CN114926982A

CN114926982A - Method, system, device, equipment and medium for detecting occupied road

Info

Publication number: CN114926982A
Application number: CN202210507196.8A
Authority: CN
Inventors: 戴虎; 朱江
Original assignee: Shanghai Goldway Intelligent Transportation System Co Ltd
Current assignee: Shanghai Goldway Intelligent Transportation System Co Ltd
Priority date: 2022-05-10
Filing date: 2022-05-10
Publication date: 2022-08-19
Anticipated expiration: 2042-05-10
Also published as: CN114926982B

Abstract

The embodiment of the application provides a lane occupation detection method, a system, a device, equipment and a medium, which relate to the technical field of data processing and comprise the following steps: acquiring images of passing vehicles, identifying license plate numbers and position information of the vehicles in the acquired images, determining lane types corresponding to the identified position information, and obtaining a second corresponding relation between different license plate numbers and the lane types of lanes where the corresponding vehicles are located; after receiving the target license plate number of the target vehicle sent by the vehicle-mounted processing equipment through the short-distance wireless communication technology, searching the lane type corresponding to the target license plate number from the second corresponding relation, and sending the searched lane type to the vehicle-mounted processing equipment through the short-distance wireless communication technology, so that the vehicle-mounted processing equipment detects whether a lane occupying vehicle occupying a special lane exists in front of and behind the target vehicle under the condition that the lane type is a special lane. By applying the scheme provided by the embodiment of the application, the accuracy of the road occupation detection can be improved.

Description

Method, system, device, equipment and medium for detecting occupied road

Technical Field

The present application relates to the field of data processing technologies, and in particular, to a lane occupation detection method, system, device, apparatus, and medium.

Background

In the field of transportation, in order to facilitate the operation of some special vehicles, special lanes are usually constructed, and the special lanes are only used for the running of the special vehicles. For example, a bus lane is often built in a city, and only buses run on the bus lane at the commuting peak. However, as the number of automobiles rapidly increases, the phenomenon that the general vehicles occupy the exclusive lanes becomes more and more serious. In order to ensure the normal operation of the vehicle, the road occupation detection is required to be carried out on the road so as to realize the detection of the phenomenon that the common vehicle occupies the special road.

In the related art, an electric police or a traffic intersection or a traffic lane is generally deployed with an electric police or a traffic lane camera, the electric police or the traffic lane camera collects images of the traffic intersection or the traffic lane, and whether a common vehicle runs on a special lane is detected based on the images, so as to realize lane occupation detection.

Then, because the number of automobiles is large, the traffic road is complex, the fixed electric police or bayonet cameras are difficult to detect the occupied road of the complete road section, the detection range is small, and the accuracy of the occupied road detection is low.

Disclosure of Invention

An object of the embodiments of the present application is to provide a method, a system, a device, an apparatus, and a medium for lane occupancy detection, so as to improve accuracy of lane occupancy detection. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present application provides a lane occupation detection method, where the method is applied to: erect in the peripheral hardware camera of roadside, include:

acquiring images of passing vehicles, identifying license plate numbers and position information of the vehicles in the acquired images, determining lane types corresponding to the identified position information based on a first corresponding relationship between a pre-configured position and a lane, and obtaining a second corresponding relationship between different license plate numbers and the lane types of the lanes where the corresponding vehicles are located;

after receiving a target license plate number of a target vehicle sent by vehicle-mounted processing equipment through a short-distance wireless communication technology, searching a lane type corresponding to the target license plate number from the second corresponding relation, and sending the searched lane type to the vehicle-mounted processing equipment through the short-distance wireless communication technology, so that the vehicle-mounted processing equipment detects whether a lane occupying vehicle occupying a special lane exists in the front and the rear of the target vehicle under the condition that the lane type is the special lane.

In one embodiment of the present application, the peripheral camera includes: a bayonet electric police camera deployed at the roadside.

In a second aspect, an embodiment of the present application provides a lane occupation detection method, where the method is applied to a vehicle-mounted processing device, and includes:

sending a target license plate number of a target vehicle to which the vehicle-mounted processing equipment belongs to a peripheral camera erected on a roadside through a short-distance wireless communication technology, wherein the peripheral camera is used for: determining the lane type of the lane where the target vehicle is located based on the position information of the target vehicle to which the target license plate number belongs in the acquired image and a first preset corresponding relation, wherein the first corresponding relation is as follows: the corresponding relation between the position of the lane where the vehicle is located and the lane type of the lane;

receiving the lane type sent by the peripheral camera through the short-distance wireless communication technology;

and under the condition that the lane type is a special lane, detecting whether a lane occupying vehicle occupying the special lane exists in the front and the rear of the target vehicle.

In an embodiment of the application, in a case that the lane type is a dedicated lane, detecting whether there is a lane occupying vehicle occupying the dedicated lane in front of and behind the target vehicle includes:

detecting lane change information of the target vehicle, wherein the lane change information is used for reflecting whether the vehicle changes lanes or not;

re-determining the lane type of the lane where the target vehicle is located at present according to the lane change information and the received lane type;

and detecting whether a lane occupying vehicle occupying the special lane exists in front of and behind the target vehicle or not in the case that the determined lane type is the special lane.

In an embodiment of the application, the detecting lane change information of the target vehicle includes:

obtaining a lane image of a lane where the target vehicle is located;

detecting change information of a front lane line in the lane image, and determining lane change information of the target vehicle based on the change information, wherein the change information includes: lane line endpoint change information and/or lane line inclination angle change information.

In one embodiment of the application, the lane change information is further used for reflecting whether the vehicle changes lane to the left or to the right;

the detecting of the change information of the lane line in the lane image and the determining of the lane change information of the target vehicle based on the change information include:

under the condition that it is detected that the change information of the front lane line in the lane image meets a left lane changing condition, determining that the lane changing information of the target vehicle is left lane changing, wherein the left lane changing condition comprises: the lane line end point of the front lane line moves rightwards, and/or the inclination angle of the left lane line in the front lane line is changed from right inclination to left inclination;

determining that lane change information of the target vehicle is a right lane change in the case of detecting that change information of a front lane line in the lane image satisfies a right lane change condition, wherein the right lane change condition includes: the lane line end point of the front lane line moves leftwards, and/or the inclination angle of the right lane line in the front lane line changes from left inclination to right inclination.

