CN114170809A - Overspeed detection method, device, system, electronic device and medium - Google Patents
Overspeed detection method, device, system, electronic device and medium Download PDFInfo
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- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
- G08G1/054—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed photographing overspeeding vehicles
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- G—PHYSICS
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- 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
Abstract
The embodiment of the invention discloses an overspeed detection method, device, system, electronic equipment and medium, and relates to the technical field of intelligent traffic. The embodiment comprises the following steps: acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road, wherein the first image is acquired by a camera; acquiring point cloud track data of traffic participants on the road detected by a millimeter wave radar; determining a defined speed per hour of the road according to the first image; determining the type of the traffic participant according to the second image, and determining the speed of the traffic participant according to the point cloud track data; and determining the target overspeed driving traffic participant according to the defined speed per hour, the type and the speed of the traffic participant of the road. According to the method, the limited speed per hour of the road can be determined without intervention of a traffic system, the data collected by the millimeter wave radar and the camera are subjected to fusion identification, and the overspeed vehicle information on the road can be accurately, stably and all-weather detected and recorded all day long.
Description
Technical Field
The present application relates to the field of intelligent transportation technologies, and in particular, to an overspeed detection method, apparatus, system, electronic device, and medium.
Background
The overspeed driving on the urban road is one of the main reasons of major traffic accidents, and the application of the overspeed detection system on the urban road can play the greatest role in frightening drivers who drive against the rules and regulations at the overspeed, thereby reducing the occurrence rate of the traffic accidents. At present, a commonly used overspeed detection system usually adopts a ground induction coil or a video acquisition device to judge whether overspeed exists. However, the scheme of adopting the ground induction coil needs to embed the induction coil in the ground of the urban road, so that the construction quantity is large, the cost is higher, and the maintenance difficulty is large; the scheme of adopting video acquisition equipment is influenced by light and weather greatly, and accuracy and reliability can be greatly influenced in environments with insufficient light such as rainy days and foggy days.
Disclosure of Invention
To solve the technical problem or at least partially solve the technical problem, embodiments of the present invention provide an overspeed detection method, apparatus, system, electronic device, and medium.
In a first aspect, an embodiment of the present invention provides an overspeed detection method, where the method is applied to a roadside unit, and the method includes:
acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road, wherein the first image is acquired by a camera;
acquiring point cloud track data of traffic participants on the road detected by the millimeter wave radar;
determining a defined speed per hour of the road according to the first image; determining the type of the traffic participants on the road according to the second image, and determining the speed of the traffic participants on the road according to the point cloud track data;
and determining the target overspeed driving traffic participant according to the defined speed per hour of the road, the type of the traffic participant on the road and the speed of the traffic participant on the road.
In an alternative embodiment, determining the target road participant for speeding from the defined speed per hour of the road, the type of road participant and the speed of the road participant comprises: judging whether the type of the traffic participant on the road belongs to a preset type or not; and determining whether the traffic participant is a target traffic participant for speeding according to the speed of the traffic participant and the limited speed per hour of the road under the condition that the type of the traffic participant on the road belongs to a preset type.
In an optional embodiment, the method further comprises: determining attribute information of the traffic participants on the road according to the second image, wherein the attribute information comprises license plate information and/or vehicle body color information; and under the condition that the target traffic participant in overspeed driving is determined, generating an overspeed record corresponding to the target traffic participant according to the attribute information of the target traffic participant.
In an alternative embodiment, the method comprises: in the case that a target traffic participant in speeding is determined, the target traffic participant is tracked, and the lowest speed, the highest speed and the average speed of the target traffic participant in a preset time interval are determined.
In an optional embodiment, the method further comprises: calibrating parameters of the camera and the millimeter wave radar; and synchronizing the local time of the camera and the millimeter wave radar according to the GPS signal.
