CN116564111B - Vehicle early warning method, device and equipment for intersection and storage medium - Google Patents
Vehicle early warning method, device and equipment for intersection and storage medium Download PDFInfo
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
- G08B5/38—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources using flashing light
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The application discloses a vehicle early warning method, device, equipment and storage medium for intersections, wherein the method comprises the following steps: acquiring the real-time position of the vehicle through the imaging piece, converting the real-time position into real-time coordinates and outputting the real-time coordinates to a space rectangular coordinate system; establishing a detection ball by taking the intersection point as a circle center and the first preset length as a radius, and judging whether the real-time coordinates enter the detection ball; if yes, acquiring the contact point of the real-time coordinates and the detection ball and the real-time speed of the real-time coordinates; converting the value of the real-time speed into a vector length by taking the contact point as a starting point and the running direction of the road where the contact point is located as a vector direction so as to form a vector based on real-time coordinates; establishing an early warning ball by taking the intersection point as a circle center and the second preset length as a radius, and judging whether vectors exist in the early warning ball; if yes, all the warning elements are started at a first preset frequency. The application marks the speed of the vehicle relative to the intersection by the relative distance between the vector and the virtual warning ball, and gives out warning when the vector contacts the virtual warning ball.
Description
Technical Field
The present application relates to the field of traffic safety technologies, and in particular, to a method, an apparatus, a device, and a storage medium for early warning of vehicles at intersections.
Background
In an open road or a tunnel, a construction site is required to be isolated through protection plate isolation to ensure the safety of surrounding environments, and especially, when construction is performed on a road with an intersection (such as building, dismantling facilities such as a safety island, or repairing and maintaining underground pipeline facilities are required), vision is blocked after the protection plate is installed.
At present, the sight shielding of an intersection is usually realized by installing a convex mirror at the intersection to solve the shielding problem, a driver or a pedestrian can observe whether another road can safely pass through the convex mirror by installing the convex mirror, in order to ensure the effectiveness of the convex mirror, the convex mirror is usually required to be set to be of a larger size, and due to objective factors or subjective factors such as outdoor environment factors (low illumination, large dust and the like), construction factors (dust on construction sites, protection plates directly shielding the convex mirror and the like), human factors (intentional damage, unintentional damage and the like) and the like, the mirror is poor in use experience (invisible, invisible and the like), short in service life (mirror damage and the like), and further the hidden danger exists in the passing safety of the intersection.
Disclosure of Invention
The application mainly aims to provide a vehicle early warning method, device and equipment for an intersection and a storage medium, so as to solve the problems of potential safety hazard of the intersection caused by poor use experience and short service life of an intersection early warning means in the prior art.
In order to achieve the above purpose, the present application provides the following technical solutions:
the vehicle early warning method for the intersection comprises at least two intersecting roads, wherein at least one imaging piece is fixedly arranged on each road, all roads are provided with an intersection point, a shielding object which causes continuous sight shielding exists in a preset range of the intersection point, at least one warning piece is fixedly arranged on the shielding object, and no sight shielding exists on all warning pieces, and the vehicle early warning method comprises the following steps:
establishing a space rectangular coordinate system by taking the intersection point as an origin, converting all roads into a digital model, and outputting the digital model to the space rectangular coordinate system to form a three-dimensional layout;
acquiring the real-time position of the vehicle through the imaging piece, converting the real-time position into real-time coordinates and outputting the real-time coordinates to the space rectangular coordinate system;
establishing a detection ball by taking the intersection point as a circle center and a first preset length as a radius, and judging whether the real-time coordinates enter the detection ball;
If yes, acquiring the contact point of the real-time coordinate and the detection ball and the real-time speed of the real-time coordinate;
converting the value of the real-time speed into a vector length by taking the contact point as a starting point and the running direction of the road where the contact point is positioned as a vector direction so as to form a vector based on the real-time coordinates;
establishing an early warning ball by taking the intersection point as a circle center and taking a second preset length as a radius, wherein the second preset length is smaller than the first preset length;
judging whether the vector exists in the early warning ball or not;
if yes, all the warning elements are started at a first preset frequency.
As a further improvement of the present application, the method includes the steps of establishing a detection sphere with the intersection point as a center and a first preset length as a radius, and determining whether the real-time coordinates enter the detection sphere, and then, including:
if yes, all the warning pieces are started at a second preset frequency, wherein the value of the second preset frequency is smaller than that of the first preset frequency.
As a further improvement of the present application, the method includes the steps of establishing a detection sphere with the intersection point as a center and a first preset length as a radius, and determining whether the real-time coordinates enter the detection sphere, and then, including:
Judging whether the number of the real-time coordinates is unique;
if not, respectively acquiring the distance between each real-time coordinate and the intersection point;
connecting the real-time coordinates closest to the intersection point with the real-time coordinates farthest from the intersection point to form a traffic chain;
judging whether the passing chain enters the warning ball or not;
if yes, all the warning elements are started at the first preset frequency; if not, all the warning pieces are started at the second preset frequency.