In an embodiment of the present application, in a case where the lane type transmitted by the peripheral camera is not received, the method further includes:

obtaining other lane information, wherein the other lane information includes: lane positioning information determined based on the positioning information of the target vehicle, and/or lane color information obtained by performing lane recognition based on the colors of lane lines on two sides of the target vehicle in an image of a lane in which the target vehicle is located;

determining the lane type of the lane in which the target vehicle is located based on the other lane information;

In an embodiment of the application, the sending, by a short-distance wireless communication technology, a target license plate number of a target vehicle to which the vehicle-mounted processing device belongs to a peripheral camera erected at a roadside includes:

obtaining positioning information of a target vehicle to which the vehicle-mounted processing equipment belongs, and judging whether a special lane exists in a road section where the target vehicle is located based on the positioning information;

and if so, sending the target license plate number of the target vehicle to an external camera erected at the roadside through a short-distance wireless communication technology.

In a third aspect, an embodiment of the present application provides a lane occupancy detection system, where the system includes: vehicle-mounted processing equipment, erect the peripheral hardware camera of roadside, wherein:

the peripheral camera is to: acquiring images of passing vehicles, identifying license plate numbers and position information of the vehicles in the acquired images, determining lane types corresponding to the identified position information based on a first corresponding relationship between a preset position and a lane, and obtaining a second corresponding relationship between different license plate numbers and the lane types of the lane where the corresponding vehicles are located;

the on-board processing device is configured to: sending a target license plate number of a target vehicle to which the vehicle-mounted processing equipment belongs to a peripheral camera erected at the roadside through a short-distance wireless communication technology;

the peripheral camera is further to: after the target license plate number is received through the short-distance wireless communication technology, the lane type corresponding to the target license plate number is searched from the second corresponding relation, and the searched lane type is sent to the vehicle-mounted processing equipment through the short-distance wireless communication technology;

the on-board processing device is further configured to: and receiving the lane type through the short-distance wireless communication technology, and detecting whether a lane occupying vehicle occupying the special lane exists in the front and rear of the target vehicle or not under the condition that the lane type is a special lane.

In a fourth aspect, an embodiment of the present application provides a lane occupancy detection apparatus, where the apparatus is disposed in: erect in peripheral hardware camera of roadside, include:

the image acquisition module is used for acquiring images of passing vehicles, identifying license plate numbers and position information of the vehicles in the acquired images, determining lane types corresponding to the identified position information based on a first corresponding relation between a preset position and a lane, and obtaining a second corresponding relation between different license plate numbers and the lane types of the lane where the corresponding vehicles are located;

the type detection module is used for searching the lane type corresponding to the target license plate number from the second corresponding relation after receiving the target license plate number of the target vehicle sent by the vehicle-mounted processing equipment through a short-distance wireless communication technology, and sending the searched lane type to the vehicle-mounted processing equipment through the short-distance wireless communication technology, so that the vehicle-mounted processing equipment detects whether a lane occupying vehicle occupying the special lane exists in the front and the rear of the target vehicle under the condition that the lane type is the special lane.

In a fifth aspect, an embodiment of the present application provides a lane occupation detection apparatus, where the apparatus is disposed in a vehicle-mounted processing device, and the apparatus includes:

the license plate number sending module is used for sending a target license plate number of a target vehicle to which the vehicle-mounted processing equipment belongs to an external camera erected on the road side through a short-distance wireless communication technology, wherein the external camera is used for: determining the lane type of the lane where the target vehicle is located based on the position information of the target vehicle to which the target license plate number belongs in the acquired image and a first preset corresponding relation, wherein the first corresponding relation is as follows: the corresponding relation between the position of the lane where the vehicle is located and the lane type of the lane;

the type receiving module is used for receiving the lane type sent by the peripheral camera through the short-distance wireless communication technology;

and the lane occupying detection module is used for detecting whether a lane occupying vehicle occupying the special lane exists in the front and the rear of the target vehicle or not under the condition that the lane type is the special lane.

In an embodiment of the present application, the lane occupancy detection module includes:

the lane change detection unit is used for detecting lane change information of the target vehicle, wherein the lane change information is used for reflecting whether the vehicle changes lanes or not;

the type determining unit is used for re-determining the lane type of the lane where the target vehicle is located at present according to the lane change information and the received lane type;

and the occupied lane detection unit is used for detecting whether a occupied lane vehicle occupying the special lane exists in the front and the rear of the target vehicle or not under the condition that the determined lane type is the special lane.

In an embodiment of the present application, the lane change detection unit includes:

the image obtaining subunit is used for obtaining a lane image of a lane where the target vehicle is located;

a lane change detection subunit configured to detect change information of a lane line ahead in the lane image, and determine lane change information of the target vehicle based on the change information, wherein the change information includes: lane line endpoint change information and/or lane line inclination angle change information.

In one embodiment of the application, the lane change information is further used for reflecting whether the vehicle changes a lane to the left or to the right;

the lane change detection subunit is specifically configured to:

In one embodiment of the present application, the apparatus further comprises a backup detection module configured to:

under the condition that the lane type sent by the peripheral camera is not received, obtaining other lane information, wherein the other lane information comprises: lane positioning information determined based on the positioning information of the target vehicle, and/or lane color information obtained by performing lane recognition based on the colors of lane lines on two sides of the target vehicle in an image of a lane in which the target vehicle is located;

In an embodiment of the application, the license plate number sending module is specifically configured to:

In a sixth aspect, an embodiment of the present application provides an electronic device, which includes a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any one of the first or second aspects when executing a program stored in the memory.

In a seventh aspect, this application provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method steps of any one of the first aspect or the second aspect.

Embodiments of the present application further provide a computer program product containing instructions, which when run on a computer, cause the computer to perform any of the above-mentioned methods of lane occupancy detection.

The embodiment of the application has the following beneficial effects:

in the lane occupation detection scheme provided by the embodiment of the application, the external camera erected on the road side can acquire images of passing vehicles, identify license plates and position information of the vehicles in the acquired images, determine lane types corresponding to the identified position information based on a first corresponding relationship between a pre-configured position and a lane, and obtain second corresponding relationships between different license plates and the lane types of the lane where the corresponding vehicles are located; after receiving the target license plate number of the target vehicle sent by the vehicle-mounted processing equipment through the short-distance wireless communication technology, searching the lane type corresponding to the target license plate number from the second corresponding relation, and sending the searched lane type to the vehicle-mounted processing equipment through the short-distance wireless communication technology, so that the vehicle-mounted processing equipment detects whether a lane occupying vehicle occupying a special lane exists in front of and behind the target vehicle under the condition that the lane type is a special lane. The type of the lane where the target vehicle is located can be obtained by the aid of the peripheral camera, and when the target vehicle is located in the special lane, the vehicle-mounted processing device on the target vehicle detects whether other vehicles occupying the special lane exist in front of and behind the target vehicle, so that the target vehicle can perform lane occupation detection, and the coverage range of the lane occupation detection can be enlarged by the aid of the target vehicle for performing the lane occupation detection due to the fact that the target vehicle is mobile. Therefore, the accuracy of the road occupation detection can be improved by applying the scheme provided by the embodiment of the application.

