, so that the influence of accidental errors can be avoided, and the accuracy of vertical deflection calculation of the tire is improved.

respectively selecting lower edge pixel points of the tire from two sides of a central point of the tire, and calculating the slope of the lower edge pixel points of each tire and the contact central point of the tire;

and determining the number of pixel points between the left critical point and the right critical point, and calculating the contact length between the tire and the ground according to the number of the pixel points between the left critical point and the right critical point and the first scale factor.

In the application, on the basis of obtaining the rim edge pixel point, the rim circle center coordinate and the first scale factor, when the tire deformation is calculated according to the pixel point and the image scale factor of the tire area, the vertical deflection of the tire can be calculated, and the contact length between the tire and the ground can also be calculated.

Referring to fig. 7, which shows a schematic diagram of calculating a contact length of a tire and the ground according to an embodiment of the present application, first, a tire contact center point may be determined according to a rim center, specifically, a vertical line is made through a center of a rim center, and an intersection point of the vertical line and a lower edge of the tire is the tire contact center (meanwhile, coordinates of the tire contact center are obtained). Then, the tire contact center is taken as an initial pixel point, and the critical point of the tire contact length is screened along the running direction of the tire. Specifically, tire lower edge pixel points can be respectively selected from two sides of the initial pixel point (specifically, the tire lower edge pixel points are selected in the neighborhood of the initial pixel point), each time one tire lower edge pixel point is selected, the coordinate of the selected tire lower edge pixel point is obtained, then, the slope of the tire lower edge pixel point and the tire contact center point is calculated according to the coordinate of the selected tire lower edge pixel point and the coordinate of the tire contact center point, the calculated slope is compared with a preset value, if the slope is smaller than a threshold value, the tire lower edge pixel point which is positioned on the left side of the tire contact center point and is larger than or equal to the threshold value is continuously selected by taking the tire contact center point as the center, if the slope is larger than or equal to the threshold value, the tire lower edge pixel point which is positioned on the left side of the tire contact center point and is larger than or equal to the threshold value can be determined as a left critical point of the tire contact with the ground, and the wheel which is positioned on the right side of the tire contact center point and is larger than or equal to the threshold value And determining the lower edge pixel point of the tire as a right critical point of the contact between the tire and the ground. The threshold value may be specifically tan (± 1 °), but may be adjusted as needed.

In order to improve the accuracy of obtaining the left critical point and the right critical point, for the determination of the left critical point, when the slopes of the tire lower edge pixel points and the tire contact central points which are continuously located on the left side of the tire contact central point and have the third preset number are both smaller than the threshold, the selection of the tire lower edge pixel points is continuously performed along the left side of the tire contact central point, and when the slopes of the tire lower edge pixel points and the tire contact central points which are continuously located and have the fourth preset number are both larger than the threshold, the tire lower edge pixel point which is closest to the tire contact central point in the fourth preset number of tire lower edge pixel points is used as the left critical point of the tire, wherein the third preset number and the fourth preset number can be both 3, and of course, the adjustment can be performed according to needs; for the determination of the right critical point, the implementation process is similar to that of the left critical point, when the slopes of the lower edge pixel points of the tires with the third preset number and the contact central points of the tires on the right side of the contact central points of the tires are all smaller than the threshold, the lower edge pixel points of the tires are continuously selected along the right side of the contact central points of the tires, and when the slopes of the lower edge pixel points of the tires with the fourth preset number and the contact central points of the tires are larger than the threshold, the lower edge pixel point of the tire closest to the contact central point of the tires in the lower edge pixel points of the tires with the fourth preset number is used as the right critical point of the tires. The influence caused by accidental errors can be avoided through the process, so that the accuracy of obtaining the left critical point and the right critical point is improved, and the accuracy of calculating the contact length of the tire and the ground is improved.

After the left critical point and the right critical point of the contact between the tire and the ground are determined, the number of pixel points between the left critical point and the right critical point can be calculated according to the coordinate of the left critical point and the coordinate of the right critical point, wherein the number of the pixel points between the left critical point and the right critical point is the number of the pixel points corresponding to the contact length between the tire and the ground, then, the number of the pixel points corresponding to the contact length between the tire and the ground can be multiplied by the first scale factor to calculate the contact length between the tire and the ground, and therefore quantification of the contact length between the tire and the ground under the condition that no contact equipment is used can be achieved through the method and the device.