In an optional embodiment, determining the type of traffic participant on the road from the second image comprises: identifying a target on the second image according to a 3D-smile algorithm to determine the type of the traffic participant on the road and determine a first coordinate of the traffic participant in a pixel coordinate system;
determining the speed of the traffic participant on the road according to the point cloud trajectory data comprises: determining the speed of a traffic participant on the road and a second coordinate in a millimeter wave radar coordinate system according to the point cloud track data;
determining a target road participant for speeding based on the defined speed per hour of the road, the type of the road participant and the speed of the road participant comprises: mapping the second coordinate to a world coordinate system according to a conversion relation between the millimeter wave radar coordinate system and the world coordinate system to obtain a third coordinate; mapping the third coordinate to the pixel coordinate system according to the conversion relation between the world coordinate system and the pixel coordinate system to obtain a fourth coordinate; matching the first coordinate and the fourth coordinate to associate the speed and the type of the same traffic participant, and determining the target traffic participant for speeding according to the speed and the type of the same traffic participant and the limited speed.
In a second aspect, an embodiment of the present invention provides an overspeed detection apparatus, including:
the first acquisition module is used for acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road, wherein the first image is acquired by a camera;
the second acquisition module is used for acquiring point cloud track data of traffic participants on the road detected by the millimeter wave radar;
the calculation module is used for determining the limited speed per hour of the road according to the first image; determining the type of the traffic participants on the road according to the second image, and determining the speed of the traffic participants on the road according to the point cloud track data;
and the overspeed judging module is used for determining the target traffic participant in overspeed driving according to the limited speed per hour of the road, the type of the traffic participant on the road and the speed of the traffic participant on the road.
In an optional embodiment, the overspeed determination module is further configured to determine whether the type of the traffic participant on the road belongs to a preset type; and determining whether the traffic participant is a target traffic participant for speeding according to the speed of the traffic participant and the limited speed per hour of the road under the condition that the type of the traffic participant on the road belongs to a preset type.
In an optional embodiment, the calculation module is further configured to: determining attribute information of the traffic participants on the road according to the second image, wherein the attribute information comprises license plate information and/or vehicle body color information;
the device also comprises a speeding record module which is used for generating a speeding record corresponding to the target traffic participant according to the attribute information of the target traffic participant under the condition that the target traffic participant in speeding is determined.
In an optional embodiment, the apparatus further comprises a target tracking module for tracking the target traffic participant in case of determining the target traffic participant who is speeding, and determining the lowest speed, the highest speed and the average speed of the target traffic participant within a preset time interval.
In an optional embodiment, the apparatus further comprises a calibration module, configured to calibrate parameters of the camera and the millimeter wave radar; and synchronizing the local time of the camera and the millimeter wave radar according to the GPS signal.
In an optional embodiment, the calculation module is further configured to: identifying a target on the second image according to a 3D-smile algorithm to determine the type of the traffic participant on the road and determine a first coordinate of the traffic participant in a pixel coordinate system; determining the speed of a traffic participant on the road and a second coordinate in a millimeter wave radar coordinate system according to the point cloud track data;
the overspeed determination module is further configured to: mapping the second coordinate to a world coordinate system according to a conversion relation between the millimeter wave radar coordinate system and the world coordinate system to obtain a third coordinate; mapping the third coordinate to the pixel coordinate system according to the conversion relation between the world coordinate system and the pixel coordinate system to obtain a fourth coordinate; matching the first coordinate and the fourth coordinate to associate the speed and the type of the same traffic participant, and determining the target traffic participant for speeding according to the speed and the type of the same traffic participant and the limited speed.
In a third aspect, an embodiment of the present invention further provides an overspeed detection system, where the system includes the overspeed detection apparatus described in any of the above embodiments, a camera, and a millimeter-wave radar; the camera is used for acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road; the millimeter wave radar is used for detecting point cloud track data of traffic participants on the road; the overspeed detection device is used for acquiring the first image, the second image and the point cloud track data and determining target traffic participants in overspeed driving.
