WO2020238868A1 - 交通工具行驶检测方法、装置、电子设备及可读存储介质 - Google Patents

交通工具行驶检测方法、装置、电子设备及可读存储介质 Download PDF

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Publication number
WO2020238868A1
WO2020238868A1 PCT/CN2020/092185 CN2020092185W WO2020238868A1 WO 2020238868 A1 WO2020238868 A1 WO 2020238868A1 CN 2020092185 W CN2020092185 W CN 2020092185W WO 2020238868 A1 WO2020238868 A1 WO 2020238868A1
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Prior art keywords
vehicle
microwave
frequency
microwaves
speed
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PCT/CN2020/092185
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English (en)
French (fr)
Inventor
胡大林
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北京骑胜科技有限公司
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Application filed by 北京骑胜科技有限公司 filed Critical 北京骑胜科技有限公司
Priority to CN202080039363.XA priority Critical patent/CN113906487B/zh
Publication of WO2020238868A1 publication Critical patent/WO2020238868A1/zh
Priority to US17/456,569 priority patent/US20220082683A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/62—Sense-of-movement determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Definitions

  • This application relates to the technical field of driving detection, and in particular, to a method, device, electronic device, and readable storage medium for driving detection of a vehicle.
  • a global positioning system Global Positioning System, GPS
  • GPS Global Positioning System
  • GPS does not report in real time, and there will be a certain time delay, which leads to delayed judgment and increases the rate of misjudgment.
  • the purpose of the embodiments of the present application is to provide a vehicle driving detection method, device, electronic equipment, and readable storage medium, which can detect on the vehicle by setting a microwave sensor on the vehicle without relying on GPS and maps. Whether it is retrograde or not, it solves the problems of judgment delay and high misjudgment rate in the prior art, and achieves the effect of timely judging whether the vehicle is retrograde.
  • the first aspect of the present application provides a vehicle driving detection method.
  • the method includes obtaining the frequency of microwaves emitted by a microwave sensor and the frequency of reflected microwaves received by the microwave sensor, wherein the microwave sensor is located at the front of the vehicle. Get the driving speed of the vehicle. According to the frequency of emitted microwaves, the frequency of reflected microwaves, and the speed of travel, it is determined whether the vehicle is going backwards.
  • the frequency of the reflected microwaves, and the driving speed determine whether the vehicle is going retrograde, including: if the frequency of the reflected microwaves is greater than the frequency of the emitted microwaves, then obtain according to the frequency of the emitted microwaves and the frequency of the reflected microwaves The relative speed between the vehicle and the microwave-reflecting object, and based on the relative speed and driving speed, determine whether the vehicle is going backwards.
  • determining whether the vehicle is going backwards according to the relative speed and the driving speed includes: if the relative speed is greater than the driving speed, obtaining the relative speed between the vehicle and multiple microwave-reflecting objects within a preset time. If the relative speed between the vehicle and the multiple microwave-reflecting objects, the number of which is greater than the driving speed meets the preset threshold, it is determined that the vehicle is not going retrograde. Or, if the relative speed between the vehicle and the multiple microwave-reflecting objects, the number of which is greater than the traveling speed does not meet the preset threshold, then it is determined that the vehicle is traveling in reverse.
  • the method further includes: determining the wave transmission interval corresponding to the relative speed according to the relative speed and the preset correspondence between the relative speed and the wave transmission interval. According to the transmission interval, adjust the time interval between two adjacent microwave sensor transmissions.
  • the method further includes: obtaining the relative speed and distance between the vehicle and the microwave-reflecting object according to the frequency of the reflected microwave and the frequency of the emitted microwave, and the time interval between the emitted microwave and the received reflected microwave. Get the departure time based on distance and relative speed. The minimum time interval between the departure time and the time interval between two adjacent microwaves emitted by the microwave sensor is used as the time interval for the microwave sensor to emit microwaves next time.
  • the method further includes: if the direction of the relative speed is opposite to the traveling direction of the vehicle, obtaining the vehicle and the reflection according to the frequency of the reflected microwave and the frequency of the emitted microwave, and the time interval between the emitted microwave and the received reflected microwave
  • the relative speed and distance between microwave objects According to the effective transmission distance of the microwave sensor and the difference between the distance, and the relative speed, the departure time is obtained. According to the departure time and the smallest time interval between the two adjacent microwave sensor emission time intervals, it is used as the time interval for the microwave sensor to emit microwaves next time.
  • determining whether the vehicle is retrograde based on the frequency of emitting microwaves, the frequency of reflected microwaves, the time interval, and the driving speed including: if the frequency of reflected microwaves is less than the frequency of emitting microwaves, determining that the vehicle is not retrograde. Or, if the frequency of the reflected microwaves is equal to the frequency of the emitted microwaves, it is determined that the vehicle is not going retrograde.
  • determining whether the vehicle is going backwards according to the relative speed and the driving speed including: if the relative speed is less than the driving speed, determining that the transportation is not going backwards.
  • the method further includes: if the difference between the relative speeds obtained twice adjacently is greater than a preset value, determining that the objects corresponding to the relative speeds obtained twice adjacently are different objects.
  • the method further includes: obtaining the relative speed and distance between the vehicle and the microwave-reflecting object according to the frequency of reflected microwaves, the frequency of emitting microwaves, and the time interval between emitting microwaves and receiving reflected microwaves. Based on the distance and the relative speed of the vehicle and the microwave-reflecting object, the predicted collision time is determined. If the predicted collision time is less than or equal to the preset safe time, an early warning is given to the vehicle.
  • the method further includes: if the relative speed of the vehicle and the microwave-reflecting object is greater than or equal to a preset speed, prompting the vehicle, where the preset speed is twice the maximum travel speed of the vehicle .
  • a vehicle driving detection device in a second aspect of the present application, includes: an acquisition module for acquiring the frequency of microwaves emitted by the microwave sensor and the frequency of reflected microwaves received by the microwave sensor, wherein the microwave sensor is located in the traffic The front of the tool.
  • the acquisition module is also used to acquire the driving speed of the vehicle.
  • the determining module is used to determine whether the vehicle is going retrograde according to the frequency of emitting microwaves, the frequency of reflecting microwaves, the time interval, and the driving speed.
  • the determining module is specifically used to obtain the relative speed between the vehicle and the microwave-reflecting object according to the frequency of the emitted microwave and the frequency of the reflected microwave if the frequency of the reflected microwave is greater than the frequency of the emitted microwave, and according to the relative speed Speed and driving speed determine whether the vehicle is going backwards.
  • the determining module is specifically configured to obtain the relative speed between the vehicle and multiple microwave-reflecting objects within a preset time if the relative speed is greater than the driving speed. If the relative speed between the vehicle and the multiple microwave-reflecting objects, the number of which is greater than the driving speed meets the preset threshold, then it is determined that the vehicle is not going retrograde. Or, if the relative speed between the vehicle and the multiple microwave-reflecting objects, the number of which is greater than the traveling speed does not meet the preset threshold, then it is determined that the vehicle is traveling in reverse.
  • the device further includes an adjustment module for determining the wave transmission interval corresponding to the relative speed according to the relative speed and the preset correspondence between the relative speed and the wave transmission interval. According to the transmission interval, adjust the time interval between two adjacent microwave sensor transmissions.
  • the acquisition module is further configured to acquire the relative speed and distance between the vehicle and the object that reflects microwaves according to the frequency of reflected microwaves and the frequency of emitted microwaves, and the time interval between emitting and receiving reflected microwaves. Get the departure time based on distance and relative speed. The minimum time interval between the departure time and the time interval between two adjacent microwave sensor emission microwaves is used as the time interval for the microwave sensor to emit microwaves next time.
  • the acquisition module is also used to obtain the vehicle and the vehicle according to the frequency of reflected microwaves and the frequency of transmitting microwaves, and the time interval between transmitting microwaves and receiving reflected microwaves if the direction of the relative speed is opposite to the traveling direction of the vehicle.
  • the relative speed and distance between objects that reflect microwaves According to the effective transmission distance of the microwave sensor and the difference between the distance, and the relative speed, the departure time is obtained. According to the departure time and the smallest time interval between the two adjacent microwave sensor emission time intervals, it is used as the time interval for the microwave sensor to emit microwaves next time.
  • the determining module is specifically configured to determine that the vehicle is not retrograde if the frequency of the reflected microwave is less than the frequency of the emitted microwave. Or, if the frequency of the reflected microwaves is equal to the frequency of the emitted microwaves, it is determined that the vehicle is not going retrograde.
  • the determining module is specifically configured to determine if the relative speed is less than the driving speed, determining that the vehicle is not moving in reverse.
  • the determining module is further configured to determine that the objects corresponding to the relative speeds obtained twice adjacently are different objects if the difference between the relative speeds obtained twice adjacently is greater than a preset value.
  • the device further includes an early warning module, which is used to obtain the relative speed and speed between the vehicle and the microwave-reflecting object according to the frequency of reflected microwaves, the frequency of emitting microwaves, and the time interval between emitting microwaves and receiving reflected microwaves.
  • an early warning module which is used to obtain the relative speed and speed between the vehicle and the microwave-reflecting object according to the frequency of reflected microwaves, the frequency of emitting microwaves, and the time interval between emitting microwaves and receiving reflected microwaves.
  • distance Determine the predicted collision time based on the distance and the relative speed of the vehicle and the microwave-reflecting object. If the predicted collision time is less than or equal to the preset safe time, an early warning is given to the vehicle.
  • the device further includes a prompt module for prompting the vehicle if the relative speed between the vehicle and the microwave-reflecting object is greater than or equal to a preset speed, where the preset speed is the maximum travel of the vehicle Twice the speed.
  • an electronic device in a third aspect of the present application, includes a processor, a computer-readable storage medium, and a bus.
  • the computer-readable storage medium stores machine-readable instructions executable by the processor.
  • the processor communicates with the computer-readable storage medium through a bus, and the processor executes machine-readable instructions to execute the steps of the vehicle driving detection method provided in the first aspect.
  • a fourth aspect of the present application provides a computer-readable storage medium having a computer program stored on the computer-readable storage medium, and the computer program executes the steps of the vehicle driving detection method provided in the first aspect when the computer program is run by a processor .
  • the microwave sensor is used to transmit microwaves and receive the reflected microwaves.
  • the frequency of the transmitted microwaves, the frequency of the reflected microwaves, and the speed of the vehicle can be used to determine whether the vehicle is going backwards. This can be done without relying on GPS and maps.
