CN114926982B

CN114926982B - Method, system, device, equipment and medium for detecting occupied channel

Info

Publication number: CN114926982B
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: 2023-05-02
Anticipated expiration: 2042-05-10
Also published as: CN114926982A

Abstract

The embodiment of the application provides a method, a system, a device, equipment and a medium for detecting occupied channels, 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, and determining lane types corresponding to the identified position information to obtain a second corresponding relationship between different license plate numbers and 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 device 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 device through the short-distance wireless communication technology, so that the vehicle-mounted processing device detects 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. By applying the scheme provided by the embodiment of the application, the accuracy of the channel occupation detection can be improved.

Description

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

Technical Field

The present disclosure relates to the field of data processing technologies, and in particular, to a method, a system, an apparatus, a device, and a medium for detecting a track.

Background

In the field of transportation, in order to facilitate the operation of a part of special vehicles, special lanes are usually constructed, and the special lanes are only used for the running of the special vehicles. For example, a special bus lane is often built in a city, and only the special bus lane is used for running during a commute peak period. However, with the rapid increase in the number of automobiles, the phenomenon that an ordinary vehicle occupies a dedicated lane is more and more serious. In order to ensure the normal running of the vehicle, road occupation detection is required to be carried out on the road so as to realize detection of the phenomenon that the common vehicle occupies a special road.

In the related art, an electric police or a bayonet camera is generally deployed in a traffic intersection or a road section, an image in the traffic intersection or the road section is collected by the electric police or the bayonet camera, and whether a common vehicle runs on a special lane or not is detected based on the image, so that the road occupation detection is realized.

Then, because the quantity of the automobiles is large, the traffic road is complex, the fixed electric police or the bayonet camera is difficult to carry out road occupation detection on the complete road section, the detection range is small, and the accuracy of road occupation detection is low easily.

Disclosure of Invention

The embodiment of the application aims to provide a method, a system, a device, equipment and a medium for detecting the occupied channel so as to improve the accuracy of detecting the occupied channel. The specific technical scheme is as follows:

In a first aspect, an embodiment of the present application provides a method for detecting a lane, where the method is applied to: set up the peripheral hardware camera in the roadside, include:

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

after receiving a target license plate number of a target vehicle sent by a vehicle-mounted processing device 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 device through the short-distance wireless communication technology, so that the vehicle-mounted processing device detects whether a lane occupying vehicle occupying a special lane exists in front and behind 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: the bayonet electric police camera is arranged on the road side.

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

Through a short-distance wireless communication technology, a target license plate number of a target vehicle to which the vehicle-mounted processing equipment belongs is sent to a peripheral camera arranged on a road side, wherein the peripheral camera is used for: determining a lane type of a 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 a lane type sent by the peripheral camera through the short-distance wireless communication technology;

and detecting whether a road occupying vehicle occupying the special lane exists in front of and behind the target vehicle when the lane type is the special lane.

In one embodiment of the present application, the detecting whether a vehicle occupying the dedicated lane exists in front of and behind the target vehicle in the case that the lane type is the dedicated lane 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;

the lane type of the lane where the target vehicle is currently located is redetermined according to the lane changing information and the received lane type;

And detecting whether a road 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 detecting lane change information of the target vehicle includes:

obtaining a lane image of a lane in which 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 end point change information and/or lane line inclination angle change information.

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

the detecting the change information of the lane lines in the lane image, and determining the lane change information of the target vehicle based on the change information includes:

and determining that the lane change information of the target vehicle is a left lane change under the condition that the change information of the front lane line in the lane image meets the left lane change condition, wherein the left lane change condition comprises the following steps: 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 rightwards to leftwards;

Determining that the lane change information of the target vehicle is a right lane change if the change information of the front lane line in the lane image meets a right lane change condition, wherein the right lane change condition comprises: 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 leftwards to rightwards.

In one embodiment of the present application, in a case that the lane type sent by the peripheral camera is not received, the method further includes:

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 both sides of the target vehicle in an image of a lane in which the target vehicle is located;

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

In one embodiment of the present application, the sending, by a short-range wireless communication technology, a target license plate number of a target vehicle to which the in-vehicle processing device belongs to a peripheral camera installed on a road side includes:

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

and if the number of the target license plate of the target vehicle exists, sending the target license plate number of the target vehicle to a peripheral camera arranged on the road side through a short-distance wireless communication technology.