In a fourth aspect, an embodiment of the present invention further provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete mutual communication through the communication bus; the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the following steps: acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road, wherein the first image is acquired by a camera; acquiring point cloud track data of traffic participants on the road detected by the millimeter wave radar; determining a defined speed per hour of the road according to the first image; determining the type of the traffic participants on the road according to the second image, and determining the speed of the traffic participants on the road according to the point cloud track data; and determining the target overspeed driving traffic participant according to the defined speed per hour of the road, the type of the traffic participant on the road and the speed of the traffic participant on the road.
In a fifth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the overspeed detection method according to any embodiment of the present invention.
One or more of the above embodiments may have at least some or all of the following advantages:
by combining the image data acquired by the camera and the point cloud track data acquired by the millimeter wave radar, the overspeed traffic participants can be accurately judged; the millimeter waves emitted by the millimeter wave radar have strong capability of penetrating fog, smoke and dust, can accurately detect the speed of traffic participants all day long, and reduces the influence of severe weather; the method comprises the steps of identifying a speed limit sign shot by a camera, determining a limited speed per hour, determining the limited speed per hour of a limited road of the section of city without intervening a traffic system, and accurately determining the type of a traffic participant and attribute information of the traffic participant, such as license plate information, body color information and the like, through identifying an image of the traffic participant shot by the camera, so that under the condition that a certain traffic participant is determined to overspeed, the type and the attribute information of the overspeed traffic participant can be determined, and an overspeed record can be generated. The embodiment of the invention can obtain the running state information of the overspeed vehicle, such as the speed, the license plate number, the violation photo and the like, and can accurately, stably and all-weather detect and record the overspeed vehicle information on the urban restricted road.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the related art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 schematically shows a flow chart of the main steps of an overspeed detection method of an embodiment of the present invention;
FIG. 2 schematically shows a schematic diagram of a flow of an overspeed detection method of another embodiment of the present invention;
FIG. 3 schematically shows a structural view of an overspeed detection apparatus of an embodiment of the present invention;
FIG. 4 schematically shows an architectural diagram of an overspeed detection system of an embodiment of the present invention;
fig. 5 schematically shows a block diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Fig. 1 schematically shows a schematic diagram of the main steps of an overspeed detection method of an embodiment of the present invention. The overspeed detection method provided by the embodiment of the invention can be applied to the field of intelligent traffic and can also be applied to the field of road security monitoring. The overspeed detection method can be applied to a Road Side Unit (RSU), that is, the main execution body of the method can be the RSU. The camera and the millimeter wave radar in the embodiment of the invention can be installed on the road side unit, and the installation position and angle of the camera and the millimeter wave radar are adjusted, so that the camera and the millimeter wave radar have the capability of no dead angle coverage. The camera may be a monocular camera. The camera and the millimeter wave radar of the embodiment of the invention collect target data in the same detection area, the camera collects images of the speed limit signs and images of the traffic participants in the detection area, and the millimeter wave radar collects point cloud track data of the traffic participants in the detection area. As shown in fig. 1, the method includes:
step S101: acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road, wherein the first image is acquired by a camera;
step S102: acquiring point cloud track data of traffic participants on the road detected by the millimeter wave radar;
step S103: determining a defined speed per hour of the road according to the first image; determining the type of the traffic participants on the road according to the second image, and determining the speed of the traffic participants on the road according to the point cloud track data;
step S104: and determining the target traffic participant for speeding according to the defined speed per hour of the road, the type and the speed of the traffic participants on the road.
In this embodiment, before step S101, calibration of parameters of the camera and the millimeter wave radar is also required. After calibrating the parameters of the camera and the millimeter wave radar, the local time of the camera and the millimeter wave radar also needs to be synchronized, and specifically, the local time of the camera and the millimeter wave radar can be synchronized according to the GPS signal.
