CN114360186A - Construction early warning method and equipment - Google Patents
Construction early warning method and equipment Download PDFInfo
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- CN114360186A CN114360186A CN202111667815.1A CN202111667815A CN114360186A CN 114360186 A CN114360186 A CN 114360186A CN 202111667815 A CN202111667815 A CN 202111667815A CN 114360186 A CN114360186 A CN 114360186A
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Abstract
The application discloses a construction early warning method and equipment, relates to the technical field of traffic management, and aims to improve the flexibility of construction early warning and improve the use effect of detection equipment. The method comprises the following steps: determining a target detection area based on a first lane in the image; the first lane is a part of lanes where the construction area is located, and the target detection area at least comprises the first lane; determining an overlapping area of a target detection area and a radar detection area; acquiring radar detection information in an overlapping area; the radar detection information is information that a target detection object appearing in the overlapping area is detected by a radar; when the target detection object is judged to be in the risk area based on the radar detection information, an early warning signal is output, and the risk area is located in the overlapping area.
Description
Technical Field
The application relates to the technical field of traffic management, in particular to a construction early warning method and equipment.
Background
Currently, radar detection plays an important role in the traffic field. In order to detect the current road condition, a radar is usually adopted to detect the running speed, the distance and the like of the vehicle, so that the safety of the running vehicle is guaranteed. The speed of vehicles running on the highway is high, and the radar detection can also be used for carrying out safety early warning on constructors in the highway. The distance between the vehicle and the construction area and the vehicle speed are detected through the radar, when the vehicle speed is fast and the vehicle is close to constructors, an early warning signal is sent to the constructors, and therefore the constructors are reminded of paying attention to the running vehicle. At present, due to the fact that the sensitivity of radar detection is high, frequent warning is easily given to constructors, and the construction progress is affected.
Disclosure of Invention
The embodiment of the application provides a construction early warning method and equipment, which are used for improving the flexibility of construction early warning and improving the using effect of detection equipment.
In order to achieve the above purpose, the embodiments of the present application provide the following technical solutions:
in a first aspect, a construction early warning method is provided, and the method includes: determining a target detection area based on a first lane in the image; the first lane is a part of lanes where the construction area is located, and the target detection area at least comprises the first lane; determining an overlapping area of a target detection area and a radar detection area; acquiring radar detection information in an overlapping area; the radar detection information is information that a target detection object appearing in the overlapping area is detected by a radar; when the target detection object is judged to be in the risk area based on the radar detection information, an early warning signal is output, and the risk area is located in the overlapping area.
Because the sensitivity of radar detection is higher, frequently report an emergency and ask for help or increased vigilance to constructor easily, influence the operation progress of construction. Therefore, by using the technical scheme, the detection object is screened in the radar detection area through the radar detection area with accurate image recognition, the occurrence frequency of frequent alarm caused by false alarm due to high detection sensitivity of the radar is reduced, the flexibility of construction early warning is improved, and the using effect of detection equipment is improved. In addition, the calibration and correction of the target detection area are automatically completed in a short time; the lane where the construction area is located is prevented from being subjected to coordinate calibration temporarily, the detection equipment can be placed and used immediately, the technical requirements of the detection equipment on application personnel are reduced, and the construction operation efficiency is improved.
In one possible implementation, before determining the target detection region based on the first lane in the image, the method further includes: the area between the two lane lines closest to the center line of the image is determined as the first lane.
The possible implementation mode provides a specific implementation mode for acquiring the first lane, and the lane where the construction area is located is quickly located through the characteristics of the lane in the image, so that the calibration of the target detection area is facilitated.
In one possible implementation, determining the target detection area based on the first lane in the image includes: extending a lane line of the first lane in a direction away from the image capture device; the image acquisition equipment is equipment for acquiring images; and determining the area between the extended lane lines as a target detection area.
The possible implementation mode provides a specific implementation mode for determining the target detection area, and the lane identified in the image is prolonged, so that the lane which is not acquired by the image is prolonged based on the lane position in the image, and the radar detection of the area with a wider range of the lane where the construction area is located is facilitated.
In one possible implementation, determining an overlapping area of the target detection area and the radar detection area includes: converting the position information of the target detection area in a first coordinate system into position information in a second coordinate system; the first coordinate system is a coordinate system of a camera used for shooting images, and the second coordinate system is a coordinate system of a radar; and determining an overlapping area of the target detection area and the radar detection area based on the position information of the target detection area in the second coordinate system and the radar detection area.