  • the frequency of the emitted microwaves, the frequency of the reflected microwaves, and the speed of the vehicle are used to determine whether the vehicle is going backwards, effectively avoiding the delay judgment caused by the reporting delay, thereby realizing timely and accurate judgment, and improving the vehicle The accuracy and stability of the judgment of whether it is retrograde.
  • Fig. 1 shows a schematic diagram of an application scenario of a vehicle driving detection method provided by an embodiment of the present application
  • FIG. 2 shows a schematic flowchart of a vehicle driving detection method provided by an embodiment of the present application
  • FIG. 3 shows a schematic flow chart of a vehicle driving detection method provided by another embodiment of the present application.
  • FIG. 4 shows a schematic flowchart of a vehicle driving detection method provided by another embodiment of the present application.
  • FIG. 5 shows a schematic diagram of the correspondence between the preset relative speed and the wave transmission interval in the vehicle driving detection method provided by another embodiment of the present application
  • FIG. 6 shows a schematic flowchart of a method for detecting vehicle driving provided by another embodiment of the present application.
  • FIG. 7 shows a schematic flowchart of a vehicle driving detection method provided by another embodiment of the present application.
  • FIG. 8 shows a schematic flowchart of a vehicle driving detection method provided by another embodiment of the present application.
  • FIG. 9 shows a schematic structural diagram of a vehicle driving detection device provided by an embodiment of the present application.
  • FIG. 10 shows a schematic structural diagram of a vehicle driving detection device provided by another embodiment of the present application.
  • FIG. 11 shows a schematic structural diagram of a vehicle driving detection device provided by another embodiment of the present application.
  • FIG. 12 shows a schematic structural diagram of a vehicle driving detection device provided by another embodiment of the present application.
  • FIG. 13 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • Fig. 1 shows a schematic diagram of an application scenario of a vehicle driving detection method provided by an embodiment of the present application.
  • a vehicle 101 may be included.
  • a two-wheeled vehicle is used as an example for explanation.
  • the vehicle 101 may also be a vehicle of other forms, which will not be repeated here.
  • two-wheeled vehicles may include bicycles, motorcycles, motorcycles, and electric motorcycles, but not so.
  • a controller 102 is provided on the vehicle 101, and the controller 102 can be communicatively connected with the wheel speed sensor 104 provided on the wheels and the microwave sensor 103 provided at the front of the vehicle.
  • the controller 102 may be a central control device of the vehicle 101.
  • the microwave sensor 103 can also be a Doppler sensor or a Doppler microwave sensor.
  • the controller 102 may include one or more processing cores (eg, single-core processors or multi-core processors).
  • the controller 102 may include a central processing unit (Central Processing Unit, CPU), an application specific integrated circuit (ASIC), a dedicated instruction set processor (Application Specific Instruction-set Processor, ASIP), and graphics processing.
  • CPU Central Processing Unit
  • ASIC application specific integrated circuit
  • ASIP dedicated instruction set processor
  • graphics processing graphics processing
  • Graphics Processing Unit GPU
  • Physical Processing Unit Physical Processing Unit
  • Digital Signal Processor Digital Signal Processor
  • DSP Digital Signal Processor
  • Field Programmable Gate Array Field Programmable Gate Array
  • FPGA Field Programmable Gate Array
  • Programmable Logic Device Programmable Logic Device, PLD
  • controller microcontroller unit
  • MCU Microcontroller Unit
  • RISC Reduced Instruction Set Computing
  • connection between the controller 102 and the wheel speed sensor 104 and the microwave sensor 103 may be a wired connection or a wireless connection.
  • the wired connection may include network cables, communication cables, optical fibers, etc., or any combination thereof.
  • Wireless connection includes cellular mobile network connection, such as second generation mobile communication technology (Second Generation, 2G), third generation mobile communication technology (Third Generation, 3G), fourth generation mobile communication technology (Fourth Generation, 4G), 4G+ or Fifth Generation (Fifth Generation, 5G), etc., or any combination thereof.
  • a typical 4G network includes a Long Term Evolution (LET) network.
  • LET Long Term Evolution
  • the wireless connection can also be an Internet of Things connection, such as ZigBee, Wireless-Fidelity (Wi-Fi), Narrow Band Internet of Things (NB-IoT), and ultra-long distance Low-power data transmission technology (Long Range, LoRa), enhanced Machine-Type Communication (eMTC), Near Field Communication (NFC), etc., or any combination thereof.
  • ZigBee Wireless-Fidelity
  • NB-IoT Narrow Band Internet of Things
  • eMTC enhanced Machine-Type Communication
  • NFC Near Field Communication
  • the vehicle 101 can control the microwave sensor 103 to emit microwaves through the controller 102, and receive microwaves reflected by objects existing in the traveling direction of the vehicle 101, where the objects can be two-wheeled vehicles 106, cars 105, pedestrians or Trees, etc., or any combination thereof.
  • Fig. 2 shows a schematic flow chart of a method for detecting driving of a vehicle provided by an embodiment of the present application.
  • the vehicle driving detection method can be implemented by the vehicle controller 102 in FIG. 1 described above. As shown in Figure 2, the method includes:
  • the microwave sensor is located at the front of the vehicle.
  • the microwave transmitting port and the microwave receiving port of the microwave sensor located in the front of the vehicle may face the driving direction of the vehicle, that is, the direction of the front of the vehicle is consistent, so that the microwave sensor is convenient for the microwave sensor to emit microwaves in the driving direction and receive Microwaves reflected by other objects in the direction of travel.
  • the microwave sensor can transmit and receive microwaves.
  • the microwave emitted by the microwave sensor will be reflected when it hits an object, and reflected to the microwave sensor, so that the microwave sensor captures the reflected microwave, and the transmitted microwave has a fixed frequency.
  • the frequency of reflected microwaves can vary according to the distance between the vehicle and the object.
  • the vehicle and the object are relatively close, that is, the distance between the vehicle and the object is shortened, and the frequency of the received reflected microwave will increase;
  • the vehicle and the object are relatively far away, that is, if the distance between the vehicle and the object increases, the frequency of the received reflected microwave will decrease;
  • the vehicle and the object are relatively static, that is, the distance between the vehicle and the object does not change, then The frequency of the received reflected microwaves will decrease.
  • the controller that executes the vehicle driving detection method can obtain the frequency of the emitted microwaves and the frequency of the reflected microwaves from the microwave sensor.
  • the wheel speed of the vehicle can be obtained according to the wheel speed sensor of the vehicle. Since the circumference of the wheel of the same vehicle is fixed, it can be calculated according to the wheel circumference and wheel speed. Get the driving speed of the vehicle. However, this is only an implementation method for obtaining the driving speed, and this application is not limited to this.
  • S203 Determine whether the vehicle is going backwards according to the frequency of the emitted microwaves, the frequency of the reflected microwaves, and the driving speed.
  • the movement relationship between the vehicle and the object can be obtained, such as approaching, moving away, and standing still. According to the movement relationship and driving speed, it can be determined whether the vehicle is going retrograde.
  • the microwave sensor is used to transmit microwaves and receive the reflected microwaves.
  • the frequency of the transmitted microwaves, the frequency of the reflected microwaves, and the speed of the vehicle are used to determine whether the vehicle is going backwards. This can be done without relying on GPS and maps.
  • the frequency of the emitted microwaves, the frequency of the reflected microwaves, and the speed of the vehicle are used to determine whether the vehicle is going backwards, effectively avoiding the delay judgment caused by the reporting delay, thereby realizing timely and accurate judgment, and improving the vehicle The accuracy and stability of the judgment of whether it is retrograde.
  • determining whether the vehicle is going retrograde including:
  • the frequency of the reflected microwaves is less than the frequency of the emitted microwaves, it is determined that the vehicle is not moving in reverse.
  • the frequency of reflected microwaves is less than the frequency of emitted microwaves, it indicates that the moving direction of the object that reflects microwaves is the same as the direction of the vehicle, and the traveling speed of the vehicle is less than the moving speed of the object that reflects microwaves (that is, the direction of relative speed is The driving direction of the vehicle is opposite). At this time, since the moving direction of the microwave-reflecting object is the same as the direction of the vehicle, it can be confirmed that the vehicle is not going backwards.
  • the frequency of the reflected microwaves is equal to the frequency of the emitted microwaves, it is determined that the vehicle is not retrograde.
  • the frequency of reflected microwaves is equal to the frequency of emitted microwaves, which means that there are no moving objects around or moving objects at the same speed as me. There are many possibilities at this time. If the moving object is at the same speed as me, it means that the moving speed of the object is the same as the moving speed of the vehicle, and the direction is the same, that is, the vehicle is not going retrograde. If there are no moving objects around, it is impossible to accurately confirm whether the vehicle is going retrograde, but only for safety reasons. If there are no moving objects around, it can be considered that the vehicle is safe regardless of whether it is going backwards or not. The vehicle is not retrograde.
  • the relative speed between the vehicle and the object that reflects the microwave is obtained according to the frequency of the emitted microwave and the frequency of the reflected microwave, and the relative speed and The driving speed determines whether the vehicle is going backwards.
  • the relative velocity can be calculated by a formula that can use the Doppler effect:
  • f is the frequency of transmitting microwaves
  • f′ is the frequency of receiving microwaves
  • v is the propagation speed of microwaves in the air
  • v 0 is the moving speed of objects that reflect microwaves
  • v s is the traveling speed of the vehicle
  • the relative speed v x is the speed difference between v s and v 0 .
  • the moving velocity v 0 1.5m / s
  • the object that reflects the microwave moves in the opposite direction of the vehicle
  • the moving direction between the vehicle and the microwave-reflecting object is the same, and the moving speed of the vehicle is greater than the moving speed of the microwave-reflecting object, or the vehicle and the microwave-reflecting object move faster.
  • the relationship between the relative speed and the driving speed can be used to further determine whether the vehicle is retrograde when the frequency of the reflected microwave is greater than the frequency of the emitted microwave, which improves the accuracy of detecting whether the vehicle is retrograde. , To achieve more accurate detection.
  • FIG. 3 shows a schematic flowchart of a method for detecting driving of a vehicle provided by another embodiment of the present application.
  • determining whether the vehicle is going backwards according to the relative speed and driving speed includes:
  • the relative speed is less than the driving speed, according to the calculation method of the above relative speed, it can be determined that the vehicle is in the same direction as the moving object, that is, the vehicle is not moving in reverse.
