CN114463712A - Target object identification processing method, device, equipment and storage medium - Google Patents
Target object identification processing method, device, equipment and storage medium Download PDFInfo
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- CN114463712A CN114463712A CN202210114166.0A CN202210114166A CN114463712A CN 114463712 A CN114463712 A CN 114463712A CN 202210114166 A CN202210114166 A CN 202210114166A CN 114463712 A CN114463712 A CN 114463712A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
Abstract
The embodiment of the invention discloses a method, a device and equipment for identifying and processing a target object and a storage medium. The method comprises the following steps: acquiring a view field image of a transverse area in front of a vehicle; determining an interested area of the sight field image according to the sight field angle of the vehicle, and identifying a target object in the interested area; and determining the movement data of the target object according to the position information of the vehicle and the target object, and outputting the movement data. The method can be used for identifying the object in the region of interest in front of the vehicle in a targeted manner, and the area of identification can be reduced, so that the calculated amount is reduced, and the resources are saved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle driving, in particular to a target object identification processing method, device, equipment and storage medium.
Background
With the improvement of living standard of people, vehicles on roads become more and more, and the driving safety of the vehicles is more and more concerned. When the vehicle runs, the object often crosses, and potential safety hazard is brought to vehicle driving.
In the prior art, objects in the whole front view range are generally identified and processed uniformly when a vehicle runs so as to ensure the driving safety of the vehicle. However, as the number and types of objects on the road increase, the number of objects to be identified increases, which increases the amount of calculation and increases the calculation cost. Especially when considering the object crossing phenomenon, the number of objects to be identified is increased.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for identifying and processing a target object, which can be used for identifying and processing the object in an area of interest in front of a vehicle in a targeted manner, and can reduce the area of identification and processing, thereby reducing the calculated amount and saving resources.
In a first aspect, an embodiment of the present invention provides a method for identifying and processing a target object, where the method includes:
acquiring a view field image of a transverse area in front of a vehicle;
determining an interested area of the sight field image according to the sight field angle of the vehicle, and identifying a target object in the interested area;
and determining the movement data of the target object according to the position information of the vehicle and the target object, and outputting the movement data.
Optionally, determining a region of interest of the field-of-view image according to a field-of-view angle of the vehicle, and identifying a target object in the region of interest, including:
according to the view angle of the vehicle, taking a region of the view image in which the object moves transversely as a first region of interest, and taking a region of the view image in which the object moves longitudinally as a second region of interest;
a first target object is identified in the first region of interest and a second target object is identified in the second region of interest.
Optionally, according to the view angle of the vehicle, taking a region in which the object moves laterally in the view image as a first region of interest, and taking a region in which the object moves longitudinally as a second region of interest, including:
taking a transverse area of the vehicle camera in the view field image when the field angle is less than or equal to 52 degrees as the second region of interest;
and taking the remaining area of the second region of interest in the sight field image as the first region of interest.
Optionally, the first target object includes: pedestrians, two-wheeled vehicles, three-wheeled vehicles, and pets;
the second target object, comprising: pedestrians, two-wheeled vehicles, three-wheeled vehicles, pets, and vehicles with more than three wheels.
Optionally, determining movement data of the target object according to the position information of the vehicle and the target object, and outputting the movement data includes:
determining movement data of the first target object in the first region of interest according to position information of a vehicle and the target object;
and determining the movement data of the second target object in the second region of interest according to the position information of the vehicle and the target object.
Optionally, the mobile data includes at least one of: an object type, a longitudinal distance of the target object from the vehicle, a lateral distance of the target object from the vehicle, a longitudinal velocity, a lateral velocity, a longitudinal acceleration, and a lateral acceleration.
Optionally, acquiring a view image of a transverse area in front of the vehicle, including:
and acquiring a transverse area image when the field angle of a vehicle camera in front of the vehicle is at least 100 degrees as the field image.
In a second aspect, an embodiment of the present invention further provides an apparatus for identifying and processing a target object, where the apparatus includes:
the visual field image acquisition module is used for acquiring a visual field image of a transverse area in front of the vehicle;
the target object identification module is used for determining an interested area of the sight image according to the sight angle of the vehicle and identifying a target object in the interested area;
and the mobile data output module is used for determining the mobile data of the target object according to the position information of the vehicle and the target object and outputting the mobile data.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of identifying a target object as described in any of the embodiments of the invention.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a target object identification processing method according to any of the embodiments of the present invention.