As a further improvement of the present application, the method for acquiring the real-time position of the vehicle by the imaging member and converting the real-time position into real-time coordinates to be output to the space rectangular coordinate system includes:
acquiring image data and radar data of the vehicle and the road through the imaging piece;
performing target detection on the image data according to a first preset algorithm to obtain an image layout with a detection frame;
performing target detection on the radar data according to a second preset algorithm to obtain radar points based on the vehicle;
mapping the radar points to the image layout through a homography matrix;
fusing the detection frame and the radar point according to a third preset algorithm to obtain the real-time position;
And converting the real-time position into real-time coordinates and outputting the real-time coordinates to the space rectangular coordinate system.
As a further improvement of the present application, performing object detection on the image data according to a first preset algorithm to obtain an image layout with a detection frame, including:
dividing the image data into a first preset number of grids on average;
predicting a second preset number of bounding boxes based on each grid respectively;
respectively acquiring the confidence coefficient of each boundary frame and acquiring the boundary frame with the highest confidence coefficient from all the confidence coefficients as an optimal detection frame;
calculating the intersection ratio of the optimal detection frame and each boundary frame;
deleting the boundary frame with the cross ratio larger than the first preset threshold value, and reserving the boundary frame with the highest confidence coefficient as the detection frame.
As a further improvement of the present application, deleting a bounding box with an intersection ratio greater than the first preset threshold, where the bounding box with the highest confidence is reserved as the detection box, and then, including:
defining a training model of the detection frame through the first preset algorithm;
training the training model by using a neural network based on a preset data set, and iteratively adjusting the weight and bias of the training model by using a back propagation algorithm for a first preset number of times so as to reduce the value of a loss function of the training model;
And updating the detection frame based on the training model after training to obtain a final detection frame.
As a further improvement of the present application, converting the real-time position into real-time coordinates and outputting the real-time coordinates to the space rectangular coordinate system includes:
acquiring a first shortest distance between the midpoint of the final detection frame and the road, and acquiring a second shortest distance between the midpoint of the final detection frame and the intersection point;
and outputting the first shortest distance and the second shortest distance in the space rectangular coordinate system, wherein the intersection point of the first shortest distance and the second shortest distance is the real-time coordinate.
In order to achieve the above purpose, the present application further provides the following technical solutions:
a vehicle early warning device for an intersection, the vehicle early warning device being applied to the vehicle early warning method for an intersection as described above, the vehicle early warning device comprising:
the three-dimensional layout building module is used for building a space rectangular coordinate system by taking the intersection point as an origin, converting all roads into a digital model and outputting the digital model to the space rectangular coordinate system to form a three-dimensional layout;
the real-time coordinate conversion and output module is used for acquiring the real-time position of the vehicle through the imaging piece, converting the real-time position into real-time coordinates and outputting the real-time coordinates to the space rectangular coordinate system;
The detecting ball establishing and judging module is used for establishing a detecting ball by taking the intersection point as a circle center and a first preset length as a radius and judging whether the real-time coordinates enter the detecting ball or not;
the contact point and real-time speed acquisition module is used for acquiring the contact point of the real-time coordinate and the detection ball and the real-time speed of the real-time coordinate if the real-time coordinate enters the detection ball;
the vector generation module is used for converting the value of the real-time speed into a vector length by taking the contact point as a starting point and the running direction of the road where the contact point is positioned as a vector direction so as to form a vector based on the real-time coordinates;
the early warning ball establishing module is used for establishing an early warning ball by taking the intersection point as a circle center and taking a second preset length as a radius, wherein the second preset length is smaller than the first preset length;
the early warning ball judging module is used for judging whether the vector exists in the early warning ball or not;
the first warning part opening module is used for opening all warning parts at a first preset frequency if the vectors exist in the warning ball.
In order to achieve the above purpose, the present application further provides the following technical solutions:
an electronic device comprising a processor, a memory coupled to the processor, the memory storing program instructions executable by the processor; and the processor executes the program instructions stored in the memory to realize the vehicle early warning method of the intersection.
In order to achieve the above purpose, the present application further provides the following technical solutions:
a storage medium having stored therein program instructions which when executed by a processor enable a vehicle warning method for an intersection as described above.
The method defines the intersection of roads as the origin of a space rectangular coordinate system, outputs all roads into the coordinate system to form a three-dimensional layout, respectively establishes virtual detection balls and virtual early warning balls with different radiuses by taking the intersection as the center of a circle, recognizes the vehicle as real-time coordinates, recognizes the vehicle speed as the length of a vector, starts a subsequent early warning process by detecting whether the real-time coordinates reach the virtual detection balls or not, and warns through warning elements when the vector touches the virtual early warning balls. The application takes the contact point of the vehicle and the virtual detection ball as a vector starting point, takes the value of the vehicle speed as a vector length, marks the speed of the vehicle relative to the intersection by the relative distance between the vector and the virtual warning ball, gives out warning by the warning part of the intersection when the vector contacts the virtual warning ball (namely, the vehicle speed reaches a certain speed), so as to inform the vehicles and pedestrians on other roads of the intersection of the fast speed, simultaneously avoids the problem that the vehicles are automatically decelerated to the safe speed in advance (namely, the length of the vector is shortened and insufficient to contact the virtual warning ball), but still warns so as to reduce the passing efficiency. Compared with a convex mirror, the warning piece (such as an audible and visual alarm, a burst warning lamp and the like) provided by the application has the advantages of small size, easiness in maintenance and good use experience.
