CN106780603A - Vehicle checking method, device and electronic equipment - Google Patents
Vehicle checking method, device and electronic equipment Download PDFInfo
- Publication number
- CN106780603A CN106780603A CN201611130693.1A CN201611130693A CN106780603A CN 106780603 A CN106780603 A CN 106780603A CN 201611130693 A CN201611130693 A CN 201611130693A CN 106780603 A CN106780603 A CN 106780603A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- target
- distance
- electronic equipment
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
Abstract
A kind of vehicle checking method, is applied in electronic equipment, and the electronic equipment is communicated with vehicle, and methods described includes：Obtain the picture that the image unit communicated with the electronic equipment shoots；Using image segmentation algorithm by the picture segmentation into background area and target area；Area-of-interest is extracted from the target area；The position of target vehicle is determined in the area-of-interest, and calculates the distance between the target vehicle and described vehicle；And export prompt message to point out user to take care according to the distance.The present invention also provides a kind of vehicle detection apparatus.The present invention can effectively prevent vehicle from traffic accident occurring, and improve traffic safety.
Description
Technical field
The present invention relates to technical field of vehicle detection, more particularly to a kind of vehicle checking method, device and electronic equipment.
Background technology
Typically vehicle is detected by the way of sleiding form (such as Harr features, HOG features), but this mode is examined at present
The survey time is very long, very high to hardware environment requirement, it is impossible to realized on the platform of electronic equipment (such as mobile phone).Although by detection
Vehicle bottom shade determines interested area of vehicle, it is possible to reduce the operand of target detection.But vehicle bottom shade is made
It is single features, robustness is not strong, is easily disturbed by trees, lane boundary line, detects inaccurate.
The content of the invention
In view of the foregoing, it is necessary to which a kind of vehicle checking method, device and electronic equipment are provided, vehicle can effectively be prevented
Generation traffic accident, improves traffic safety.
A kind of vehicle checking method, is applied in electronic equipment, and the electronic equipment is communicated with vehicle, methods described bag
Include：
Obtain the picture that the image unit communicated with the electronic equipment shoots；
Using image segmentation algorithm by the picture segmentation into background area and target area；
Area-of-interest is extracted from the target area；
The position of target vehicle is determined in the area-of-interest, and is calculated between the target vehicle and the vehicle
Distance；And
Export prompt message to point out user to take care according to the distance.
According to the preferred embodiment of the present invention, the imaging model of the image unit includes described image plane coordinate system and road
The distance between plane coordinate system, the calculating target vehicle and described vehicle include：
The target carriage is calculated according to the transformational relation between described image plane coordinate system and the road plane coordinate system
The distance between with the vehicle.
According to the preferred embodiment of the present invention, methods described also includes：
The position of the target vehicle and the distance of the target vehicle and the vehicle are stored in the way of key-value pair.
According to the preferred embodiment of the present invention, methods described also includes：
When there is multiple target vehicles, the position according to each target vehicle determines each described target vehicle
The track at place；
When multiple target vehicles are in different tracks, according to the distance of each described target vehicle and the vehicle
The tangential distortion coefficient of the image unit is calculated, and the tangential abnormal of the image unit is corrected according to the tangential distortion coefficient
Become.
According to the preferred embodiment of the present invention, it is described according to the distance output prompt message pointing out user to take care bag
Include：
Obtain the speed of the vehicle；
The speed calculating vehicle according to the vehicle has travelled the duration used by the distance；And
When the duration is less than preset duration, the prompt message is exported.
A kind of vehicle detection apparatus, described device includes：
Acquisition module, for obtaining the picture that the image unit communicated with electronic equipment shoots；
Segmentation module, for utilizing image segmentation algorithm by the picture segmentation into background area and target area；
Extraction module, for extracting area-of-interest from the target area；
Determining module, for determining the position of target vehicle in the area-of-interest, and calculates the target vehicle
The distance between vehicle communicated with the electronic equipment；And
Reminding module, for exporting prompt message to point out user to take care according to the distance.
According to the preferred embodiment of the present invention, the imaging model of the image unit includes described image plane coordinate system and road
Plane coordinate system, the determining module is used to calculating the distance between the target vehicle and described vehicle to be included：
The target carriage is calculated according to the transformational relation between described image plane coordinate system and the road plane coordinate system
The distance between with the vehicle.
According to the preferred embodiment of the present invention, the determining module is additionally operable to when there is multiple target vehicles, according to every
The position of the individual target vehicle determine each described target vehicle where track；And described device also includes
Correction module, for when multiple target vehicles are in different tracks, according to each described target vehicle with
The distance of the vehicle calculates the tangential distortion coefficient of the image unit, and is taken the photograph according to tangential distortion coefficient correction
As the tangential distortion of unit.