For steps S101-S102, the camera is used to photograph the speed limit sign on the city-restricted road and the road surface condition of the city-restricted road, i.e. the traffic participants on the city-restricted road, such as motor vehicles, non-motor vehicles. Millimeter wave radars detect the speed, heading, and distance to a traffic participant through the Frequency Modulated Continuous Wave (FMCW) principle. In this embodiment, the image of the speed limit sign acquired by the camera is an image of the speed limit sign on a certain road, the image of the traffic participant acquired by the camera is an image of the traffic participant on the road, and the point cloud trajectory data acquired by the millimeter wave radar is also point cloud trajectory data of the traffic participant on the road, that is, the target photographed by the camera and the target detected by the millimeter wave radar are both targets in the same detection area. That is, the step S101 acquires an image of the speed limit sign in the detection area and an image of the traffic participant in the detection area, which are acquired by the camera, and the step S102 acquires point cloud trajectory data of the traffic participant in the detection area, which is detected by millimeter radar waves.
For steps S103-S104, a first image taken by the camera is identified, from which a defined speed per hour for the urban restricted road is determined, for example a defined speed per hour of 70km/h (i.e. 70 km/h). The second image taken by the camera is recognized, and the type of the traffic participant on the second image can be recognized by a 3D-smile algorithm, for example. Compared with a 2D target detection algorithm, the 3D-smile algorithm can output information such as target types, length, width, height and course angles in a three-dimensional space, can obtain the types of traffic participants, can obtain the length, width, height and course angles of the traffic participants in the three-dimensional space, and can detect the positions of the traffic participants more accurately. The types of traffic participants in this embodiment may include: small cars, large cars, motorcycles, electric cars, tricycles, bicycles, and the like. After determining the type and speed of each traffic participant, the speed of the specific type of traffic participants such as small cars, large cars and motorcycles is compared with the defined speed, and the target traffic participant with the speed higher than the defined speed is determined to be the speeding traffic participant. After the speed of the traffic participant is detected and the type of the traffic participant is identified, the speed detected by the millimeter wave radar and the traffic participant in the image need to be mapped, so that the fusion of millimeter waves and vision is realized. The integration of the millimeter wave radar and the camera in space is to convert the measured values of different sensor coordinate systems into the same coordinate system. Therefore, after the camera and the millimeter wave radar are fixedly installed, the coordinate conversion relationship between the millimeter wave radar coordinate system, the three-dimensional world coordinate system, the camera coordinate system, the image coordinate system, and the pixel coordinate system can also be determined. Specifically, according to the conversion relationship between the millimeter wave radar coordinate system and the world coordinate system, the second coordinate of the traffic participant in the millimeter wave radar coordinate system is mapped to the world coordinate system to obtain a third coordinate; mapping the third coordinate to the pixel coordinate system according to the conversion relation between the world coordinate system and the pixel coordinate system to obtain a fourth coordinate; and matching the first coordinate and the fourth coordinate of the traffic participant in a pixel coordinate system to associate the speed and the type of the same traffic participant, and determining the target traffic participant for speeding according to the speed and the type of the same traffic participant and the limited speed. More specifically, the present embodiment first establishes a three-dimensional world coordinate system at the camera position, then converts the coordinates in the millimeter-wave radar coordinates into a world coordinate system centered on the camera, converts the coordinates of the world coordinate system into a camera coordinate system, and converts the coordinates of the camera coordinate system into an image coordinate system. The process of converting the millimeter wave radar coordinate system to a camera-centric world coordinate system includes: and (3) converting the coordinates (x, y) of the target in the millimeter wave radar coordinate system into a world coordinate system through a rotation matrix and a translation matrix. After the target is converted into the world coordinate system, the target is converted into the pixel coordinate system from the world coordinate system. Assuming that the point obtained by the millimeter wave is the center point of the object, the z coordinate information of the object can be obtained by using the width and height information of the object. The application scenario of this embodiment is vehicle detection, so it is assumed that the width W of the target is 1.6m, the height H is 1.8m, and the extrinsic parameters are known, and the world coordinates of the target point are (x, y, -H/2), it is noted that in this embodiment, the z value is a negative value, in order to frame the target on the image, so it is necessary to convert the coordinate values of the upper left vertex and the lower right vertex of the target onto the image, so as to obtain a rectangular region of the target, and then the coordinates of the target in the pixel coordinate system can be obtained by adding the camera extrinsic parameters to the values of 3 known variables.