Drawings
FIG. 1 is a schematic flow chart of steps of an embodiment of a vehicle early warning method for intersections according to the present application;
FIG. 2 is a schematic diagram of functional modules of an embodiment of a vehicle warning device for intersections according to the present application;
FIG. 3 is a schematic diagram of an embodiment of an electronic device of the present application;
FIG. 4 is a schematic diagram illustrating the structure of an embodiment of a storage medium according to 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 embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms "first," "second," "third," and the like in this disclosure are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "first," "second," and "third" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. All directional indications (such as up, down, left, right, front, back … …) in embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the drawings), and if the particular gesture changes, the directional indication changes accordingly. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
As shown in fig. 1, the present embodiment provides a vehicle early warning method for an intersection, where the intersection includes at least two intersecting roads, each road is fixedly provided with at least one imaging member, all roads have an intersection, a shielding object that causes continuous sight shielding exists in a preset range of the intersection, at least one warning member is fixedly provided on the shielding object, and no sight shielding exists in all warning members.
Preferably, the imaging member includes a camera for acquiring image data and a radar for acquiring radar data.
Specifically, the vehicle early warning method comprises the following steps:
and S1, establishing a space rectangular coordinate system by taking the intersection point as an origin, converting all roads into a digital model, and outputting the digital model to the space rectangular coordinate system to form a three-dimensional layout.
Preferably, the length, width and gradient of the road can be output to the space rectangular coordinate system in a preset scale to form a plane or a curved surface, and since one end of the road is the above-mentioned intersection point (i.e. the origin of the space rectangular coordinate system), one end of all the roads is necessarily located on the origin of the space rectangular coordinate system.
Preferably, one of the roads may be coincident with the x-axis or y-axis of the space rectangular coordinate system to facilitate subsequent calculation, and if the road is arc-shaped, the tangent line of the arc-shaped road based on the intersection point may be coincident with the x-axis or y-axis of the space rectangular coordinate system.
Preferably, if the road has a gradient, the gradient as a function of the coefficient or the inclination of the plane may be output to a space rectangular coordinate system.
Preferably, the width of the road can be ignored, the road is output to the space rectangular coordinate system as a straight line or curve, the gradient is the coefficient of the straight line or curve, and the equivalent real-time coordinate of the vehicle can move on the straight line or curve.
And S2, acquiring the real-time position of the vehicle through the imaging piece, converting the real-time position into real-time coordinates and outputting the real-time coordinates to a space rectangular coordinate system.
S3, establishing a detection ball by taking the intersection point as a circle center and the first preset length as a radius, and judging whether the real-time coordinates enter the detection ball; if the real-time coordinates enter the detection sphere, step S4 is executed.
And S4, acquiring the contact point of the real-time coordinates and the detection ball and the real-time speed of the real-time coordinates.
And S5, converting the value of the real-time speed into a vector length by taking the contact point as a starting point and the running direction of the road where the contact point is located as a vector direction so as to form a vector based on real-time coordinates.
And S6, establishing an early warning ball by taking the intersection point as a circle center and taking a second preset length as a radius, wherein the second preset length is smaller than the first preset length.
Preferably, the first preset length may be set according to the speed limit of the road, the design intention being to give the vehicle a sufficient braking distance. Wherein, the braking distance and the vehicle speed are calculated by the sliding friction force between the tire and the ground, the friction force is the friction coefficient, and the friction resistance is set as，/>The value is generally 0.8 on a dry road surface and 0.2 on a wet road surface, and the braking distance is +.>Wherein->For the speed of the vehicle>Gravitational acceleration. When the friction resistance is fixed, the braking distance depends on the speed of the vehicle.
For example, in the case of 85km/h per hour, the braking distance is 35 meters, whereas in the case of 120km/h, the braking distance is 70 meters.
Preferably, when the speed limit of the road is 40km/h, the braking distance is about 15 meters, and because the early warning mechanism in the embodiment does not need continuous braking or emergency braking of the vehicle, the first preset length can be set redundantly, so that the driver is given sufficient braking time to avoid emergency braking, and the first preset length can be set to 30 meters.
Preferably, the second preset length is located at one end of the intersection point, and there is a requirement that the vehicle is required to be braked completely (for example, other roads have vehicles passing through or pedestrians passing through), when the speed limit of the road is 40km/h, the driver starts braking at the early warning ball, and the length of the second preset length is 15 meters.
Preferably, the detection ball and the early warning ball are virtual spherical surfaces based on a space rectangular coordinate system, and the spherical surfaces are preferably considered rather than circles because the road may have gradient.
Step S7, judging whether vectors exist in the early warning ball; if the vector exists in the early warning ball, step S8 is executed.
Step S8, all the warning elements are started at a first preset frequency.
Preferably, the first preset frequency can be set as an audible and visual alarm frequency of the alarm, for example, the alarm sound is played once in a second and the light flashes (bursts) flash light in five times in a second.
Preferably, if a plurality of roads have non-unique intersection points, a space rectangular coordinate system may be respectively established with one intersection point as an origin, and each space rectangular coordinate system is used as a separate individual to use the early warning method in the embodiment.