  • determining whether the vehicle is going backwards according to the relative speed and driving speed may also include:
  • the relative speed when the moving direction of the object that reflects microwaves is opposite to that of the vehicle, the relative speed must be greater than the traveling speed. Therefore, when the relative speed is greater than the traveling speed, there is a moving object in the opposite direction of the vehicle.
  • the moving object can be a two-wheeled vehicle, a car, or other vehicles, which is not limited here.
  • the vehicle may obtain the relative speed with a plurality of different microwave-reflecting objects.
  • there are objects in the same direction as the vehicle that is, the relative speed is less than the driving speed
  • Objects with different driving directions that is, the relative speed is greater than the type speed
  • set the preset time after detecting that the relative speed is greater than the driving speed, and continue to detect the number of moving objects that are the same as the driving direction of the vehicle as a, which is the same as the driving direction of the vehicle
  • the number of different moving objects is b, the proportion of moving objects in the same direction as the vehicle
  • the proportion of objects in the same direction as the traveling direction of the vehicle is calculated to determine whether the vehicle is traveling in reverse.
  • the proportion of moving objects that are in the same direction as the vehicle is greater than the preset threshold, and the direction of the vehicle is consistent with most moving objects, it can be determined that the vehicle is not retrograde; otherwise, it is determined that the vehicle is retrograde. The judgment of whether the vehicle is retrograde is realized more accurately.
  • FIG. 4 shows a schematic flowchart of a method for detecting driving of a vehicle provided by another embodiment of the present application.
  • the vehicle driving detection method may further include:
  • S301 Determine the wave transmission interval corresponding to the relative speed according to the relative speed and the preset correspondence between the relative speed and the wave transmission interval.
  • the same object may be measured multiple times, resulting in multiple calculations.
  • the number of counts for objects in the same direction as the vehicle will be less than The number of times that objects in different directions of the vehicle are counted, resulting in inaccurate calculations when calculating the proportion of objects in the same direction as the vehicle.
  • the wave transmission interval corresponding to the relative speed can be determined according to the preset corresponding relationship between the relative speed and the wave transmission interval.
  • the minimum wave transmission interval can be set to 100 ms
  • the maximum wave transmission interval can be set to 500 ms.
  • the determined wave interval needs to be adjusted according to the direction of the relative speed.
  • FIG. 5 shows a schematic diagram of the corresponding relationship between the preset relative speed and the wave transmission interval in the vehicle driving detection method provided by another embodiment of the present application.
  • the wave interval is set to the minimum wave The interval is 100ms.
  • the same object When measuring at a certain transmission interval, the same object will be counted N times.
  • the wave interval should be shortened at this time to ensure that the moving object is recorded N times.
  • the slower the relative speed the slower the distance between the vehicle and the moving object, and the moving The time for the object to leave the detection range of the microwave sensor becomes longer. At this time, the wave interval should be extended to ensure that the moving object is counted N times.
  • the number of objects that are in the same direction as the vehicle will be recorded aN times, and the number of objects that are different from the direction of the vehicle will be recorded bN times.
  • S302 Adjust the time interval between two adjacent microwave transmissions of the microwave sensor according to the wave transmission interval.
  • the solution in S301 can be realized by adjusting the time interval between two adjacent microwaves emitted by the microwave sensor according to the wave-emitting interval.
  • FIG. 6 shows a schematic flowchart of a method for detecting driving of a vehicle provided by another embodiment of the present application.
  • the vehicle driving detection method further includes:
  • S401 Obtain the relative speed and distance between the vehicle and the object that reflects the microwave according to the frequency of the reflected microwave and the frequency of the emitted microwave, and the time interval between the emitted microwave and the received reflected microwave.
  • the relative speed v x between the vehicle and the object that reflects the microwave can be obtained by calculating the frequency of the reflected microwave and the frequency of the emitted microwave.
  • the time interval between transmitting microwave and receiving reflected microwave is t 1
  • the distance is S
  • the propagation speed of microwave in the air is v
  • the departure time is the time for the vehicle to miss the object that reflects the microwave, and the departure time is t 2 , then
  • the transmission interval corresponding to the relative velocity is determined, and the time interval for the microwave sensor to emit microwaves next time is corresponding to the relative velocity. Wave interval. Or, if t 2 is less than the wave transmission interval corresponding to the relative speed, the time interval for the microwave sensor to emit microwaves next time is t 2 .
  • FIG. 7 shows a schematic flowchart of a method for detecting driving of a vehicle provided by another embodiment of the present application.
  • the vehicle driving detection method further includes:
  • the effective transmission distance of the microwave sensor is set to s.
  • s may be 15 m, but it is not limited thereto.
  • the transmission interval corresponding to the relative velocity is determined, and the time interval for the microwave sensor to emit microwaves next time is corresponding to the relative velocity. Wave interval. Or, if t 2 is less than the wave transmission interval corresponding to the relative speed, the time interval for the microwave sensor to emit microwaves next time is t 2 .
  • the vehicle driving detection method further includes:
  • the preset value may be determined by considering the use scene of the vehicle and the acceleration performance of the current vehicle. For example, the preset value may be set to 0.5 m/s, that is, the same movement is considered The speed of the object within the time interval between the relative speeds obtained two adjacent times does not exceed 0.5m/s. For example, if the relative speeds obtained two adjacent times are 1m/s and 2m/s respectively, and the relative speed difference is 1m/s, which is greater than 0.5m/s, it is considered that these two relative speeds correspond to different moving objects .
  • the vehicle driving detection method further includes:
  • an early warning is given to the vehicle, where the early warning mode may include sound warning, light warning, braking deceleration warning, or any combination thereof, but not limited to this.
  • the above actions can be performed alone or in combination. limit.
  • the vehicle goes retrograde, there is a potential safety hazard, which may cause danger to the user of the vehicle.
  • the user can be notified that there is a potential safety hazard in the current environment, so that the user can adjust the driving direction or driving position to ensure the user's safety.
  • FIG. 8 shows a schematic flowchart of a method for detecting driving of a vehicle provided by another embodiment of the present application.
  • the vehicle driving detection method further includes:
  • the method of obtaining the relative speed and distance between the vehicle and the microwave-reflecting object in S601 is the same as that in S401, and will not be repeated here.
  • S602 Determine the predicted collision time according to the distance and the relative speed of the vehicle and the object that reflects the microwave.
  • the predicted collision time is the ratio of the distance to the relative speed. For example, if the distance is 5 m and the relative speed is 2.5 m/s, the predicted collision time is 2 seconds.
  • the collision time is less than or equal to the preset safe time, it is considered that there is a greater probability of collision, which may lead to unsafe situations. Therefore, early warning is given to the vehicle to let users know that the current environment is safe. Hidden danger, remind users to adjust the driving direction, driving speed or driving position of the vehicle to ensure the safety of users.
  • the way of early warning in this embodiment is the same as the way of warning in some of the above embodiments, and will not be repeated here.
  • the vehicle driving detection method further includes:
  • the vehicle is prompted, where the preset speed is twice the maximum travel speed of the vehicle.
  • the vehicle is a two-wheeled vehicle, especially a motorcycle
  • a designed speed limit 25km/h
  • the relative speed between the two The maximum is 50km/h, which is twice the maximum driving speed.
  • the motorcycle may occupy the motor vehicle lane and there is a safety hazard, and the vehicle will be prompted to let the user know that there is a safety hazard in the current environment and remind the user to adjust the traffic
  • the driving position of the tool ensures the safety of the user.
  • the way of prompting in this embodiment can be the same as the way of early warning mentioned above, which will not be repeated here.
  • FIG. 9 shows a schematic structural diagram of a vehicle driving detection device provided by an embodiment of the present application.
  • the present application also provides a vehicle driving detection device, which includes:
  • the obtaining module 701 is used to obtain the frequency of microwaves emitted by the microwave sensor and the frequency of the reflected microwaves received by the microwave sensor, where the microwave sensor is located at the front of the vehicle.
  • the obtaining module 701 is also used to obtain the driving speed of the vehicle.
  • the determining module 702 is configured to determine whether the vehicle is traveling in reverse according to the frequency of transmitting microwaves, the frequency of reflecting microwaves, the time interval, and the driving speed.
  • the determining module 702 is specifically configured to obtain the relative speed between the vehicle and the object that reflects the microwave according to the frequency of the emitted microwave and the frequency of the reflected microwave if the frequency of the reflected microwave is greater than the frequency of the emitted microwave, and according to The relative speed and driving speed determine whether the vehicle is going backwards.
  • the determining module 702 is specifically configured to obtain the relative speed between the vehicle and multiple microwave-reflecting objects within a preset time if the relative speed is greater than the driving speed. If the relative speed between the vehicle and the multiple microwave-reflecting objects, the number of which is greater than the driving speed meets the preset threshold, then it is determined that the vehicle is not going retrograde. Or, if the relative speed between the vehicle and the multiple microwave-reflecting objects, the number of which is greater than the traveling speed does not meet the preset threshold, then it is determined that the vehicle is traveling in reverse.
  • Fig. 10 shows a schematic structural diagram of a vehicle driving detection device provided by another embodiment of the present application.
  • the device further includes an adjustment module 703, configured to determine the wave transmission interval corresponding to the relative speed according to the relative speed and the preset correspondence between the relative speed and the wave transmission interval. According to the transmission interval, adjust the time interval between two adjacent microwave transmissions of the microwave sensor.
  • the obtaining module 701 is further configured to obtain the relative speed and distance between the vehicle and the microwave-reflecting object according to the frequency of reflected microwaves and the frequency of emitting microwaves, and the time interval between emitting microwaves and receiving reflected microwaves. Get the departure time based on distance and relative speed. The minimum time interval between the departure time and the time interval between two adjacent microwaves emitted by the microwave sensor is used as the time interval for the microwave sensor to emit microwaves next time.
  • the obtaining module 701 is further configured to obtain the vehicle according to the frequency of reflected microwaves and the frequency of transmitting microwaves, and the time interval between transmitting microwaves and receiving reflected microwaves if the direction of the relative speed is opposite to the traveling direction of the vehicle.
  • the departure time is obtained.
  • the departure time and the smallest time interval between the two adjacent microwave sensor emission time intervals it is used as the time interval for the microwave sensor to emit microwaves next time.
  • the determining module 702 is specifically configured to determine that the vehicle is not retrograde if the frequency of the reflected microwaves is less than the frequency of the emitted microwaves. Or, if the frequency of the reflected microwaves is equal to the frequency of the emitted microwaves, it is determined that the vehicle is not going retrograde.