According to the preferred embodiment of the present invention, the reminding module is used for according to the distance output prompt message to point out to use
Family take care including：
Obtain the speed of the vehicle；
The speed calculating vehicle according to the vehicle has travelled the duration used by the distance；And
When the duration is less than preset duration, the prompt message is exported.
A kind of electronic equipment, the electronic equipment includes memory and processor,
The memory is used to store at least one instruction；
The processor is used to perform at least one instruction, for obtaining the shooting communicated with the electronic equipment
The picture of unit photographs；Using image segmentation algorithm by the picture segmentation into background area and target area；From the target
Area-of-interest is extracted in region；The position of target vehicle is determined in the area-of-interest, and calculates the target vehicle
The distance between vehicle communicated with the electronic equipment；And export prompt message to point out user to note according to the distance
Safety.
As can be seen from the above technical solutions, the present invention can obtain the picture that the image unit shoots, using image point
Algorithm is cut by the picture segmentation into background area and target area, area-of-interest is extracted from the target area, in institute
State the position that target vehicle is determined in area-of-interest, and calculate the distance between the target vehicle and described vehicle, according to
The distance exports prompt message to point out user to take care.The present invention can effectively prevent vehicle from traffic accident occurring, and improve
Traffic safety.
Brief description of the drawings
Fig. 1 is the applied environment figure of the preferred embodiment that the present invention realizes vehicle checking method.
Fig. 2 is the flow chart of the preferred embodiment of vehicle checking method of the present invention.
Fig. 3 is the schematic diagram of road plane coordinate system of the present invention.
Fig. 4 is the flow diagram of plane of delineation coordinate system of the present invention.
Fig. 5 is the functional block diagram of the preferred embodiment of vehicle detecting system of the present invention.
Fig. 6 is the structural representation of the electronic equipment of the preferred embodiment that the present invention realizes vehicle checking method.
Main element symbol description
Electronic equipment 1
Vehicle 2
Image unit 3
Memory 12
Processor 13
Vehicle detection apparatus 11
Acquisition module 100
Segmentation module 101
Extraction module 102
Determining module 103
Memory module 104
Correction module 105
Reminding module 106
Specific embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.
As shown in figure 1, being the applied environment figure of the preferred embodiment that the present invention realizes vehicle checking method.The application ring
Border figure includes electronic equipment 1, vehicle 2 and image unit 3.
Preferably, vehicle checking method of the invention can be applied multiple electronic equipments 1 (only showing one in Fig. 1)
In.The electronic equipment is a kind of can be carried out at numerical computations and/or information automatically according to the instruction being previously set or store
The equipment of reason, its hardware includes but is not limited to microprocessor, application specific integrated circuit (Application Specific
Integrated Circuit, ASIC), programmable gate array (Field-Programmable Gate Array, FPGA), number
Word processing device (Digital Signal Processor, DSP), embedded device etc..
The electronic equipment 1 can also be any electronic product that man-machine interaction can be carried out with user, for example, personal
Computer, panel computer, smart mobile phone, personal digital assistant (Personal Digital Assistant, PDA), game machine,
IPTV (Internet Protocol Television, IPTV), intellectual Wearable etc..
The vehicle 2 includes communication unit, is communicated with the electronic equipment 1 by the communication unit.The vehicle 2
Other elements can also be included, the present invention does not do any limitation.
The image unit 3 can be the first-class equipment with camera function of shooting.The image unit 3 can be placed on
The electronic equipment 1, and be installed on the vehicle 2.The image unit 3 can also be built in the electronic equipment 1.Example
Such as, the support of the electronic equipment 1 is fixed on the rearview mirror lower section of the vehicle 2, and the image unit 3 aims at the vehicle 2
Direction of advance.The image unit is used to shoot the picture of the vehicle front, and the picture is sent to the electronics
In the processor of equipment 1.
As shown in Fig. 2 being the flow chart of the preferred embodiment of vehicle checking method of the present invention.According to different demands, should
The order of step can change in flow chart, and some steps can be omitted.
S10, the electronic equipment 1 obtains the picture of the shooting of the image unit 3.
In at least one embodiment of the present invention, the electronic equipment 1 receives the figure of the transmission of the image unit 3
Piece.When the image unit 3 is placed on the electronic equipment 1, the image unit 3 can also include wireless module, pass through
The wireless module communicates with the electronic equipment 1.
S11, the electronic equipment 1 utilizes image segmentation algorithm by the picture segmentation into background area and target area.
In at least one embodiment of the present invention, because the picture includes background area, in order to reduce detection time,
The electronic equipment 1 utilizes image segmentation algorithm by the picture segmentation into the background area and the target area.
In at least one embodiment of the present invention, described image partitioning algorithm can be based on threshold value dividing method,
Dividing method based on region, the dividing method based on edge and the dividing method based on particular theory.For example can be point
Water ridge algorithm etc..
S12, the electronic equipment 1 extracts area-of-interest from the target area.