Further, after step S3, the method further includes the following steps:
step S10, if the real-time coordinates enter the detection sphere, step S20 is executed.
Step S20, all the warning elements are turned on at a second preset frequency, and the value of the second preset frequency is smaller than that of the first preset frequency.
Preferably, since the detection ball is farther from the warning ball, that is, the vehicle is farther from the intersection, at this time, the second preset frequency is smaller than the first preset frequency, and if the first preset frequency adopts the above-mentioned audible and visual alarm frequency, the second preset frequency can be set to play the warning sound with three seconds as a period, and the light flashes (bursts) with one second as a period.
Further, after step S3, the method further includes the following steps:
step S100, judging whether the number of the real-time coordinates is unique, and if the number of the real-time coordinates is not unique, executing step S200.
Step S200, the distance between each real-time coordinate and the intersection point is obtained respectively.
And step S300, connecting the real-time coordinates closest to the intersection point with the real-time coordinates farthest from the intersection point to form a traffic chain.
Step S400, judging whether the passing chain enters the warning ball, and if so, executing step S500; if the pass chain does not enter the warning ball, step S600 is performed.
Step S500, turning on all the alarms at the first preset frequency.
Step S600, turning on all the alarms at the second preset frequency.
Further, the step S2 specifically includes the following steps:
in step S21, image data of the vehicle and the road and radar data are acquired through the imaging element.
Step S22, performing target detection on the image data according to a first preset algorithm to obtain an image layout with a detection frame.
And S23, performing target detection on the radar data according to a second preset algorithm to obtain radar points based on the vehicle.
Preferably, step S23 may emit the first electromagnetic wave to the same external scene by the radar in the imaging member;
acquiring a second electromagnetic wave reflected from the same external scene; collecting radar information of the same external scene through the reflected second electromagnetic wave; and deleting radar targets with too far target distances in the radar information to obtain radar points, namely, obtaining the radar ranging by a second preset algorithm.
Step S24, mapping radar points to the image layout through the homography matrix.
Preferably, the homography matrix is passableAnd (3) representing.
Wherein, the liquid crystal display device comprises a liquid crystal display device,and->For the location information of the same object, +.>And->Coordinate values of pixels in image data for the same object,/- >Is homography matrix, and->The method comprises the steps of carrying out a first treatment on the surface of the And obtaining all radar points of which the pixel coordinate system is identical with the world coordinate system of the same external scene by solving the homography matrix.
And S25, fusing the detection frame and the radar point according to a third preset algorithm to obtain a real-time position.
And S26, converting the real-time position into real-time coordinates and outputting the real-time coordinates to a space rectangular coordinate system.
Further, the step S22 specifically includes the following steps:
in step S221, the image data is divided into a first predetermined number of grids on average.
Preferably, the original picture of the image data may be resized to 448×448, and the resized picture may be equally divided into s×s (e.g., 7×7) grids, each of which has a size of 64×64.
Step S222, predicting a second preset number of bounding boxes based on each grid, respectively.
Preferably, if the center of an object is located on a certain grid, the grid is responsible for predicting the bounding box of this object.
Step S223, the confidence coefficient of each boundary box is obtained respectively, and the boundary box with the highest confidence coefficient is obtained from all the confidence coefficients to be used as the optimal detection box.
Preferably, each grid is used for predictionThe coordinates and width-height of each detection frame, and the confidence of each detection frame, i.e. each grid needs to be predicted +. >A value.
It will be appreciated that each grid requires predictionPersonal->The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>For detecting the offset of the centre of the frame relative to the grid, < >>To detect the proportion of the frame relative to the resized picture,for confidence of grid, take valueIs 1 or 0.
Preferably, the confidence level is understood as the accuracy of whether or not there is a target within the current grid and the detection box.
Illustrating: setting a target in the picture after the size adjustment, and setting the width and the height of the picture after the size adjustment asThen:
dividing the picture into 7×7 grids on average, wherein there is one grid located at the center of the target, and the coordinates of the grid areLet the coordinates of the center of the target be +.>The offset can be calculated according to the following formula (1):
①。
where S is the side length of the grid, s=7 if the above-described s×s (e.g., 7×7) grids are used.
In step S224, the intersection ratio of the optimal detection frame and each bounding box is calculated.
Preferably, the intersection ratio is the intersection of the optimal detection frame with each bounding box, respectively, divided by the union of the optimal detection frame with each bounding box, respectively, to obtain the ratio.
And S225, deleting the boundary frame with the intersection ratio larger than the first preset threshold value, and reserving the boundary frame with the highest confidence coefficient as the detection frame.
Preferably, in the actual detection, if the predicted detection frame and the actual bounding frame overlap perfectly, the value of the overlap ratio is 1. In the practical application process, the value of the first preset threshold may be generally set to 0.5 to determine whether the predicted bounding box is correct, and the more accurate the bounding box is in positive correlation with the cross-correlation ratio.
Further, after step S225, the method further includes the following steps:
step S1000, defining a training model of the detection frame through a first preset algorithm.
And step S2000, training the training model by using a neural network based on a preset data set, and iteratively adjusting the weight and bias of the training model by using a back propagation algorithm for a first preset number of times so as to reduce the value of a loss function of the training model.