According to the tire deformation identification method based on visual feedback and the depth network, the image scale factor is calculated according to the pixel points of the rim area and the rim diameter, and the method can comprise the following steps:

acquiring the number of pixel points contained in a rim area;

calculating the area of the rim by using the diameter of the rim;

calculating the tire deformation according to the pixel points of the tire area and the image scale factor, which may include:

and calculating the deformation area of the tire according to the difference and the second scale factor.

In the application, when the deformation amount of the tire is identified, not only the vertical deflection of the tire and the contact length between the tire and the ground can be obtained, but also the deformation area of the tire can be obtained.

Specifically, when calculating the image scale factor according to the pixel points and the rim diameter in the rim region, the number of the pixel points included in the rim region can be further obtained, the area of the rim is calculated by utilizing the rim diameter (the area is the actual physical area of the rim), then, the area of the rim can be divided by the number of the pixel points included in the rim region to obtain the second scale factor, namely, what the actual area corresponding to one pixel point is represented by the second scale factor is, the second scale factor can be accurately obtained through the mode, and the accuracy of tire deformation amount identification is improved.

On the basis of obtaining the second scale factor, when calculating the tire deformation amount according to the pixel points of the tire area and the image scale factor, first, a center of a rim circle may be obtained (the obtaining process may refer to the detailed description of the corresponding part, which is not described herein again), and then, a horizontal line is made through the center of the rim circle, specifically, refer to fig. 8, which shows a schematic diagram for calculating the deformation area of the tire provided in the embodiment of the present application, and the tire area is divided into an upper half area and a lower half area of the tire by using the horizontal line, where the upper half area of the tire is the tire. And then, obtaining the number of pixel points contained in the upper half area of the tire and the number of pixel points contained in the lower half area of the tire, subtracting the number of pixel points contained in the upper half area of the tire from the number of pixel points contained in the lower half area of the tire, and obtaining the difference value between the number of pixel points contained in the upper half area and the number of pixel points contained in the lower half area of the tire, wherein the difference value is the number of pixel points in the tire deformation area. Then, the difference value can be multiplied by the second scale factor to calculate the deformation area of the tire, so that the deformation area of the tire can be quantized, and the calculation accuracy of the deformation area of the tire can be improved.

The tire deformation amount identification method based on visual feedback and the depth network provided by the embodiment of the application identifies the lane of the target vehicle according to the vehicle image, and comprises the following steps:

detecting the vehicle image by using a pre-trained target detection algorithm to obtain the position information of a vehicle target detection frame corresponding to a target vehicle;

In the application, when the lane of the target vehicle is identified according to the vehicle image, the vehicle image can be detected by using a pre-trained target detection algorithm to obtain the position information of the vehicle target detection frame corresponding to the target vehicle, specifically to obtain the coordinate positions of the upper left corner, the lower left corner, the upper right corner and the lower right corner of the vehicle target detection frame, and in addition, the vehicle type information of the target vehicle can also be obtained. Specifically, refer to fig. 9, which shows a schematic diagram of detecting all vehicles included in a vehicle image by using a pre-trained target detection algorithm provided in an embodiment of the present application, and then, position information and vehicle type information of a vehicle target detection frame corresponding to a target vehicle may be obtained therefrom.

The process of pre-training the target detection algorithm comprises the following steps:

1) acquiring a vehicle running video shot by a traffic camera, performing frame processing on the vehicle running video shot by the traffic camera, and establishing a data set containing images of various vehicle types, wherein the data set can contain 3000 vehicle type images, and the data set contains vehicle type images of cars, SUVs, buses, vans, pick-up trucks, passenger cars, light trucks, heavy trucks, special cars and tractor cars, wherein the vehicle type images containing various vehicle types can enable a target detection algorithm obtained through final training to detect various vehicle types;

2) marking the vehicle type images in the data set, wherein the marked rectangular frame is tightly attached to the edge of the vehicle, so that the accuracy of vehicle type identification can be improved;

3) dividing the labeled data set into a training set, a verification set and a test set, wherein the proportion is 60%, 20% and 20%, and taking 3000 vehicle type images in the data set as an example, the training set, the verification set and the test set respectively comprise 1800 vehicle type images, 600 vehicle type images and 600 vehicle type images;