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

the peripheral camera is used for: acquiring images of passing vehicles, identifying license plate numbers and position information of the vehicles in the acquired images, and determining lane types corresponding to the identified position information based on a first corresponding relation between preconfigured positions and lanes to obtain a second corresponding relation between different license plate numbers and lane types of lanes where the corresponding vehicles are located;

the vehicle-mounted processing device is used for: transmitting a target license plate number of a target vehicle to which the vehicle-mounted processing equipment belongs to a peripheral camera erected on a road side through a short-distance wireless communication technology;

the peripheral camera is further configured to: after the target license plate number is received through the 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;

The in-vehicle processing device is further configured to: and receiving the lane type through the short-distance wireless communication technology, and detecting whether a vehicle occupying the special lane exists in front of and behind the target vehicle if the lane type is the special lane.

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

the image acquisition module is used for acquiring images of the passing vehicles, identifying license plate numbers and position information of the vehicles in the acquired images, and determining lane types corresponding to the identified position information based on a first corresponding relation between the preconfigured positions and lanes to obtain a second corresponding relation between different license plate numbers and lane types of lanes 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 the 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 front of and behind 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 processing device, and 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 a peripheral camera arranged on a road side through a short-distance wireless communication technology, wherein the peripheral camera is used for: determining a lane type of a 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 occupation detection module is used for detecting whether a lane occupation vehicle occupying the special lane exists in the front and rear of the target vehicle under the condition that the lane type is the special lane.

In one embodiment of the present application, the lane occupation 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 redetermining the lane type of the lane where the target vehicle is currently located according to the lane changing information and the received lane type;

and the lane occupation detection unit is used for detecting whether a lane occupation vehicle occupying the special lane exists in front and back of 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:

an image obtaining subunit, configured to obtain a lane image of a lane in which 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, where 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:

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

and 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 both sides of the target vehicle in an image of a lane in which the target vehicle is located;

In one embodiment of the present 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, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;

a memory for storing a computer program;

a processor configured to implement the method steps of any one of the first or second aspects when executing a program stored on a memory.

In a seventh aspect, embodiments of the present application provide a computer-readable storage medium having a computer program stored therein, which when executed by a processor implements the method steps of any of the first or second aspects.

The embodiments of the present application also provide a computer program product comprising instructions that, when executed on a computer, cause the computer to perform any of the above-described lane detection methods.

The beneficial effects of the embodiment of the application are that:

in the road occupation detection scheme provided by the embodiment of the application, the peripheral cameras arranged on the road side can collect images of passing vehicles, identify license plate numbers and position information of the vehicles in the collected images, and determine the lane types corresponding to the identified position information based on a first corresponding relation between the pre-configured positions and lanes to obtain a second corresponding relation between different license plate numbers and the lane types of the lanes where the corresponding vehicles are located; after receiving the target license plate number of the target vehicle sent by the vehicle-mounted processing device 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 device through the short-distance wireless communication technology, so that the vehicle-mounted processing device detects 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. Therefore, 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, the vehicle-mounted processing equipment on the target vehicle detects whether other vehicles occupying the special lane exist in front and behind, so that the lane occupation detection by the target vehicle is realized, and the coverage range of the lane occupation detection can be improved by using the target vehicle to perform the lane occupation detection because the target vehicle moves. Therefore, by applying the scheme provided by the embodiment of the application, the accuracy of the track occupation detection can be improved.

In addition, because the peripheral camera is usually fixedly arranged on the road test, the image position of the special lane is fixed in the image acquired by the peripheral camera, in the scheme, the lane type of the lane where the target vehicle is positioned is determined from the corresponding relation between the preset position and the lane by utilizing the position of the target vehicle in the image acquired by the peripheral camera, and the accuracy of the obtained lane type is higher, so that the accuracy of the 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 following description will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other embodiments may also be obtained according to these drawings to those skilled in the art.