The possible implementation mode provides conversion between the coordinates of the recognized lane in the image and the coordinates detected by the radar, and the detection range of the accurate radar is realized. And the feasibility of the scheme is improved by combining the characteristics of radar detection and positioning.
In a possible implementation manner, the risk area is an area where a distance between the risk area and the detection device is smaller than a first threshold, the early warning signal includes a first early warning signal, and the first early warning signal is used for reminding the target detection object to adjust at least one of a driving speed and a driving direction.
The possible implementation mode provides an output mode of the early warning signal, and is beneficial to reminding a detection object of adjusting the running speed and/or the running direction by detection equipment.
In one possible implementation, the risk area is an area whose distance from the detection device is smaller than a second threshold, the second threshold is smaller than the first threshold, the early warning signal includes a second early warning signal, and the second early warning signal is used for reminding people in the construction area to evacuate.
This kind of possible implementation provides an output mode of early warning signal, helps check out test set to remind constructor to withdraw from the construction area to reach the purpose of guaranteeing constructor safety.
In a second aspect, there is provided a detection apparatus comprising: a determination unit configured to determine a target detection region based on a first lane in the image; the first lane is a partial lane of a lane where the construction area is located, and the target detection area at least comprises the first lane; the determining unit is further used for determining an overlapping area of the target detection area and the radar detection area; the acquisition unit is used for acquiring radar detection information in the overlapping area; the radar detection information is information that a target detection object appearing in the overlapping area is detected by a radar; and the output unit is used for outputting an early warning signal when the target detection object is judged to be in a risk area based on the radar detection information, and the risk area is positioned in the overlapping area.
In a third aspect, a detection device is provided, which includes: a processor and a memory. The processor is connected with the memory, the memory is used for storing computer execution instructions, and the processor executes the computer execution instructions stored by the memory, so as to realize any one of the methods provided by the first aspect.
In a fourth aspect, there is provided a chip comprising: a processor and an interface circuit; the interface circuit is used for receiving the code instruction and transmitting the code instruction to the processor; a processor for executing code instructions to perform any of the methods provided by the first aspect.
In a fifth aspect, a computer-readable storage medium is provided, which comprises computer-executable instructions, which, when executed on a computer, cause the computer to perform any one of the methods provided in the first aspect.
In a sixth aspect, there is provided a computer program product comprising computer executable instructions which, when executed on a computer, cause the computer to perform any one of the methods provided in the first aspect.
For technical effects brought by any implementation manner of the second aspect to the sixth aspect, reference may be made to technical effects brought by a corresponding implementation manner in the first aspect, and details are not described here.
Drawings
Fig. 1 is a schematic structural diagram of a detection apparatus provided in an embodiment of the present application;
FIG. 2 is a diagram of an application scenario of a construction early warning method;
fig. 3 is a schematic flow chart of a construction early warning method according to an embodiment of the present disclosure;
fig. 4 is a scene schematic diagram of a construction early warning method provided in an embodiment of the present application;
fig. 5 is a schematic view of a scenario of extending a first lane according to an embodiment of the present application;
fig. 6 is a schematic view of a scenario for determining an overlapping area according to an embodiment of the present application;
fig. 7 is a schematic view of a scenario for determining a risk area according to an embodiment of the present application;
fig. 8 is a schematic composition diagram of a detection apparatus according to an embodiment of the present application.
Detailed Description
In the description of this application, "/" means "or" unless otherwise stated, for example, A/B may mean A or B. "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. Further, "at least one" means one or more, "a plurality" means two or more. The terms "first", "second", and the like do not necessarily limit the number and execution order, and the terms "first", "second", and the like do not necessarily limit the difference.
It is noted that, in the present application, words such as "exemplary" or "for example" are used to mean exemplary, illustrative, or descriptive. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
The embodiment of the application provides a construction early warning method which can be applied to detection equipment. The embodiment of the present application does not set any limit to the specific form of the detection device. For example, the detection device may specifically be a terminal apparatus. Among them, the terminal device may be referred to as: computer equipment such as a terminal, User Equipment (UE), terminal equipment, access terminal, subscriber unit, subscriber station, mobile station, remote terminal, mobile device, user terminal, wireless communication device, user agent, or user device.
In hardware implementation, the detection device can be implemented by the detection device shown in fig. 1. Fig. 1 is a schematic diagram of a hardware structure of a detection apparatus 10 according to an embodiment of the present disclosure. The detection device 10 may be used to implement the functionality of the detection device described above.