According to the overspeed detection method, the image data collected by the camera and the point cloud track data of the motion data collected by the millimeter wave radar are combined, so that overspeed traffic participants can be accurately judged; the millimeter waves emitted by the millimeter wave radar have strong capability of penetrating fog, smoke and dust, can accurately detect the speed of traffic participants all day long, and reduces the influence of severe weather; the method comprises the steps of identifying a speed limit sign shot by a camera, determining a limited speed per hour, determining the limited speed per hour of a limited road of the section of city without intervening a traffic system, and accurately determining the type of a traffic participant and attribute information of the traffic participant, such as license plate information, body color information and the like, through identifying an image of the traffic participant shot by the camera, so that under the condition that a certain traffic participant is determined to overspeed, the type and the attribute information of the overspeed traffic participant can be determined, and an overspeed record can be generated.
Fig. 2 schematically shows a schematic diagram of the main steps of an overspeed detection method according to another embodiment of the present invention, which, as shown in fig. 2, comprises:
step S201: acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road, which are acquired by a camera, namely acquiring an image of the speed limit sign in a detection area and an image of the traffic participant in the detection area, which are acquired by the camera;
step S202: acquiring motion data point cloud track data of traffic participants on the road detected by the millimeter wave radar, namely acquiring point cloud track data of the traffic participants in the detection area detected by the millimeter wave radar;
step S203: determining a defined speed per hour of the road according to the first image;
step S204: determining the type and attribute information of the traffic participants on the road according to the second image, wherein the attribute information comprises license plate information and/or vehicle body color information;
step S205: determining the speed of a traffic participant on the road according to the point cloud track data;
step S206: determining the target overspeed driving traffic participant according to the limited speed per hour of the road, the type of the traffic participant on the road and the speed of the traffic participant on the road;
step S207: under the condition that a target traffic participant in overspeed driving is determined, generating an overspeed record corresponding to the target traffic participant according to the attribute information of the target traffic participant;
step S208: in the case that a target traffic participant in speeding is determined, the target traffic participant is tracked, and the lowest speed, the highest speed and the average speed of the target traffic participant in a preset time interval are determined.
In this embodiment, according to the second image, not only the type of the traffic participant but also the license plate information of the traffic participant, such as the license plate number, the license plate color, the vehicle body color, and the like, can be determined. After determining the target traffic participant who runs at an overspeed in step S206, a speeding record corresponding to the target traffic participant can be generated according to the attribute information of the target traffic participant, such as the license plate number. The tracking mode can also be started, and the lowest speed, the highest speed and the average speed of the target traffic participant in a preset time interval are determined.
According to the overspeed detection method, the image data collected by the camera and the point cloud track data of the motion data collected by the millimeter wave radar are combined, so that overspeed traffic participants can be accurately judged; the millimeter waves emitted by the millimeter wave radar have strong capability of penetrating fog, smoke and dust, can accurately detect the speed of traffic participants all day long, and reduces the influence of severe weather; the method comprises the steps of determining the limited speed per hour by identifying a speed limit sign shot by a camera, determining the limited speed per hour of the limited road of the city without intervening a traffic system, and accurately determining the type of a traffic participant and the attribute information of the traffic participant, such as license plate information, body color information and the like, by identifying an image of the traffic participant shot by the camera, so that under the condition that a certain traffic participant is determined to be overspeed, the type and the attribute information of the overspeed traffic participant can be determined, an overspeed record can be generated, and a tracking mode is started to determine the lowest speed, the highest speed and the average speed of the target traffic participant within the preset time.