4) currently, commonly used target detection algorithms include SSD for single-phase methods, YOLO series, and R-CNN, Fast R-CNN, Faster R-CNN networks for two-phase methods. The single-stage method is to select the whole image to enter a depth network and then directly return the target type and the frame position. The two-stage method comprises the steps that firstly, a candidate region containing a target object is generated by using a CNN network; and secondly, predicting the target type and the frame position of the candidate area. The method and the device can select any one target detection algorithm to identify the vehicle type. The YOLOV5 has the advantages of high detection speed, high detection precision and the like, and can meet the requirement of real-time detection of vehicles, so that a YOLOV5 network is selected for vehicle type target identification. The network framework of YOLOV5 includes two major parts: (1) backbone network: performing convolution operation on an input image, and extracting image characteristics; (2) and a prediction part: and performing up-sampling on the extracted features, and outputting the position and the category of the object. The method comprises the following specific steps: the method comprises the steps of fitting a YOLOV5 deep learning network model by using a vehicle model training set, then adjusting parameters of the model by using a verification set, and finally obtaining a trained target detection algorithm according to the generalization capability of a test set evaluation model, namely training the target detection algorithm based on a deep learning mode. And then, detecting the selected vehicle running image to be detected by using a target detection algorithm obtained by training so as to obtain the position information of the vehicle target detection frame corresponding to the target vehicle.

After the position information of the vehicle target detection frame corresponding to the target vehicle is obtained, the center point of the vehicle target detection frame corresponding to the target vehicle can be determined according to the coordinate positions of the upper left corner, the lower left corner, the upper right corner and the lower right corner of the vehicle target detection frame corresponding to the target vehicle, specifically, the upper left corner and the lower right corner of the vehicle target detection frame corresponding to the target vehicle are connected to form a first straight line, the lower left corner and the upper right corner of the vehicle target detection frame corresponding to the target vehicle are connected to form a second straight line, and the intersection point between the two straight lines is the center point of the vehicle target detection frame corresponding to the target vehicle. And then, determining the lane where the center point of the vehicle target detection frame corresponding to the target vehicle is located as the lane of the target vehicle.

The lane of the target vehicle can be determined based on the deep learning mode through the process, so that the accuracy of determining the lane is improved, and the accuracy of determining the focal length of the camera positioned on the side face of the road is improved conveniently. In addition, the tire deformation amount identification can be carried out based on the multi-scale depth network and the double-vision feedback in combination with the process.

The tire deformation amount identification method based on visual feedback and depth network provided by the embodiment of the application further comprises the following steps after the tire deformation amount is calculated according to the pixel points and the image scale factors of the tire area:

and judging whether the deformation of the tire is in the corresponding preset range, and if not, early warning.

In the present application, after calculating the tire deformation amount according to the pixel points and the image scale factor of the tire area, it may be determined whether the calculated tire deformation amount is within a corresponding preset range, where the preset range mentioned herein is specifically determined according to the normal tire deformation amount. If the tire deformation is in the corresponding preset range, the tire deformation is determined to be in the normal range, if the tire deformation is not in the corresponding preset range, the tire deformation is indicated to be too large or too small (specifically, the tire deformation can be compared with the boundary of the preset range, if the tire deformation is less than the left boundary of the preset range, the tire deformation is indicated to be too small, and if the tire deformation is greater than the right boundary of the preset range, the tire deformation is indicated to be too large). The early warning can be sent out on a display screen of the vehicle or a mobile terminal of a driver of the vehicle, so that related personnel can know the early warning prompt in time and process the prompt in time.

It should be noted that, when the tire deformation is specifically the vertical deflection of the tire, the preset range is the vertical deflection preset range corresponding to the vertical deflection of the tire; when the tire deformation is specifically the contact length between the tire and the ground, the preset range is the preset range of the ground contact length corresponding to the contact length between the tire and the ground; when the tire deformation amount is specifically the deformation area of the tire, the preset range is the deformation area preset range corresponding to the deformation area of the tire, so that comparison and determination can be conveniently carried out.