The detection device 10 shown in fig. 1 may comprise: a processor 101, a memory 102, a communication interface 103, and a bus 104. The processor 101, the memory 102, and the communication interface 103 may be connected by a bus 104.
The processor 101 is a control center of the detection device 10, and may be a Central Processing Unit (CPU), other general-purpose processor, or the like. Wherein a general purpose processor may be a microprocessor or any conventional processor or the like.
By way of example, processor 101 may include one or more CPUs, such as CPU 0 and CPU 1 shown in FIG. 1.
The processor 101 may further include an Application Processor (AP), a modem processor, a Graphics Processing Unit (GPU), an Image Signal Processor (ISP), a controller, a video codec, a Digital Signal Processor (DSP), a baseband processor, and/or a neural-Network Processing Unit (NPU), etc. The different processing units may be separate devices or may be integrated into one or more processors.
The memory 102 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that may store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that may store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
In one possible implementation, the memory 102 may exist independently of the processor 101. Memory 102 may be coupled to processor 101 through bus 104 for storing data, instructions, or program code. When the processor 101 calls and executes the instructions or program codes stored in the memory 102, the construction early warning method provided by the embodiment of the application can be implemented.
In another possible implementation, the memory 102 may also be integrated with the processor 101.
A communication interface 103, configured to connect the detection device 10 with other devices through a communication network, where the communication network may be an ethernet, a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), or the like. The communication interface 103 may comprise a receiving unit for receiving data and a transmitting unit for transmitting data.
The bus 104 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an extended ISA (enhanced industry standard architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 1, but it is not intended that there be only one bus or one type of bus.
It should be noted that the configuration shown in FIG. 1 does not constitute a limitation of the detection device 10, and that the detection device 10 may include more or less components than those shown, or some components may be combined, or a different arrangement of components than those shown in FIG. 1.
The radar that this application embodiment relates to can be millimeter wave (mmWave) radar. Specifically, the millimeter wave refers to an electromagnetic wave with a wavelength of 1-10mm, and the corresponding frequency range is 30-300 GHz. Common millimeter waves include 24GHz, 77GHz and 79GHz millimeter waves. The characteristics of millimeter waves include large bandwidth: the frequency domain resources are rich, the antenna side lobe is low, and the imaging or quasi-imaging is favorably realized; the wavelength is short: the volume and the antenna aperture of the radar equipment are reduced, and the weight is reduced; narrow beam: under the same antenna size, the wave beam of the millimeter wave is much narrower than that of the micron wave, and the radar resolution is high; the penetration is strong: compared with a laser radar and an optical system, the laser radar has better capability of penetrating smoke, fog and dust, and can work all the day.
As shown in fig. 2, it is an application scenario of the construction early warning method. The scene includes a vehicle a, a vehicle B, and a vehicle C in driving, a radar, and a constructor in a construction area. The radar is used as detection equipment, and when constructors perform construction on the upstream of the traveling direction of the vehicle A, the constructors deploy the radar in the vehicle-coming direction for detection. Electromagnetic waves are sent to the vehicle direction through the radar, and the distance between the vehicle and the radar is detected, so that the safety of construction personnel in a construction area is guaranteed. In the scenario shown in fig. 2, the vehicle a travels in the lane where the construction area is located, and the vehicle B and the vehicle C travel in other lanes, so that the vehicle B and the vehicle C pose less risk to the constructors. However, when the current radar reports and warns all vehicles within a certain distance range, false vehicle reports of other lanes with smaller risk to constructors can be generated, and continuous error warning is caused, for example, a vehicle B and a vehicle C shown in fig. 2 are detected, and warning is triggered to influence the operation progress of construction.
In order to solve the problems, the application provides a construction early warning method, and in the method, the flexibility of detection equipment is improved, so that the phenomenon of frequent early warning caused by false alarm of the detection equipment is reduced, and the construction operation is guaranteed. As shown in fig. 3, the method includes:
s301, determining a target detection area by detection equipment based on a first lane in the image; the first lane is a part of the lane where the construction area is located, and the target detection area at least comprises the first lane.
It is understood that the image contains a portion of the lane in which the construction area is located. The image can be acquired by an image acquisition device such as a camera including a camera. The following description will be given taking the camera acquiring an image as an example.
Optionally, the camera and the detection device are integrated into a whole to form an all-in-one machine, and images are transmitted through internal communication of the device. Generally, after a construction area is determined, a constructor deploys the all-in-one machine to a specified position, and an image containing a first lane is acquired by a camera by adjusting parameters of the camera in the all-in-one machine.