FIG. 3 schematically shows a schematic diagram of the main modules of a detection apparatus 300 according to an embodiment of the present invention, and as shown in FIG. 3, the apparatus 300 comprises
The first acquisition module 301 is configured to acquire a first image of a speed limit sign on a road and a second image of a traffic participant on the road, which are acquired by a camera;
a second obtaining module 302, configured to obtain point cloud trajectory data of a traffic participant on the road detected by the millimeter wave radar;
a calculating module 303, configured to determine a defined speed per hour of the road according to the first image; determining the type of the traffic participants on the road according to the second image, and determining the speed of the traffic participants on the road according to the point cloud track data;
a speeding decision module 304, configured to determine a target traffic participant for speeding according to the defined speed per hour of the road, the type of the traffic participant on the road, and the speed of the traffic participant on the road.
In an optional embodiment, the overspeed determination module is configured to determine whether the type of the traffic participant on the road belongs to a preset type; and determining whether the traffic participant is a target traffic participant for speeding according to the speed of the traffic participant and the limited speed per hour of the road under the condition that the type of the traffic participant on the road belongs to a preset type.
In an optional embodiment, the calculating module 303 is further configured to: determining attribute information of the traffic participants on the road according to the second image, wherein the attribute information comprises license plate information and/or vehicle body color information;
the device also comprises a speeding record module which is used for generating a speeding record corresponding to the target traffic participant according to the attribute information of the target traffic participant under the condition that the target traffic participant in speeding is determined.
In an optional embodiment, the apparatus further comprises a target tracking module for tracking the target traffic participant in case of determining the target traffic participant who is speeding, and determining the lowest speed, the highest speed and the average speed of the target traffic participant within a preset time interval.
In an optional embodiment, the apparatus further comprises a calibration module, configured to calibrate parameters of the camera and the millimeter wave radar; and synchronizing the local time of the camera and the millimeter wave radar according to the GPS signal.
In an optional embodiment, the calculating module 303 is further configured to: identifying a target on the second image according to a 3D-smile algorithm to determine the type of the traffic participant on the road and determine a first coordinate of the traffic participant in a pixel coordinate system; determining the speed of a traffic participant on the road and a second coordinate in a millimeter wave radar coordinate system according to the point cloud track data; the overspeed determination module 304 is further configured to: converting the second coordinate into the pixel coordinate system according to the conversion relation between the pixel coordinate system and the millimeter wave radar coordinate system to obtain a third coordinate corresponding to the second coordinate; matching the third coordinate with the first coordinate to associate the speed and the type of the same traffic participant, and determining the target traffic participant for speeding according to the speed and the type of the same traffic participant and the limited speed.
The overspeed detection device can accurately judge the overspeed traffic participants by combining the image data acquired by the camera and the point cloud track data of the motion data acquired by the millimeter wave radar; the millimeter waves emitted by the millimeter wave radar have strong capability of penetrating fog, smoke and dust, can accurately detect the speed of traffic participants all day long, and reduces the influence of severe weather; the method comprises the steps of determining the limited speed per hour by identifying a speed limit sign shot by a camera, determining the limited speed per hour of the limited road of the city without intervening a traffic system, and accurately determining the type of a traffic participant and the attribute information of the traffic participant, such as license plate information, body color information and the like, by identifying an image of the traffic participant shot by the camera, so that under the condition that a certain traffic participant is determined to be overspeed, the type and the attribute information of the overspeed traffic participant can be determined, an overspeed record can be generated, and a tracking mode is started to determine the lowest speed, the highest speed and the average speed of the target traffic participant within the preset time.
Fig. 4 schematically shows a schematic structural diagram of an overspeed detection system 400 according to an embodiment of the present invention, and as shown in fig. 4, the system 400 includes: the overspeed detection device 401, the camera 402, and the millimeter wave radar 403 of the above-described embodiment. The camera 402 is configured to acquire a first image of a speed limit sign on a road and a second image of a traffic participant on the road, that is, an image of the speed limit sign and an image of the traffic participant in the same detection area are acquired; the millimeter wave radar 403 is configured to obtain point cloud trajectory data of the traffic participants on the road detected by the millimeter wave radar, that is, point cloud trajectory data of the traffic participants in the same detection area; the overspeed detection device 401 is configured to acquire the first image, the second image, and the point cloud trajectory data, and determine a target traffic participant in overspeed driving. In this embodiment, the camera 402, the millimeter wave radar 403 and the overspeed detection apparatus 401 interact directly through a network, which may include various connection types, such as wired, wireless communication links, or fiber optic cables.