  • the determining module 702 is specifically configured to determine that the vehicle is not traveling in reverse if the relative speed is less than the driving speed.
  • the determining module 702 is further configured to determine that the objects corresponding to the relative speeds obtained two adjacent times are different objects if the difference between the relative speeds obtained two adjacent times is greater than a preset value.
  • FIG. 11 shows a schematic structural diagram of a vehicle driving detection device provided by another embodiment of the present application.
  • the device further includes an early warning module 704, which is used to obtain information about the relationship between the vehicle and the reflected microwave based on the frequency of reflected microwaves, the frequency of transmitting microwaves, and the time interval between transmitting microwaves and receiving reflected microwaves.
  • the relative speed and distance between objects Based on the distance and the relative speed of the vehicle and the microwave-reflecting object, the predicted collision time is determined. If the predicted collision time is less than or equal to the preset safe time, an early warning is given to the vehicle.
  • Fig. 12 shows a schematic structural diagram of a vehicle driving detection device provided by another embodiment of the present application.
  • the device further includes a prompt module 705, configured to prompt the vehicle if the relative speed between the vehicle and the microwave-reflecting object is greater than or equal to a preset speed, where the preset The speed is twice the maximum speed of the vehicle.
  • a prompt module 705 configured to prompt the vehicle if the relative speed between the vehicle and the microwave-reflecting object is greater than or equal to a preset speed, where the preset The speed is twice the maximum speed of the vehicle.
  • the above-mentioned modules may be connected or communicate with each other via a wired connection or a wireless connection.
  • Wired connections may include metal cables, optical cables, hybrid cables, etc., or any combination thereof.
  • the wireless connection may include a connection in the form of LAN, WAN, Bluetooth, ZigBee, or NFC, or any combination thereof.
  • Two or more modules can be combined into a single module, and any one module can be divided into two or more units.
  • the division of the modules is only a logical function division, and there may be other divisions in actual implementation.
  • multiple modules or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some communication interfaces, devices or modules, and may be in electrical, mechanical or other forms.
  • the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), or one or more micro A processor (Digital Singnal Processor, DSP for short), or one or more Field Programmable Gate Array (FPGA for short), etc.
  • ASIC Application Specific Integrated Circuit
  • DSP Digital Singnal Processor
  • FPGA Field Programmable Gate Array
  • the processing element may be a general-purpose processor, such as a central processing unit (CPU for short) or other processors that can call program codes.
  • these modules can be integrated together and implemented in the form of System-on-a-chip (SOC for short).
  • FIG. 13 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • an electronic device As shown in FIG. 13, an electronic device is provided, and the electronic device includes:
  • the computer-readable storage medium 802 stores machine-readable instructions executable by the processor 801.
  • the processor 801 and the computer-readable storage medium 802 Through the bus 803 to communicate with each other, the processor 801 executes machine-readable instructions to execute the steps of the aforementioned vehicle driving detection method.
  • the electronic device may be a general-purpose computer, a server, or a mobile terminal, etc., which is not limited here.
  • the processor 801 may include one or more processing cores (for example, a single-core processor or a multi-core processor).
  • the processor may include a central processing unit (CPU), an application specific integrated circuit (ASIC), a dedicated instruction set processor (Application Specific Instruction-set Processor, ASIP), and a graphics processing unit (Graphics Processing Unit, GPU), Physical Processing Unit (Physics Processing Unit, PPU), Digital Signal Processor (Digital Signal Processor, DSP), Field Programmable Gate Array (Field Programmable Gate Array, FPGA), Programmable Logic Device ( Programmable Logic Device (PLD), controller, microcontroller unit, Reduced Instruction Set Computing (RISC), or microprocessor, etc., or any combination thereof.
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • ASIP Application Specific Instruction-set Processor
  • GPU Graphics Processing Unit
  • PPU Physical Processing Unit
  • DSP Digital Signal Processor
  • DSP Digital Signal Processor
  • FPGA Field Programmable Gate Array
  • PLD Programmable Logic Device
  • the computer-readable storage medium 802 may include: a large-capacity memory, a removable memory, a volatile read-write memory, or a read-only memory (Read-Only Memory, ROM), etc., or any combination thereof.
  • mass storage may include magnetic disks, optical disks, solid-state drives, etc.
  • removable storage may include flash drives, floppy disks, optical disks, memory cards, zip disks, tapes, etc.
  • volatile read-write storage may include random access memory ( Random Access Memory, RAM; RAM can include dynamic RAM (Dynamic Random Access Memory, DRAM), double data rate synchronous dynamic RAM (Double Date-Rate Synchronous RAM, DDR SDRAM); static RAM (Static Random-Access Memory, SRAM) ), Thyristor-Based Random Access Memory (T-RAM) and Zero-Capacitor RAM (Zero-RAM), etc.