The functions of acquiring images and processing the images are realized through the all-in-one machine, so that the complexity of equipment deployment is facilitated to be simplified, and the image transmission efficiency is ensured.
It should be noted that the cameras and the detection devices may also be deployed in a distributed manner, and images are transmitted through communication between the devices.
It is understood that when the camera is deployed in a distributed manner with the detection device, the camera is used to acquire and transmit images to the detection device, and the detection device accepts and processes the images.
Alternatively, before performing step S301, the detection apparatus determines an area between two lane lines closest to the center line of the image as the first lane. The first lane is a partial lane of a lane where the construction area is located.
It can be understood that, in the image, if the lane lines of the lane where the construction area is located are distributed on both sides of the center line of the image, it means that the camera which acquires the image is located in the lane. Specifically, a constructor deploys a camera or an all-in-one machine including the camera in a lane where a construction area is located, and the detection device determines a first lane in an image acquired by the camera according to the method. The lane where the construction area is located is quickly located through the characteristics of the lane in the image, and the target detection area is favorably calibrated.
Specifically, the detection apparatus determines the region between two lane lines closest to the center line of the image as the first lane by recognizing the two lane lines. The detection device may identify the lane line in the image by using an existing image processing method, for example, determine a plurality of coordinates according to a color difference between the lane line in the image and other positions of the ground in the image, and a track of the plurality of coordinates constitutes the lane line. The method of identifying lane lines is not limited in this application. As shown in fig. 4, the lane where the construction area is located is lane 1, the all-in-one machine is deployed in lane 1, lane lines 1 and 2 identified by oblique line portions are lane lines recognized by the detection device according to the image, and the area between lane lines 1 and 2 is the first lane. The detection device takes the first lane as a target detection area.
The detection equipment positions a first lane through images and takes the first lane as a target detection area, and the risk of vehicles coming and going in the target detection area to constructors is large.
Optionally, the detection device extends the lane lines of the first lane in a direction away from the image acquisition device, and determines an area between the extended lane lines as a target detection area.
It will be appreciated that due to the limited performance of the image capturing device (e.g. limited depth of field and height of the camera, which enables clear imaging only over a certain distance), and due to environmental factors (e.g. atmospheric visibility) in capturing the image, the length of the first lane captured in the image is limited, and the shortest distance to be detected by the detection device may not be reached. For example, in general, it is necessary to remind the vehicle of road construction ahead at a position at least 200 meters away from the construction area so that the vehicle can drive by switching lanes, and the length of the lanes in the image may not reach 200 meters. Therefore, the detection apparatus may also extend the first lane, resulting in the second lane, with the second lane being the target detection region. The second lane is the area between two extended lane lines of the first lane.
For example, the detection device may determine a target direction, which is a direction in which the lane line is extended, from the coordinates of the first lane in the image. As shown in fig. 4, the detection apparatus recognizes the coordinates of the lane line 1 and the lane line 2 in the image, and determines the directions of at least two end coordinates of the lane line 1 and the lane line 2 as the target directions. The at least two terminal coordinates refer to coordinates of at least two points of the lane line 1 and the lane line 2 which are farthest from the detection device, wherein the coordinates of the at least two points of the farthest are obtained by converting the coordinates in the image into coordinates on a map. The detection device extends the direction indicated by the connection of the at least two end coordinates as the target direction.
It is understood that the length of the second lane is the sum of the lengths of the first lane and the second lane, which are extended by a preset distance, and the length of the second lane at least meets the requirement of the detection device for detecting the distance between the vehicle and the detection device.
For example, as shown in fig. 5, the lane line identified by the corrugated portion is a lane line extending by a preset distance, and the second lane is composed of a semi-closed region formed by the first lane and the lane line extending by the preset distance.
S302, the detection device determines an overlapping area of the target detection area and the radar detection area.
The radar detection area refers to an area covered by electromagnetic waves emitted by a radar. According to the illustration in fig. 2, in the application scenario of the current radar as the detection device, the coverage of the radar detection area is large, and vehicles with less risk to constructors are easily detected and subjected to false alarm to cause false early warning.
Optionally, the detection device determines the overlap area by an overlap portion of the radar detection area and the target detection area in the same coordinate system. Specifically, the detection device converts the position information of the target detection area in a first coordinate system into position information in a second coordinate system; the first coordinate system is a coordinate system of a camera used for shooting images, and the second coordinate system is a coordinate system of a radar. And the overlapping area is the position information of the target detection area in the second coordinate system. The method for converting the coordinate system of the detection device is not limited in the present application. The position information of the target detection area in the first coordinate system may be obtained in step S301. The radar detection area may be acquired in the following manner.