In addition, because the peripheral camera is usually fixed on the drive test, the position of the image where the special lane is located in the image acquired by the peripheral camera is fixed, in the scheme, the lane type of the lane where the target vehicle is located is determined from the preset corresponding relation between the position and the lane by using the position of the target vehicle in the image acquired by the peripheral camera, the accuracy of the obtained lane type is higher, and therefore the accuracy of lane occupation detection can be further improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is also obvious for a person skilled in the art to obtain other embodiments according to the drawings.

Fig. 1 is a schematic flowchart of a method for detecting a busy road according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of detecting a lane-occupied vehicle according to an embodiment of the present disclosure;

fig. 3 is a schematic flowchart of another method for detecting a busy road according to an embodiment of the present disclosure;

fig. 4 is a schematic flowchart of another method for detecting a busy road according to an embodiment of the present application;

5a-5c are schematic diagrams of a lane change process of a vehicle provided by an embodiment of the present application;

fig. 6 is a schematic structural diagram of an occupation detection system according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a road occupation detection apparatus according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of another occupancy detection apparatus according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the description herein are intended to be within the scope of the present disclosure.

In order to improve the accuracy of lane occupation detection, embodiments of the present application provide a lane occupation detection method, system, device, apparatus, and medium, which are described in detail below.

In an embodiment of the present application, a method for detecting a busy road is provided, where the method is applied to: the method comprises the following steps that a peripheral camera is erected on the roadside and can be an intelligent camera, and the method comprises the following steps:

acquiring images of passing vehicles, identifying license plate numbers and position information of the vehicles in the acquired images, determining lane types corresponding to the identified position information based on a first corresponding relationship between a preset position and a lane, and obtaining a second corresponding relationship between different license plate numbers and the lane types of the lane where the corresponding vehicles are located;

after the target license plate number of the target vehicle sent by the vehicle-mounted processing equipment is received through the short-distance wireless communication technology, the lane type corresponding to the target license plate number is searched from the second corresponding relation, and the searched lane type is sent to the vehicle-mounted processing equipment through the short-distance wireless communication technology, so that the vehicle-mounted processing equipment can detect whether the occupied vehicle occupying the special lane exists in front of and behind the target vehicle under the condition that the lane type is the special lane.

The type of the lane where the target vehicle is located can be obtained by the aid of the peripheral camera, and when the target vehicle is located in the special lane, the vehicle-mounted processing device on the target vehicle detects whether other vehicles occupying the special lane exist in front of and behind the target vehicle, so that the target vehicle can perform lane occupation detection, and the coverage range of the lane occupation detection can be enlarged by the aid of the target vehicle for performing the lane occupation detection due to the fact that the target vehicle is mobile. Therefore, the accuracy of the road occupation detection can be improved by applying the scheme provided by the embodiment of the application.

The following describes the lane occupancy detection method in detail.

Referring to fig. 1, fig. 1 is a schematic flow chart of a method for detecting a busy road according to an embodiment of the present application, where the method includes the following steps S101 to S102:

s101, collecting images of passing vehicles, identifying license plate numbers and position information of the vehicles in the collected images, determining lane types corresponding to the identified position information based on a first corresponding relationship between a preset position and a lane, and obtaining a second corresponding relationship between different license plate numbers and the lane types of the lanes where the corresponding vehicles are located.

The external camera rack is arranged on the road side and can be erected at a bayonet, a road junction, a cross road and the like.

The position information may be at least one of the following information: the vehicle image position of the vehicle in the image, the lane image position of the lane where the vehicle is located in the image, lane marks representing the lane image positions, and the like. Taking the position information as a lane image position as an example, the position information may be a middle lane, a leftmost lane, a rightmost lane, and the like; taking the above position information as a lane marker as an example, assuming that the lane image position of the lane in which the vehicle is located in the image is the leftmost lane and the lane marker of the leftmost lane is 001, the recognized position information of the vehicle is 001.

The lane types include: the special lane and the non-special lane, the special lane refers to: a lane dedicated by the target vehicle.

The target vehicle may be a public transportation vehicle such as a bus, a school bus, a bus, etc., or may be a government-dedicated vehicle such as a police car, an ambulance, a fire truck, etc., in addition to the public transportation vehicle.

For example, in the case where the target vehicle is a bus, the exclusive lane is a bus lane; and under the condition that the target vehicle is a rescue vehicle, the special lane is an emergency lane.

The first correspondence relationship is a preset correspondence relationship between the position of the vehicle in the image and the lane type of the lane where the vehicle is located. Taking the above-mentioned position information as the lane mark of the lane where the vehicle is located as an example, assuming that the lane mark of the rightmost lane is 03Y and the lane type of the rightmost lane is a dedicated lane, the first correspondence relationship includes a correspondence relationship between 03Y and the dedicated lane.

Specifically, the external camera is arranged on the road side, can acquire images of vehicles passing through a road section, and then identifies license plate numbers and position information of the vehicles in the images, and is pre-configured with a first corresponding relationship, wherein the first corresponding relationship is as follows: after the position information of the vehicle is identified, the lane type corresponding to the position information of the vehicle in the first corresponding relationship can be inquired as the lane type of the lane where the vehicle is located, and then the external camera can establish the corresponding relationship between the license plate number of the vehicle and the lane type of the lane where the vehicle is located as the second corresponding relationship.

In the above scheme, since the positions of the peripheral cameras are usually fixed, the positional relationship between the peripheral cameras and different lanes in the road is fixed, and further, in the images collected by the peripheral cameras, the relationship between different image positions and different lane positions is also fixed, so that the corresponding relationship between different image positions and different lane types is also fixed, that is, the first corresponding relationship is fixed, so that the type of the lane where the vehicle is located is determined according to the position information of the vehicle in the images by using the first corresponding relationship, and the accuracy of the obtained lane type is higher.

In one embodiment of the application, when recognizing the license plate number and the position information of the vehicle, the peripheral camera can input the acquired image into a vehicle recognition model which is trained in advance to obtain the license plate number and the position information output by the vehicle recognition model.

In addition, the semantic features of the image can be extracted by using a preset edge detection algorithm, and the license plate number and the position information of the vehicle in the image can be identified based on the semantic features.