Fig. 5 schematically shows a schematic view of an electronic device according to an embodiment of the invention. As shown in fig. 5, an electronic device 500 provided in an embodiment of the present invention includes a processor 501, a communication interface 502, a memory 503, and a communication bus 504, where the processor 501, the communication interface 502, and the memory 503 complete communication with each other through the communication bus 504; a memory 503 for storing at least one executable instruction; the processor 501, when executing the executable instructions stored in the memory, implements the overspeed detection method as described above. In an alternative embodiment, the electronic device may be a road side unit.
Specifically, when the overspeed detection method is implemented, the executable instructions cause the processor to perform the following steps: acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road, wherein the first image is acquired by a camera; acquiring point cloud track data of traffic participants on the road detected by the millimeter wave radar; determining a defined speed per hour of the road according to the first image; determining the type of the traffic participants on the road according to the second image, and determining the speed of the traffic participants on the road according to the point cloud track data; and determining the target traffic participant for speeding according to the defined speed per hour of the road, the type and the speed of the traffic participants on the road.
The memory 503 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 503 has a storage space for program code for performing any of the method steps of the above-described method. For example, the memory space for the program code may comprise respective program codes for implementing respective steps in the above method, respectively. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such computer program products are typically portable or fixed storage units. The storage unit may have a memory segment or a memory space or the like arranged similarly to the memory 503 in the electronic device described above. The program code may be compressed, for example, in a suitable form. Typically, the memory unit comprises a program for performing the steps of the method according to an embodiment of the invention, i.e. a code readable by a processor, such as 501, for example, which code, when executed by an electronic device, causes the electronic device to perform the steps of the method described above.
The embodiment of the invention also provides a computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the overspeed detection method as described above.
The computer-readable storage medium may be contained in the apparatus/device described in the above embodiments; or may be present alone without being assembled into the device/apparatus. The computer-readable storage medium carries one or more programs which, when executed, implement the method according to an embodiment of the present invention.
According to embodiments of the present invention, the computer readable storage medium may be a non-volatile computer readable storage medium, which may include, for example but is not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The above-described solutions provided by the embodiments of the present invention may be implemented in hardware, in software modules running on one or more processors, or in a combination of them, in whole or in part. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in an electronic device according to embodiments of the present invention. Embodiments of the invention may also be implemented as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Programs that implement embodiments of the present invention may be stored on a computer-readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It is noted that, herein, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or step from another entity or step without necessarily requiring or implying any actual such relationship or order between such entities or steps. Also, 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 only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. 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 invention. Thus, the present invention 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 (10)
1. An overspeed detection method, wherein the method is applied to a road side unit, and wherein the method comprises:
acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road, wherein the first image is acquired by a camera;
acquiring point cloud track data of traffic participants on the road detected by the millimeter wave radar;
determining a defined speed per hour of the road according to the first image; determining the type of the traffic participants on the road according to the second image, and determining the speed of the traffic participants on the road according to the point cloud track data;
and determining the target overspeed driving traffic participant according to the defined speed per hour of the road, the type of the traffic participant on the road and the speed of the traffic participant on the road.
2. The method of claim 1, wherein determining the target road participant to speeding from the defined speed per hour of the road, the type of road participant and the speed of the road participant comprises:
judging whether the type of the traffic participant on the road belongs to a preset type or not;
and determining whether the traffic participant is a target traffic participant for speeding according to the speed of the traffic participant and the limited speed per hour of the road under the condition that the type of the traffic participant on the road belongs to a preset type.