In at least one embodiment of the present invention, the area-of-interest refers to the region of the target vehicle,
The electronic equipment 1 extracts the area-of-interest using image zooming-out algorithm from the target area, so as to determine roughly
Region where the target vehicle.
In at least one embodiment of the present invention, the electronic equipment 1 first uses target area described in Sobel operator extractions
The edge in domain, and filter the edge noise of the target area；Again using the edge of target area described in Hough straight-line detections,
It is determined that representing the linear feature of vehicle characteristics；The linear feature is clustered using clustering algorithm finally, the sense is determined
Interest region.
S13, the electronic equipment 1 determines the position of the target vehicle in the area-of-interest, and calculates described
The distance between target vehicle and described vehicle 2.
In at least one embodiment of the present invention, in order to avoid being likely to occur mistake, the electronics in cluster process
Equipment 1 can be using histograms of oriented gradients (Histogram of Oriented Gradient, HOG) feature to target vehicle
It is accurately positioned, is calculated image coordinate of the target vehicle in image coordinate system.
The histograms of oriented gradients be it is a kind of in computer vision and image procossing for carrying out the spy of object detection
Levy description operator.For example, the preferred dimension of the electronic equipment 1 for 64*64 block as vehicle HOG features, with the born of the same parents of 16*16
Used as the base unit for calculating gradient, the sliding distance of block is that the pixel for having half between 8 pixels, adjacent cell element is overlapped for unit.Will
Gradient direction is divided into 9 histogram passages, and so each vehicle has 1764 dimensional features.
In at least one embodiment of the present invention, the imaging model of the image unit 3 is sat including described image plane
Biao Xiji roads plane coordinate system.The position of the target vehicle can image coordinate represent, it is also possible to use road plane coordinates
Represent, the electronic equipment 1 calculates the target according to the transformational relation between plane of delineation coordinate system and road plane coordinate system
The distance between vehicle and described vehicle 2, specific calculating process is as follows：
As shown in figure 3, plane ABU represents road plane, trapezoid area ABCD represents the picture that the image unit 3 shoots, o
Point is the optical center point of the image unit 3, and OG is the optical axis of the image unit 3, and G points are the light of the image unit 3
The intersection point of Zhou He roads plane, I points are the upright projection in the plane of o Dian roads.In the plane coordinate system of road, G points are defined as road
The origin of plane coordinate system, the travel direction of the vehicle 2 is defined as Y direction.
As shown in figure 4, G, A, B, C, D each point correspondence g, a, b, c, d as shown in Figure 4 in plane of delineation coordinate system.a、
Tetra- points of b, c, d constitute a rectangle, and H and W is respectively the height and width of image plane.The midpoint g of rectangle is defined for the plane of delineation is sat
The origin of system is marked, y represents the traveling of the vehicle 2.
Any point P that plane coordinates is fastened on road, its road plane coordinates is (Xp,Yp), P points are in plane of delineation coordinate system
Interior corresponding points are p, and it is (x in plane of delineation coordinatep,yp).A road surface coordinate and image can be derived using geometrical relationship
Transformational relation between coordinate is as follows：
Wherein k1=2tan (α0)/H, k2=tan (γ0), k3=h/cos (γ0), k4=2tan (β0)/W,
In above-mentioned formula, H is the height of image；W is the width of image；H is the setting height(from bottom) of the image unit 3；β0For
The horizontal field of view angle of the image unit 3；α0It is the vertical visual field angle of the image unit 3；γ0It is bowing for the image unit 3
The elevation angle.
The electronic equipment 1 according to the transformational relation between road surface coordinate and image coordinate calculate the vehicle 2 with it is described
The distance of target vehicle.The distance is
In at least one embodiment of the present invention, when the quantity of the target vehicle is for multiple, the electronic equipment 1
The position of each target vehicle is calculated, and calculates the distance of each target vehicle and the vehicle 2.The electronic equipment 1 is with key
Value stores the position of each target vehicle and the distance of each target vehicle and the vehicle 2 to the mode of (key-value).Example
Such as, a key represents a position for target vehicle, and a value represents the distance of the target vehicle and the vehicle 2.
User is so facilitated to consult the distance of multiple target vehicles.
In at least one embodiment of the present invention, the electronic equipment 1 determines always according to the position of each target vehicle
Track where each target vehicle.When multiple target vehicles are in different tracks, the electronic equipment 1 is according to multiple targets
Vehicle calculates the tangential distortion coefficient of the image unit 3 with the distance of the vehicle 2, and according to the tangential distortion coefficient school
The tangential distortion of just described image unit 3, improves accuracy of detection.
S14, the electronic equipment 1 exports prompt message to point out user to take care according to the distance.
In at least one embodiment of the present invention, the electronic equipment 1 obtains the speed of the vehicle 2.The electronics
Duration of the equipment 1 according to used by the speed of the vehicle 2 calculating vehicle 2 has travelled the distance.