Fig. 1 is a schematic flow chart of a method for detecting a lane occupation according to an embodiment of the present application;

fig. 2 is a schematic diagram of a detection lane vehicle according to an embodiment of the present application;

fig. 3 is a flow chart of another method for detecting a lane in accordance with an embodiment of the present disclosure;

fig. 4 is a flow chart of another method for detecting a lane according to an embodiment of the present application;

FIGS. 5a-5c are schematic diagrams illustrating a lane change of a vehicle according to embodiments of the present application;

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

fig. 7 is a schematic structural diagram of a lane occupation detecting device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of another lane occupation detecting apparatus according to an embodiment of the present disclosure;

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

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. Based on the embodiments herein, a person of ordinary skill in the art would be able to obtain all other embodiments based on the disclosure herein, which are within the scope of the disclosure herein.

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

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

after receiving the target license plate number of the target vehicle sent by the vehicle-mounted processing device 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 device through the short-distance wireless communication technology, so that the vehicle-mounted processing device detects 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.

Therefore, 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, the vehicle-mounted processing equipment on the target vehicle detects whether other vehicles occupying the special lane exist in front and behind, so that the lane occupation detection by the target vehicle is realized, and the coverage range of the lane occupation detection can be improved by using the target vehicle to perform the lane occupation detection because the target vehicle moves. Therefore, by applying the scheme provided by the embodiment of the application, the accuracy of the track occupation detection can be improved.

The following describes the above-mentioned method for detecting the track.

Referring to fig. 1, fig. 1 is a schematic flow chart of a method for detecting a lane occupation according to an embodiment of the present application, and the method includes steps S101 to S102 as follows:

s101, acquiring images of passing vehicles, identifying license plate numbers and position information of the vehicles in the acquired images, and determining lane types corresponding to the identified position information based on a first corresponding relation between preconfigured positions and lanes to obtain a second corresponding relation between different license plate numbers and lane types of lanes where the corresponding vehicles are located.

The external camera frame is arranged on the road side and can be erected at a bayonet, an intersection, a fork road and the like.

The above-mentioned position information may be at least one of the following information: a vehicle image position of the vehicle in the image, a lane image position of a lane in which the vehicle is located in the image, a lane identification characterizing the lane image position, etc. Taking the above-mentioned position information as an example of the position of the lane image, the position information may be a middle lane, a leftmost lane, a rightmost lane, etc.; taking the above-mentioned position information as an example of the lane identification, 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 identification of the leftmost lane is 001, the position information of the recognized vehicle is 001.

The lane types include: dedicated lanes and non-dedicated lanes, the dedicated lanes referred to above are: lanes dedicated to the target vehicle.

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

For example, in the case where the target vehicle is a bus, the dedicated lane is a bus lane; in the case where the target vehicle is a rescue vehicle, the dedicated lane is an emergency lane.

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

Specifically, the peripheral camera is arranged on the road side, can collect images of vehicles passing through the road section, then identifies license plate numbers and position information of each vehicle in the images, and is preconfigured with a first corresponding relation, wherein the first corresponding relation 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 relation can be inquired and used as the lane type of the lane where the vehicle is located, and then the peripheral camera can establish the corresponding relation between the license plate number of the vehicle and the lane type of the lane where the vehicle is located and used as the second corresponding relation.

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

In one embodiment of the application, when the peripheral camera identifies the license plate number and the position information of the vehicle, the acquired image can be input into a pre-trained vehicle identification model to obtain the license plate number and the position information output by the vehicle identification model.

In addition, a preset edge detection algorithm can be used for extracting semantic features of the image, 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 correspondence may be stored in the peripheral camera for a long period of time, or may be stored in a first-in first-out manner, where a preset number of second correspondences may be 20, 30, 50, or the like.

In addition, the buffer time length of each second corresponding relation may be preset as a preset time length, where the preset time length may be 1 minute, 3 minutes, 10 minutes, and the like, and for each second corresponding relation, when the buffer time length of the second corresponding relation reaches the preset time length, the second corresponding relation 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 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.

Wherein, the above-mentioned on-vehicle processing equipment can be: and electronic devices such as an on-board central controller, an on-board camera, and an on-board NVR (Network Video Recorder ).

The short-range wireless communication technology includes at least one of the following technologies: bluetooth, wiFi (Wireless Fidelity, wireless local area network), IRDA (Infrared Data Association, infrared data transmission), zigBee (ultraviolet protocol transmission), UWB (ultra wide band), NFC (Near Field Communication, near field wireless communication technology), wiMedia (universal radio transmission), GPS (Global Positioning System ) transmission, DECT (Digital Enhanced Cordless Telecommunications, digital enhanced wireless communication) or other dedicated wireless transmission systems, and the like.

Specifically, after 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, correspondingly, the peripheral camera can receive the target license plate number through the short-distance wireless communication technology, then the lane type corresponding to the target license plate number is searched from the second corresponding relation established by the peripheral camera, and the searched lane type is sent to the vehicle-mounted processing equipment 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, then determine whether the lane type is a dedicated lane, and if the lane type is determined to be the dedicated lane, detect whether other vehicles exist in front of and/or behind the lane where the target vehicle is located, and if so, consider that the other vehicles occupy the dedicated lane, so that the other vehicles may be determined to be lane occupying vehicles, where the other vehicles are: vehicles prohibited from traveling on the dedicated lane may be, for example, private cars, tricycles, trucks, and the like. Therefore, the vehicle-mounted processing equipment and the peripheral camera perform data interaction by using a short-distance wireless communication technology, so that the data transmission cost can be saved, and the equipment power consumption can be reduced.

For example, referring to fig. 2, fig. 2 is a schematic diagram of detecting a vehicle occupying a lane provided in the embodiment of the present application, the target vehicle shown in fig. 2 is a bus, a lane implemented by the bus is marked with a "bus-specific" identifier, the lane is seen to be a specific lane, and it is detected that a common civil car exists in front of the target vehicle to occupy the specific lane, so that it can be determined that the car is the vehicle occupying the lane.

In one embodiment of the present application, when detecting whether a road occupying vehicle exists in front of and behind a target vehicle, an image of the front and rear of the vehicle may be obtained, whether other vehicles exist in front of and behind a lane in which the target vehicle is located is identified from the image, and if so, the identified other vehicles may be regarded as the road occupying vehicle.

In one embodiment of the present application, it may be detected whether there are other vehicles in front and behind the target vehicle that occupy the dedicated lane for a duration reaching a preset lane occupying duration, and if so, the detected other vehicles are taken as the lane occupying vehicles.

The time period of the track may be 30 seconds, 1 minute, 2 minutes, etc.

Specifically, when it is detected that the duration of the other vehicles in front of and behind the lane where the target vehicle is located reaches the lane occupation duration, the target vehicle is determined to be the lane occupation vehicle, so that misjudgment caused by that the other vehicles temporarily occupy the special lane can be avoided, and the accuracy of lane occupation detection is improved.

In one embodiment of the present application, a peripheral camera includes: the bayonet electric police camera is arranged on the road side.

Therefore, the deployed electric warning cameras of the bayonets can be reused to collect images of vehicles passing through, and the electric warning cameras of the bayonets are utilized to detect license plate numbers of the vehicles and lane types of lanes where the vehicles are positioned, so that new cameras are not required to be deployed additionally, and equipment resources are saved.

In the road occupation detection scheme provided by the embodiment, the peripheral camera erected on the road side can collect images of passing vehicles, identify license plate numbers and position information of the vehicles in the collected images, and determine the lane types corresponding to the identified position information based on the first corresponding relationship between the preconfigured positions and the lanes to obtain the second corresponding relationship between different license plate numbers and the lane types of the lanes where the corresponding vehicles are located; after receiving the target license plate number of the target vehicle sent by the vehicle-mounted processing device 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 device through the short-distance wireless communication technology, so that the vehicle-mounted processing device detects 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. Therefore, 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, the vehicle-mounted processing equipment on the target vehicle detects whether other vehicles occupying the special lane exist in front and behind, so that the lane occupation detection by the target vehicle is realized, and the coverage range of the lane occupation detection can be improved by using the target vehicle to perform the lane occupation detection because the target vehicle moves. Therefore, by applying the scheme provided by the embodiment, the accuracy of the track occupation detection can be improved.

Corresponding to the above-mentioned channel occupation detection method applied to the peripheral camera side, the embodiment of the present application further provides a channel 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 flowchart of another method for detecting a lane occupancy, which is provided in an embodiment of the present application, and the method is applied to a vehicle-mounted processing device, and includes the following steps S301 to S303:

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

Wherein, peripheral hardware camera is used for: determining the lane type of the lane where the target vehicle is 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: correspondence between the position of the lane in which the vehicle is located and the lane type of the lane.

Specifically, the peripheral camera is arranged on the road side, can collect images of vehicles passing through the road section, then identifies license plate numbers and position information of each vehicle in the images, and is preconfigured with a first corresponding relation, wherein the first corresponding relation 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 relation can be inquired and used as the lane type of the lane where the vehicle is located, and then the peripheral camera can establish the corresponding relation between the license plate number of the vehicle and the lane type of the lane where the vehicle is located and used as the second corresponding relation;

when the target vehicle enters the communication range of the peripheral camera, the vehicle-mounted processing equipment arranged in the target vehicle can send the target license plate number of the target vehicle to the peripheral camera through a 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 a target license plate number is sent to an external camera, positioning information of a target vehicle to which the vehicle-mounted processing equipment belongs can be obtained, and whether a special lane exists on a road section where the target vehicle is located or not is judged based on the positioning information; if the number is present, the target license plate number of the target vehicle is sent to the peripheral camera erected on the road side through a short-distance wireless communication technology.

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

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, and whether a special lane exists in the road section or not can be further judged, if the special lane does not exist, the fact that the road occupation vehicle cannot exist in the road section where the current target vehicle runs is indicated, and therefore the target license plate number of the target vehicle does not need to be sent to an external camera;

if so, the target license plate number of the target vehicle can be sent to the external camera in order to detect whether the current driving lane is a special lane and whether the occupied vehicle exists in the follow-up detection.

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 the second corresponding relation 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 equipment can receive the lane type sent by the external camera as the lane type of the lane where the target vehicle is located.

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

Specifically, the vehicle-mounted processing device in the target vehicle may determine whether the lane type is a dedicated lane after receiving the lane type of the lane in which the target vehicle is located, and may detect whether other vehicles exist in front of and/or behind the lane in which the target vehicle is located if the lane type is determined to be the dedicated lane, and if so, consider that the other vehicles occupy the dedicated lane, and thus may determine the other vehicles as road occupying vehicles.

Referring to fig. 4, fig. 4 is a schematic flow chart of another method for detecting a lane occupation according to an embodiment of the present application, where in step S303, when performing the lane occupation detection, the method may include the following steps S3031 to S3033:

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

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

In one embodiment of the present application, a lane image of a lane in which a target vehicle is located may be obtained; and detecting the change information of the front lane line in the lane image, and determining the 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 image may be an image acquired 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 a lane line end point in the lane image may be detected, or change information of a lane line inclination angle in the lane image may be detected, etc., so that the lane change information of the target vehicle may be determined according to the change information.

For example, referring to fig. 5a-5c, fig. 5a-5c are schematic diagrams of a lane changing process of a vehicle provided in an embodiment of the present application, in which fig. 5a is a schematic diagram before lane changing of the vehicle, fig. 5b is a schematic diagram in lane changing of the vehicle, and fig. 5c is a schematic diagram after lane changing of the vehicle, it can be seen that, before lane changing of the vehicle, a position of a lane line end point of a lane where the vehicle is located, and a lane line inclination angle are relatively stable; in the lane change of the vehicle, the position of the lane line end point of the lane where the vehicle is positioned can be moved, and the inclination angle of the lane line can be changed; after the vehicle finishes lane changing, the position of the lane line end point of the lane where the vehicle is positioned 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 lane line end point and/or the lane line inclination angle change information in the lane image.

In one embodiment of the present application, lane change information is further used to reflect whether the vehicle changes lanes to the left and to the 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, the lane change information of the target vehicle is determined to be a left lane change.

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

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

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

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

Specifically, in the case where the vehicle is lane-changed to the right, the end point of the front lane line in the visual field of the in-vehicle camera is often moved to the left, and the lane line on the front right is often gradually changed from being inclined to the right from being inclined to the left, so that in the case where the end point of the lane line on the front lane line in the lane image is moved to the left, and/or the inclination angle of the lane line on the right in the front lane line is changed from being inclined to the right from being inclined to the left, it is possible to determine that the vehicle is lane-changed to the right.

S3032, the lane type of the lane where the target vehicle is currently located is redetermined according to the lane change information and the received lane type.

Specifically, in the case where the previously received lane type transmitted from the external camera is the dedicated lane, if the lane change of the vehicle is detected based on the lane change information, it may be determined that the lane type of the lane where the target vehicle is currently located is a non-dedicated lane.

In one embodiment of the present application, the lane type identified by the peripheral camera may also reflect: the direction of the lane in which the vehicle is located relative to the dedicated lane, 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 type of lane in which the peripheral camera recognizes that the vehicle is located may be: a non-dedicated lane to the left of the dedicated lane.

Under the scheme, under the condition that the lane change information can reflect whether the vehicle changes lanes leftwards or rightwards, the lane type of the lane where the target vehicle is currently located can be determined based on the previously received lane type of the lane where the target vehicle is located and sent by the peripheral camera.

For example, in the case where the previously received lane type reflects that the target vehicle is on the left side of the dedicated lane, if the lane change information reflects that the target vehicle changes lanes to the left, it may be determined that the lane type of the lane in which the target vehicle is currently located is the dedicated lane;

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

S3033, in the case where the determined lane type is the exclusive lane, it is detected whether there is a lane occupying vehicle occupying the exclusive lane in front of and behind the target vehicle.

Specifically, after determining the lane type of the lane in which the target vehicle is located, the vehicle-mounted processing device in the target vehicle may determine whether the lane type is a dedicated lane, if so, may detect whether other vehicles exist in front of and/or behind the lane in which the target vehicle is located, and if so, consider that the other vehicles occupy the dedicated lane, so that the other vehicles may be determined as occupied vehicles.

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

In one embodiment of the application, other lane information is obtained under the condition that the lane type sent by the peripheral camera is not received; determining the type of the lane in which the target vehicle is positioned based on the information of other lanes; and detecting whether a road 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.

Wherein the other lane information includes: lane information determined based on the positioning information of the target vehicle, and/or lane information obtained by performing lane recognition based on the color of lane lines on both sides of the target vehicle in the image of the lane in which the target vehicle is located.

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

The method comprises the steps of acquiring an image of a lane where a target vehicle is located, wherein the image can be an image acquired by a vehicle-mounted image acquisition device or an image acquired by an external image acquisition device, and carrying out image recognition on the color of a lane line of the lane where the target vehicle is located in the image so as to obtain lane color information which can reflect the color of the lane lines on two sides of the lane where the vehicle is located as other lane information;

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

for another example, if the other lane information includes lane color information, it is known that the lane line of the dedicated 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-dedicated lane.

In the scheme, the erection positions of the peripheral cameras are relatively fixed, so that the accuracy of the lane type of the lane where the vehicle is located based on the recognition of the peripheral cameras is high, and therefore, the received lane type sent by the peripheral cameras 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 cameras can be obtained;

in the case where it is difficult to obtain the type of lane transmitted by the external camera, other lane information may be obtained, and the type of 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 the peripheral camera erected on the road side, 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 peripheral camera is configured to: determining the lane type of the lane where the target vehicle is 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 a lane type sent by a peripheral camera through a short-distance wireless communication technology; in the case where the lane type is an exclusive lane, it is detected whether or not there is a lane occupying vehicle that occupies the exclusive lane in front of and behind the target vehicle. Therefore, 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, the vehicle-mounted processing equipment on the target vehicle detects whether other vehicles occupying the special lane exist in front and behind, so that the lane occupation detection by the target vehicle is realized, and the coverage range of the lane occupation detection can be improved by using the target vehicle to perform the lane occupation detection because the target vehicle moves. Therefore, by applying the scheme provided by the embodiment, the accuracy of the track occupation detection can be improved.

Corresponding to the above-mentioned track occupation detection method, the embodiment of the present application further provides a track occupation detection system, which is described in detail below.