Preferably, the loss function is as shown in formula (2):
②。
wherein, the liquid crystal display device comprises a liquid crystal display device,is->+.>Whether the detection frames are responsible for the indication function of the target or not is judged to be 1 or 0; />、、/>、/>、/>Corresponds to->Personal->Predicted values.
It is understood that the loss function includes a deviation of coordinate values of the detection frame, a deviation of confidence, a deviation of prediction probability (or a class deviation).
Wherein, the liquid crystal display device comprises a liquid crystal display device,is the loss of the midpoint of the detection frame in the coordinate value deviation,is the loss of the width and the height of the detection frame in the coordinate value deviation, For the deviation of the confidence level, +.>To predict deviations in probability (or class deviations).
It should be noted that, since each grid does not necessarily contain an object, if there is no object in the grid, this will result inThe value of (2) is 0, so that the gradient span in the subsequent back propagation algorithm is too large, so +.>To control the loss of predicted position of the detection frame and to introduce +.>There is no loss of targets within the control single grid.
Preferably, training a model to train a neural network typically requires providing a large amount of data, i.e., a data set; data sets are generally divided into three classes, namely training set (training set), validation set (validation set) and test set (test set).
One epoch is a process equal to one training time using all samples in the training set, and the training time refers to one forward propagation (forward pass) and one backward propagation (back pass); when the number of samples of one epoch (i.e., the training set) is too large, excessive time may be consumed for performing one training, and it is not necessary to use all data of the training set for each training, the whole training set needs to be divided into a plurality of small blocks, i.e., a plurality of latches for training; one epoch is made up of one or more latches, which are part of a training set, with only a portion of the data being used for each training process, i.e., one latch, and one latch being trained as an iteration.
Preferably, the neural network training specifically comprises a Perceptron (Perceptron) which is composed of two layers of neurons, wherein an input layer receives an external input signal and then transmits the external input signal to an output layer, the output layer is an M-P neuron, and the formula (3) is a step functionThe following steps are:
③。
preferably, given a training data set, then the weights(/>=1, 2,..n), and training threshold +.>Can be obtained by learning->It can be understood that a weight corresponding to a fixed value with a fixed input of-1, 0 +.>。
Preferably, the first preset number of times may be set to 200 times.
Preferably, the learning rate of 1 st to 100 th epochs may be set to 0.01, the learning rate of 101 st to 150 th epochs may be set to 0.001, and the learning rate of 151 st to 200 th epochs may be set to 0.0001.
Step S3000, updating the detection frame based on the training model after training to obtain a final detection frame.
Further, the step S26 specifically further includes the following steps:
step S261, a first shortest distance between the midpoint of the final detection frame and the road is obtained, and a second shortest distance between the midpoint of the final detection frame and the intersection is obtained.
Preferably, one end of the first shortest distance is located at the midpoint of the final detection frame, and the other end of the first shortest distance is located on the road (or on a plane or curved surface, a straight line or a curved line equivalently replaced according to the above embodiments); one end of the second shortest distance is located at the midpoint of the final detection frame, and the other end of the second shortest distance is located at the intersection point.
In step S262, the first shortest distance and the second shortest distance are output in the rectangular space coordinate system, and the intersection point of the first shortest distance and the second shortest distance is the real-time coordinate.
Preferably, the design intent of step S261 and step S262 is to position the detection frame in a space rectangular coordinate system by a three-point positioning method, and the execution subject is in the space rectangular coordinate system.
In the embodiment, the intersection of roads is defined as the origin of a space rectangular coordinate system, all roads are output to the coordinate system to form a three-dimensional layout, virtual detection balls and virtual early warning balls with different radiuses are respectively established by taking the intersection as the center of a circle, vehicles are identified as real-time coordinates, the speeds of the vehicles are identified as vector lengths, the subsequent early warning process is started by detecting whether the real-time coordinates reach the virtual detection balls or not, and warning is carried out by warning elements when the vectors touch the virtual early warning balls. In this embodiment, the contact point of the vehicle and the virtual detection ball is used as a vector starting point, the value of the vehicle speed is used as a vector length, the speed of the vehicle relative to the intersection is identified through the relative distance between the vector and the virtual warning ball, and when the vector contacts the virtual warning ball (i.e. the vehicle speed reaches a certain speed), a warning is sent out through a warning piece of the intersection to inform the vehicles and pedestrians on other roads of the intersection of the fast speed, meanwhile, the problem that the vehicle is automatically decelerated to the safe speed in advance (i.e. the length of the vector is shortened and insufficient to contact the virtual warning ball), but the vehicle still warns to reduce the passing efficiency is avoided, and the safe passing speed of the vehicle can be regulated by regulating the radius difference between the virtual detection ball and the virtual warning ball. And because of the three-dimensional dimension of the space rectangular coordinate system, the embodiment can be applied to roads with any gradient, and the gradient size cannot be influenced. And the warning part (such as audible and visual annunciator, burst warning light, etc.) of this embodiment is small, easy to maintain in comparison with the convex mirror, has good use experience.