According to the technical scheme of the embodiment of the invention, the view images of the front transverse area of the vehicle are obtained; determining an interested area of the sight field image according to the sight field angle of the vehicle, and identifying a target object in the interested area; according to the position information of the vehicle and the target object, the movement data of the target object is determined, and the movement data is output, so that the problem of vehicle driving safety is solved, the object in the region of interest in front of the vehicle is identified in a targeted manner, the area of identification can be reduced, the calculated amount is reduced, and the resource is saved.
Drawings
Fig. 1 is a flowchart of a target object identification processing method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a region of interest provided by an embodiment of the present invention;
fig. 3 is a flowchart of a method for identifying and processing a target object according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a target object recognition processing apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a method for identifying and processing a target object according to an embodiment of the present invention, where the present embodiment is applicable to a situation where a vehicle is driven to identify and process a crossing object in front of the vehicle to ensure safety of driving the vehicle, and the method may be implemented by an apparatus for identifying and processing the target object, where the apparatus may be implemented by software and/or hardware, and the apparatus may be integrated in an electronic device such as a controller of the vehicle, as shown in fig. 1, and the method specifically includes:
and step 110, acquiring a view field image of a transverse area in front of the vehicle.
Wherein, the vehicle often meets the object and crosses the road in the driving, causes the untimely condition of vehicle dodging. In the embodiment of the invention, the visual field image of the transverse area in front of the vehicle can be acquired to identify and process the object crossing the road, so as to prompt the driver of the vehicle to drive safely or assist the driver to drive intelligently and improve the driving safety of the vehicle.
In the embodiment of the present invention, the sight field image may be an image formed under a sight field in front of the vehicle, in which whether or not an object crosses the road can be recognized. Specifically, the vehicle may be equipped with a camera device, such as a camera, a radar detection device, or a vehicle event data recorder, and the camera device may acquire a view image at a certain view angle.
In an optional implementation of the embodiment of the present invention, acquiring a field-of-view image of a lateral region in front of a vehicle includes: a lateral area image is acquired as a field of view image when a vehicle camera in front of the vehicle has a field angle of at least 100 degrees.
In practical research, the inventor finds that when the field angle of the camera of the vehicle is 100 degrees, the field area range of the camera is enlarged, the effect of identifying the transverse area can be basically achieved, and the safety in vehicle driving can be ensured. Therefore, in the embodiment of the invention, the field angle of the vehicle camera can be adjusted to be greater than or equal to 100 degrees, so that the field image acquired by the camera can cover the transverse area in front of the vehicle, and the danger caused by the fact that the object crossing the road cannot be accurately identified is avoided.
And step 120, determining an interested area of the view image according to the view angle of the vehicle, and identifying the target object in the interested area.
In the embodiment of the invention, the view angle of the vehicle is increased due to the need to identify the lateral region in front of the vehicle. Specifically, the field angle of the vehicle camera may be increased to increase the field angle of the vehicle. When the view angle of the vehicle is increased, the area of the view image becomes large, and the object becomes large. If the recognition processing is performed on all the regions and all the objects in the sight field image, the amount of calculation increases, and the power consumption and cost of the object recognition processing increase.
Based on this, in the embodiment of the present invention, the region of interest may be defined in the sight field image according to the sight field angle of the vehicle, and the object in the region of interest may be identified. Wherein the region of interest may be one or more. For example, depending on the view angle of the vehicle, there may be a region that affects the driving safety of the vehicle only in the lateral direction and a region that affects the driving safety of the vehicle in both the lateral and longitudinal directions in the view image. In this case, the region affecting the driving safety of the vehicle only in the lateral direction, and the region affecting the driving safety of the vehicle in both the lateral direction and the longitudinal direction may be regarded as different regions of interest. The target object may be different in different regions of interest. For example, the target object only in the region that laterally affects the driving safety of the vehicle may be an object that laterally affects the driving safety of the vehicle; the target object in the region that affects the driving safety of the vehicle in both the lateral direction and the longitudinal direction may be an object that affects the driving safety of the vehicle in the lateral direction and/or the longitudinal direction.
Specifically, in an optional implementation manner of the embodiment of the present invention, determining a region of interest of a field-of-view image according to a field-of-view angle of a vehicle, and identifying a target object in the region of interest includes: according to the view angle of the vehicle, taking a region in which the object moves transversely in the view image as a first region of interest, and taking a region in which the object moves longitudinally as a second region of interest; a first target object is identified in the first region of interest and a second target object is identified in the second region of interest.
The object lateral movement region may be a movement region of the object when the object traverses the road. For example, the object lateral movement area may be a zebra crossing and an area around the zebra crossing. The object longitudinal movement region may be a region moving in the same direction as the vehicle. For example, the object longitudinal movement region may be a straight front and a straight front surrounding region. The first target object may be an object having a traversing behavior, and the second target object may be an object having a traversing behavior as well as a longitudinal moving behavior.
More specifically, in an optional implementation manner of the embodiment of the present invention, taking a region in which an object in the sight field image moves laterally as a first region of interest and taking a region in which the object moves longitudinally as a second region of interest according to a sight field angle of the vehicle includes: taking a transverse area when the field angle of the vehicle camera in the view image is less than or equal to 52 degrees as a second region of interest; and taking the remaining area of the second interested area in the sight field image as the first interested area.
However, the inventors found out in actual research that the region corresponding to the vehicle camera viewing angle of 52 degrees or less is generally an object that moves in the longitudinal direction of the vehicle. When the vehicle camera angle of view is greater than 52 degrees, the vehicle camera usually contains a transversely moving object or has an object moving transversely and longitudinally. Therefore, in the embodiment of the present invention, the region-of-interest division is performed on the field-of-view image by the camera field angle 52 degrees. Specifically, fig. 2 is a schematic diagram of a region of interest according to an embodiment of the present invention. As shown in fig. 2, the sight field image may be divided into a region a, a region b, and a region c according to the sight field angle of the vehicle. Wherein, the outer boundary of the area a and the area c can be the boundary of the visual field range of the camera installed on the vehicle; the inner boundaries of the area a and the area c may be the view field range boundary when the vehicle camera view angle is 52 degrees; the inner boundaries of the regions a and c are inward to constitute a region b. The region b is a transverse region when the vehicle camera field angle is equal to or less than 52 degrees in the field-of-view image, that is, corresponds to the second region of interest. The region a and the region c are the remaining regions of the sight field image excluding the second region of interest, i.e., correspond to the first region of interest.
In an alternative implementation of the embodiment of the invention, the first target object comprises: pedestrians, two-wheeled vehicles, three-wheeled vehicles, and pets; a second target object comprising: pedestrians, two-wheeled vehicles, three-wheeled vehicles, pets, and vehicles with more than three wheels.
As shown in fig. 2, the object generally moves from area a, area b, and then area c; or the road is traversed by moving from the area c to the area b and then to the area b. Objects that typically traverse the road are pedestrians, two-wheeled vehicles, three-wheeled vehicles, and pets. Thus, in embodiments of the present invention, the first target object may be an object that traverses a road, such as a pedestrian, a two-wheeled vehicle, a three-wheeled vehicle, and a pet. As shown in fig. 2, the object is generally moved from area a to area b, or from area c to area b to realize transverse-to-longitudinal movement; alternatively, the longitudinal movement is performed in the region b. Therefore, the objects in the area b can move transversely or longitudinally, and in order to ensure the safety of vehicle driving, the objects moving transversely or longitudinally in the area b are identified. Therefore, in the embodiment of the present invention, the second target object may be an object that moves laterally or moves longitudinally, such as a pedestrian, a two-wheeled vehicle, a three-wheeled vehicle, a pet, and a vehicle with more than three wheels.
And step 130, determining the movement data of the target object according to the position information of the vehicle and the target object, and outputting the movement data.
The movement data may be data that may affect the driving safety of the vehicle by the target object. For example, the movement data may include distance information, velocity information, and the like. The manner of determining the movement data may be various, for example, the movement data may be calculated according to the position information and the time information, or may be obtained by a speed detection device, and the like, which is not particularly limited in the embodiment of the present invention.
In an optional implementation manner of the embodiment of the present invention, determining movement data of a target object according to position information of a vehicle and the target object, and outputting the movement data includes: determining movement data of a first target object in the first region of interest according to the position information of the vehicle and the target object; and determining the movement data of the second target object in the second region of interest according to the position information of the vehicle and the target object.
The first target object in the first region of interest needs to be identified and determined with movement data, and objects other than the first target object in the first region of interest, such as a car or a truck, can be tracked only without determining the movement data, so that the amount of data required to be calculated can be reduced, and the effects of saving energy and cost are achieved. The movement data of the second target object in the second region of interest can be determined, and the safety of vehicle driving is guaranteed.
In an optional implementation of the embodiment of the present invention, the mobile data includes at least one of: the object type, the longitudinal distance of the target object from the vehicle, the lateral distance of the target object from the vehicle, the longitudinal velocity, the lateral velocity, the longitudinal acceleration, and the lateral acceleration.
The target object may be subjected to target perception training in advance, so that the camera or a controller in the vehicle can recognize and classify the relevant target, and determine the object type. The longitudinal distance and the transverse distance may be determined according to the view field image or may be determined according to the distance detection device, which is not limited in the embodiment of the present invention. The longitudinal velocity and the lateral velocity may be calculated in real time based on the distance information and the time information. The longitudinal acceleration and the lateral acceleration may be calculated in real time based on the speed information and the time information.
According to the technical scheme of the embodiment, the view images of the front transverse area of the vehicle are acquired; determining an interested area of the sight field image according to the sight field angle of the vehicle, and identifying a target object in the interested area; according to the position information of the vehicle and the target object, the movement data of the target object is determined, and the movement data is output, so that the safety problem of vehicle driving is solved, the object in the region of interest in front of the vehicle is identified in a targeted manner, the area of identification can be reduced, the calculated amount is reduced, and the resource is saved.
Fig. 3 is a flowchart of a target object identification processing method according to another embodiment of the present invention. As shown in fig. 3, a specific using process of the embodiment of the present invention may be: and carrying out target perception training on the target object so that the camera can identify targets such as automobiles, trucks, motorcycles, pedestrians and the like. A lateral region in front of the vehicle is divided into regions. Specifically, according to the region of interest shown in fig. 2, the lateral region in front of the vehicle may be divided into a region a, a region b, and a region c according to the field of view boundary of the camera and the field of view boundary of 52 degrees. And identifying and processing information of different target objects aiming at different visual field areas. Specifically, the target objects recognized in the area a, the area b, and the area c are classified into, for example, an automobile, a truck, a two-wheel vehicle, a pedestrian, and the like. In the area a and the area c, only the information on the two-wheeled vehicle and the pedestrian may be focused, and only the distance and the speed between the two-wheeled vehicle and the pedestrian may be calculated. Specifically, the object type, longitudinal distance, lateral distance, longitudinal speed, lateral speed, longitudinal acceleration, and lateral acceleration of the two-wheeled vehicle and the pedestrian in the region a and the region c can be determined. For the cars, trucks, and the like in the area a and the area c, the information such as the distance and the speed are calculated after the cars, trucks, and the like are cut into the area b, while only the continuous tracking is performed without calculating and outputting the specific information. The information of the objects in the area b has an influence on the driving safety of the vehicle, and the related information such as the distance and the speed can be calculated for the objects such as the automobile, the truck, the two-wheel vehicle and the pedestrian in the area b. And finally, the calculated information such as the distance, the speed and the like can be output, and a driver is prompted to drive safely. Wherein, in the area a and the area c, only the information related to the two-wheel vehicle and the pedestrian can be output; in the region b, all information on the automobile, the truck, the two-wheeled vehicle, and the pedestrian can be output. The effects of different target identification and information processing aiming at different linguistics can be achieved, and computing resources can be saved.
Fig. 4 is a schematic structural diagram of a target object recognition processing apparatus according to an embodiment of the present invention. With reference to fig. 4, the apparatus comprises: a field-of-view image acquisition module 410, a target object recognition module 420, and a movement data output module 430. Wherein:
a sight field image acquisition module 410 for acquiring a sight field image of a transverse region in front of the vehicle;
a target object identification module 420 for determining a region of interest of the sight field image according to the sight field angle of the vehicle and identifying a target object in the region of interest;
and a movement data output module 430, configured to determine movement data of the target object according to the position information of the vehicle and the target object, and output the movement data.
Optionally, the target object identification module 420 includes:
a region-of-interest determining unit configured to take a region in which the object moves laterally in the sight field image as a first region of interest and a region in which the object moves longitudinally as a second region of interest, according to a sight field angle of the vehicle;
and the target object identification unit is used for identifying a first target object in the first interested area and identifying a second target object in the second interested area.
Optionally, the region of interest determining unit includes:
the second region-of-interest determining subunit is used for taking a transverse region of the view angle of the vehicle camera in the view image which is smaller than or equal to 52 degrees as a second region-of-interest;
and the first region-of-interest determining subunit is used for removing the residual region of the second region-of-interest in the view field image as the first region-of-interest.
Optionally, the first target object includes: pedestrians, two-wheeled vehicles, three-wheeled vehicles, and pets;
a second target object comprising: pedestrians, two-wheeled vehicles, three-wheeled vehicles, pets, and vehicles with more than three wheels.
Optionally, the mobile data output module 430 includes:
a first movement data determination unit for determining movement data of a first target object in a first region of interest based on the position information of the vehicle and the target object;
and the second movement data determining unit is used for determining the movement data of a second target object in the second region of interest according to the position information of the vehicle and the target object.
Optionally, the mobile data includes at least one of: the object type, the longitudinal distance of the target object from the vehicle, the lateral distance of the target object from the vehicle, the longitudinal velocity, the lateral velocity, the longitudinal acceleration, and the lateral acceleration.
Optionally, the visual field image acquiring module 410 includes:
and a visual field image acquisition unit for acquiring a lateral region image when a vehicle camera in front of the vehicle has a visual field angle of at least 100 degrees as a visual field image.
The target object identification processing device provided by the embodiment of the invention can execute the target object identification processing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 5, the electronic device includes:
one or more processors 510, one processor 510 being illustrated in FIG. 5;
a memory 520;
the apparatus may further include: an input device 530 and an output device 540.
The processor 510, the memory 520, the input device 530 and the output device 540 of the apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 5.
The memory 520, which is a non-transitory computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to a target object identification processing method according to an embodiment of the present invention (for example, the visual field image acquisition module 410, the target object identification module 420, and the movement data output module 430 shown in fig. 4). The processor 510 executes various functional applications and data processing of the computer device by executing the software programs, instructions and modules stored in the memory 520, namely, implementing the identification processing method of the target object of the above method embodiment, namely:
acquiring a view field image of a transverse area in front of a vehicle;
determining an interested area of the sight field image according to the sight field angle of the vehicle, and identifying a target object in the interested area;
and determining the movement data of the target object according to the position information of the vehicle and the target object, and outputting the movement data.
The memory 520 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 520 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 520 may optionally include memory located remotely from processor 510, which may be connected to a terminal device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 530 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus. The output device 540 may include a display device such as a display screen.
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a target object identification processing method according to an embodiment of the present invention:
acquiring a view field image of a transverse area in front of a vehicle;
determining an interested area of the sight field image according to the sight field angle of the vehicle, and identifying a target object in the interested area;
and determining the movement data of the target object according to the position information of the vehicle and the target object, and outputting the movement data.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, 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), an optical fiber, 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 context of this document, 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.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for identifying and processing a target object, the method comprising:
acquiring a view field image of a transverse area in front of a vehicle;
determining an interested area of the sight field image according to the sight field angle of the vehicle, and identifying a target object in the interested area;
and determining the movement data of the target object according to the position information of the vehicle and the target object, and outputting the movement data.
2. The method of claim 1, wherein determining a region of interest of the field of view image and identifying a target object in the region of interest based on a field of view angle of a vehicle comprises:
according to the view angle of the vehicle, taking a region of the view image in which the object moves transversely as a first region of interest, and taking a region of the view image in which the object moves longitudinally as a second region of interest;
a first target object is identified in the first region of interest and a second target object is identified in the second region of interest.
3. The method according to claim 2, wherein regarding a region in which the object moves laterally in the sight field image as a first region of interest and regarding a region in which the object moves longitudinally as a second region of interest, according to a sight field angle of the vehicle, comprises:
taking a transverse area of the view field angle of the vehicle camera in the view field image smaller than or equal to 52 degrees as the second region of interest;
and taking the remaining area of the second region of interest in the sight field image as the first region of interest.
4. The method of claim 3, wherein the first target object comprises: pedestrians, two-wheeled vehicles, three-wheeled vehicles, and pets;
the second target object, comprising: pedestrians, two-wheeled vehicles, three-wheeled vehicles, pets, and vehicles with more than three wheels.
5. The method according to claim 3, wherein determining movement data of the target object based on position information of a vehicle and the target object, and outputting the movement data comprises:
determining movement data of the first target object in the first region of interest according to position information of a vehicle and the target object;
and determining the movement data of the second target object in the second region of interest according to the position information of the vehicle and the target object.
6. The method of claim 1, wherein the mobility data comprises at least one of: an object type, a longitudinal distance of the target object from the vehicle, a lateral distance of the target object from the vehicle, a longitudinal velocity, a lateral velocity, a longitudinal acceleration, and a lateral acceleration.
7. The method according to any one of claims 1-6, wherein acquiring the field-of-view image of the lateral region in front of the vehicle comprises:
and acquiring a transverse area image when the field angle of a vehicle camera in front of the vehicle is at least 100 degrees as the field image.
8. An apparatus for recognizing and processing a target object, comprising:
the visual field image acquisition module is used for acquiring a visual field image of a transverse area in front of the vehicle;
the target object identification module is used for determining an interested area of the sight image according to the sight angle of the vehicle and identifying a target object in the interested area;
and the mobile data output module is used for determining the mobile data of the target object according to the position information of the vehicle and the target object and outputting the mobile data.
9. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
Priority Applications (1)
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