3. The method of claim 1, further comprising:
determining attribute information of the traffic participants on the road according to the second image, wherein the attribute information comprises license plate information and/or vehicle body color information;
and under the condition that the target traffic participant in overspeed driving is determined, generating an overspeed record corresponding to the target traffic participant according to the attribute information of the target traffic participant.
4. The method according to claim 1, characterized in that it comprises: in the case that a target traffic participant in speeding is determined, the target traffic participant is tracked, and the lowest speed, the highest speed and the average speed of the target traffic participant in a preset time interval are determined.
5. The method of claim 1, wherein determining the type of traffic participant on the road from the second image comprises: identifying a target on the second image according to a 3D-smile algorithm to determine the type of the traffic participant on the road and determine a first coordinate of the traffic participant in a pixel coordinate system;
determining the speed of the traffic participant on the road according to the point cloud trajectory data comprises: determining the speed of a traffic participant on the road and a second coordinate in a millimeter wave radar coordinate system according to the point cloud track data;
determining a target road participant for speeding based on the defined speed per hour of the road, the type of the road participant and the speed of the road participant comprises: mapping the second coordinate to a world coordinate system according to a conversion relation between the millimeter wave radar coordinate system and the world coordinate system to obtain a third coordinate; mapping the third coordinate to the pixel coordinate system according to the conversion relation between the world coordinate system and the pixel coordinate system to obtain a fourth coordinate; matching the first coordinate and the fourth coordinate to associate the speed and the type of the same traffic participant, and determining the target traffic participant for speeding according to the speed and the type of the same traffic participant and the limited speed.
6. An overspeed detection apparatus, comprising:
the first acquisition module is used for acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road, wherein the first image is acquired by a camera;
the second acquisition module is used for acquiring point cloud track data of traffic participants on the road detected by the millimeter wave radar;
the calculation module is used for determining the limited speed per hour of the road according to the first image; determining the type of the traffic participants on the road according to the second image, and determining the speed of the traffic participants on the road according to the point cloud track data;
and the overspeed judging module is used for determining the target traffic participant in overspeed driving according to the limited speed per hour of the road, the type of the traffic participant on the road and the speed of the traffic participant on the road.
7. The apparatus of claim 6, wherein the computing module is further configured to:
identifying a target on the second image according to a 3D-smile algorithm to determine the type of the traffic participant on the road and determine a first coordinate of the traffic participant in a pixel coordinate system;
determining the speed of a traffic participant on the road and a second coordinate in a millimeter wave radar coordinate system according to the point cloud track data;
the overspeed determination module is further configured to: mapping the second coordinate to a world coordinate system according to a conversion relation between the millimeter wave radar coordinate system and the world coordinate system to obtain a third coordinate; mapping the third coordinate to the pixel coordinate system according to the conversion relation between the world coordinate system and the pixel coordinate system to obtain a fourth coordinate; matching the first coordinate and the fourth coordinate to associate the speed and the type of the same traffic participant, and determining the target traffic participant for speeding according to the speed and the type of the same traffic participant and the limited speed.
8. An overspeed detection system characterized in that it comprises the overspeed detection apparatus of any one of claims 6 to 7, a camera and a millimeter wave radar;
the camera is used for acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road;
the millimeter wave radar is used for detecting point cloud track data of traffic participants on the road;
the overspeed detection device is used for acquiring the first image, the second image and the point cloud track data and determining target traffic participants in overspeed driving.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the following steps:
acquiring a first image of a speed limit sign on a road and a second image of a traffic participant on the road, wherein the first image is acquired by a camera;
acquiring point cloud track data of traffic participants on the road detected by the millimeter wave radar;
determining a defined speed per hour of the road according to the first image; determining the type of the traffic participants on the road according to the second image, and determining the speed of the traffic participants on the road according to the point cloud track data;
and determining the target overspeed driving traffic participant according to the defined speed per hour of the road, the type of the traffic participant on the road and the speed of the traffic participant on the road.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1-5.
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