When the duration is less than preset duration (such as 2S), the electronic equipment 1 exports prompt message to point out user to note
Meaning safety.Pointing out the mode of user has a lot, such as voice mode, and the present invention does not do any limitation.
The present invention can obtain the image unit 3 shoot picture, using image segmentation algorithm by the picture segmentation into
Background area and target area, area-of-interest is extracted from the target area, and target is determined in the area-of-interest
The position of vehicle, and calculate the distance between the target vehicle and described vehicle 2, according to the distance output prompt message with
Prompting user takes care.The present invention can effectively prevent vehicle from traffic accident occurring, and improve traffic safety.
As shown in figure 5, the functional block diagram of the embodiment of vehicle detection apparatus of the present invention.The vehicle detection apparatus 11 are wrapped
Include acquisition module 100, segmentation module 101, extraction module 102, determining module 103, memory module 104, correction module 105 and carry
Show module 106.Module alleged by the present invention refers to that a kind of can be performed by processor 13 and can complete fixing function
Series of computation machine program segment, its storage is in memory 12.In the present embodiment, the function on each module is by follow-up
Described in detail in embodiment.
The acquisition module 100 is used to obtain the picture of the shooting of the image unit 3.
In at least one embodiment of the present invention, the acquisition module 100 receives the described of the transmission of the image unit 3
Picture.When the image unit 3 is placed on the electronic equipment 1, the image unit 3 can also include wireless module, lead to
The wireless module is crossed to be communicated with the electronic equipment 1.
The segmentation module 101 is used to utilize image segmentation algorithm by the picture segmentation into background area and target area
Domain.
In at least one embodiment of the present invention, because the picture includes background area, in order to reduce detection time,
The segmentation module 101 utilizes image segmentation algorithm by the picture segmentation into the background area and the target area.
In at least one embodiment of the present invention, described image partitioning algorithm can be based on threshold value dividing method,
Dividing method based on region, the dividing method based on edge and the dividing method based on particular theory.For example can be point
Water ridge algorithm etc..
The extraction module 102 is used to extract area-of-interest from the target area.
In at least one embodiment of the present invention, the area-of-interest refers to the region of the target vehicle.
The extraction module 102 extracts the area-of-interest using image zooming-out algorithm from the target area, so that rough true
Region where the fixed target vehicle.
In at least one embodiment of the present invention, the extraction module 102 first uses target described in Sobel operator extractions
The edge in region, and filter the edge noise of the target area；Again using the side of target area described in Hough straight-line detections
Edge, it is determined that representing the linear feature of vehicle characteristics；The linear feature is clustered using clustering algorithm finally, it is determined that described
Area-of-interest.
The determining module 103 is used to determine in the area-of-interest position of the target vehicle, and calculates institute
State the distance between target vehicle and described vehicle 2.
In at least one embodiment of the present invention, in order to avoid being likely to occur mistake, the determination in cluster process
Module 103 can be using histograms of oriented gradients (Histogram of Oriented Gradient, HOG) feature to target carriage
It is accurately positioned, is calculated image coordinate of the target vehicle in image coordinate system.
The histograms of oriented gradients be it is a kind of in computer vision and image procossing for carrying out the spy of object detection
Levy description operator.For example, the preferred dimension of the electronic equipment 1 for 64*64 block as vehicle HOG features, with the born of the same parents of 16*16
Used as the base unit for calculating gradient, the sliding distance of block is that the pixel for having half between 8 pixels, adjacent cell element is overlapped for unit.Will
Gradient direction is divided into 9 histogram passages, and so each vehicle has 1764 dimensional features.
In at least one embodiment of the present invention, the imaging model of the image unit 3 is sat including described image plane
Biao Xiji roads plane coordinate system.The position of the target vehicle can image coordinate represent, it is also possible to use road plane coordinates
Represent, the determining module 103 calculates the mesh according to the transformational relation between plane of delineation coordinate system and road plane coordinate system
The distance between mark vehicle and described vehicle 2, specific calculating process is as follows：
As shown in figure 3, plane ABU represents road plane, trapezoid area ABCD represents the picture that the image unit 3 shoots, o
Point is the optical center point of the image unit 3, and OG is the optical axis of the image unit 3, and G points are the light of the image unit 3
The intersection point of Zhou He roads plane, I points are the upright projection in the plane of o Dian roads.In the plane coordinate system of road, G points are defined as road
The origin of plane coordinate system, the travel direction of the vehicle 2 is defined as Y direction.
As shown in figure 4, G, A, B, C, D each point correspondence g, a, b, c, d as shown in Figure 4 in plane of delineation coordinate system.a、
Tetra- points of b, c, d constitute a rectangle, and H and W is respectively the height and width of image plane.The midpoint g of rectangle is defined for the plane of delineation is sat
The origin of system is marked, y represents the traveling of the vehicle 2.