In an embodiment of the present application, the second corresponding relationship may be stored in the peripheral camera for a long time, or a preset number of second corresponding relationships may be stored in a first-in first-out manner, where the preset number may be 20, 30, 50, and the like.

In addition, the cache duration of each second corresponding relationship may be preset to be a preset duration, where the preset duration may be 1 minute, 3 minutes, 10 minutes, and the like, and for each second corresponding relationship, when the cache duration of the second corresponding relationship reaches the preset duration, the second corresponding relationship may be deleted.

S102, after receiving the target license plate number of the target vehicle sent by the vehicle-mounted processing equipment through the short-distance wireless communication technology, searching the lane type corresponding to the target license plate number from the second corresponding relation, and sending the searched lane type to the vehicle-mounted processing equipment through the short-distance wireless communication technology, so that the vehicle-mounted processing equipment detects whether the lane occupying vehicle occupying the special lane exists in front of and behind the target vehicle under the condition that the lane type is the special lane.

Wherein, the above-mentioned vehicle-mounted processing device may be: electronic devices such as a vehicle-mounted central controller, a vehicle-mounted camera, and a vehicle-mounted NVR (Network Video Recorder).

The short-range wireless communication technology includes at least one of the following technologies: bluetooth, WiFi (Wireless local area network), IRDA (Infrared Data Association), ZigBee (violet peak protocol transmission), UWB (ultra wide band), NFC (Near Field Communication), WiMedia (general radio transmission), GPS (Global Positioning System) transmission, DECT (Digital Enhanced radio Communication), or other dedicated Wireless transmission systems.

Specifically, after a target vehicle enters a communication range of an external camera, a vehicle-mounted processing device deployed in the target vehicle can send a target license plate number of the target vehicle to the external camera through a short-distance wireless communication technology, correspondingly, the external camera can receive the target license plate number through the short-distance wireless communication technology, then searches a lane type corresponding to the target license plate number from a second corresponding relation established by the external camera, and sends the searched lane type to the vehicle-mounted processing device of the target vehicle through the short-distance wireless communication technology;

the vehicle-mounted processing device may receive the lane type sent by the peripheral camera as the lane type of the lane where the target vehicle is located, and then determine whether the lane type is a dedicated lane, and in a case that the lane type is determined to be the dedicated lane, may detect whether there is another vehicle in front of and/or behind the lane where the target vehicle is located, and if so, considers that the another vehicle occupies the dedicated lane, and thus may determine the another vehicle as a lane occupying vehicle, where the another vehicle is: the vehicle prohibited from traveling on the exclusive lane may be, for example, a private car, a tricycle, a van, or the like. Therefore, data interaction is carried out between the vehicle-mounted processing equipment and the peripheral camera by using a short-distance wireless communication technology, so that the data transmission cost can be saved, and the power consumption of the equipment can be reduced.

For example, referring to fig. 2, fig. 2 is a schematic diagram of detecting a lane occupied vehicle according to an embodiment of the present application, where the target vehicle shown in fig. 2 is a bus, a lane executed by the bus is marked with a "bus exclusive" sign, it can be seen that the lane is an exclusive lane, and it is detected that there is a common passenger car in front of the target vehicle to occupy the exclusive lane, so that it can be determined that the car is a lane occupied vehicle.

In one embodiment of the application, when detecting whether a vehicle occupying the lane exists in front of and behind a target vehicle, images of the front of and behind the vehicle can be obtained, whether other vehicles exist in front of and behind a lane where the target vehicle is located can be identified from the images, and if the other vehicles exist, the identified other vehicles can be used as the vehicle occupying the lane.

In one embodiment of the application, whether other vehicles which occupy the special lane and have the duration reaching the preset lane occupying duration exist in front of and behind the target vehicle can be detected, and if the other vehicles exist, the detected other vehicles are used as the lane occupying vehicles.

Wherein, the occupying time can be 30 seconds, 1 minute, 2 minutes and the like.

Specifically, when the duration that other vehicles are located in front of and behind the lane where the target vehicle is located reaches the lane occupying duration, the target vehicle is determined as the lane occupying vehicle, so that misjudgment caused by the fact that other vehicles temporarily occupy a special lane can be avoided, and the accuracy of lane occupying detection is improved.

In one embodiment of the present application, a peripheral camera includes: a bayonet electric police camera deployed at the roadside.

Therefore, the deployed bayonet electric alarm cameras can be reused for collecting images of passing vehicles, the license plate numbers of the vehicles and the lane types of the lanes where the vehicles are located are detected by using the bayonet electric alarm cameras, and new cameras do not need to be deployed additionally, so that equipment resources are saved.

In the lane occupation detection scheme provided by the embodiment, the external camera erected at the roadside can acquire an image of a passing vehicle, identify the license plate number and the position information of the vehicle in the acquired image, determine the lane type corresponding to the identified position information based on a first corresponding relationship between a pre-configured position and a lane, and obtain a second corresponding relationship between different license plates and the lane type of the lane where the corresponding vehicle is located; after receiving the target license plate number of the target vehicle sent by the vehicle-mounted processing equipment through the short-distance wireless communication technology, searching the lane type corresponding to the target license plate number from the second corresponding relation, and sending the searched lane type to the vehicle-mounted processing equipment through the short-distance wireless communication technology, so that the vehicle-mounted processing equipment detects whether a lane occupying vehicle occupying a special lane exists in front of and behind the target vehicle under the condition that the lane type is a special lane. The type of the lane where the target vehicle is located can be obtained by the aid of the peripheral camera, and when the target vehicle is located in the special lane, the vehicle-mounted processing device on the target vehicle detects whether other vehicles occupying the special lane exist in front of and behind the target vehicle, so that the target vehicle can perform lane occupation detection, and the coverage range of the lane occupation detection can be enlarged by the aid of the target vehicle for performing the lane occupation detection due to the fact that the target vehicle is mobile. Therefore, the accuracy of the occupation detection can be improved by applying the scheme provided by the embodiment.

In addition, because the peripheral cameras are usually fixed on the road test, the image positions of the special lanes in the images acquired by the peripheral cameras are fixed, in the scheme, the lane types of the lanes where the target vehicles are located are determined from the preset corresponding relation between the positions and the lanes by using the positions of the target vehicles in the images acquired by the peripheral cameras, the accuracy of the obtained lane types is higher, and therefore the accuracy of lane occupation detection can be further improved.

Corresponding to the lane occupation detection method applied to the peripheral camera side, the embodiment of the present application further provides a lane occupation detection method applied to the vehicle-mounted processing device side, which is described in detail below.

