CN115050190A - Road vehicle monitoring method and related device thereof - Google Patents
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Abstract
The application discloses a road vehicle monitoring method and a related device thereof, wherein the method comprises the following steps: acquiring vehicle information of a monitored vehicle and vehicles behind the monitored vehicle on a road, wherein the vehicle information comprises positioning information of the monitored vehicle, positioning information of the vehicles behind, the width of the monitored vehicle, the resolution of a vehicle-mounted video acquisition terminal of each vehicle behind and the field angle of each vehicle behind; calculating the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles at the rear of each vehicle according to the vehicle information; the method has the advantages that the vehicles are selected from the vehicles behind the monitored vehicle as the current monitoring vehicles of the monitored vehicle according to the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicle in the vehicles behind, the monitoring vehicles are used for acquiring monitoring videos of the monitored vehicle, and the technical problem that blind areas exist in road violation evidence collection of the vehicles in non-key areas due to the fact that monitoring of the vehicle driving process cannot be achieved in the prior art is solved.
Description
Technical Field
The application relates to the technical field of vehicle monitoring, in particular to a road vehicle monitoring method and a related device thereof.
Background
The evidence obtaining mode of vehicle violation behaviors on the road is usually completed through a fixedly installed monitoring camera, the violation behaviors of vehicles in a key area where the monitoring camera is installed can only be monitored, the whole driving process of the vehicles cannot be monitored, and the blind area exists in the evidence obtaining of the vehicle violation behaviors in a non-key area.
Disclosure of Invention
The application provides a road vehicle monitoring method and a related device thereof, which are used for solving the technical problem that blind areas exist in road violation evidence obtaining of vehicles in non-key areas due to the fact that the prior art cannot monitor the driving process of the vehicles.
In view of the above, a first aspect of the present application provides a road vehicle monitoring method, including:
acquiring vehicle information of a monitored vehicle and vehicles behind the monitored vehicle on a road, wherein the vehicle information comprises positioning information of the monitored vehicle, positioning information of the vehicles behind, vehicle width of the monitored vehicle, resolution of vehicle-mounted video acquisition terminals of the vehicles behind and field angles of the vehicles behind;
calculating the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles at the rear of each vehicle according to the vehicle information;
and selecting a vehicle from the vehicles behind the monitored vehicle as the current monitoring vehicle of the monitored vehicle according to the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the vehicles behind the monitored vehicle, wherein the monitoring vehicle is used for acquiring the monitoring video of the monitored vehicle.
Optionally, the calculating, according to the vehicle information, the number of imaging pixel points in the vehicle-mounted video capture terminal of each vehicle behind the monitored vehicle includes:
calculating the distance between the monitored vehicle and each vehicle behind and the direction information of the monitored vehicle relative to each vehicle behind according to the positioning information of the monitored vehicle and the positioning information of each vehicle behind;
calculating the imaging angle of the monitored vehicle in the vehicle-mounted video acquisition terminals of the monitored vehicles behind the vehicles according to the distance between the monitored vehicle and each vehicle behind, the direction information of the monitored vehicle relative to each vehicle behind and the vehicle width of the monitored vehicle;
and calculating the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles in the vehicles behind according to the imaging angles of the monitored vehicles in the vehicle-mounted video acquisition terminals of the vehicles behind, the resolution of the vehicle-mounted video acquisition terminals of the vehicles behind and the field angles of the vehicles behind.
Optionally, the selecting a vehicle from the vehicles behind the monitored vehicle as the current monitored vehicle of the monitored vehicle according to the number of imaging pixel points in the vehicle-mounted video capture terminals of the monitored vehicle in the vehicles behind includes:
selecting the maximum value of the quantity from the quantity of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles at the rear of each vehicle;
and taking the rear vehicle corresponding to the maximum number as the current monitoring vehicle of the monitored vehicle.