The embodiment of the present application further provides a tire deformation amount identification device based on visual feedback and a depth network, and referring to fig. 10, it shows a schematic structural diagram of a tire deformation amount identification device based on visual feedback and a depth network provided in the embodiment of the present application, and the tire deformation amount identification device may include:

the acquisition module 21 is configured to acquire a vehicle image of a target vehicle located in a pre-established virtual detection area by using a traffic camera;

the focusing module 22 is used for identifying the lane of the target vehicle according to the vehicle image and focusing the road side camera according to the preset relationship between the lane and the focal length of the road side camera and the lane of the target vehicle;

the first identification module 23 is configured to acquire a tire image of a target vehicle by using the focused road side camera, and identify the tire image by using a semantic segmentation algorithm obtained through pre-training to obtain a rim area and a tire area;

the detection module 24 is configured to detect a rim area and a tire area to obtain pixel points of the rim area and pixel points of the tire area;

the first calculation module 25 is used for calculating an image scale factor according to the pixel points of the rim area and the diameter of the rim;

and the second calculation module 26 is configured to calculate a tire deformation amount according to the pixel points of the tire area and the image scale factor.

In the tire deformation amount recognition apparatus based on visual feedback and depth network provided in the embodiment of the present application, the detection module 24 may include:

the first detection unit is used for carrying out edge detection on a rim area and a tire area to obtain rim edge pixel points and tire edge pixel points;

the first calculation module 25 may include:

the rim edge pixel acquisition device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for selecting any three pixel points from rim edge pixel points and acquiring the coordinates of the selected pixel points;

the first calculation unit is used for calculating the coordinates of the circle center of the rim and the number of the pixels on the diameter of the rim according to the selected coordinates of the pixels;

and the second calculation unit is used for calculating the first scale factor by utilizing the diameter of the rim and the number of pixel points on the diameter of the rim.

In an embodiment of the present application, the tire deformation amount identification device based on visual feedback and a depth network, the second calculation module 26 may include:

the first determining unit is used for determining a tire contact center point and a highest edge point of an upper edge of the tire according to the circle center of a rim;

the second acquisition unit is used for respectively acquiring a first preset number of tire upper edge pixel points from two sides of the highest edge point, and forming the acquired tire upper edge pixel points and the highest edge point into a tire upper edge point group;

the third calculating unit is used for calculating the number of mean pixel points between the upper edge point group of the tire and the circle center of the rim according to the upper edge point group of the tire;

the third obtaining unit is used for obtaining a second preset number of lower edge pixel points of the tire from two sides of the contact center point of the tire on the contact length of the tire and the ground, and forming a lower edge point group of the tire by the obtained lower edge pixel points of the tire and the contact center of the tire;

the fourth calculation unit is used for calculating the minimum number of pixel points between the tire lower edge point group and the rim center according to the tire lower edge point group;

the fifth calculation unit is used for calculating the number of pixel points of the vertical deflection of the tire according to the number of the average pixel points and the minimum pixel points;

and obtaining a vertical deflection unit for obtaining the vertical deflection of the tire according to the number of the pixel points of the vertical deflection of the tire and the first scale factor.

the second determining unit is used for determining the tire contact center point according to the circle center of the rim;

the sixth calculating unit is used for respectively selecting lower edge pixel points of the tire from two sides of the center point of the tire and calculating the slope of the lower edge pixel points of each tire and the contact center point of the tire;

the third determining unit is used for comparing the slope of the selected lower edge pixel point and the tire contact center point with a threshold, determining the lower edge pixel point of the tire, of which the slope between the left side of the tire center point and the tire contact center point is greater than or equal to the threshold, as a left critical point, and determining the lower edge pixel point of the tire, of which the slope between the right side of the tire center point and the tire contact center point is greater than or equal to the threshold, as a right critical point;

and the seventh calculating unit is used for determining the number of pixel points between the left critical point and the right critical point and calculating the contact length between the tire and the ground according to the number of the pixel points between the left critical point and the right critical point and the first scale factor.

In the tire deformation identification apparatus based on visual feedback and depth network provided in the embodiment of the present application, the first calculation module 25 may include:

the fourth obtaining unit is used for obtaining the number of pixel points contained in the rim area;

an eighth calculation unit for calculating an area of the rim using the rim diameter;

the ninth calculation unit is used for obtaining a second scale factor according to the area of the rim and the number of pixel points contained in the rim area;

the second calculation module 26 may include:

the fifth acquiring unit is used for acquiring the number of pixel points contained in the upper half area of the tire and the number of pixel points contained in the lower half area of the tire, and calculating the difference value between the number of pixel points contained in the upper half area and the number of pixel points contained in the lower half area of the tire;

and the tenth calculating unit is used for calculating the deformation area of the tire according to the difference value and the second scale factor.