Any point P that plane coordinates is fastened on road, its road plane coordinates is (Xp,Yp), P points are in plane of delineation coordinate system
Interior corresponding points are p, and it is (x in plane of delineation coordinatep,yp).A road surface coordinate and image can be derived using geometrical relationship
Transformational relation between coordinate is as follows：
Wherein k1=2tan (α0)/H, k2=tan (γ0), k3=h/cos (γ0), k4=2tan (β0)/W,
In above-mentioned formula, H is the height of image；W is the width of image；H is the setting height(from bottom) of the image unit 3；β0For
The horizontal field of view angle of the image unit 3；α0It is the vertical visual field angle of the image unit 3；γ0It is bowing for the image unit 3
The elevation angle.
The determining module 103 calculates the vehicle 2 and institute according to the transformational relation between road surface coordinate and image coordinate
State the distance of target vehicle.The distance is
In at least one embodiment of the present invention, when the quantity of the target vehicle is for multiple, the determining module
103 calculate the position of each target vehicle, and calculate the distance of each target vehicle and the vehicle 2.The memory module 104
Position and each target vehicle and the vehicle 2 for storing each target vehicle in the way of key-value pair (key-value)
Distance.For example, a key represents a position for target vehicle, a value represents the target vehicle with the vehicle
2 distance.User is so facilitated to consult the distance of multiple target vehicles.
In at least one embodiment of the present invention, the determining module 103 is true always according to the position of each target vehicle
Track where fixed each target vehicle.When multiple target vehicles are in different tracks, the correction module 105 is used for basis
Multiple target vehicles calculate the tangential distortion coefficient of the image unit 3 with the distance of the vehicle 2, and according to described tangential abnormal
Variable coefficient corrects the tangential distortion of the image unit 3, improves accuracy of detection.
The reminding module 106 is used for according to the distance output prompt message to point out user to take care.
In at least one embodiment of the present invention, the reminding module 106 obtains the speed of the vehicle 2.It is described to carry
Show duration of the module 106 according to used by the speed of the vehicle 2 calculating vehicle 2 has travelled the distance.
When the duration is less than preset duration (such as 2S), the reminding module 106 exports prompt message to point out user
Take care.Pointing out the mode of user has a lot, such as voice mode, and the present invention does not do any limitation.
The present invention can obtain the image unit 3 shoot picture, using image segmentation algorithm by the picture segmentation into
Background area and target area, area-of-interest is extracted from the target area, and target is determined in the area-of-interest
The position of vehicle, and calculate the distance between the target vehicle and described vehicle 2, according to the distance output prompt message with
Prompting user takes care.The present invention can effectively prevent vehicle from traffic accident occurring, and improve traffic safety.
The above-mentioned integrated unit realized in the form of software function module, can store and be deposited in an embodied on computer readable
In storage media.Above-mentioned software function module storage is in a storage medium, including some instructions are used to so that a computer
Equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform the present invention each
The part steps of embodiment methods described.
As shown in fig. 6, Fig. 6 is the structural representation of the electronic equipment of the preferred embodiment that the present invention realizes vehicle checking method
Figure.The electronic equipment 1 includes memory 12 and processor 13.
The electronic equipment 1 also includes but is not limited to any one can pass through keyboard, mouse, remote control, touch with user
The mode such as plate or voice-operated device carries out the electronic product of man-machine interaction, for example, personal computer, panel computer, smart mobile phone, individual
Personal digital assistant (Personal Digital Assistant, PDA), game machine, IPTV (Internet
Protocol Television, IPTV), intellectual Wearable etc..Network residing for the electronic equipment 1 is included but not
It is limited to internet, wide area network, Metropolitan Area Network (MAN), LAN, VPN (Virtual Private Network, VPN) etc..
The electronic equipment 1 is communicated with the image unit 3, and the image unit 3 can be shooting first-class with taking the photograph
As the equipment of function.The image unit 3 can be placed on the electronic equipment 1, and be installed on the vehicle 2.It is described to take the photograph
As unit 3 can also be built in the electronic equipment 1.For example, after the support of the electronic equipment 1 is fixed on the vehicle 2
Visor lower section, the image unit 3 aims at the direction of advance of the vehicle 2.Before the image unit is used to shoot the vehicle
The picture of side, and the picture is sent into the processor of the electronic equipment 1.
The memory 12 is used to store the program and various data of a kind of vehicle checking method, and in the electronic equipment
High speed is realized in 1 running, the access of program or data is automatically completed.The memory 12 can be electronic equipment 1
External memory storage and/or internal storage.Further, the memory 12 can not have physical form in integrated circuit
Circuit with store function, such as RAM (Random-Access Memory, random access memory), FIFO (First In
First Out) etc..Or, the memory 12 can also be the memory with physical form, such as memory bar, TF cards
(Trans-flash Card) etc..