The second aspect of the present application provides a road vehicle monitoring device, comprising:
the vehicle information comprises positioning information of the monitored vehicle, positioning information of rear vehicles, vehicle width of the monitored vehicle, resolution of vehicle-mounted video acquisition terminals of the rear vehicles and field angles of the rear vehicles;
the calculating unit is used for calculating the number of imaging pixel points in the vehicle-mounted video collecting terminals of the monitored vehicles at each rear vehicle according to the vehicle information;
the monitoring system comprises a selection unit and a monitoring unit, wherein the selection unit is used for selecting vehicles from vehicles behind the monitored vehicle as the current monitoring vehicles of the monitored vehicle according to the number of imaging pixel points in vehicle-mounted video acquisition terminals of the monitored vehicle in the vehicles behind, and the monitoring vehicles are used for acquiring monitoring videos of the monitored vehicle.
Optionally, the computing unit is specifically configured to:
calculating the distance between the monitored vehicle and each vehicle behind and the direction information of the monitored vehicle relative to each vehicle behind according to the positioning information of the monitored vehicle and the positioning information of each vehicle behind;
calculating the imaging angle of the monitored vehicle in the vehicle-mounted video acquisition terminals of the monitored vehicles behind the vehicles according to the distance between the monitored vehicle and each vehicle behind, the direction information of the monitored vehicle relative to each vehicle behind and the vehicle width of the monitored vehicle;
and calculating the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles in the vehicles behind according to the imaging angle of the monitored vehicle in the vehicle-mounted video acquisition terminals of the vehicles behind, the resolution of the vehicle-mounted video acquisition terminals of the vehicles behind and the field angle of the vehicles behind.
Optionally, the selecting unit is specifically configured to:
selecting the maximum value of the quantity from the quantity of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles at the rear of each vehicle;
and taking the rear vehicle corresponding to the maximum number as the current monitored vehicle of the monitored vehicle.
A third aspect of the present application provides a road vehicle monitoring system comprising: a plurality of vehicles and the road vehicle monitoring device of any one of the second aspect;
each vehicle is provided with a vehicle-mounted video acquisition terminal which is in communication connection with the road vehicle monitoring device;
the vehicle video acquisition terminal is used for uploading vehicle information of the vehicle and the acquired monitoring video to the road vehicle monitoring device.
A fourth aspect of the present application provides a road vehicle monitoring device, the device comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute any of the road vehicle monitoring methods of the first aspect according to instructions in the program code.
A fifth aspect of the present application provides a computer-readable storage medium for storing program code that, when executed by a processor, implements the road vehicle monitoring method of any of the first aspects.
According to the technical scheme, the method has the following advantages:
the application provides a road vehicle monitoring method, which comprises the following steps: acquiring vehicle information of a monitored vehicle and vehicles behind the monitored vehicle on a road, wherein the vehicle information comprises positioning information of the monitored vehicle, positioning information of the vehicles behind, the width of the monitored vehicle, the resolution of a vehicle-mounted video acquisition terminal of each vehicle behind and the field angle of each vehicle behind; calculating the number of imaging pixel points in the vehicle-mounted video acquisition terminals of each monitored vehicle behind according to the vehicle information; and selecting the vehicle from the vehicles behind the monitored vehicle as the current monitoring vehicle of the monitored vehicle according to the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicle in the vehicles behind, wherein the monitoring vehicle is used for acquiring the monitoring video of the monitored vehicle.
In the method, the number of imaging pixel points in the vehicle-mounted video acquisition terminal of each monitored vehicle at the rear is calculated by acquiring the vehicle information of each monitored vehicle and each vehicle at the rear on the road, then the best vehicle is selected from each vehicle at the rear through the number of imaging pixel points to serve as the current monitoring vehicle of the monitored vehicle to monitor the running process of the monitored vehicle, the monitoring video of the running process of the monitored vehicle on the road is acquired, when the monitored vehicle has violation behaviors, the evidence can be taken as evidence for obtaining evidence, the blind area for obtaining evidence of the violation behaviors of the vehicles on the road can be effectively reduced, the technical problem that the monitoring of the running process of the vehicles cannot be realized in the prior art, and the blind area exists in the evidence of the violation behaviors of the vehicles in non-key areas is solved.