As shown in fig. 2, the present embodiment provides an embodiment of a vehicle early warning device for an intersection, where the vehicle early warning device is applied to a vehicle early warning method for an intersection as described above, and the vehicle early warning device includes a three-dimensional layout building module 1, a real-time coordinate conversion and output module 2, a detection ball building and judging module 3, a contact point and real-time speed obtaining module 4, a vector generating module 5, an early warning ball building module 6, an early warning ball judging module 7, and a first warning piece opening module 8, which are electrically connected in sequence.
The three-dimensional layout building module 1 is used for building a space rectangular coordinate system by taking the intersection point as an origin, converting all roads into a digital model and outputting the digital model to the space rectangular coordinate system to form a three-dimensional layout; the real-time coordinate conversion and output module 2 is used for acquiring the real-time position of the vehicle through the imaging piece, converting the real-time position into real-time coordinates and outputting the real-time coordinates to a space rectangular coordinate system; the detection ball establishing and judging module 3 is used for establishing a detection ball by taking the intersection point as a circle center and the first preset length as a radius and judging whether the real-time coordinates enter the detection ball or not; the contact point and real-time speed acquisition module 4 is used for acquiring the contact point of the real-time coordinate and the detection ball and the real-time speed of the real-time coordinate if the real-time coordinate enters the detection ball; the vector generation module 5 is used for converting the value of the real-time speed into a vector length by taking the contact point as a starting point and the running direction of the road where the contact point is located as a vector direction so as to form a vector based on real-time coordinates; the early warning ball establishing module 6 is used for establishing an early warning ball by taking the intersection point as a circle center and taking a second preset length as a radius, wherein the second preset length is smaller than the first preset length; the early warning ball judging module 7 is used for judging whether vectors exist in the early warning ball; the first warning-element opening module 8 is configured to open all warning elements at a first preset frequency if vectors exist in the warning ball.
Further, the vehicle early warning device comprises a second warning part opening module which is electrically connected with the detection ball establishing and judging module in sequence or is electrically connected with the detection ball establishing and judging module mutually.
Specifically, the second warning element opening module is configured to open all the warning elements at a second preset frequency if the real-time coordinates enter the detection ball, and the value of the second preset frequency is smaller than the value of the first preset frequency.
Further, the vehicle early warning device comprises a real-time coordinate judging and acquiring module, a traffic chain forming module and a traffic chain judging module which are electrically connected with the detecting ball establishing and judging module in sequence or are electrically connected with each other.
The real-time coordinate judging and acquiring module is used for judging whether the number of the real-time coordinates is unique, and if the number of the real-time coordinates is not unique, the distance between each real-time coordinate and the intersection point is respectively acquired; the traffic chain forming module is used for connecting the real-time coordinates closest to the intersection point with the real-time coordinates farthest from the intersection point to form a traffic chain; the traffic chain judging module is used for judging whether the traffic chain enters the warning ball, and if the traffic chain enters the warning ball, all warning pieces are started at the first preset frequency; if the passing chain does not enter the warning ball, all warning elements are started at the second preset frequency.
Further, the real-time coordinate conversion and output module specifically comprises a first real-time coordinate conversion and output sub-module, a second real-time coordinate conversion and output sub-module, a third real-time coordinate conversion and output sub-module, a fourth real-time coordinate conversion and output sub-module, a fifth real-time coordinate conversion and output sub-module and a sixth real-time coordinate conversion and output sub-module which are electrically connected in sequence; and one of the sub-modules is electrically connected with the other modules.
The first real-time coordinate conversion and output sub-module is used for acquiring image data and radar data of a vehicle and a road through the imaging piece; the second real-time coordinate conversion and output submodule is used for carrying out target detection on the image data according to a first preset algorithm to obtain an image layout with a detection frame; the third real-time coordinate conversion and output submodule is used for carrying out target detection on radar data according to a second preset algorithm to obtain radar points based on vehicles; the fourth real-time coordinate conversion and output submodule is used for mapping radar points to image layout through a homography matrix; the fifth real-time coordinate conversion and output submodule is used for fusing the detection frame and the radar point according to a third preset algorithm to obtain a real-time position; the sixth real-time coordinate conversion and output submodule is used for converting the real-time position into real-time coordinates and outputting the real-time coordinates to the space rectangular coordinate system.
Further, the second real-time coordinate conversion and output submodule specifically comprises an image data dividing unit, a boundary frame predicting unit, an optimal detection frame obtaining unit, an intersection ratio calculating unit and a boundary frame screening and retaining unit which are electrically connected in sequence; and one of the sub-modules is electrically connected with the other modules.
The image data dividing unit is used for dividing the image data into grids with a first preset number on average; the boundary frame prediction unit is used for predicting a second preset number of boundary frames based on each grid respectively; the optimal detection frame acquisition unit is used for respectively acquiring the confidence coefficient of each boundary frame and acquiring the boundary frame with the highest confidence coefficient from all the confidence coefficients as the optimal detection frame; the cross-over ratio calculating unit is used for calculating the cross-over ratio of the optimal detection frame and each boundary frame respectively; and the boundary frame screening and retaining unit is used for deleting the boundary frame with the intersection ratio larger than the first preset threshold value, and the boundary frame with the highest retaining confidence degree is the detection frame.
Further, the second real-time coordinate conversion and output sub-module further comprises a training model definition unit, a neural network training unit and a final detection frame acquisition unit which are electrically connected to the boundary frame screening and retaining unit in sequence.
The training model definition unit is used for defining a training model of the detection frame through a first preset algorithm; the neural network training unit is used for carrying out neural network training on the training model based on a preset data set, and iteratively adjusting the weight and bias of the training model by a back propagation algorithm for a first preset number of times so as to reduce the value of a loss function of the training model; the final detection frame acquisition unit is used for updating the detection frame based on the training model after training is completed so as to obtain a final detection frame.
Further, the sixth real-time coordinate conversion and output submodule specifically includes a shortest distance acquisition unit and a shortest distance output unit electrically connected in sequence.
The shortest distance acquisition unit is used for acquiring a first shortest distance between the midpoint of the final detection frame and the road and acquiring a second shortest distance between the midpoint of the final detection frame and the intersection point; the shortest distance output unit is used for outputting a first shortest distance and a second shortest distance in the space rectangular coordinate system, and an intersection point of the first shortest distance and the second shortest distance is the real-time coordinate.
In the embodiment, the intersection of roads is defined as the origin of a space rectangular coordinate system, all roads are output to the coordinate system to form a three-dimensional layout, virtual detection balls and virtual early warning balls with different radiuses are respectively established by taking the intersection as the center of a circle, vehicles are identified as real-time coordinates, the speeds of the vehicles are identified as vector lengths, the subsequent early warning process is started by detecting whether the real-time coordinates reach the virtual detection balls or not, and warning is carried out by warning elements when the vectors touch the virtual early warning balls. In this embodiment, the contact point of the vehicle and the virtual detection ball is used as a vector starting point, the value of the vehicle speed is used as a vector length, the speed of the vehicle relative to the intersection is identified through the relative distance between the vector and the virtual warning ball, and when the vector contacts the virtual warning ball (i.e. the vehicle speed reaches a certain speed), a warning is sent out through a warning piece of the intersection to inform the vehicles and pedestrians on other roads of the intersection of the fast speed, meanwhile, the problem that the vehicle is automatically decelerated to the safe speed in advance (i.e. the length of the vector is shortened and insufficient to contact the virtual warning ball), but the vehicle still warns to reduce the passing efficiency is avoided, and the safe passing speed of the vehicle can be regulated by regulating the radius difference between the virtual detection ball and the virtual warning ball. And because of the three-dimensional dimension of the space rectangular coordinate system, the embodiment can be applied to roads with any gradient, and the gradient size cannot be influenced. And the warning part (such as audible and visual annunciator, burst warning light, etc.) of this embodiment is small, easy to maintain in comparison with the convex mirror, has good use experience.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 3, the electronic device 9 includes a processor 91 and a memory 92 coupled to the processor 91.
The memory 92 stores program instructions for implementing a vehicle warning method for an intersection according to any of the above embodiments.
The processor 91 is configured to execute program instructions stored in the memory 92 for vehicle warning at the intersection.
The processor 91 may also be referred to as a CPU (Central Processing Unit ). The processor 91 may be an integrated circuit chip with signal processing capabilities. Processor 91 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Further, fig. 4 is a schematic structural diagram of a storage medium according to an embodiment of the present application, referring to fig. 4, where the storage medium 10 according to an embodiment of the present application stores a program instruction 101 capable of implementing all the methods described above, where the program instruction 101 may be stored in the storage medium in the form of a software product, and includes several instructions for making a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes, or a terminal device such as a computer, a server, a mobile phone, a tablet, or the like.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other forms.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units. The foregoing is only the embodiments of the present application, and the patent scope of the application is not limited thereto, but is also covered by the patent protection scope of the application, as long as the equivalent structure or equivalent flow changes made by the description and the drawings of the application or the direct or indirect application in other related technical fields are adopted.
Claims (10)
1. The vehicle early warning method for the intersection comprises at least two intersecting roads, wherein at least one imaging piece is fixedly arranged on each road, all roads are provided with an intersection point, a shielding object which causes continuous sight shielding exists in a preset range of the intersection point, at least one warning piece is fixedly arranged on the shielding object, and the sight shielding does not exist on all warning pieces, and the vehicle early warning method is characterized by comprising the following steps:
establishing a space rectangular coordinate system by taking the intersection point as an origin, converting all roads into a digital model, and outputting the digital model to the space rectangular coordinate system to form a three-dimensional layout;
acquiring the real-time position of the vehicle through the imaging piece, converting the real-time position into real-time coordinates and outputting the real-time coordinates to the space rectangular coordinate system;
establishing a detection ball by taking the intersection point as a circle center and a first preset length as a radius, and judging whether the real-time coordinates enter the detection ball;
if yes, acquiring the contact point of the real-time coordinate and the detection ball and the real-time speed of the real-time coordinate;
converting the value of the real-time speed into a vector length by taking the contact point as a starting point and the running direction of the road where the contact point is positioned as a vector direction so as to form a vector based on the real-time coordinates;
Establishing an early warning ball by taking the intersection point as a circle center and taking a second preset length as a radius, wherein the second preset length is smaller than the first preset length, and the second preset length is set based on a braking distance corresponding to road speed limit;
judging whether the vector touches the early warning ball or not;
if yes, all the warning elements are started at a first preset frequency.
2. The vehicle warning method according to claim 1, wherein the establishing a detection sphere with the intersection point as a center and a first preset length as a radius, and determining whether the real-time coordinates enter the detection sphere, and then, includes:
if yes, all the warning pieces are started at a second preset frequency, wherein the value of the second preset frequency is smaller than that of the first preset frequency.
3. The vehicle warning method according to claim 2, wherein the establishing a detection sphere with the intersection point as a center and a first preset length as a radius, and determining whether the real-time coordinates enter the detection sphere, and then, includes:
judging whether the number of the real-time coordinates is unique;
if not, respectively acquiring the distance between each real-time coordinate and the intersection point;
connecting the real-time coordinates closest to the intersection point with the real-time coordinates farthest from the intersection point to form a traffic chain;
Judging whether the passing chain enters the early warning ball or not;
if yes, all the warning elements are started at the first preset frequency; if not, all the warning pieces are started at the second preset frequency.
4. The vehicle warning method according to claim 1, wherein acquiring the real-time position of the vehicle by the imaging member and converting the real-time position into real-time coordinates to be output to the space rectangular coordinate system, comprises:
acquiring image data and radar data of the vehicle and the road through the imaging piece;
performing target detection on the image data according to a first preset algorithm to obtain an image layout with a detection frame;
performing target detection on the radar data according to a second preset algorithm to obtain radar points based on the vehicle;
mapping the radar points to the image layout through a homography matrix;
fusing the detection frame and the radar point according to a third preset algorithm to obtain the real-time position;
and converting the real-time position into real-time coordinates and outputting the real-time coordinates to the space rectangular coordinate system.
5. The vehicle warning method according to claim 4, wherein performing object detection on the image data according to a first preset algorithm to obtain an image layout with a detection frame, comprises:
Dividing the image data into a first preset number of grids on average;
predicting a second preset number of bounding boxes based on each grid respectively;
respectively acquiring the confidence coefficient of each boundary frame and acquiring the boundary frame with the highest confidence coefficient from all the confidence coefficients as an optimal detection frame;
calculating the intersection ratio of the optimal detection frame and each boundary frame;
and selecting a boundary frame with the cross ratio larger than a first preset threshold value, and reserving the boundary frame with the highest confidence coefficient as the detection frame.
6. The vehicle early warning method according to claim 5, wherein a bounding box with a cross ratio greater than a first preset threshold is selected, and a bounding box with the highest confidence is reserved as the detection box, and then the method comprises:
defining a training model of the detection frame through the first preset algorithm;
training the training model by using a neural network based on a preset data set, and iteratively adjusting the weight and bias of the training model by using a back propagation algorithm for a first preset number of times so as to reduce the value of a loss function of the training model;
and updating the detection frame based on the training model after training to obtain a final detection frame.
7. The vehicle warning method according to claim 6, characterized in that converting the real-time position into real-time coordinates and outputting the real-time coordinates to the space rectangular coordinate system, comprising:
Acquiring a first shortest distance between the midpoint of the final detection frame and the road, and acquiring a second shortest distance between the midpoint of the final detection frame and the intersection point;
and outputting the first shortest distance and the second shortest distance in the space rectangular coordinate system, wherein the intersection point of the first shortest distance and the second shortest distance is the real-time coordinate.
8. A vehicle early-warning device of an intersection, which is applied to a vehicle early-warning method of an intersection according to one of claims 1 to 7, characterized in that the vehicle early-warning device includes:
the three-dimensional layout building module is used for building a space rectangular coordinate system by taking the intersection point as an origin, converting all roads into a digital model and outputting the digital model to the space rectangular coordinate system to form a three-dimensional layout;
the real-time coordinate conversion and output module is used for acquiring the real-time position of the vehicle through the imaging piece, converting the real-time position into real-time coordinates and outputting the real-time coordinates to the space rectangular coordinate system;
the detecting ball establishing and judging module is used for establishing a detecting ball by taking the intersection point as a circle center and a first preset length as a radius and judging whether the real-time coordinates enter the detecting ball or not;
The contact point and real-time speed acquisition module is used for acquiring the contact point of the real-time coordinate and the detection ball and the real-time speed of the real-time coordinate if the real-time coordinate enters the detection ball;
the vector generation module is used for converting the value of the real-time speed into a vector length by taking the contact point as a starting point and the running direction of the road where the contact point is positioned as a vector direction so as to form a vector based on the real-time coordinates;
the early warning ball establishing module is used for establishing an early warning ball by taking the intersection point as a circle center and taking a second preset length as a radius, wherein the second preset length is smaller than the first preset length, and the second preset length is set based on a braking distance corresponding to road speed limit;
the early warning ball judging module is used for judging whether the vector touches the early warning ball;
the first warning part opening module is used for opening all warning parts at a first preset frequency if the vector touches the warning ball.
9. An electronic device comprising a processor, and a memory coupled to the processor, the memory storing program instructions executable by the processor; the processor, when executing the program instructions stored in the memory, implements a method for vehicle warning at an intersection as claimed in any one of claims 1 to 7.
10. A storage medium having stored therein program instructions which, when executed by a processor, enable the method for vehicle warning of an intersection according to any one of claims 1 to 7.
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