  • ROM may include mask ROM (Mask Read-Only Memory, MROM), programmable ROM (Programmable Read-Only Memory, PROM), erasable programmable ROM (Programmable Read-only Memory, PEROM), electronic Erasable programmable ROM (Electrically Erasable Programmable read only memory, EEPROM), compact disc ROM (CD-ROM), and digital universal disk ROM, etc.
  • MROM mask ROM
  • PROM Programmable Read-Only Memory
  • PROM Programmable Read-Only Memory
  • PEROM Erasable programmable ROM
  • EEPROM Electrical Erasable Programmable read only memory
  • CD-ROM compact disc ROM
  • digital universal disk ROM etc.
  • processor 801 For ease of description, only one processor 801 is described in the electronic device. However, it should be noted that the electronic device in the present application may also include multiple processors 801, so the steps performed by one processor described in the present application may also be executed jointly or individually by multiple processors. For example, if the processor 801 of the electronic device executes step A and step B, it should be understood that step A and step B may also be executed jointly by two different processors or executed separately in one processor. For example, the first processor performs step A and the second processor performs step B, or the first processor and the second processor perform steps A and B together.
  • the present invention also provides a computer-readable storage medium having a computer program stored on the computer-readable storage medium, and when the computer program is run by a processor, the steps of the aforementioned vehicle driving detection method are executed.

Abstract

一种交通工具行驶检测方法、装置、电子设备及可读存储介质，其中，交通工具行驶检测方法包括：获取微波传感器发射微波的频率、微波传感器接收到的反射微波的频率(S201)，其中，微波传感器位于交通工具的车头。获取交通工具的行驶速度(S202)。根据发射微波的频率、反射微波的频率以及行驶速度，确定交通工具是否逆行(S203)。本方案可以在不依赖GPS和地图的情况下，通过微波传感器的发射微波的频率、反射微波的频率以及交通工具的行驶速度确定交通工具是否逆行，有效避免上报延迟所导致的延迟判断，从而实现及时、准确的判断，提高了交通工具是否逆行的判断精度和稳定性。

Description

交通工具行驶检测方法、装置、电子设备及可读存储介质
优先权声明
本申请要求2019年5月24日提交的中国申请201910442231.0的优先权，其全部内容通过引用并入本文。
技术领域
本申请涉及行驶检测技术领域，具体而言，涉及一种交通工具行驶检测方法、装置、电子设备及可读存储介质。
背景技术
目前，随着共享经济的发展，共享交通工具已经非常普及，但是由于用户使用共享交通工具时，存在不遵守交通规则逆向行驶的情况，会引发危险，因此，在用户逆向行驶时，提醒用户不要逆行是十分有必要的。
现有技术中，是通过全球定位系统(Global Positioning System，GPS)定位，获取行驶轨迹，并结合地图，确定行驶轨迹是否在行驶方向的路面右侧，从而检测是否存在逆行。
但是现有技术中，GPS并非实时上报，会存在一定时间的延迟，导致延迟判断，增加了误判率。
发明内容
有鉴于此，本申请实施例的目的在于提供一种交通工具行驶检测方法、装置、电子设备及可读存储介质，能够通过在交通工具上设置微波传感器，不依赖GPS和地图在交通工具上检测是否逆行，解决现有技术中存在的判断延迟，误判率较高的问题，达到及时判断交通工具是否逆行的效果。
本申请的第一方面，提供了一种交通工具行驶检测方法，该方法包括：获取微波传感器发射微波的频率、微波传感器接收到的反射微波的频率，其中，微 波传感器位于交通工具的车头。获取交通工具的行驶速度。根据发射微波的频率、反射微波的频率以及行驶速度，确定交通工具是否逆行。
可选地，根据发射微波的频率、反射微波的频率以及行驶速度，确定交通工具是否逆行，包括：若反射微波的频率大于发射微波的频率，则根据发射微波的频率以及反射微波的频率，获取交通工具与反射微波的物体之间的相对速度，并根据相对速度和行驶速度，确定交通工具是否逆行。
可选地，根据相对速度和行驶速度，确定交通工具是否逆行，包括：若相对速度大于行驶速度，在预设时间内获取交通工具与多个反射微波的物体之间的相对速度。若交通工具与多个反射微波的物体之间相对速度中，大于行驶速度的个数符合预设阈值，则确定交通工具未逆行。或者，若交通工具与多个反射微波的物体之间相对速度中，大于行驶速度的个数不符合预设阈值，则确定交通工具逆行。
可选地，该方法还包括：根据相对速度，以及预设的相对速度与发波间隔的对应关系，确定相对速度对应的发波间隔。根据发波间隔，调整微波传感器相邻两次发射微波的时间间隔。
可选地，该方法还包括：根据反射微波的频率和发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。根据距离和相对速度获取驶离时间。将驶离时间和微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为微波传感器下次发射微波的时间间隔。
可选地，该方法还包括：若相对速度的方向与交通工具的行驶方向相反，根据反射微波的频率和发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。根据微波传感器的有效发射距离和距离之差，以及相对速度，获取驶离时间。根据驶离时间和微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为微波传感器下次发射微波的时间间隔。
可选地，根据发射微波的频率、反射微波的频率、时间间隔以及行驶速度，确定交通工具是否逆行，包括：若反射微波的频率小于发射微波的频率，则确定交通工具未逆行。或者，若反射微波的频率等于发射微波的频率，则确定交通工具未逆行。
可选地，根据相对速度和行驶速度，确定交通工具是否逆行，包括：若相对速度小于行驶速度，则确定交通工具未逆行。
可选地，该方法还包括：若相邻两次获取的相对速度的差值大于预设数值，则确定相邻两次获取的相对速度所对应的物体为不同物体。
可选地，该方法还包括：根据反射微波的频率、发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。根据距离以及交通工具与反射微波的物体的相对速度，确定预测碰撞时间。若预测碰撞时间小于或等于预设安全时间，则对交通工具进行预警。
可选地，该方法还包括：若交通工具与反射微波的物体的相对速度，大于或等于预设速度，则对交通工具进行提示，其中，预设速度为交通工具的最大行驶速度的两倍。
本申请的第二方面，提供了一种交通工具行驶检测装置，该装置包括：获取模块，用于获取微波传感器发射微波的频率、微波传感器接收到的反射微波的频率，其中，微波传感器位于交通工具的车头。获取模块，还用于获取交通工具的行驶速度。确定模块，用于根据发射微波的频率、反射微波的频率、时间间隔以及行驶速度，确定交通工具是否逆行。
可选地，确定模块，具体用于若反射微波的频率大于发射微波的频率，则根据发射微波的频率、反射微波的频率，获取交通工具与反射微波的物体之间的相对速度，并根据相对速度和行驶速度，确定交通工具是否逆行。
可选地，确定模块，具体用于若相对速度大于行驶速度，在预设时间内获取交通工具与多个反射微波的物体之间的相对速度。若交通工具与多个反射微波的物体之间相对速度中，大于行驶速度的个数符合预设阈值，则确定交通工具 未逆行。或者，若交通工具与多个反射微波的物体之间相对速度中，大于行驶速度的个数不符合预设阈值，则确定交通工具逆行。
可选地，该装置还包括调整模块，用于根据相对速度，以及预设的相对速度与发波间隔的对应关系，确定相对速度对应的发波间隔。根据发波间隔，调整微波传感器相邻两次发射微波的时间间隔。
可选地，获取模块，还用于根据反射微波的频率和发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。根据距离和相对速度获取驶离时间。将驶离时间和微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为微波传感器下次发射微波的时间间隔。
可选地，获取模块，还用于若相对速度的方向与交通工具的行驶方向相反，根据反射微波的频率和发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。根据微波传感器的有效发射距离和距离之差，以及相对速度，获取驶离时间。根据驶离时间和微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为微波传感器下次发射微波的时间间隔。
可选地，确定模块，具体用于若反射微波的频率小于发射微波的频率，则确定交通工具未逆行。或者，若反射微波的频率等于发射微波的频率，则确定交通工具未逆行。
可选地，确定模块，具体用于若相对速度小于行驶速度，则确定交通工具未逆行。
可选地，确定模块，还用于若相邻两次获取的相对速度的差值大于预设数值，则确定相邻两次获取的相对速度所对应的物体为不同物体。
可选地，该装置还包括预警模块，用于根据反射微波的频率、发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。根据距离以及交通工具与反射微波的物体的相 对速度，确定预测碰撞时间。若预测碰撞时间小于或等于预设安全时间，则对交通工具进行预警。
可选地，该装置还包括提示模块，用于若交通工具与反射微波的物体的相对速度，大于或等于预设速度，则对交通工具进行提示，其中，预设速度为交通工具的最大行驶速度的两倍。
本申请的第三方面，提供了一种电子设备，该电子设备包括：处理器、计算机可读存储介质和总线，计算机可读存储介质存储有处理器可执行的机器可读指令，当电子设备运行时，处理器与计算机可读存储介质之间通过总线通信，处理器执行机器可读指令，以执行第一方面提供的交通工具行驶检测方法的步骤。
本申请的第四方面，提供了一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行第一方面提供的交通工具行驶检测方法的步骤。
基于上述任一方面，通过微波传感器发射微波，并接收反射的微波，通过发射微波的频率、反射微波的频率，以及交通工具的行驶速度，确定交通工具是否逆行，可以在不依赖GPS和地图的情况下，通过微波传感器的发射微波的频率、反射微波的频率以及交通工具的行驶速度确定交通工具是否逆行，有效避免上报延迟所导致的延迟判断，从而实现及时、准确的判断，提高了交通工具是否逆行的判断精度和稳定性。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1示出了本申请一实施例所提供的交通工具行驶检测方法的应用场景 示意图；
图2示出了本申请一实施例所提供的交通工具行驶检测方法的流程示意图；