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 introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a road vehicle monitoring method according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a monitored vehicle and a vehicle behind the monitored vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a road vehicle monitoring device according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, 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, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For easy understanding, please refer to fig. 1, an embodiment of the present application provides a road vehicle monitoring method, including:
and step 101, obtaining vehicle information of the monitored vehicle and vehicles behind the monitored vehicle on the road.
The method comprises the steps of obtaining vehicle information of monitored vehicles and vehicles behind the monitored vehicles on a road, wherein the vehicles behind the monitored vehicles can be all vehicles within a rear view distance range of the monitored vehicles, and the vehicle information comprises positioning information of the monitored vehicles, positioning information of the vehicles behind, the width of the monitored vehicles, the resolution of vehicle-mounted video collecting terminals of the vehicles behind and the field angle of view of the vehicles behind. In the embodiment of the application, the vehicle-mounted video acquisition terminals (such as a driving recorder) on each vehicle have functions of OBD interface connection, Beidou/GPS positioning, internet access and the like, can be accessed into a video monitoring platform, and report information such as positioning information, speed, vehicle width, camera resolution, camera view angle and the like.
And 102, calculating the number of imaging pixel points in the vehicle-mounted video acquisition terminals of each monitored vehicle behind according to the vehicle information.
Firstly, the distance d between the monitored vehicle and each vehicle behind is calculated according to the positioning information of the monitored vehicle and the positioning information of each vehicle behind i And direction information alpha of the monitored vehicle relative to the vehicles behind i I 1,2, n, which is the rear vehicle, n is the number of rear vehicles of the monitored vehicle;
then, according to the distance d between the monitored vehicle and each vehicle behind i And direction information alpha of the monitored vehicle relative to each vehicle behind i And the vehicle width W of the monitored vehicle calculates the imaging angle beta of the monitored vehicle in the vehicle-mounted video acquisition terminal of each vehicle behind i ；
Specifically, the distance d between the monitored vehicle and each vehicle behind is firstly determined i And direction information alpha of the monitored vehicle relative to each vehicle behind i And the vehicle width W of the monitored vehicle calculates the included angle beta between the two ends and the middle position of the monitored vehicle and each vehicle behind i1 、β i2 . Referring to FIG. 2, there is currently A behind monitored vehicle B 1 、A 2 、A i Waiting for vehicles to calculate the position of the two ends and the middle of the monitored vehicle B relative to the rear vehicle A i Angle of (b) of i1 、β i2 For example, from the above parameters, one can obtain:
tan(α i +β i1 )＝(d i ·sinα i +W/2)/(d i ·cosα i )；
tan(α i -β i2 )＝(d i ·sinα i -W/2)/(d i ·cosα i )；
namely:
β i1 ＝arctan((d i ·sinα i +W/2)/(d i ·cosα i ))-α i ；
β i2 ＝α i -arctan((d i ·sinα i -W/2)/(d i ·cosα i ))；
then, the included angle beta between the two ends and the middle position of the monitored vehicle and each vehicle behind the monitored vehicle i1 、β i2 Summing to obtain the imaging angle beta of the monitored vehicle in the vehicle-mounted video acquisition terminal of each vehicle at the rear i ＝β i1 +β i2 。
Finally, according to the imaging angle beta of the monitored vehicle in the vehicle-mounted video acquisition terminal of each vehicle at the rear i Resolution R of vehicle-mounted video acquisition terminal of each vehicle behind i And the angle of view FOV of each vehicle behind i And calculating the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles at the rear of each vehicle. Imaging pixel point data D in vehicle-mounted video acquisition terminal of each monitored vehicle at rear i Satisfies the following conditions:
D i :R i ＝β i :FOV i ；
namely:
D i ＝(R i ·β i )/FOV i 。
and 103, selecting the vehicles from the vehicles behind the monitored vehicle as the current monitoring vehicles of the monitored vehicle according to the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicle in the vehicles behind, wherein the monitoring vehicles are used for acquiring the monitoring video of the monitored vehicle.