When the radar and the detection equipment are integrated into a whole to form the all-in-one machine, the radar detection area is obtained through equipment internal communication, or the radar detection area is preset in the all-in-one machine. For example, the detection device and the radar are both at the origin in the same coordinate system, and the detection device determines the overlap region from the radar detection region and the target detection region in the same coordinate system. It is understood that the overlapping area is a lane in which the construction area is further determined in the detection area of the radar, and the lane is an area in which the radar needs to detect.
It should be noted that the radar and detection devices may also be deployed in a distributed manner. The detection equipment acquires a radar detection area through communication between the equipment. The detection device does not limit the manner of obtaining the radar detection area in the present application. For example, the detection device converts a radar detection area based on the coordinate system of the radar into a radar detection area based on the coordinate system of the detection device. The detection device determines an overlapping area of the radar detection area and the target detection area in the same coordinate system. When the radar and the detection equipment are integrated, the calculation amount of conversion between coordinate systems is reduced when the detection equipment determines an overlapping area, the use efficiency of the detection equipment is improved, the detection equipment can be used immediately, and the operation efficiency of construction is improved.
Illustratively, as shown in fig. 6, the detection device is integrated with the radar. The radar detection area in the detection device is a circular area with the radar as the center, and the detection area lines of part of the radar are shown in fig. 6. In the scenario shown in fig. 6, in combination with the example of fig. 4, when the area between the lane lines marked by the oblique line portion (i.e., the second lane obtained by extending the first lane) is used as the target detection area, the area between the detection area line of the radar and the lane line of the second lane constitutes the overlap area between the detection area of the radar and the target detection area.
S303, the detection equipment acquires radar detection information in the overlapping area; wherein the radar detection information is information that a target detection object appearing in the overlap area is detected by the radar.
Among other things, radar may be used to detect position information of an object and/or a speed of movement of an object. The position information of the object includes information such as a distance between the object and the radar, and an azimuth and an altitude with respect to the radar.
Specifically, the radar acquires information of candidate measurement objects in a radar detection area. As shown in fig. 6, the objects within the radar detection area include a vehicle a, a vehicle B, and a vehicle C, which are candidate measurement objects. The radar may upload the position information and the movement speed of the vehicle a, the vehicle B, and the vehicle C to the detection device, and the detection device determines the information of the target detection object, which is radar detection information, appearing in the overlapping area, based on the information of the candidate measurement object and the overlapping area determined in the above step S302. The target detection object is a candidate detection object in the overlap region.
Optionally, the detection device obtains radar detection information according to the position information of the candidate measurement object. As shown in fig. 6, the position information of the vehicle a is within the overlap area, and the detection apparatus takes the position information of the vehicle a as radar detection information.
Optionally, the detection device obtains radar detection information according to the position information and the movement speed of the candidate measurement object. As shown in fig. 6, the moving speed of the vehicle a is greater than the preset speed threshold, and the position information and the moving speed of the vehicle a are taken as radar detection information.
It will be appreciated that when the vehicle is parked within the overlap area, there is less impact on the personnel in the construction area. Therefore, the detection device further acquires the running speed of the vehicle, and when the vehicle is in the radar detection area and the running speed of the vehicle is greater than the preset speed threshold value, the risk of the vehicle to constructors is high, and the information of the vehicle is used as radar detection information.
Optionally, when the all-in-one machine includes a radar and a detection device, the radar and the detection device are based on the same coordinate system, and the detection device may determine radar detection information according to the position information of the candidate measurement object reported by the radar, based on the current coordinate system and an overlapping area in the current coordinate system.
Optionally, when the radar and the detection device are deployed in a distributed manner, the radar and the detection device are based on different coordinate systems, and the detection device may convert the position of the candidate measurement object in the radar coordinate system into the position in the detection device coordinate system according to the position information of the candidate measurement object reported by the radar, and determine the radar detection information by combining the overlapping area. Alternatively, after the above step S302, the detection apparatus transmits the position information of the overlap area to the radar, specifies the position information of the overlap area in the coordinate system of the radar, specifies the information of the target detection object in the overlap area by the radar, and transmits it to the detection apparatus.
Through the mode, the detection equipment filters the candidate measuring object detected by the radar to obtain the target measuring object in the overlapping area, so that the accuracy of detecting vehicles generating safety risks to constructors is improved, the number of times of detecting other vehicles generating safety risks is reduced, and the influence of frequent reporting on construction progress is reduced.