Referring to fig. 3, fig. 3 is a schematic flowchart of another method for detecting occupancy according to an embodiment of the present application, where the method is applied to a vehicle-mounted processing device, and the method includes the following steps S301 to S303:

s301, sending a target license plate number of a target vehicle to which the vehicle-mounted processing device belongs to a peripheral camera erected on the road side through a short-distance wireless communication technology.

Wherein the peripheral camera is to: determining the lane type of the lane where the target vehicle is located based on the position information of the target vehicle to which the target license plate number belongs in the acquired image and a first preset corresponding relation, wherein the first corresponding relation is as follows: the corresponding relation between the position of the lane where the vehicle is located and the lane type of the lane.

Specifically, the external camera is arranged on the road side, and can acquire images of vehicles passing through the road section, and then identify license plate numbers and position information of the vehicles in the images, and the external camera is configured with a first corresponding relationship in advance, wherein the first corresponding relationship is as follows: after the position information of the vehicle is identified, the lane type corresponding to the position information of the vehicle in the first corresponding relationship can be inquired and used as the lane type of the lane where the vehicle is located, and then the corresponding relationship between the license plate number of the vehicle and the lane type of the lane where the vehicle is located can be established by the external camera and used as a second corresponding relationship;

when the target vehicle enters the communication range of the peripheral camera, the vehicle-mounted processing equipment deployed in the target vehicle can send the target license plate number of the target vehicle to the peripheral camera through the short-distance wireless communication technology, and correspondingly, the peripheral camera can receive the target license plate number through the short-distance wireless communication technology.

In one embodiment of the application, when the target license plate number is sent to the external camera, the positioning information of the target vehicle to which the vehicle-mounted processing device belongs can be obtained, and whether a special lane exists in a road section where the target vehicle is located is judged based on the positioning information; and if so, sending the target license plate number of the target vehicle to an external camera erected at the roadside through a short-distance wireless communication technology.

The positioning information may be position information of the target vehicle obtained based on a vehicle-mounted positioning system, and the vehicle-mounted positioning system may be: a GPS (Global Positioning System), a beidou satellite Positioning System, a galileo Positioning System, and the like.

Specifically, the positioning information of the target vehicle can be obtained based on the vehicle-mounted positioning system, the road section where the target vehicle is located is determined according to the positioning information, whether a special lane exists in the road section can be further judged, if the special lane does not exist, it is indicated that the road occupying vehicle cannot exist in the road section where the current target vehicle runs, and therefore the target license plate number of the target vehicle does not need to be sent to an external camera;

if the number of the target license plate exists, the number of the target license plate of the target vehicle can be sent to the external camera in order to detect whether the current driving lane is a special lane or not and whether the occupied lane vehicle exists or not is detected subsequently.

And S302, receiving the lane type sent by the peripheral camera through a short-distance wireless communication technology.

Specifically, after receiving the target license plate number, the peripheral camera can search the lane type corresponding to the target license plate number from a second corresponding relationship established by the peripheral camera, and send the searched lane type to the vehicle-mounted processing equipment of the target vehicle through a short-distance wireless communication technology;

the vehicle-mounted processing device can receive the lane type sent by the peripheral camera as the lane type of the lane in which the target vehicle is located.

And S303, detecting whether a lane occupying vehicle occupying the special lane exists in front of and behind the target vehicle under the condition that the lane type is the special lane.

Specifically, the vehicle-mounted processing device in the target vehicle may determine whether the lane type of the lane where the target vehicle is located is a dedicated lane after receiving the lane type, may detect whether another vehicle exists in front of and/or behind the lane where the target vehicle is located in the case that the lane type is determined to be the dedicated lane, and if so, may determine that the other vehicle occupies the dedicated lane, and thus may determine the other vehicle as the occupied vehicle.

Referring to fig. 4, fig. 4 is a schematic flow chart of another occupancy detection method provided in the embodiment of the present application, and when performing the occupancy detection in step S303, the method may include the following steps S3031 to S3033:

s3031, lane change information of the target vehicle is detected.

Wherein, the lane change information is used for reflecting whether the vehicle changes lanes or not.

In one embodiment of the application, a lane image of a lane in which a target vehicle is located may be obtained; change information of a front lane line in the lane image is detected, and lane change information of the target vehicle is determined based on the change information.

Wherein the change information includes: lane line endpoint change information and/or lane line inclination angle change information.

The lane image may be an image captured by an onboard camera.

Specifically, a lane image of a lane in which the target vehicle is located may be obtained, and change information of a lane line of the lane in which the vehicle is located in the lane image may be detected, for example, change information of an end point of the lane line in the lane image may be detected, or change information of an inclination angle of the lane line in the lane image may be detected, and lane change information of the target vehicle may be determined according to the change information.

For example, referring to fig. 5a to 5c, fig. 5a to 5c are schematic diagrams of a vehicle lane change process provided by an embodiment of the present application, where fig. 5a is a schematic diagram before the vehicle lane change, fig. 5b is a schematic diagram in the vehicle lane change, and fig. 5c is a schematic diagram after the vehicle lane change, it can be seen that before the vehicle lane change, the positions of lane line end points of a lane where the vehicle is located and the lane line inclination angle are relatively stable; in the lane changing process of the vehicle, the positions of the lane line end points of the lane where the vehicle is located can move, and the inclination angle of the lane line can also change; after the vehicle finishes changing lanes, the endpoint position of the lane line of the lane where the vehicle is located and the inclination angle of the lane line can be greatly changed. In view of this, the lane change information of the target vehicle can be determined based on the change information of the lane line end point and/or the lane line inclination angle in the lane image.

In one embodiment of the present application, lane change information is also used to reflect whether the vehicle changes lanes to the left and right, as described in detail below.

In one embodiment of the present application, in a case where it is detected that the change information of the front lane line in the lane image satisfies the left lane change condition, it is determined that the lane change information of the target vehicle is a left lane change.

Wherein the left lane change condition comprises: the lane line end point of the front lane line moves rightwards, and/or the inclination angle of the left lane line in the front lane line changes from right inclination to left inclination.

Specifically, in the case where the vehicle changes lane to the left, the end point of the front lane line in the field of view of the onboard camera is generally moved to the right, and the end point of the lane line on the front left side is generally gradually changed from being inclined to the right to being inclined to the left, so that in the case where the end point of the lane line on the front lane line is moved to the right in the lane image, and/or the inclination angle of the left lane line in the front lane line is changed from being inclined to the right to being inclined to the left, it can be determined that the vehicle changes lane to the left.

Correspondingly, in one embodiment of the present application, in a case where it is detected that the change information of the front lane line in the lane image satisfies the right-hand lane change condition, the lane change information of the target vehicle is determined as the right-hand lane change.