Selecting the maximum value D of the quantity from the quantity of imaging pixel points in the vehicle-mounted video acquisition terminal of each monitored vehicle at the rear max I.e. D max ＝max(D 1 ,D 2 ,...,D i ,..,D n ) (ii) a To maximize the number D max And the corresponding rear vehicle is used as the current monitoring vehicle of the monitored vehicle, the running process of the monitored vehicle is monitored through the monitoring vehicle, and the monitoring video is collected.
Through linkage of the vehicle-mounted video acquisition terminals, the number of pixel points imaged by the vehicle-mounted video acquisition terminals of any vehicle (monitored vehicle) running on a road at the rear vehicle is quantitatively described, the number of the pixel points imaged by the vehicle-mounted video acquisition terminals of each rear vehicle is compared, and the vehicle with the largest number of the pixel points is the best monitoring vehicle corresponding to the monitored vehicle and serves as the monitoring vehicle of the monitored vehicle. In the vehicle driving process, the relative positions of the monitored vehicle and the rear vehicles are constantly changed, but the only monitoring vehicle corresponding to the monitored vehicle exists all the time, a continuous monitoring video is formed, when the monitored vehicle is found to have illegal behaviors, the monitoring video can be used as evidence obtaining basis, blind areas of road illegal behavior evidence obtaining can be greatly reduced, even the evidence obtaining method of the current fixed monitoring camera is replaced, and the installation and deployment cost of the fixed monitoring camera is saved.
In the embodiment of the application, the number of imaging pixel points in the vehicle-mounted video acquisition terminal of each monitored vehicle at the rear is calculated by acquiring the vehicle information of each monitored vehicle and each vehicle at the rear on the road, and then the best vehicle is selected from the rear vehicles by the number of the imaging pixel points to be used as the current monitoring vehicle of the monitored vehicle to monitor the running process of the monitored vehicle, so that the monitoring video of the running process of the monitored vehicle on the road is acquired, and when the monitored vehicle has violation behaviors, the monitoring video can be used as evidence for obtaining evidence, and the blind area for obtaining evidence of the violation behaviors of the vehicles on the road can be effectively reduced, thereby improving the technical problem that the monitoring of the running process of the vehicles cannot be realized in the prior art, and the vehicles have blind areas for obtaining evidence of the violation behaviors of the road in non-key areas.
The above is an embodiment of a road vehicle monitoring method provided by the present application, and the following is an embodiment of a road vehicle monitoring device provided by the present application.
Referring to fig. 3, an embodiment of the present disclosure provides a road vehicle monitoring device, including:
the system comprises an acquisition unit, a monitoring unit and a display unit, wherein the acquisition unit is used for acquiring vehicle information of a monitored vehicle and vehicles behind the monitored vehicle on a road, and the vehicle information comprises positioning information of the monitored vehicle, positioning information of the vehicles behind, the width of the monitored vehicle, the resolution of a vehicle-mounted video acquisition terminal of each vehicle behind and the field angle of each vehicle behind;
the calculating unit is used for calculating the number of imaging pixel points in the vehicle-mounted video collecting terminals of each monitored vehicle behind according to the vehicle information;
the selection unit is used for selecting the vehicle from the vehicles behind the monitored vehicle as the current monitoring vehicle of the monitored vehicle according to the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicle in the vehicles behind, and the monitoring vehicle is used for acquiring the monitoring video of the monitored vehicle.
As a further improvement, the computing unit is specifically configured to:
calculating the distance between the monitored vehicle and each vehicle behind and the direction information of the monitored vehicle relative to each vehicle behind according to the positioning information of the monitored vehicle and the positioning information of each vehicle behind;
calculating the imaging angle of the monitored vehicle in the vehicle-mounted video acquisition terminal of each vehicle behind according to the distance between the monitored vehicle and each vehicle behind, the direction information of the monitored vehicle relative to each vehicle behind and the vehicle width of the monitored vehicle;
and calculating the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles in the rear vehicles according to the imaging angles of the monitored vehicles in the vehicle-mounted video acquisition terminals of the rear vehicles, the resolution of the vehicle-mounted video acquisition terminals of the rear vehicles and the field angles of the rear vehicles.