The processor 13, also known as central processing unit (CPU, Central Processing Unit), is one piece of super large rule
The integrated circuit of mould, is the arithmetic core (Core) and control core (Control Unit) of electronic equipment 1.The processor 13
The operating system of the executable electronic equipment 1 and types of applications program, the program code of installation etc., such as vehicle detection dress
Put 11.
With reference to Fig. 2, the memory 12 in the electronic equipment 1 stores multiple instruction to realize a kind of vehicle detection side
Method, the processor 13 can perform the multiple instruction so as to realize：The image unit that acquisition is communicated with the electronic equipment
The picture of shooting；Using image segmentation algorithm by the picture segmentation into background area and target area；From the target area
Middle extraction area-of-interest；The position of target vehicle is determined in the area-of-interest, and calculates the target vehicle and institute
State the distance between vehicle；And export prompt message to point out user to take care according to the distance.
According to the preferred embodiment of the present invention, the imaging model of the image unit includes described image plane coordinate system and road
Plane coordinate system, the processor 13 also performs multiple instruction to be included：
According to the transformational relation between plane of delineation coordinate system and road plane coordinate system calculate the target vehicle with it is described
The distance between vehicle.
According to the preferred embodiment of the present invention, the processor 13 also performs multiple instruction to be included：
The position of the target vehicle and the distance of the target vehicle and the vehicle are stored in the way of key-value pair；
According to the preferred embodiment of the present invention, the processor 13 also performs multiple instruction to be included：
When there is multiple target vehicles, the position according to each target vehicle determines each described target vehicle
The track at place；
When multiple target vehicles are in different tracks, according to the distance of each described target vehicle and the vehicle
The tangential distortion coefficient of the image unit is calculated, and the tangential abnormal of the image unit is corrected according to the tangential distortion coefficient
Become.
According to the preferred embodiment of the present invention, the processor 13 also performs multiple instruction to be included：
Obtain the speed of the vehicle；
The speed calculating vehicle according to the vehicle has travelled the duration used by the distance；And
When the duration is less than preset duration, the prompt message is exported.
Specifically, the processor 13 refers to correlation in Fig. 2 correspondence embodiments to the concrete methods of realizing of above-mentioned instruction
The description of step, specifically, the processor 13 refers to phase in Fig. 3 correspondence embodiments to the concrete methods of realizing of above-mentioned instruction
The description of step is closed, be will not be described here.In several embodiments provided by the present invention, it should be understood that disclosed system,
Apparatus and method, can realize by another way.For example, device embodiment described above is only schematical,
For example, the division of the module, only a kind of division of logic function, can there is other dividing mode when actually realizing.
The module that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as module
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of module therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional module in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit can both be realized in the form of hardware, it would however also be possible to employ hardware adds the form of software function module to realize.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires to be limited rather than described above, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.The right that any attached associated diagram mark in claim should not be considered as involved by limitation will
Ask.Furthermore, it is to be understood that " including " word is not excluded for other units or step, odd number is not excluded for plural number.Stated in system claims
Multiple units or device can also be realized by software or hardware by a unit or device.Second grade word is used for table
Show title, and be not offered as any specific order.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although reference
Preferred embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to of the invention
Technical scheme is modified or equivalent, without deviating from the spirit and scope of technical solution of the present invention.
Claims (10)
1. a kind of vehicle checking method, is applied in electronic equipment, and the electronic equipment is communicated with vehicle, it is characterised in that
Methods described includes：
Obtain the picture that the image unit communicated with the electronic equipment shoots；
Using image segmentation algorithm by the picture segmentation into background area and target area；
Area-of-interest is extracted from the target area；
In the area-of-interest determine target vehicle position, and calculate between the target vehicle and the vehicle away from
From；And
Export prompt message to point out user to take care according to the distance.
2. vehicle checking method as claimed in claim 1, it is characterised in that the imaging model of the image unit includes described
The distance between plane of delineation coordinate system and road plane coordinate system, the calculating target vehicle and described vehicle include：
According to the transformational relation between described image plane coordinate system and the road plane coordinate system calculate the target vehicle with
The distance between described vehicle.
3. vehicle checking method as claimed in claim 1, it is characterised in that methods described also includes：
The position of the target vehicle and the distance of the target vehicle and the vehicle are stored in the way of key-value pair.
4. vehicle checking method as claimed in claim 1, it is characterised in that methods described also includes：
When there is multiple target vehicles, the position according to each target vehicle is determined where each described target vehicle
Track；
When multiple target vehicles are in different tracks, calculated with the distance of the vehicle according to each described target vehicle
The tangential distortion coefficient of the image unit, and the tangential distortion of the image unit is corrected according to the tangential distortion coefficient.
5. vehicle checking method as claimed in claim 1, it is characterised in that it is described according to the distance output prompt message with
Prompting user take care including：
Obtain the speed of the vehicle；
The speed calculating vehicle according to the vehicle has travelled the duration used by the distance；And
When the duration is less than preset duration, the prompt message is exported.