图3示出了本申请另一实施例所提供的交通工具行驶检测方法的流程示意图；
图4示出了本申请另一实施例所提供的交通工具行驶检测方法的流程示意图；
图5示出了本申请另一实施例所提供的交通工具行驶检测方法中预设的相对速度与发波间隔的对应关系示意图；
图6示出了本申请另一实施例所提供的交通工具行驶检测方法的流程示意图；
图7示出了本申请另一实施例所提供的交通工具行驶检测方法的流程示意图；
图8示出了本申请另一实施例所提供的交通工具行驶检测方法的流程示意图；
图9示出了本申请一实施例所提供的交通工具行驶检测装置的结构示意图；
图10示出了本申请另一实施例所提供的交通工具行驶检测装置的结构示意图；
图11示出了本申请另一实施例所提供的交通工具行驶检测装置的结构示意图；
图12示出了本申请另一实施例所提供的交通工具行驶检测装置的结构示意图；
图13示出了本申请一实施例所提供的电子设备的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，应当理解，本申请中附图仅起到说明和描述的目的，并不用于限定本申请的保护范围。另外，应当理解，示意性的附图并未按实物比例绘制。本申请中使用的流程图示出了根据本申请的一些实施例实现的操作。应该理解，流程图的操作可以不按顺序实现，没有逻辑的上下文关系的步骤可以反转顺序或者同时实施。此外，本领域技术人员在本申请内容的指引下，可以向流程图添加一个或多个其他操作，也可以从流程图中移除一个或多个操作。
另外，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。
为了使得本领域技术人员能够使用本申请内容，结合特定应用场景“二轮车逆行检测”，给出以下实施方式。对于本领域技术人员来说，在不脱离本申请的精神和范围的情况下，可以将这里定义的一般原理应用于其他实施例和应用场景。虽然本申请主要围绕二轮车逆行检测进行描述，但是应该理解，这仅是一个示例性实施例。本申请可以应用于任何其他交通运输类型。例如，本申请还可以应用于汽车、三轮车、独轮车、滑板车、平衡车等交通工具，在此不做限制。
需要说明的是，本申请实施例中将会用到术语“包括”，用于指出其后所声明的特征的存在，但并不排除增加其它的特征。
图1示出了本申请一实施例所提供的交通工具行驶检测方法的应用场景示意图。
如图1所示，可以包括交通工具101，在本实施例中，以二轮车为例，进行解释，当然，该交通工具101还可以为其他形态的交通工具，在此不再赘述。 其中，二轮车可以包括自行车、电单车、摩托车、电摩托车，但不以此。交通工具101上设置有控制器102，控制器102可以与设置在车轮上的轮速传感器104以及设置在车头位置的微波传感器103通信连接。控制器102可以为交通工具101的中控设备。其中，微波传感器103还可成为多普勒传感器或多普勒微波传感器。
在一些实施方式中，控制器102可以包括一个或多个处理核(例如，单核处理器或多核处理器)。仅作为举例，控制器102可以包括中央处理单元(Central Processing Unit，CPU)、专用集成电路(Application Specific Integrated Circuit，ASIC)、专用指令集处理器(Application Specific Instruction-set Processor，ASIP)、图形处理单元(Graphics Processing Unit，GPU)、物理处理单元(Physics Processing Unit，PPU)、数字信号处理器(Digital Signal Processor，DSP)、现场可编程门阵列(Field Programmable Gate Array，FPGA)、可编程逻辑器件(Programmable Logic Device，PLD)、控制器、微控制器单元(Microcontroller Unit，MCU)、简化指令集计算机(Reduced Instruction Set Computing，RISC)、或微处理器等，或其任意组合。
在一些实施方式中，控制器102与轮速传感器104以及微波传感器103的连接方式可以是有线连接或无线连接。
例如，有线连接可以包括网线、通信线缆、光纤等，或其任意组合。无线连接包括蜂窝移动网络连接，例如第二代移动通信技术(Second Generation，2G)、第三代移动通信技术(Third Generation，3G)、第四代移动通信技术(Fourth Generation，4G)、4G+或第五代移动通信技术(Fifth Generation，5G)等，或其任意组合，其中，典型的4G网络包括长期演进(Long Term Evolution，LET)网络。或者，无线连接还可以是物联网连接，例如紫蜂协议(ZigBee)、无线保真(Wireless-Fidelity，Wi-fi)、窄带物联网(Narrow Band Internet of Things，NB-IoT)、超长距低功耗数据传输技术(Long Range，LoRa)、增强型机器类型通信(enhanced Machine-Type Communication，eMTC)、近场通信(Near Field  Communication，NFC)等，或其任意组合。
在一些实施方式中，交通工具101可通过控制器102控制微波传感器103发射微波，并接收交通工具101行驶方向存在的物体反射的微波，其中，物体可以是二轮车106、汽车105、行人或树木等，或其任意组合。
图2示出了本申请一实施例所提供的交通工具行驶检测方法的流程示意图。该交通工具行驶检测方法可由上述图1中交通工具的控制器102实现。如图2所示，该方法包括：
S201、获取微波传感器发射微波的频率、微波传感器接收到的反射微波的频率。
其中，微波传感器位于交通工具的车头。
可选的，位于车头的微波传感器其微波发射端口以及微波接收端口，可朝向该交通工具的行驶方向，即与该交通工具的车头朝向一致，如此，便于微波传感器朝向行驶方向发射微波，并接收行驶方向上其它物体反射回的微波。
一些实施方式中，微波传感器可以发射和接收微波，微波传感器发射的微波在碰到物体，会发生反射，并反射至微波传感器，使得微波传感器捕捉到反射微波，发射微波具有固定频率，接收到的反射微波的频率可根据交通工具和物体之间的距离的不同而不同，例如，交通工具和物体相对靠近，即交通工具和物体之间的距离缩短，则接收到的反射微波的频率会增加；交通工具和物体相对远离，即交通工具和物体之间的距离增加，则接收到的反射微波的频率会减少；交通工具和物体相对静止，即交通工具和物体之间的距离未发生变化，则接收到的反射微波的频率会减少。
执行该交通工具行驶检测方法的控制器，可从微波传感器获取该发射微波的频率、以及该反射微波的频率。
S202、获取交通工具的行驶速度。
一种可能的实施方式中，可以根据交通工具的轮速传感器，获取交通工具的轮速，由于对于同一交通工具，其车轮的周长是一定的，因此，可以根据车轮 周长以及轮速计算得到交通工具的行驶速度。但这仅是获取行驶速度的一种实现方式，本申请不以此为限。
S203、根据发射微波的频率、反射微波的频率以及行驶速度，确定交通工具是否逆行。
其中，根据发射微波的频率、反射微波的频率可以获得交通工具和物体之间的运动关系，如靠近、远离、静止等，根据运动关系和行驶速度，即可确定交通工具是否逆行。
在本实施例中，通过微波传感器发射微波，并接收反射的微波，通过发射微波的频率、反射微波的频率，以及交通工具的行驶速度，确定交通工具是否逆行，可以在不依赖GPS和地图的情况下，通过微波传感器的发射微波的频率、反射微波的频率以及交通工具的行驶速度确定交通工具是否逆行，有效避免上报延迟所导致的延迟判断，从而实现及时、准确的判断，提高了交通工具是否逆行的判断精度和稳定性。
可选地，根据发射微波的频率、反射微波的频率、时间间隔以及行驶速度，确定交通工具是否逆行，包括：
一些实施方式中，若反射微波的频率小于发射微波的频率，则确定交通工具未逆行。
其中，若反射微波的频率小于发射微波的频率，则表明反射微波的物体的移动方向与交通工具的方向相同，且交通工具的行驶速度小于反射微波的物体的移动速度(即相对速度的方向与交通工具的行驶方向相反)，此时由于反射微波的物体的移动方向与交通工具的方向相同，即可确认交通工具未逆行。
或者，还有一些实施方式中，若反射微波的频率等于发射微波的频率，则确定交通工具未逆行。
其中，反射微波的频率等于发射微波的频率，则表示周围没有移动的物体或移动的物体与我速度相同，此时存在多种可能。若移动的物体与我速度相同，则表示物体的移动速度与交通工具的移动速度相同，且方向相同，即交通工具未 逆行。若周围没有移动的物体，无法准确的确认交通工具是否逆行，但仅出于安全的考虑，若周围没有移动的物体，则可以认为此时交通工具无论逆行与否，都是安全的，因此确定交通工具未逆行。
或者，另一些实施方式中，若反射微波的频率大于发射微波的频率，则根据发射微波的频率以及反射微波的频率，获取交通工具与反射微波的物体之间的相对速度，并根据相对速度和行驶速度，确定交通工具是否逆行。
一种可能的实施方式中，通过可以通过多普勒效应的公式计算相对速度：
Figure PCTCN2020092185-appb-000001
其中，f为发射微波的频率、f′为接收到微波的频率、v是微波在空气中的传播速度、v 0为反射微波的物体的移动速度、v s为交通工具的行驶速度，当f′>f时，v 0前取+号、v s前取-号，相对速度为当f′<f时，v 0前取-号、v s前取+号，在f、f′、v和v s已知的情况下，即可算得v 0。
需要说明的是，相对速度v x即为v s与v 0的速度差。例如，若交通工具的行驶速度为v s＝2m/s，反射微波的物体与交通工具的移动方向相同，移动速度为v 0＝1.5m/s，则相对速度为v x＝2m/s-1.5m/s＝0.5m/s，或者若交通工具的行驶速度为v s＝2m/s，反射微波的物体与交通工具的移动方向相反，移动速度为v 0＝-1.5m/s，则相对速度为v x＝2m/s-(-1.5m/s)＝2.5m/s。
由于在反射微波的频率大于发射微波的频率时，存在交通工具与反射微波的物体之间的运动方向相同，且交通工具的行驶速度大于反射微波的物体的移动速度，或交通工具与反射微波的物体之间的运动方向相反两种情况，无法直接确定交通工具是否逆行。因此，在上述的实施方式中，可以通过相对速度和行驶速度之间的关系，进一步确定当反射微波的频率大于发射微波的频率时，交通工具是否逆行，提高了检测交通工具是否逆行的准确性，实现了更加精准的检测。
图3示出了本申请另一实施例所提供的交通工具行驶检测方法的流程示意图。
一些实施方式中，根据相对速度和行驶速度，确定交通工具是否逆行，包括：
若相对速度小于行驶速度，则确定交通工具未逆行。
其中，若相对速度小于行驶速度，根据上述相对速度的计算方法，则可以确定，交通工具与移动的物体方向相同，即交通工具未逆行。
另一些实施方式中，如图3所示，根据相对速度和行驶速度，确定交通工具是否逆行，还可包括：
S2031、若相对速度大于行驶速度，在预设时间内获取交通工具与多个反射微波的物体之间的相对速度。
其中，根据上述相对速度计算的示例可知，当反射微波的物体与交通工具的移动方向相反时，相对速度必然大于行驶速度。因此，当相对速度大于行驶速度时，即存在于交通工具行驶方向相反的移动物体，该移动物体可以是二轮车、汽车等交通工具，在此不做限制。
S2032、若交通工具与多个反射微波的物体之间相对速度中，大于行驶速度的个数符合预设阈值，则确定交通工具未逆行。
一些实施方式中，交通工具会获取到与多个不同的反射微波的物体之间的相对速度，其中，存在与交通工具行驶方向相同的物体(即相对速度小于行驶速度)，也存在与交通工具行驶方向不同的物体(即相对速度大于型速度)，设检测到相对速度大于行驶速度后的预设时间内，继续检测到与交通工具行驶方向相同的移动物体数量为a，与交通工具行驶方向不同的移动物体的数量为b，与交通工具行驶方向相同的移动物体的比例
Figure PCTCN2020092185-appb-000002
大于预设阈值，则确定交通工具未逆行，例如，在检测到相对速度大于行驶速度后的30秒内，继续检测到a＝3，b＝1，预设阈值为0.7，
Figure PCTCN2020092185-appb-000003
大于0.7，则确定交通工具未逆行。
S2033、若交通工具与多个反射微波的物体之间相对速度中，大于行驶速度的个数不符合预设阈值，则确定交通工具逆行。
需要说明的是，S2033的计算方式与S2032相同，即，若
Figure PCTCN2020092185-appb-000004
的值小于预设阈值，则确定交通工具未逆行，例如，在检测到相对速度大于行驶速度后的30秒内，继续检测到a＝1，b＝3，预设阈值为0.7，
Figure PCTCN2020092185-appb-000005
小于0.7，则确定交通工具逆行。
在上述实施方式中，若相对速度大于行驶速度，则通过计算与交通工具行驶方向相同的物体的比例，来确定交通工具是否逆行。当与交通工具行驶方向相同的移动物体的比例大于预设阈值时，交通工具与大多数的移动物体方向一致，即可确定交通工具未逆行，反之，则确定交通工具逆行。实现了对交通工具是否逆行的判断更加精准。
图4示出了本申请另一实施例所提供的交通工具行驶检测方法的流程示意图。
可选地，如图4所示，交通工具行驶检测方法还可包括：
S301、根据相对速度，以及预设的相对速度与发波间隔的对应关系，确定相对速度对应的发波间隔。