As a further improvement, the selection unit is specifically configured to:
selecting the maximum value of the quantity from the quantity of imaging pixel points in the vehicle-mounted video acquisition terminals of all the monitored vehicles at the rear;
and taking the rear vehicle corresponding to the maximum number as the current monitoring vehicle of the monitored vehicle.
In the embodiment of the application, the number of imaging pixel points in the vehicle-mounted video acquisition terminal of each monitored vehicle at the rear is calculated by acquiring the vehicle information of each monitored vehicle and each vehicle at the rear on the road, and then the best vehicle is selected from the rear vehicles by the number of the imaging pixel points to be used as the current monitoring vehicle of the monitored vehicle to monitor the running process of the monitored vehicle, so that the monitoring video of the running process of the monitored vehicle on the road is acquired, and when the monitored vehicle has violation behaviors, the monitoring video can be used as evidence for obtaining evidence, and the blind area for obtaining evidence of the violation behaviors of the vehicles on the road can be effectively reduced, thereby improving the technical problem that the monitoring of the running process of the vehicles cannot be realized in the prior art, and the vehicles have blind areas for obtaining evidence of the violation behaviors of the road in non-key areas.
The above is an embodiment of a road vehicle monitoring device provided by the present application, and the following is an embodiment of a road vehicle monitoring system provided by the present application.
The embodiment of the application provides a road vehicle monitored control system includes: a plurality of vehicles and the road vehicle monitoring device in the foregoing embodiment;
each vehicle is provided with a vehicle-mounted video acquisition terminal which is in communication connection with a road vehicle monitoring device;
and the vehicle video acquisition terminal is used for uploading vehicle information of the vehicle and the acquired monitoring video to the road vehicle monitoring device.
The vehicle-mounted video acquisition terminals have functions of OBD interface connection, Beidou/GPS positioning, internet access and the like, can be accessed into the road vehicle monitoring device, and report vehicle information such as positioning information, speed, vehicle width, camera resolution, camera field angle and the like to the road vehicle monitoring device, and the vehicle information uploaded by each vehicle-mounted video acquisition terminal carries identification information of the vehicle, such as license plate number, ID and the like, so that the road vehicle monitoring device can determine corresponding monitored vehicles according to the identification information. The road vehicle monitoring device selects the monitoring vehicle of the monitored vehicle according to the received vehicle information, and the vehicle video acquisition terminal on the monitoring vehicle acquires the monitoring video of the running process of the monitored vehicle to monitor the running process of the monitored vehicle.
The embodiment of the application also provides road vehicle monitoring equipment, which comprises a processor and a memory;
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is configured to execute the road vehicle monitoring method in the foregoing method embodiment according to instructions in the program code.
The embodiment of the application also provides a computer-readable storage medium, which is used for storing program codes, and the program codes are executed by a processor to realize the road vehicle monitoring method in the foregoing method embodiment.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (9)
1. A method of road vehicle monitoring, comprising:
acquiring vehicle information of a monitored vehicle and vehicles behind the monitored vehicle on a road, wherein the vehicle information comprises positioning information of the monitored vehicle, positioning information of the vehicles behind, vehicle width of the monitored vehicle, resolution of vehicle-mounted video acquisition terminals of the vehicles behind and field angles of the vehicles behind;
calculating the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles at the rear of each vehicle according to the vehicle information;
and selecting a vehicle from the vehicles behind the monitored vehicle as the current monitoring vehicle of the monitored vehicle according to the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the vehicles behind the monitored vehicle, wherein the monitoring vehicle is used for acquiring the monitoring video of the monitored vehicle.