Wherein the right lane change condition includes: the end point of the lane line in front moves leftwards, and/or the inclination angle of the right lane line in the lane line in front changes from left inclination to right inclination.

Specifically, in the case where the vehicle changes lane to the right, the end point of the front lane line in the field of view of the onboard camera is generally moved to the left, and the end point of the lane line on the front right side is generally gradually changed from being inclined to the right, so that in the case where the end point of the lane line on the front lane line is moved to the left in the lane image, and/or the inclination angle of the right lane line in the front lane line is changed from being inclined to the right, it can be determined that the vehicle changes lane to the right.

S3032, re-determining the lane type of the current lane of the target vehicle according to the lane change information and the received lane type.

Specifically, in the case where the lane type transmitted by the peripheral camera, which has been received before, is a dedicated lane, if it is detected that the vehicle changes lanes based on the lane change information, it may be determined that the lane type of the lane in which the target vehicle is currently located is a non-dedicated lane.

In one embodiment of the present application, the lane type recognized by the peripheral camera may further reflect: for example, assuming that the lane in which the vehicle is located is a non-dedicated lane and the lane in which the vehicle is located on the left side of the dedicated lane, the lane type of the lane in which the vehicle is located, which is recognized by the peripheral cameras, may be: a non-dedicated lane to the left of the dedicated lane.

Under the above scheme, in the case that the lane change information can reflect whether the vehicle changes lanes to the left or the right, the lane type of the lane where the target vehicle is currently located may be determined based on the previously received lane type of the lane where the target vehicle is located, which is sent by the external camera.

For example, in a case where the lane change information reflects that the target vehicle changes lane to the left in a case where the lane type that has been received before reflects that the target vehicle is on the left side of the exclusive lane, it may be determined that the lane type of the lane where the target vehicle is currently located is the exclusive lane;

in the case where the lane change information reflects that the target vehicle changes lane to the right in the case where the previously received lane type reflects that the target vehicle is on the right side of the exclusive lane, it may be determined that the lane type of the lane where the target vehicle is currently located is the exclusive lane.

And S3033, detecting whether the occupied vehicle occupying the special lane exists in the front and the rear of the target vehicle or not under the condition that the determined lane type is the special lane.

Specifically, after determining the lane type of the lane where the target vehicle is located, the vehicle-mounted processing device in the target vehicle may determine whether the lane type is a dedicated lane, and if so, may detect whether another vehicle is present in front of and/or behind the lane where the target vehicle is located, and if so, deems that the other vehicle occupies the dedicated lane, so that the other vehicle may be determined as the occupied vehicle.

In addition to the above, in the case where the target vehicle is out of the communication range of the peripheral camera, or it is difficult to receive the lane type transmitted by the peripheral camera due to a signal, or the like, the in-vehicle processing device may determine the lane type of the lane in which the target vehicle is located by means of other lane information, which will be described in detail below.

In one embodiment of the application, under the condition that the lane type sent by an external camera is not received, other lane information is obtained; determining the lane type of the lane where the target vehicle is located based on the information of other lanes; and detecting whether the occupied vehicles occupying the special lane exist in front of and behind the target vehicle or not in the case that the determined lane type is the special lane.

Wherein the other lane information includes: the lane identification method comprises the steps of determining lane information based on positioning information of a target vehicle and/or lane information obtained by performing lane identification based on colors of lane lines on two sides of the target vehicle in an image of a lane where the target vehicle is located.

Specifically, the positioning information of the target vehicle can be obtained based on the vehicle-mounted positioning system, and the lane positioning information of the lane where the target vehicle is located is determined according to the positioning information and used as the information of other lanes, wherein the lane positioning information can reflect the position of the lane where the vehicle is located;

the method can also obtain an image of a lane where the target vehicle is located, wherein the image can be an image collected by vehicle-mounted image collection equipment or an image collected by external image collection equipment, and the color of a lane line of the lane where the target vehicle is located in the image is subjected to image recognition to obtain lane color information which is used as other lane information and can reflect the colors of the lane lines on two sides of the lane where the vehicle is located;

when determining the lane type, the lane type of the lane in which the target vehicle is located may be determined using the other lane information. For example, in the case that the other lane information includes lane positioning information, it may be determined whether the lane where the vehicle is located is a leftmost lane, a rightmost lane, a middle lane, or the like according to the lane positioning information, and then it is detected whether the target vehicle is located on a dedicated lane according to a preset position where the dedicated lane is located, for example, if it is assumed that the position where the dedicated lane is located is the rightmost lane, and it is determined that the lane where the vehicle is located is the leftmost lane according to the lane positioning information, it may be determined that the lane where the vehicle is located is a non-dedicated lane;

for example, if the other lane information includes lane color information, and it is known that the lane line of the exclusive lane is usually a yellow lane line, and the color of the lane line included in the other lane information is white, it is possible to determine that the lane in which the vehicle is located is a non-exclusive lane.

In the above scheme, since the erection position of the peripheral camera is relatively fixed, the accuracy of the lane type of the lane where the vehicle is located is higher based on the recognition of the peripheral camera, and therefore, the received lane type sent by the peripheral camera can be directly used as the lane type of the lane where the target vehicle is located under the condition that the lane type sent by the peripheral camera can be obtained;

in the case where it is difficult to obtain the lane type transmitted by the peripheral camera, other lane information may be obtained, and the lane type of the lane in which the target vehicle is located may be determined based on the other lane information.

In the lane occupation detection scheme provided in the above embodiment, the vehicle-mounted processing device may send, to an external camera erected on a roadside, a target license plate number of a target vehicle to which the vehicle-mounted processing device belongs, through a short-distance wireless communication technology, where the external camera is configured to: determining the lane type of the lane where the target vehicle is located based on the position information of the target vehicle to which the target license plate number belongs in the acquired image and a first preset corresponding relation, wherein the first corresponding relation is as follows: the corresponding relation between the position of the lane where the vehicle is located and the lane type of the lane; receiving the lane type sent by the peripheral camera through a short-distance wireless communication technology; and under the condition that the lane type is a special lane, detecting whether a lane occupying vehicle occupying the special lane exists in front of and behind the target vehicle. The type of the lane where the target vehicle is located can be obtained by using the external camera, and in the case that the target vehicle is located in the special lane, whether other vehicles occupying the special lane exist in the front and the back are detected by the vehicle-mounted processing equipment on the target vehicle, so that the lane occupation detection is carried out by the target vehicle, and the coverage range of the lane occupation detection can be improved by using the target vehicle for the lane occupation detection because the target vehicle is mobile. Therefore, the accuracy of the road occupation detection can be improved by applying the scheme provided by the embodiment.