S304, outputting an early warning signal when the target detection object is judged to be in a risk area based on the radar detection information, wherein the risk area is located in the overlapping area.
The risk area refers to an area which is less than a preset threshold from the detection device. When the target detection object is in the risk area, the detection object possibly threatens constructors in the construction area and needs to be warned.
It should be noted that, the distance between the detection device and the construction area is small and can be ignored, and in this application, the distance between the vehicle and the detection device is used to represent the distance between the vehicle and the construction area. Wherein an area where the distance detection device is smaller than a preset threshold value represents a risk area. In connection with the example of fig. 6, the risk regions are as shown in fig. 7, the risk regions being determined in the overlap region via a preset threshold.
The warning signal is an acousto-optic signal, for example, an optical signal or an acoustic signal is output through a light emitting device or a loudspeaker. Or the detection equipment wirelessly transmits the radio frequency signal to achieve the purpose of early warning. This is not limited by the present application.
According to a possible implementation manner, when the preset threshold is the first threshold, the risk area is an area where the distance between the risk area and the detection device is smaller than the first threshold, the detection device outputs a first early warning signal, and the first early warning signal is used for reminding the target detection object to adjust the driving speed and/or the driving direction. For example, as shown in fig. 5, assuming that the first threshold is 200 meters, when the distance between the detection device and the vehicle a is detected to be less than 200 meters, an acousto-optic signal is output to remind the vehicle to decelerate and/or switch to travel in other lanes.
In another possible implementation manner, when the preset threshold is the second threshold, the risk area is an area whose distance from the detection device is smaller than the second threshold. Wherein the second threshold is less than the first threshold. The detection device outputs a second early warning signal, and the second early warning signal is used for reminding people in the construction area to evacuate. For example, assuming that the second threshold is 50 meters, when it is detected that the distance between the detection device and the vehicle a is less than 50 meters, the detection device sends warning information to the constructor, and the constructor can receive the warning information through the electronic device. The electronic device can be any device with a communication function, such as a wearable device convenient for a constructor to work, for example, an intelligent safety helmet. And the constructor wears the intelligent safety helmet, and when the vehicle approaches the construction area, the constructor receives a second early warning signal sent by the detection equipment, such as a vibration or voice prompt message, and withdraws from the construction area.
It is understood that, if the target detection area is a second lane obtained by extending based on the first lane in the image, the extended preset distance at least satisfies the preset threshold.
Optionally, the detection device may further trigger the output of the warning signal in combination with other information, so as to ensure the accuracy of the warning signal. For example, the detection apparatus determines that a target detection object is in a risk area and the traveling speed of the target detection object reaches 60 km/h, outputs an early warning signal.
According to the method provided by the embodiment of the application, the detection objects are screened through the detection range of the accurate radar, the occurrence frequency of frequent alarming caused by false alarm due to high detection sensitivity of the detection radar is reduced, the flexibility of construction early warning is improved, and the using effect of detection equipment is improved. The detection equipment finishes the calibration and correction of the target detection area in a short time according to the image, avoids that constructors perform coordinate calibration on a radar area corresponding to a lane temporarily on site, is favorable for realizing the 'putting and using' of the detection equipment, reduces the technical requirements of the detection equipment on application personnel, and improves the construction operation efficiency. In addition, the object detected by the radar is processed through the detection device, a position and speed detection algorithm of a vehicle does not need to be built in the camera, and the device is beneficial to simplifying production and implementation.
The above description has presented the embodiments of the present application primarily from a method perspective. It is to be understood that the detection apparatus includes at least one of a hardware structure and a software module corresponding to each function in order to implement the above-described functions. Those of skill in the art would readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiment of the present application, the detection device may be divided into the functional units according to the method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.
Exemplarily, fig. 8 shows a schematic diagram of a possible structure of the detection device (denoted as the detection device 80) involved in the above-described embodiment, and the detection device 80 includes a determination unit 801, an acquisition unit 802, and an output unit 803. A determination unit 801 for determining a target detection region based on a first lane in an image; the first lane is a part of the lane where the construction area is located, and the target detection area at least comprises the first lane. For example, step S301 shown in fig. 3. The determining unit 801 is further configured to determine an overlapping area of the target detection area and the radar detection area. For example, step S302 shown in fig. 3. An obtaining unit 802, configured to obtain radar detection information in an overlapping area; wherein the radar detection information is information that a target detection object appearing in the overlap area is detected by the radar. For example, step S303 shown in fig. 3. An output unit 803, configured to output an early warning signal when it is determined that the target detection object is in a risk region based on the radar detection information, where the risk region is located in the overlap region. For example, step S304 shown in fig. 3.