2. The method for monitoring road vehicles according to claim 1, wherein the calculating the number of imaging pixel points of the monitored vehicles in the vehicle-mounted video collecting terminals of each vehicle behind according to the vehicle information comprises:
calculating the distance between the monitored vehicle and each vehicle behind and the direction information of the monitored vehicle relative to each vehicle behind according to the positioning information of the monitored vehicle and the positioning information of each vehicle behind;
calculating the imaging angle of the monitored vehicle in the vehicle-mounted video acquisition terminals of the monitored vehicles behind the vehicles according to the distance between the monitored vehicle and each vehicle behind, the direction information of the monitored vehicle relative to each vehicle behind and the vehicle width of the monitored vehicle;
and calculating the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles in the vehicles behind according to the imaging angle of the monitored vehicle in the vehicle-mounted video acquisition terminals of the vehicles behind, the resolution of the vehicle-mounted video acquisition terminals of the vehicles behind and the field angle of the vehicles behind.
3. The method according to claim 1, wherein the selecting a vehicle from vehicles behind the monitored vehicle as the current monitoring vehicle of the monitored vehicle according to the number of imaging pixel points in the on-vehicle video collecting terminals of the vehicles behind the monitored vehicle comprises:
selecting the maximum value of the quantity from the quantity of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles at the rear of each vehicle;
and taking the rear vehicle corresponding to the maximum number as the current monitoring vehicle of the monitored vehicle.
4. A road vehicle monitoring device, comprising:
the vehicle information comprises positioning information of the monitored vehicle, positioning information of rear vehicles, vehicle width of the monitored vehicle, resolution of vehicle-mounted video acquisition terminals of the rear vehicles and field angles of the rear vehicles;
the calculating unit is used for calculating the number of imaging pixel points in the vehicle-mounted video collecting terminals of the monitored vehicles at each rear vehicle according to the vehicle information;
the monitoring system comprises a selection unit and a monitoring unit, wherein the selection unit is used for selecting vehicles from vehicles behind the monitored vehicle as the current monitoring vehicles of the monitored vehicle according to the number of imaging pixel points in vehicle-mounted video acquisition terminals of the monitored vehicle in the vehicles behind, and the monitoring vehicles are used for acquiring monitoring videos of the monitored vehicle.
5. The road vehicle monitoring device according to claim 4, wherein the computing unit is specifically configured to:
calculating the distance between the monitored vehicle and each vehicle behind and the direction information of the monitored vehicle relative to each vehicle behind according to the positioning information of the monitored vehicle and the positioning information of each vehicle behind;
calculating the imaging angle of the monitored vehicle in the vehicle-mounted video acquisition terminals of the monitored vehicles behind the vehicles according to the distance between the monitored vehicle and each vehicle behind, the direction information of the monitored vehicle relative to each vehicle behind and the vehicle width of the monitored vehicle;
and calculating the number of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles in the vehicles behind according to the imaging angle of the monitored vehicle in the vehicle-mounted video acquisition terminals of the vehicles behind, the resolution of the vehicle-mounted video acquisition terminals of the vehicles behind and the field angle of the vehicles behind.
6. The road vehicle monitoring device according to claim 4, characterized in that the selection unit is specifically configured to:
selecting the maximum value of the quantity from the quantity of imaging pixel points in the vehicle-mounted video acquisition terminals of the monitored vehicles at the rear of each vehicle;
and taking the rear vehicle corresponding to the maximum number as the current monitoring vehicle of the monitored vehicle.
7. A road vehicle monitoring system, comprising: a plurality of vehicles and the road vehicle monitoring device of any one of claims 4-6;
each vehicle is provided with a vehicle-mounted video acquisition terminal which is in communication connection with the road vehicle monitoring device;
the vehicle video acquisition terminal is used for uploading vehicle information of the vehicle and the acquired monitoring video to the road vehicle monitoring device.
8. A road vehicle monitoring apparatus, the apparatus comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the road vehicle monitoring method of any of claims 1-3 according to instructions in the program code.
9. A computer-readable storage medium for storing program code, which when executed by a processor implements the road vehicle monitoring method of any of claims 1-3.
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