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

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

The in-vehicle processing apparatus 601 is configured to: transmitting a target license plate number of a target vehicle to which the vehicle-mounted processing device 601 belongs to a peripheral camera 602 erected on a road side through a short-distance wireless communication technology;

the peripheral camera 602 is further configured to: after receiving the target license plate number through the 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 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 vehicle occupying the special lane exists in front of and behind the target vehicle if the lane type is the special lane.

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

obtaining a lane image of a lane in which the target vehicle is located;

the vehicle-mounted processing device is specifically used for:

Therefore, 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, the vehicle-mounted processing equipment on the target vehicle detects whether other vehicles occupying the special lane exist in front and behind, so that the lane occupation detection by the target vehicle is realized, and the coverage range of the lane occupation detection can be improved by using the target vehicle to perform the lane occupation detection because the target vehicle moves. Therefore, by applying the scheme provided by the embodiment, the accuracy of the track occupation detection can be improved.

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

Referring to fig. 7, fig. 7 is a schematic structural diagram of a lane occupation detection device according to an embodiment of the present application, where the device is set in: set up the peripheral hardware camera in the roadside, include:

the image acquisition module 701 is configured to acquire an image of a passing vehicle, identify license plate numbers and position information of the vehicle in the acquired image, and determine a lane type corresponding to the identified position information based on a first correspondence between preconfigured positions and lanes, so as to obtain a second correspondence between different license plate numbers and lane types of lanes where the corresponding vehicle is located;

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

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

the license plate number sending module 801 is configured to send, to a peripheral camera set up on a road side, a target license plate number of a target vehicle to which the on-vehicle processing device belongs, through a short-distance wireless communication technology, where the peripheral camera is configured to: determining a lane type of a 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;

and 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 if the lane type is the dedicated lane.

In one embodiment of the present application, the lane occupation detection module 803 includes:

the lane change detection subunit is specifically configured to:

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

The embodiment of the present application further provides an electronic device, as shown in fig. 9, including 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 perform communication with each other through the communication bus 904,

a memory 903 for storing a computer program;

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

The communication bus mentioned above for the electronic devices may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

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

The Memory may include random access Memory (Random Access Memory, RAM) or may include 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 aforementioned processor.

The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In yet another embodiment provided herein, a computer readable storage medium is also provided, in which a computer program is stored, which when executed by a processor, implements the steps of any of the above-mentioned occupancy detection methods.

In yet another embodiment provided herein, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform any of the method of the above embodiments.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, 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, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of 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)), etc.

It is noted that 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, apparatus embodiments, electronic device embodiments, computer-readable storage medium embodiments, computer program product embodiments, the description is relatively simple, as relevant to the method embodiments being referred to in the description of the method embodiments.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. that are within the spirit and principles of the present application are intended to be included within the scope of the present application.

Claims

1. The method for detecting the occupied road is characterized by being applied to the following steps: set up the peripheral hardware camera in the roadside, include:

2. The method of claim 1, wherein the peripheral camera comprises: the bayonet electric police camera is arranged on the road side.

3. The method for detecting the occupied road is characterized by being applied to vehicle-mounted processing equipment and comprising the following steps of:

4. A method according to claim 3, wherein, in the case where the lane type is a dedicated lane, detecting whether there is a road occupying vehicle occupying the dedicated lane in front of and behind the target vehicle, comprises:

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

obtaining a lane image of a lane in which the target vehicle is located;

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

7. A method according to claim 3, wherein in case 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, via a short-range wireless communication technology, the target license plate number of the target vehicle to which the in-vehicle processing device belongs to the peripheral camera installed on the roadside, includes:

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

10. A lane occupancy detection device, characterized in that the device is arranged in: set up the peripheral hardware camera in the roadside, include:

11. The apparatus of claim 10, wherein the peripheral camera comprises: the bayonet electric police camera is arranged on the road side.

12. The utility model provides a take up an area of detection device which characterized in that, the device sets up in on-vehicle processing equipment, includes:

13. The apparatus of claim 12, wherein the lane 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 is lane-changed 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 for:

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

18. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

a memory for storing a computer program;

a processor for carrying out the method steps of any one of claims 1-2 or 3-8 when executing a program stored on a memory.

19. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-2 or 3-8.