6. a kind of vehicle detection apparatus, it is characterised in that described device includes：
Acquisition module, for obtaining the picture that the image unit communicated with electronic equipment shoots；
Segmentation module, for utilizing image segmentation algorithm by the picture segmentation into background area and target area；
Extraction module, for extracting area-of-interest from the target area；
Determining module, for determining the position of target vehicle in the area-of-interest, and calculates the target vehicle and institute
State the distance between vehicle that electronic equipment is communicated；And
Reminding module, for exporting prompt message to point out user to take care according to the distance.
7. vehicle detection apparatus as claimed in claim 6, it is characterised in that the imaging model of the image unit includes described
Plane of delineation coordinate system and road plane coordinate system, the determining module are used to calculate between the target vehicle and the vehicle
Distance includes：
According to the transformational relation between described image plane coordinate system and the road plane coordinate system calculate the target vehicle with
The distance between described vehicle.
8. vehicle detection apparatus as claimed in claim 6, it is characterised in that the determining module is additionally operable to when having described in multiple
During target vehicle, the position according to each target vehicle determine each described target vehicle where track；And the dress
Putting also includes
Correction module, for when multiple target vehicles are in different tracks, according to each described target vehicle with it is described
The distance of vehicle calculates the tangential distortion coefficient of the image unit, and single according to the tangential distortion coefficient correction shooting
The tangential distortion of unit.
9. vehicle detection apparatus as claimed in claim 6, it is characterised in that the reminding module is used for according to described apart from defeated
Go out prompt message with point out user take care including：
Obtain the speed of the vehicle；
The speed calculating vehicle according to the vehicle has travelled the duration used by the distance；And
When the duration is less than preset duration, the prompt message is exported.
10. a kind of electronic equipment, it is characterised in that the electronic equipment includes memory and processor,
The memory is used to store at least one instruction；
The processor is used to perform at least one instruction, for obtaining the image unit communicated with the electronic equipment
The picture of shooting；Using image segmentation algorithm by the picture segmentation into background area and target area；From the target area
Middle extraction area-of-interest；The position of target vehicle is determined in the area-of-interest, and calculates the target vehicle and institute
State the distance between vehicle that electronic equipment is communicated；And export prompt message to point out user to note peace according to the distance
Entirely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611130693.1A CN106780603A (en) | 2016-12-09 | 2016-12-09 | Vehicle checking method, device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611130693.1A CN106780603A (en) | 2016-12-09 | 2016-12-09 | Vehicle checking method, device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106780603A true CN106780603A (en) | 2017-05-31 |
Family
ID=58879394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611130693.1A Pending CN106780603A (en) | 2016-12-09 | 2016-12-09 | Vehicle checking method, device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106780603A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109063651A (en) * | 2018-08-06 | 2018-12-21 | 百度在线网络技术（北京）有限公司 | object detecting method, device, equipment and storage medium |
| CN110570388A (en) * | 2018-08-31 | 2019-12-13 | 阿里巴巴集团控股有限公司 | Method, device and equipment for detecting components of vehicle |
| CN110738169A (en) * | 2019-10-11 | 2020-01-31 | 深圳前海微众银行股份有限公司 | Traffic flow monitoring method, device, equipment and computer readable storage medium |
| CN111251994A (en) * | 2018-11-30 | 2020-06-09 | 华创车电技术中心股份有限公司 | Method and system for detecting objects around vehicle |
| CN113419257A (en) * | 2021-06-29 | 2021-09-21 | 深圳市路卓科技有限公司 | Positioning calibration method, device, terminal equipment, storage medium and program product |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101016053A (en) * | 2007-01-25 | 2007-08-15 | 吉林大学 | Warning method and system for preventing collision for vehicle on high standard highway |
| CN104792302A (en) * | 2015-04-29 | 2015-07-22 | 深圳市保千里电子有限公司 | Modeling method for measuring car distance |
| CN104915642A (en) * | 2015-05-26 | 2015-09-16 | 奇瑞汽车股份有限公司 | Method and apparatus for measurement of distance to vehicle ahead |
| CN105047019A (en) * | 2015-07-07 | 2015-11-11 | 长安大学 | Judgment method for preventing sudden lane change of back vehicle after overtaking passenger vehicle and device |
| CN103978978B (en) * | 2014-05-26 | 2016-06-22 | 武汉理工大学 | Track keeping method based on Inverse projection |