Corresponding to the lane occupation detection method, the embodiment of the application further provides a lane occupation detection system, which is described in detail below.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a lane occupancy detection system provided in an embodiment of the present application, where the system includes: on-vehicle processing apparatus 601, erect the peripheral hardware camera 602 of the roadside, wherein:

the peripheral camera 602 is to: acquiring images of passing vehicles, identifying license plate numbers and position information of the vehicles in the acquired images, determining lane types corresponding to the identified position information based on a first corresponding relationship between a pre-configured position and a lane, and obtaining a second corresponding relationship between different license plate numbers and the lane types of the lanes where the corresponding vehicles are located;

the in-vehicle processing device 601 is configured to: sending a target license plate number of a target vehicle to which the vehicle-mounted processing equipment 601 belongs to a peripheral camera 602 erected at the roadside through a short-distance wireless communication technology;

the peripheral camera 602 is further configured to: after the target license plate number is received through the short-distance wireless communication technology, the lane type corresponding to the target license plate number is searched from the second corresponding relation, and the searched lane type is sent to the vehicle-mounted processing equipment 601 through the short-distance wireless communication technology;

the in-vehicle processing apparatus 601 is further configured to: and receiving the lane type through the short-distance wireless communication technology, and detecting whether a lane occupying vehicle occupying the special lane exists in the front and rear of the target vehicle or not under the condition that the lane type is a special lane.

In an embodiment of the present application, the vehicle-mounted processing device is specifically configured to:

obtaining a lane image of a lane where the target vehicle is located;

detecting change information of a front lane line in the lane image, and determining lane change information of the target vehicle based on the change information, wherein the change information comprises: lane line endpoint change information and/or lane line inclination angle change information.

the vehicle-mounted processing device is specifically configured to:

under the condition that it is detected that the change information of the front lane line in the lane image meets a left lane changing condition, determining that the lane changing information of the target vehicle is left lane changing, wherein the left lane changing condition comprises that: the lane line end point of the front lane line moves rightwards, and/or the inclination angle of the left lane line in the front lane line is changed from right inclination to left inclination;

determining the lane type of the lane where the target vehicle is located based on the other lane information;

obtaining positioning information of a target vehicle to which the vehicle-mounted processing equipment belongs, and judging whether a special lane exists in a road section where the target vehicle is located or not based on the positioning information;

The type of the lane where the target vehicle is located can be obtained by the aid of the peripheral camera, and when the target vehicle is located in the special lane, the vehicle-mounted processing device on the target vehicle detects whether other vehicles occupying the special lane exist in front of and behind the target vehicle, so that the target vehicle can perform lane occupation detection, and the coverage range of the lane occupation detection can be enlarged by the aid of the target vehicle for performing the lane occupation detection due to the fact that the target vehicle is mobile. Therefore, the accuracy of the occupation detection can be improved by applying the scheme provided by the embodiment.

Corresponding to the lane occupation detection method, the embodiment of the present application further provides a lane occupation detection device, which is described in detail below.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a road occupation detection apparatus provided in an embodiment of the present application, where the apparatus is disposed in: erect in the peripheral hardware camera of roadside, include:

the image acquisition module 701 is used for acquiring images of passing vehicles, identifying license plate numbers and position information of the vehicles in the acquired images, determining lane types corresponding to the identified position information based on a first corresponding relationship between a preset position and a lane, and obtaining a second corresponding relationship between different license plate numbers and the lane types of the lanes where the corresponding vehicles are located;

a type detecting module 702, configured to, after receiving a target license plate number of a target vehicle sent by a vehicle-mounted processing device through a short-range wireless communication technology, search a lane type corresponding to the target license plate number from the second correspondence, and send the searched lane type to the vehicle-mounted processing device through the short-range wireless communication technology, so that the vehicle-mounted processing device detects whether there is a lane occupying vehicle occupying a dedicated lane in front of and behind the target vehicle when the lane type is the dedicated lane.

Referring to fig. 8, fig. 8 is a schematic structural diagram of another road occupation detection apparatus provided in an embodiment of the present application, where the apparatus is disposed in a vehicle-mounted processing device, and includes:

a license plate number sending module 801, configured to send, to a peripheral camera erected on a roadside, a target license plate number of a target vehicle to which the vehicle-mounted processing device belongs, through a short-range wireless communication technology, where the peripheral camera is configured to: determining the lane type of the lane where the target vehicle is located based on the position information of the target vehicle to which the target license plate number belongs in the acquired image and a first preset corresponding relation, wherein the first corresponding relation is as follows: the corresponding relation between the position of the lane where the vehicle is located and the lane type of the lane;

a type receiving module 802, configured to receive, through the short-range wireless communication technology, a lane type sent by the peripheral camera;

a lane occupation detection module 803, configured to detect whether a lane occupation vehicle occupying the dedicated lane exists in front of and behind the target vehicle when the lane type is a dedicated lane.

In an embodiment of the present application, the lane occupancy detection module 803 includes:

and the lane occupying detection unit is used for detecting whether a lane occupying vehicle occupying the special lane exists in front of and behind the target vehicle or not under the condition that the determined lane type is the special lane.

In one embodiment of the present application, the lane change detection unit includes:

a lane change detection subunit configured to detect change information of a lane line ahead in the lane image, and determine lane change information of the target vehicle based on the change information, wherein the change information includes: lane line end point change information and/or lane line inclination angle change information.

the lane change detection subunit is specifically configured to:

determining that lane change information of the target vehicle is a right lane change in the case of detecting that change information of a front lane line in the lane image satisfies a right lane change condition, wherein the right lane change condition includes: the lane line end point of the front lane line moves leftwards, and/or the inclination angle of the right lane line in the front lane line is changed from left inclination to right inclination.

In an embodiment of the present application, the license plate number sending module 801 is specifically configured to:

and if the target license plate number exists, sending the target license plate number of the target vehicle to an external camera erected on the roadside through a short-distance wireless communication technology.

In the lane occupation detection scheme provided by the embodiment, the external camera erected at the roadside can acquire images of passing vehicles, identify license plates and position information of the vehicles in the acquired images, determine lane types corresponding to the identified position information based on a first corresponding relationship between a pre-configured position and a lane, and obtain second corresponding relationships between different license plates and the lane types of the lanes where the corresponding vehicles are located; after the target license plate number of the target vehicle sent by the vehicle-mounted processing equipment is received through the short-distance wireless communication technology, the lane type corresponding to the target license plate number is searched from the second corresponding relation, and the searched lane type is sent to the vehicle-mounted processing equipment through the short-distance wireless communication technology, so that the vehicle-mounted processing equipment can detect whether the occupied vehicle occupying the special lane exists in front of and behind the target vehicle under the condition that the lane type is the special lane. The type of the lane where the target vehicle is located can be obtained by using the external camera, and in the case that the target vehicle is located in the special lane, whether other vehicles occupying the special lane exist in the front and the back are detected by the vehicle-mounted processing equipment on the target vehicle, so that the lane occupation detection is carried out by the target vehicle, and the coverage range of the lane occupation detection can be improved by using the target vehicle for the lane occupation detection because the target vehicle is mobile. Therefore, the accuracy of the occupation detection can be improved by applying the scheme provided by the embodiment.

An electronic device is further provided in the embodiments of the present application, as shown in fig. 9, and includes a processor 901, a communication interface 902, a memory 903, and a communication bus 904, where the processor 901, the communication interface 902, and the memory 903 complete mutual communication through the communication bus 904,

a memory 903 for storing computer programs;

the processor 901 is configured to implement the steps of the lane occupancy detection method when executing the program stored in the memory 903.

The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication 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, but this is not intended to represent only one bus or type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

In another embodiment provided by the present application, a computer-readable storage medium is further provided, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements the steps of any of the above methods for lane occupancy detection.

In yet another embodiment provided by the present application, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform any of the above-described embodiments of the method of lane detection.

In the lane occupation detection scheme provided by the embodiment, the external camera erected at the roadside can acquire an image of a passing vehicle, identify the license plate number and the position information of the vehicle in the acquired image, determine the lane type corresponding to the identified position information based on a first corresponding relationship between a pre-configured position and a lane, and obtain a second corresponding relationship between different license plates and the lane type of the lane where the corresponding vehicle is located; after receiving the target license plate number of the target vehicle sent by the vehicle-mounted processing equipment through the short-distance wireless communication technology, searching the lane type corresponding to the target license plate number from the second corresponding relation, and sending the searched lane type to the vehicle-mounted processing equipment through the short-distance wireless communication technology, so that the vehicle-mounted processing equipment detects whether a lane occupying vehicle occupying a special lane exists in front of and behind the target vehicle under the condition that the lane type is a special lane. The type of the lane where the target vehicle is located can be obtained by using the external camera, and in the case that the target vehicle is located in the special lane, whether other vehicles occupying the special lane exist in the front and the back are detected by the vehicle-mounted processing equipment on the target vehicle, so that the lane occupation detection is carried out by the target vehicle, and the coverage range of the lane occupation detection can be improved by using the target vehicle for the lane occupation detection because the target vehicle is mobile. Therefore, the accuracy of the occupation detection can be improved by applying the scheme provided by the embodiment.

In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, it 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. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. 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 in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more available 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.

It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, system embodiments, apparatus embodiments, electronic device embodiments, computer-readable storage medium embodiments, and computer program product embodiments are substantially similar to method embodiments and therefore are described with relative ease, as appropriate, with reference to the section of the description of the method embodiments.

The above description is only for the preferred embodiment of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A lane occupancy detection method, characterized in that the method is applied to: erect in the peripheral hardware camera of roadside, include:

2. The method of claim 1, wherein the peripheral camera comprises: a bayonet electric police camera deployed at the roadside.

3. A lane occupation detection method is applied to a vehicle-mounted processing device, and comprises the following steps:

sending a target license plate number of a target vehicle to which the vehicle-mounted processing equipment belongs to a peripheral camera erected at the roadside through a short-distance wireless communication technology, wherein the peripheral camera is used for: determining the lane type of the lane where the target vehicle is located based on the position information of the target vehicle to which the target license plate number belongs in the acquired image and a first preset corresponding relation, wherein the first corresponding relation is as follows: the corresponding relation between the position of the lane where the vehicle is located and the lane type of the lane;

4. The method according to claim 3, wherein the detecting whether there is a vehicle occupying the exclusive lane in front of and behind the target vehicle in the case that the lane type is an exclusive lane comprises:

detecting lane change information of the target vehicle, wherein the lane change information is used for reflecting whether the vehicle changes a lane or not;

5. The method of claim 4, wherein the detecting lane change information of the target vehicle comprises:

obtaining a lane image of a lane where the target vehicle is located;

6. The method of claim 5, wherein the lane-change information is further used to reflect whether the vehicle has changed lanes to the left, changed lanes to the right;

7. The method of claim 3, wherein in the event that the lane type sent by the peripheral camera is not received, the method further comprises:

8. The method according to claim 3, wherein the transmitting the target license plate number of the target vehicle to which the vehicle-mounted processing device belongs to a peripheral camera mounted at the roadside through a short-range wireless communication technology comprises:

9. A lane occupancy detection system, the system comprising: vehicle-mounted processing equipment, erect the peripheral hardware camera of roadside, wherein:

the on-board processing device is further configured to: and receiving the lane type through the short-distance wireless communication technology, and detecting whether a lane occupying vehicle occupying the special lane exists in the front and the rear of the target vehicle or not under the condition that the lane type is the special lane.

10. A lane occupancy detection device, the device being configured to: erect in peripheral hardware camera of roadside, include:

and the type detection module is used for searching the lane type corresponding to the target license plate number from the second corresponding relation after receiving the target license plate number of the target vehicle sent by the vehicle-mounted processing equipment through a short-distance wireless communication technology, and sending the searched lane type to the vehicle-mounted processing equipment through the short-distance wireless communication technology, so that the vehicle-mounted processing equipment detects whether a lane occupying vehicle occupying the special lane exists in the front and back of the target vehicle under the condition that the lane type is the special lane.

11. The apparatus of claim 10, wherein the peripheral camera comprises: a bayonet electric police camera deployed at the roadside.

12. The utility model provides a detection device occupies a road, its characterized in that, the device sets up in on-vehicle processing apparatus, includes:

and the lane occupying detection module is used for detecting whether a lane occupying vehicle occupying the special lane exists in the front and rear of the target vehicle under the condition that the lane is the special lane.

13. The apparatus of claim 12, wherein the duty detection module comprises:

14. The apparatus of claim 13, wherein the lane change detection unit comprises:

15. The apparatus of claim 14, wherein the lane change information is further used to reflect whether the vehicle changes lane to the left, or to the right;

the lane change detection subunit is specifically configured to:

16. The apparatus of claim 12, further comprising a backup detection module to:

17. The apparatus of claim 12, wherein the license plate number sending module is specifically configured to:

18. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 1-2 or 3-8 when executing a program stored in a memory.

19. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method steps of any one of claims 1-2 or 3-8.