需要说明的是，由于交通工具以相同的发波间隔连续不断的发送微波，可能会对同一物体测量多次，导致其被多次计算，与交通工具行驶方向相同的物体计数的次数会小于与交通工具行驶方向不同的物体计数的次数，导致计算与交通工具行驶方向相同的物体的比例时，出现不准确的情况，
对此，可以根据预设的相对速度与发波间隔的对应关系，确定相对速度对应的发波间隔，例如，可以将最小发波间隔设置为100ms，最大发波间隔设置为500ms。
然后根据相对速度的速度大小及方向，确定对应的发波间隔，其中，当相对速度的绝对值相同(即速度大小相同)，但方向不同时，需要根据相对速度的方向调整确定的发波间隔。
图5示出了本申请另一实施例所提供的交通工具行驶检测方法中预设的相对速度与发波间隔的对应关系示意图。
图5中以电动自行车为例，如图5所示，可以明确得到，当相对速度为5m/s时，表示交通工具与移动的物体之间的距离缩短，此时可以延长发波间隔，当相对速度为-5m/s时，表示交通工具与移动的物体之间的距离增加，此时可以缩短发波间隔，但不以此为限。其中，在图5中，纵坐标的单位为毫秒，横坐标的单位为m/s。
其中，当相对速度小于-7m/s(约为25km/h)或大于14m/s(约为50km/h)时，认为电动自行车的时速达到最高时速，则将发波间隔设置为最小发波间隔100ms。
当以确定的发波间隔进行测量时，会对同一个物体都会记N次，例如，相对速度越快时，交通工具与移动的物体之间远离的越快，移动的物体就会更快的脱离微波传感器的检测范围，此时的发波间隔应该缩短，以保证移动的物体被记N次，相应的，相对速度越慢时，交通工具与移动的物体之间远离的越慢，移动的物体脱离微波传感器的检测范围的时间变长，此时的发波间隔应该延长，以保证移动的物体被记N次。
根据上述方案，与交通工具行驶方向相同的物体数量会被记aN次，与交通工具行驶方向不同的物体的数量会被记bN次，此时计算与交通工具行驶方向相同的物体的比例的公式为：
Figure PCTCN2020092185-appb-000006
即可避免计算与交通工具行驶方向相同的物体的比例时，出现不准确的情况。
S302、根据发波间隔，调整微波传感器相邻两次发射微波的时间间隔。
一些实施方式中，根据发波间隔调整微波传感器相邻两次发射微波的时间间隔，即可实现S301中的方案。
图6示出了本申请另一实施例所提供的交通工具行驶检测方法的流程示意图。
可选地，如图6所示，交通工具行驶检测方法还包括：
S401、根据反射微波的频率和发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。
其中，如上述相对速度的计算方式，可以通过可以根据反射微波的频率和发射微波的频率计算获取交通工具与反射微波的物体之间的相对速度v x。设发射微波和接收反射微波之间的时间间隔为t 1、距离为S、微波在空气中的传播速度为v，则
Figure PCTCN2020092185-appb-000007
S402、根据距离和相对速度获取驶离时间。
其中，驶离时间为交通工具错过反射微波的物体的时间，设驶离时间为t 2，则
Figure PCTCN2020092185-appb-000008
S403、将驶离时间和微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为微波传感器下次发射微波的时间间隔。
一些实施方式中，若t 2大于根据S301中，预设的相对速度与发波间隔的对应关系，确定相对速度对应的发波间隔，则微波传感器下次发射微波的时间间隔为相对速度对应的发波间隔。或者，若t 2小于相对速度对应的发波间隔，则微波传感器下次发射微波的时间间隔为t 2。通过比较t 2和相对速度对应的发波间隔，并将二者间较小的时间作为微波传感器下此发射微波的时间间隔，可以进一步保证在交通工具的行驶方向与物体的移动方向相反时，对同一个物体都会记N次，确保计算得到的与交通工具行驶方向相同的物体的比例是准确的。
图7示出了本申请另一实施例所提供的交通工具行驶检测方法的流程示意图。
可选地，如图7所示，交通工具行驶检测方法还包括：
S501、若相对速度的方向与交通工具的行驶方向相反，根据反射微波的频率和发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。
其中，S501中相对速度和距离的计算方式与S401相同，在此不再赘述。
S502、根据微波传感器的有效发射距离和距离之差，以及相对速度，获取驶离时间。
一些实施方式中，设微波传感器的有效发射距离为s，例如，在当前实施例中，s可以为15m，但不以此为限。
根据S402中的计算方式，当s>S时，则对于当前实施例，
Figure PCTCN2020092185-appb-000009
S503、根据驶离时间和微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为微波传感器下次发射微波的时间间隔。
一些实施方式中，若t 2大于根据S301中，预设的相对速度与发波间隔的对应关系，确定相对速度对应的发波间隔，则微波传感器下次发射微波的时间间隔为相对速度对应的发波间隔。或者，若t 2小于相对速度对应的发波间隔，则微波传感器下次发射微波的时间间隔为t 2。通过比较t 2和相对速度对应的发波间隔，并将二者间较小的时间作为微波传感器下此发射微波的时间间隔，可以进一步保证在相对速度的方向与交通工具的行驶方向相反时，对同一个物体都会记N次，确保计算得到的与交通工具行驶方向相同的物体的比例是准确的。
可选地，交通工具行驶检测方法还包括：
若相邻两次获取的相对速度的差值大于预设数值，则确定相邻两次获取的相对速度所对应的物体为不同物体。
一种可能的实施方式中，可以通过考虑到交通工具的使用场景及目前的交通工具的加速性能，确定预设数值，例如，可以将预设数值设置为0.5m/s，即，认为同一移动的物体在相邻两次获取的相对速度的时间间隔内提速不超过0.5m/s。例如，如果相邻两次获取的相对速度分别为1m/s和2m/s，相对速度的差值为1m/s，大于0.5m/s，则认为这两个相对速度对应不同的移动的物体。
可选的，交通工具行驶检测方法还包括：
若确定交通工具逆行，则对交通工具进行预警，其中，预警的方式可以包括声音预警、光预警、制动减速预警，或者其任意组合，但不以此为限。
例如，可以通过喇叭播报预警语音、通过设置在交通工具上的灯，以闪烁的方式进行预警或者在确定交通工具逆行后自动制动，以上动作可以单独进行，也可以组合使用，在此不做限制。
若交通工具逆行，则存在安全隐患，可能造成交通工具的用户出现危险。通过预警，可以提示用户当前环境存在安全隐患，以便用户调整行驶方向或行驶位置，保证用户的安全。
图8示出了本申请另一实施例所提供的交通工具行驶检测方法的流程示意图。
可选地，如图8所示，交通工具行驶检测方法还包括：
S601、根据反射微波的频率、发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。
其中，S601中获取交通工具与反射微波的物体之间的相对速度和距离的方式与S401中相同，在此不再赘述。
S602、根据距离以及交通工具与反射微波的物体的相对速度，确定预测碰撞时间。
一种可能的实施方式中，预测碰撞时间即为距离和相对速度的比值，例如，若距离为5m，相对速度为2.5m/s，则预测碰撞时间为2秒。
S603、若预测碰撞时间小于或等于预设安全时间，则对交通工具进行预警。
需要说明的是，若碰撞时间小于或等于预设安全时间，则认为存在较大的碰撞几率，可能导致不安全的情况出现，因此，对交通工具进行预警，以使得用户得知当前环境存在安全隐患，提醒用户调整交通工具的行驶方向、行驶速度或行驶位置，保证用户的安全。其中，本实施例中预警的方式与上述一些实施方式中的预警方式相同，在此不再赘述。
可选地，交通工具行驶检测方法还包括：
若交通工具与反射微波的物体的相对速度，大于或等于预设速度，则对交通工具进行提示，其中，预设速度为交通工具的最大行驶速度的两倍。
其中，在交通工具为二轮车，尤其是电单车时，由于存在设计的速度上限(25km/h)，当两辆电单车相向而行且均满速行驶时，二者之间的相对速度最大 为50km/h，即两倍的最大行驶速度。
若检测到的相对速度大于两倍的最大行驶速度，即认为电单车可能占用了机动车道，存在安全隐患，则对交通工具进行提示，以使得用户得知当前环境存在安全隐患，提醒用户调整交通工具的行驶位置，保证用户的安全。其中，本实施例中提示的方式可以与上述预警的方式相同，在此不再赘述。
图9示出了本申请一实施例所提供的交通工具行驶检测装置的结构示意图。
如图9所示，本申请还提供了一种交通工具行驶检测装置，该装置包括：
获取模块701，用于获取微波传感器发射微波的频率、微波传感器接收到的反射微波的频率，其中，微波传感器位于交通工具的车头。
获取模块701，还用于获取交通工具的行驶速度。
确定模块702，用于根据发射微波的频率、反射微波的频率、时间间隔以及行驶速度，确定交通工具是否逆行。
可选地，确定模块702，具体用于若反射微波的频率大于发射微波的频率，则根据发射微波的频率、反射微波的频率，获取交通工具与反射微波的物体之间的相对速度，并根据相对速度和行驶速度，确定交通工具是否逆行。
可选地，确定模块702，具体用于若相对速度大于行驶速度，在预设时间内获取交通工具与多个反射微波的物体之间的相对速度。若交通工具与多个反射微波的物体之间相对速度中，大于行驶速度的个数符合预设阈值，则确定交通工具未逆行。或者，若交通工具与多个反射微波的物体之间相对速度中，大于行驶速度的个数不符合预设阈值，则确定交通工具逆行。
图10示出了本申请另一实施例所提供的交通工具行驶检测装置的结构示意图。
可选地，如图10所示，该装置还包括调整模块703，用于根据相对速度，以及预设的相对速度与发波间隔的对应关系，确定相对速度对应的发波间隔。根据发波间隔，调整微波传感器相邻两次发射微波的时间间隔。
可选地，获取模块701，还用于根据反射微波的频率和发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。根据距离和相对速度获取驶离时间。将驶离时间和微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为微波传感器下次发射微波的时间间隔。
可选地，获取模块701，还用于若相对速度的方向与交通工具的行驶方向相反，根据反射微波的频率和发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。根据微波传感器的有效发射距离和距离之差，以及相对速度，获取驶离时间。根据驶离时间和微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为微波传感器下次发射微波的时间间隔。
可选地，确定模块702，具体用于若反射微波的频率小于发射微波的频率，则确定交通工具未逆行。或者，若反射微波的频率等于发射微波的频率，则确定交通工具未逆行。
可选地，确定模块702，具体用于若相对速度小于行驶速度，则确定交通工具未逆行。
可选地，确定模块702，还用于若相邻两次获取的相对速度的差值大于预设数值，则确定相邻两次获取的相对速度所对应的物体为不同物体。
图11示出了本申请另一实施例所提供的交通工具行驶检测装置的结构示意图。
可选地，如图11所示，该装置还包括预警模块704，用于根据反射微波的频率、发射微波的频率以及发射微波和接收反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离。根据距离以及交通工具与反射微波的物体的相对速度，确定预测碰撞时间。若预测碰撞时间小于或等于预设安全时间，则对交通工具进行预警。
图12示出了本申请另一实施例所提供的交通工具行驶检测装置的结构示 意图。
可选地，如图12所示，该装置还包括提示模块705，用于若交通工具与反射微波的物体的相对速度，大于或等于预设速度，则对交通工具进行提示，其中，预设速度为交通工具的最大行驶速度的两倍。
上述模块可以经由有线连接或无线连接彼此连接或通信。有线连接可以包括金属线缆、光缆、混合线缆等，或其任意组合。无线连接可以包括通过LAN、WAN、蓝牙、ZigBee、或NFC等形式的连接，或其任意组合。两个或更多个模块可以组合为单个模块，并且任何一个模块可以分成两个或更多个单元。所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统和装置的具体工作过程，可以参考方法实施例中的对应过程，本申请中不再赘述。在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
需要说明的是，以上这些模块可以是被配置成实施以上方法的一个或多个集成电路，例如：一个或多个特定集成电路(Application Specific Integrated  Circuit，简称ASIC)，或，一个或多个微处理器(Digital Singnal Processor，简称DSP)，或，一个或者多个现场可编程门阵列(Field Programmable Gate Array，简称FPGA)等。再如，当以上某个模块通过处理元件调度程序代码的形式实现时，该处理元件可以是通用处理器，例如中央处理器(Central Processing Unit，简称CPU)或其它可以调用程序代码的处理器。再如，这些模块可以集成在一起，以片上系统(System-on-a-chip，简称SOC)的形式实现。