Optionally, the determining unit 801 is further configured to determine an area between two lane lines closest to the center line of the image as the first lane.
Optionally, the determining unit 801 is specifically configured to extend a lane line of the first lane in a direction away from the image capturing device; the image acquisition equipment is equipment for acquiring the image; and determining the area between the extended lane lines as the target detection area.
Optionally, the determining unit 801 is specifically configured to convert the position information of the target detection area in the first coordinate system into position information in the second coordinate system; wherein the first coordinate system is a coordinate system of a camera used to capture the image, and the second coordinate system is a coordinate system of the radar; determining an overlapping area of the target detection area and the radar detection area based on the position information of the target detection area in the second coordinate system and the radar detection area.
Optionally, the risk area is an area where a distance between the risk area and the detection device is smaller than a first threshold, and the early warning signal includes a first early warning signal, where the first early warning signal is used to remind the target detection object to adjust at least one of a driving speed and a driving direction.
Optionally, the risk area is an area where a distance between the risk area and the detection device is smaller than a second threshold, the second threshold is smaller than the first threshold, the early warning signal includes a second early warning signal, and the second early warning signal is used for reminding people in the construction area to evacuate.
Optionally, the detection apparatus 80 further includes a storage unit 804. The storage unit 804 is used for storing computer execution instructions, and other units in the detection apparatus may execute corresponding actions according to the computer execution instructions stored in the storage unit 804.
For the detailed description of the above alternative modes, reference may be made to the foregoing method embodiments, which are not described herein again. In addition, for any explanation and beneficial effect description of the detection device 80 provided above, reference may be made to the corresponding method embodiment described above, and details are not repeated.
As an example, in connection with fig. 1, the functions implemented by some or all of the determining unit 801, the obtaining unit 802, the outputting unit 803 and the storing unit 804 in the detection apparatus 80 may be implemented by the processor 101 in fig. 1 executing the program code in the memory 102 in fig. 1. The obtaining unit 802 may also be implemented by a receiving unit in the communication interface 103 in fig. 1, and the output unit 803 may also be implemented by a transmitting unit in the communication interface 103 in fig. 1.
Optionally, the detection apparatus described in the embodiment of the present application includes a radar, a camera, and a processor, where the processor is configured to perform correlation calculation of detection and output an early warning signal. The detection equipment can also be called a radar video acousto-optic all-in-one machine.
Embodiments of the present application also provide a computer-readable storage medium having a computer program stored thereon, which, when run on a computer, causes the computer to perform any one of the methods provided above.
For the explanation and the description of the beneficial effects of any of the computer-readable storage media provided above, reference may be made to the corresponding embodiments described above, and details are not repeated here.
The embodiment of the application also provides a chip. Which integrates control circuitry and one or more ports for implementing the functionality of the detection device 80 described above. Optionally, the functions supported by the chip may refer to the above, and are not described herein again. Those skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be implemented by a program instructing the associated hardware to perform the steps. The program may be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a random access memory, or the like. The processing unit or processor may be a central processing unit, a general purpose processor, an Application Specific Integrated Circuit (ASIC), a microprocessor (DSP), a Field Programmable Gate Array (FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof.
The embodiments of the present application also provide a computer program product containing instructions, which when executed on a computer, cause the computer to execute any one of the methods in the above embodiments. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer-readable storage media can be any available media that can be accessed by a computer or can comprise one or more data storage devices, such as servers, data centers, and the like, that can be integrated with the media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., SSD), among others.
It should be noted that the above devices for storing computer instructions or computer programs provided in the embodiments of the present application, such as, but not limited to, the above memories, computer readable storage media, communication chips, and the like, are all nonvolatile (non-volatile).
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented using a software program, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer-readable storage media can be any available media that can be accessed by a computer or can comprise one or more data storage devices, such as servers, data centers, and the like, that can be integrated with the media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
While the present application has been described in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a review of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
Although the present application has been described in conjunction with specific features and embodiments thereof, it will be evident that various modifications and combinations can be made thereto without departing from the spirit and scope of the application. Accordingly, the specification and figures are merely exemplary of the present application as defined in the appended claims and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A construction early warning method is characterized by comprising the following steps:
determining a target detection area based on a first lane in the image; the first lane is a part of a lane where a construction area is located, and the target detection area at least comprises the first lane;
determining an overlapping area of the target detection area and a radar detection area;
acquiring radar detection information in the overlapping area; the radar detection information is information that a target detection object appearing in the overlapping area is detected by a radar;
and outputting an early warning signal when the target detection object is judged to be in a risk area based on the radar detection information, wherein the risk area is located in the overlapping area.