According to the tire deformation amount recognition device based on visual feedback and depth network provided by the embodiment of the application, the focusing module 22 may include:

the second detection unit is used for detecting the vehicle image by utilizing a pre-trained target detection algorithm to obtain the position information of a vehicle target detection frame corresponding to the target vehicle;

and the fourth determining unit is used for determining the lane of the target vehicle according to the position information of the vehicle target detection frame.

The tire deformation amount recognition device based on visual feedback and the depth network provided by the embodiment of the application can further comprise:

and the judging module is used for judging whether the tire deformation is in the corresponding preset range or not after calculating the tire deformation according to the pixel points and the image scale factors of the tire area, and if not, carrying out early warning.

The embodiment of the present application further provides a tire deformation amount identification device based on visual feedback and a depth network, and referring to fig. 11, it shows a schematic structural diagram of a tire deformation amount identification device based on visual feedback and a depth network provided in the embodiment of the present application, and the tire deformation amount identification device may include:

a memory 31 for storing a computer program;

the processor 32, when executing the computer program stored in the memory 31, may implement the following steps:

acquiring a vehicle image of a target vehicle in a pre-established virtual detection area by using a traffic camera; recognizing a lane of a target vehicle according to the vehicle image, and focusing a road side camera according to a preset relationship between the lane and a focal length of the road side camera and the lane of the target vehicle; acquiring a tire image of a target vehicle by using the focused road side camera, and identifying the tire image by using a semantic segmentation algorithm obtained by pre-training to obtain a rim area and a tire area; detecting a rim area and a tire area to obtain pixel points of the rim area and pixel points of the tire area; calculating an image scale factor according to pixel points of the rim area and the diameter of the rim; and calculating the deformation of the tire according to the pixel points of the tire area and the image scale factor.

An embodiment of the present application further provides a readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the following steps may be implemented:

The readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

For the description of the tire deformation amount identification device, the tire deformation amount identification equipment and the relevant parts in the computer-readable storage medium based on the visual feedback and the depth network, reference may be made to the detailed description of the corresponding parts in the tire deformation amount identification method based on the visual feedback and the depth network provided in the embodiments of the present application, and details are not repeated here.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tire deformation amount identification method based on visual feedback and a depth network is characterized by comprising the following steps:

2. The tire deformation amount identification method based on visual feedback and depth network of claim 1, wherein the step of detecting the rim area and the tire area to obtain pixel points of the rim area and the tire area comprises:

3. The tire deformation amount identification method based on visual feedback and depth network of claim 2, wherein calculating the tire deformation amount according to the pixel points of the tire area and the image scale factor comprises:

4. The tire deformation amount identification method based on visual feedback and depth network of claim 2, wherein calculating the tire deformation amount according to the pixel points of the tire area and the image scale factor comprises:

5. The tire deformation amount identification method based on the visual feedback and the depth network as claimed in claim 1, wherein calculating an image scale factor according to the pixel points of the rim area and the rim diameter comprises:

acquiring the number of pixel points contained in the rim area;

calculating the area of the rim by using the diameter of the rim;

6. The tire deformation amount recognition method based on visual feedback and depth network according to any one of claims 1 to 5, wherein recognizing the lane of the target vehicle from the vehicle image comprises:

7. The tire deformation amount identification method based on visual feedback and depth network of claim 6, after calculating the tire deformation amount according to the pixel points of the tire area and the image scale factor, further comprising:

8. A tire deformation amount recognition apparatus based on visual feedback and a depth network, comprising:

9. A tire deformation amount recognition apparatus based on visual feedback and a depth network, comprising:

a memory for storing a computer program;

a processor for processing a computer program for implementing the steps of the method for identifying a tire deformation amount based on visual feedback and depth network according to any one of claims 1 to 7.

10. A readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for identifying a deformation of a tire based on visual feedback and a depth network according to any one of claims 1 to 7.