图13示出了本申请一实施例所提供的电子设备的结构示意图。
如图13所示，提供了一种电子设备，该电子设备包括：
处理器801、计算机可读存储介质802和总线803，计算机可读存储介质802存储有处理器801可执行的机器可读指令，当电子设备运行时，处理器801与计算机可读存储介质802之间通过总线803通信，处理器801执行机器可读指令，以执行上述的交通工具行驶检测方法的步骤。
其中，电子设备可以是通用计算机、服务器或移动终端等，在此不做限制。
需要说明的是，处理器801可以包括一个或多个处理核(例如，单核处理器或多核处理器)。仅作为举例，处理器可以包括中央处理单元(Central Processing Unit，CPU)、专用集成电路(Application Specific Integrated Circuit，ASIC)、专用指令集处理器(Application Specific Instruction-set Processor，ASIP)、图形处理单元(Graphics Processing Unit，GPU)、物理处理单元(Physics Processing Unit，PPU)、数字信号处理器(Digital Signal Processor，DSP)、现场可编程门阵列(Field Programmable Gate Array，FPGA)、可编程逻辑器件(Programmable Logic Device，PLD)、控制器、微控制器单元、简化指令集计算机(Reduced Instruction Set Computing，RISC)、或微处理器等，或其任意组合。
计算机可读存储介质802可以包括：包括大容量存储器、可移动存储器、易失性读写存储器、或只读存储器(Read-Only Memory，ROM)等，或其任意组合。作为举例，大容量存储器可以包括磁盘、光盘、固态驱动器等；可移动存储器可包括闪存驱动器、软盘、光盘、存储卡、zip磁盘、磁带等；易失性读写 存储器可以包括随机存取存储器(Random Access Memory，RAM)；RAM可以包括动态RAM(Dynamic Random Access Memory，DRAM)，双倍数据速率同步动态RAM(Double Date-Rate Synchronous RAM，DDR SDRAM)；静态RAM(Static Random-Access Memory，SRAM)，晶闸管RAM(Thyristor-Based Random Access Memory，T-RAM)和零电容器RAM(Zero-RAM)等。作为举例，ROM可以包括掩模ROM(Mask Read-Only Memory，MROM)、可编程ROM(Programmable Read-Only Memory，PROM)、可擦除可编程ROM(Programmable Erasable Read-only Memory，PEROM)、电可擦除可编程ROM(Electrically Erasable Programmable read only memory，EEPROM)、光盘ROM(CD-ROM)、以及数字通用磁盘ROM等。
为了便于说明，在电子设备中仅描述了一个处理器801。然而，应当注意，本申请中的电子设备还可以包括多个处理器801，因此本申请中描述的一个处理器执行的步骤也可以由多个处理器联合执行或单独执行。例如，若电子设备的处理器801执行步骤A和步骤B，则应该理解，步骤A和步骤B也可以由两个不同的处理器共同执行或者在一个处理器中单独执行。例如，第一处理器执行步骤A，第二处理器执行步骤B，或者第一处理器和第二处理器共同执行步骤A和B。
可选地，本发明还提供了一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行上述的交通工具行驶检测方法的步骤。
以上仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (24)

  1. 一种交通工具行驶检测方法，其特征在于，包括：
    获取微波传感器发射微波的频率、所述微波传感器接收到的反射微波的频率，其中，所述微波传感器位于交通工具的车头；
    获取所述交通工具的行驶速度；
    根据所述发射微波的频率、所述反射微波的频率以及所述行驶速度，确定所述交通工具是否逆行。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述发射微波的频率、所述反射微波的频率以及所述行驶速度，确定所述交通工具是否逆行，包括：
    若所述反射微波的频率大于所述发射微波的频率，则根据所述发射微波的频率以及所述反射微波的频率，获取所述交通工具与反射微波的物体之间的相对速度，并根据所述相对速度和所述行驶速度，确定所述交通工具是否逆行。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述相对速度和所述行驶速度，确定所述交通工具是否逆行，包括：
    若所述相对速度大于所述行驶速度，在预设时间内获取所述交通工具与多个所述反射微波的物体之间的相对速度；
    若所述交通工具与多个所述反射微波的物体之间相对速度中，大于所述行驶速度的个数符合预设阈值，则确定所述交通工具未逆行；或者
    若所述交通工具与多个所述反射微波的物体之间相对速度中，大于所述行驶速度的个数不符合预设阈值，则确定所述交通工具逆行。
  4. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    根据所述相对速度，以及预设的相对速度与发波间隔的对应关系，确定所述相对速度对应的发波间隔；
    根据所述发波间隔，调整所述微波传感器相邻两次发射微波的时间间隔。
  5. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    根据所述反射微波的频率、所述发射微波的频率以及所述发射微波和接收 所述反射微波之间的时间间隔，获取所述交通工具与所述反射微波的物体之间的相对速度和距离；
    根据所述距离和所述相对速度获取驶离时间；
    将所述驶离时间和所述微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为所述微波传感器下次发射微波的时间间隔。
  6. 根据权利要求3所述的方法，其特征在于，还包括：
    若所述相对速度的方向与所述交通工具的行驶方向相反，根据所述反射微波的频率、所述发射微波的频率以及所述发射微波和接收所述反射微波之间的时间间隔，获取所述交通工具与所述反射微波的物体之间的相对速度和距离；
    根据所述微波传感器的有效发射距离和所述距离之差，以及所述相对速度，获取驶离时间；
    根据所述驶离时间和所述微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为所述微波传感器下次发射微波的时间间隔。
  7. 根据权利要求1所述的方法，其特征在于，所述根据所述发射微波的频率、所述反射微波的频率以及所述行驶速度，确定所述交通工具是否逆行，包括：
    若所述反射微波的频率小于所述发射微波的频率，则确定所述交通工具未逆行；或者，
    若所述反射微波的频率等于所述发射微波的频率，则确定所述交通工具未逆行。
  8. 根据权利要求2所述的方法，其特征在于，所述根据所述相对速度和所述行驶速度，确定所述交通工具是否逆行，包括：
    若所述相对速度小于所述行驶速度，则确定所述交通工具未逆行。
  9. 根据权利要求2-8中任一项所述的方法，其特征在于，所述方法还包括：
    若相邻两次获取的相对速度的差值大于预设数值，则确定所述相邻两次获取的相对速度所对应的物体为不同物体。
  10. 根据权利要求1-8中任一项所述的方法，其特征在于，所述方法还包括：
    根据所述反射微波的频率、所述发射微波的频率以及所述发射微波和接收所述反射微波之间的时间间隔，获取交通工具与反射微波的物体之间的相对速度和距离，获取所述交通工具与所述反射微波的物体之间的相对速度和距离；
    根据所述距离，以及，所述交通工具与所述反射微波的物体的相对速度，确定预测碰撞时间；
    若所述预测碰撞时间小于或等于预设安全时间，则对所述交通工具进行预警。
  11. 根据权利要求1-8中任一项所述的方法，其特征在于，所述方法还包括：
    若所述交通工具与所述反射微波的物体的相对速度，大于或等于预设速度，则对所述交通工具进行提示，其中，所述预设速度为所述交通工具的最大行驶速度的两倍。
  12. 一种交通工具行驶检测装置，其特征在于，包括：
    获取模块，用于获取微波传感器发射微波的频率、所述微波传感器接收到的反射微波的频率，其中，所述微波传感器位于交通工具的车头；
    所述获取模块，还用于获取所述交通工具的行驶速度；
    确定模块，用于根据所述发射微波的频率、所述反射微波的频率以及所述行驶速度，确定所述交通工具是否逆行。
  13. 根据权利要求12所述的装置，其特征在于，所述确定模块，具体用于若所述反射微波的频率大于所述发射微波的频率，则根据所述发射微波的频率以及所述反射微波的频率，获取所述交通工具与反射微波的物体之间的相对速度，并根据所述相对速度和所述行驶速度，确定所述交通工具是否逆行。
  14. 根据权利要求13所述的装置，其特征在于，所述确定模块，具体用于若所述相对速度大于所述行驶速度，在预设时间内获取所述交通工具与多个所述反射微波的物体之间的相对速度；
    若所述交通工具与多个所述反射微波的物体之间相对速度中，大于所述行驶速度的个数符合预设阈值，则确定所述交通工具未逆行；或者
    若所述交通工具与多个所述反射微波的物体之间相对速度中，大于所述行驶速度的个数不符合预设阈值，则确定所述交通工具逆行。
  15. 根据权利要求13所述的装置，其特征在于，所述交通工具行驶检测装置还包括：调整模块，用于根据所述相对速度，以及预设的相对速度与发波间隔的对应关系，确定所述相对速度对应的发波间隔；
    根据所述发波间隔，调整所述微波传感器相邻两次发射微波的时间间隔。
  16. 根据权利要求13所述的装置，其特征在于，所述获取模块，还用于根据所述反射微波的频率、所述发射微波的频率以及所述发射微波和接收所述反射微波之间的时间间隔，获取所述交通工具与所述反射微波的物体之间的相对速度和距离；
    根据所述距离和所述相对速度获取驶离时间；
    将所述驶离时间和所述微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为所述微波传感器下次发射微波的时间间隔。
  17. 根据权利要求13所述的装置，其特征在于，所述获取模块，还用于若所述相对速度的方向与所述交通工具的行驶方向相反，根据所述反射微波的频率、所述发射微波的频率以及所述发射微波和接收所述反射微波之间的时间间隔，获取所述交通工具与所述反射微波的物体之间的相对速度和距离；
    根据所述微波传感器的有效发射距离和所述距离之差，以及所述相对速度，获取驶离时间；
    根据所述驶离时间和所述微波传感器相邻两次发射微波的时间间隔中最小的时间间隔，作为所述微波传感器下次发射微波的时间间隔。
  18. 根据权利要求12所述的装置，其特征在于，所述确定模块，具体用于若所述反射微波的频率小于所述发射微波的频率，则确定所述交通工具未逆行；或者，
    若所述反射微波的频率等于所述发射微波的频率，则确定所述交通工具未逆行。
  19. 根据权利要求13所述的装置，其特征在于，所述确定模块，具体用于若所述相对速度小于所述行驶速度，则确定所述交通工具未逆行。
  20. 根据权利要求12-18中任一项所述的装置，其特征在于，所述确定模块，还用于若相邻两次获取的相对速度的差值大于预设数值，则确定所述相邻两次获取的相对速度所对应的物体为不同物体。
  21. 根据权利要求12-18中任一项所述的装置，其特征在于，所述交通工具行驶检测装置还包括：预警模块，用于根据所述反射微波的频率、所述发射微波的频率以及所述发射微波和接收所述反射微波之间的时间间隔，获取所述交通工具与所述反射微波的物体之间的相对速度和距离；
    根据所述距离，以及，所述交通工具与所述反射微波的物体的相对速度，确定预测碰撞时间；
    若所述预测碰撞时间小于或等于预设安全时间，则对所述交通工具进行预警。
  22. 根据权利要求12-18中任一项所述的装置，其特征在于，还包括提示模块，用于若所述交通工具与所述反射微波的物体的相对速度，大于或等于预设速度，则对所述交通工具进行提示，其中，所述预设速度为所述交通工具的最大行驶速度的两倍。
  23. 一种电子设备，其特征在于，包括：处理器、计算机可读存储介质和总线，所述计算机可读存储介质存储有所述处理器可执行的机器可读指令，当电子设备运行时，所述处理器与所述计算机可读存储介质之间通过总线通信，所述处理器执行所述机器可读指令，以执行如权利要求1至11任一项所述的交通工具行驶检测方法的步骤。
  24. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器运行时执行如权利要求1至11任一项所述的交通工具行驶检测方法的步骤。
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