2. The method of claim 1, wherein prior to determining a target detection region based on a first lane in the image, the method further comprises:
determining an area between two lane lines closest to a center line of the image as a first lane.
3. The method of claim 1, wherein determining a target detection area based on a first lane in the image comprises:
extending a lane line of the first lane in a direction away from the image capture device; the image acquisition equipment is equipment for acquiring the image;
and determining the area between the extended lane lines as the target detection area.
4. The method of claim 1, wherein determining an overlap area of the target detection area and a radar detection area comprises:
converting the position information of the target detection area in a first coordinate system into position information in a second coordinate system; wherein the first coordinate system is a coordinate system of a camera used to capture the image, and the second coordinate system is a coordinate system of the radar;
determining an overlapping area of the target detection area and the radar detection area based on the position information of the target detection area in the second coordinate system and the radar detection area.
5. The method according to any one of claims 1 to 4,
the risk area is an area with a distance from the detection device smaller than a first threshold value, the early warning signal comprises a first early warning signal, and the first early warning signal is used for reminding the target detection object to adjust at least one of the driving speed and the driving direction.
6. The method of claim 5,
the risk area is an area with the distance of check out test set is less than the second threshold value, the second threshold value is less than first threshold value, early warning signal includes second early warning signal, second early warning signal is used for reminding personnel in the construction area to evacuate.
7. A detection apparatus, comprising:
a determination unit configured to determine a target detection region based on a first lane in the image; the first lane is a partial lane of a lane where a construction area is located, and the target detection area at least comprises the first lane;
the determining unit is further used for determining an overlapping area of the target detection area and the radar detection area;
an acquisition unit configured to acquire radar detection information in the overlap area; the radar detection information is information that a target detection object appearing in the overlapping area is detected by a radar;
and the output unit is used for outputting an early warning signal when the target detection object is judged to be in a risk area based on the radar detection information, wherein the risk area is positioned in the overlapping area.
8. The detection apparatus according to claim 7,
the determining unit is further used for determining that an area between two lane lines closest to the center line of the image is a first lane;
the determining unit is specifically configured to extend a lane line of the first lane in a direction away from the image acquisition device; the image acquisition equipment is equipment for acquiring the image; determining an area between the extended lane lines as the target detection area;
the determining unit is specifically configured to convert position information of the target detection area in a first coordinate system into position information in a second coordinate system; wherein the first coordinate system is a coordinate system of a camera used to capture the image, and the second coordinate system is a coordinate system of the radar; determining an overlapping area of the target detection area and the radar detection area based on the position information of the target detection area in the second coordinate system and the radar detection area;
the risk area is an area with a distance from the detection device smaller than a first threshold value, the early warning signal comprises a first early warning signal, and the first early warning signal is used for reminding the target detection object to adjust at least one of the driving speed and the driving direction;
the risk area is an area with the distance of check out test set is less than the second threshold value, the second threshold value is less than first threshold value, early warning signal includes second early warning signal, second early warning signal is used for reminding personnel in the construction area to evacuate.
9. A detection apparatus, comprising: a processor;
the processor is coupled to a memory for storing computer-executable instructions, the processor executing the computer-executable instructions stored by the memory to cause the detection device to implement the method of any one of claims 1-6.
10. A computer-readable storage medium storing computer instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111667815.1A CN114360186A (en) | 2021-12-30 | 2021-12-30 | Construction early warning method and equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111667815.1A CN114360186A (en) | 2021-12-30 | 2021-12-30 | Construction early warning method and equipment |
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| CN114360186A true CN114360186A (en) | 2022-04-15 |
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| CN202111667815.1A Withdrawn CN114360186A (en) | 2021-12-30 | 2021-12-30 | Construction early warning method and equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116959191A (en) * | 2023-07-13 | 2023-10-27 | 煤炭科学技术研究院有限公司 | User proximity protection method, device and equipment based on multi-source information fusion |
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2021
- 2021-12-30 CN CN202111667815.1A patent/CN114360186A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116959191A (en) * | 2023-07-13 | 2023-10-27 | 煤炭科学技术研究院有限公司 | User proximity protection method, device and equipment based on multi-source information fusion |
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Application publication date: 20220415 |