| CN105740804A (en) * | 2016-01-27 | 2016-07-06 | 大连楼兰科技股份有限公司 | Automatic vehicle tracking and driving method based on image processing |
| CN105912998A (en) * | 2016-04-05 | 2016-08-31 | 辽宁工业大学 | Vehicle collision prevention early warning method based on vision |
-
2016
- 2016-12-09 CN CN201611130693.1A patent/CN106780603A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101016053A (en) * | 2007-01-25 | 2007-08-15 | 吉林大学 | Warning method and system for preventing collision for vehicle on high standard highway |
| CN103978978B (en) * | 2014-05-26 | 2016-06-22 | 武汉理工大学 | Track keeping method based on Inverse projection |
| CN104792302A (en) * | 2015-04-29 | 2015-07-22 | 深圳市保千里电子有限公司 | Modeling method for measuring car distance |
| CN104915642A (en) * | 2015-05-26 | 2015-09-16 | 奇瑞汽车股份有限公司 | Method and apparatus for measurement of distance to vehicle ahead |
| CN105047019A (en) * | 2015-07-07 | 2015-11-11 | 长安大学 | Judgment method for preventing sudden lane change of back vehicle after overtaking passenger vehicle and device |
| CN105740804A (en) * | 2016-01-27 | 2016-07-06 | 大连楼兰科技股份有限公司 | Automatic vehicle tracking and driving method based on image processing |
| CN105912998A (en) * | 2016-04-05 | 2016-08-31 | 辽宁工业大学 | Vehicle collision prevention early warning method based on vision |
Non-Patent Citations (4)
| Title |
|---|
| 王忆勤: "《中医面诊与计算机辅助诊断》", 30 November 2010 * |
| 田小林 等: "《光学相干层析图像处理及应用》", 31 January 2015 * |
| 罗时光: "基于单目测距技术的道路障碍物检测方法", 《软件》 * |
| 马长正 等: "基于平行直线的摄像机标定方法", 《北京航空航天大学学报》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109063651A (en) * | 2018-08-06 | 2018-12-21 | 百度在线网络技术（北京）有限公司 | object detecting method, device, equipment and storage medium |
| CN110570388A (en) * | 2018-08-31 | 2019-12-13 | 阿里巴巴集团控股有限公司 | Method, device and equipment for detecting components of vehicle |
| CN111251994A (en) * | 2018-11-30 | 2020-06-09 | 华创车电技术中心股份有限公司 | Method and system for detecting objects around vehicle |
| CN111251994B (en) * | 2018-11-30 | 2021-08-24 | 华创车电技术中心股份有限公司 | Method and system for detecting objects around vehicle |
| CN110738169A (en) * | 2019-10-11 | 2020-01-31 | 深圳前海微众银行股份有限公司 | Traffic flow monitoring method, device, equipment and computer readable storage medium |
| CN110738169B (en) * | 2019-10-11 | 2023-09-08 | 深圳前海微众银行股份有限公司 | Traffic flow monitoring method, device, equipment and computer readable storage medium |
| CN113419257A (en) * | 2021-06-29 | 2021-09-21 | 深圳市路卓科技有限公司 | Positioning calibration method, device, terminal equipment, storage medium and program product |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106780603A (en) | Vehicle checking method, device and electronic equipment | |
| CN107358149B (en) | Human body posture detection method and device | |
| CN111241989B (en) | Image recognition method and device and electronic equipment | |
| CN108256431B (en) | Hand position identification method and device | |
| CN103324930B (en) | A kind of registration number character dividing method based on grey level histogram binaryzation | |
| CN109919008A (en) | Moving target detecting method, device, computer equipment and storage medium | |
| US20130148856A1 (en) | Method and apparatus for detecting road partition | |
| CN106600625A (en) | Image processing method and device for detecting small-sized living thing | |
| CN107491753A (en) | A kind of parking offense detection method based on background modeling | |
| CN111209780A (en) | Lane line attribute detection method and device, electronic device and readable storage medium | |
| CN110443225A (en) | Virtual and real lane line identification method and device based on feature pixel statistics | |
| CN109584302A (en) | Camera pose optimization method, device, electronic equipment and computer-readable medium | |
| CN106558051A (en) | A kind of improved method for detecting road from single image | |
| CN107610224A (en) | It is a kind of that algorithm is represented based on the Weakly supervised 3D automotive subjects class with clear and definite occlusion modeling | |
| CN112990009A (en) | End-to-end-based lane line detection method, device, equipment and storage medium | |
| CN113570725A (en) | Three-dimensional surface reconstruction method and device based on clustering, server and storage medium | |
| CN112818874A (en) | Image processing method, device, equipment and storage medium | |
| US9811917B2 (en) | Confidence estimation for optical flow under low light conditions | |
| CN107452230B (en) | Obstacle detection method and device, terminal equipment and storage medium | |
| CN111127503A (en) | Method, device and storage medium for detecting the pattern of a vehicle tyre | |
| CN103093204B (en) | Behavior monitoring method and device | |
| CN114037977B (en) | Road vanishing point detection method, device, equipment and storage medium | |
| CN113673288B (en) | Idle parking space detection method and device, computer equipment and storage medium | |
| CN115661444A (en) | Image processing method, device, equipment, storage medium and product | |
| Zakaria et al. | Fully convolutional neural network for Malaysian road lane detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |