CN111274931A - Overtaking behavior auditing method and device, computer equipment and storage medium - Google Patents
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Abstract
The application relates to a method and a device for auditing overtaking behaviors, computer equipment and a storage medium. The method comprises the following steps: acquiring a plurality of monitoring images; the time interval between every two adjacent monitoring images is less than the preset time length; detecting overtaking vehicles and overtaken vehicles from the monitoring images; determining a position change track of the overtaking vehicle relative to the overtaken vehicle in a plurality of monitoring images; and determining whether the overtaking vehicle has illegal overtaking behaviors or not according to the position change track. By adopting the method, time and labor can be saved, and the auditing efficiency can be improved.
Description
Technical Field
The present application relates to the field of image recognition technologies, and in particular, to an audit method and apparatus for overtaking behavior, a computer device, and a storage medium.
Background
With the development of society, more and more motor vehicles are available. In order to regulate the driving of the motor vehicle, a camera is usually arranged in a road, the driving process of the motor vehicle is captured by the camera, and then law enforcement officers judge whether illegal behaviors exist in the motor vehicle according to the captured image. For example, the law enforcement officer checks whether the target vehicle illegally overtakes the vehicle according to the snapshot image.
However, manual review is labor-consuming, and the amount of data to be reviewed is large, which also affects review efficiency.
Disclosure of Invention
In view of the above, it is necessary to provide a method, an apparatus, a computer device and a storage medium for checking overtaking behavior, which can save labor and time.
An auditing method for overtaking behavior, the method comprising:
acquiring a plurality of monitoring images; the time interval between every two adjacent monitoring images is less than the preset time length;
detecting overtaking vehicles and overtaken vehicles from the monitoring images;
determining the position change track of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images;
and determining whether the overtaking vehicle breaks rules and regulations according to the position change track.
In one embodiment, the determining the position change trajectory of the passing vehicle relative to the passing vehicle in the plurality of monitoring images includes:
detecting lanes in each monitoring image to obtain a plurality of lanes in each monitoring image;
determining the position of the overtaking vehicle relative to the overtaken vehicle in each monitoring image; wherein, the position of the vehicle of overtaking includes by the vehicle of overtaking relatively: whether the overtaking vehicle and the overtaken vehicle are positioned on the same lane or not, and whether the overtaking vehicle is positioned in front of or behind the overtaken vehicle along the driving direction;
and determining the position change track according to the position of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images.
In one embodiment, the determining whether there is a violation overtaking behavior of the overtaking vehicle according to the position change track includes:
if the position change track is detected to meet the preset condition, determining that the overtaking vehicle has illegal overtaking behaviors; wherein the preset conditions include: and in the driving direction, the overtaking vehicle moves from the rear part of the same lane as the overtaken vehicle to the right lane of the overtaken vehicle and then moves to the front part of the same lane as the overtaken vehicle.
In one embodiment, the detecting of the overtaking vehicle and the overtaken vehicle from the monitoring images includes:
detecting each monitoring image to obtain a plurality of vehicle images in each monitoring image;
and identifying each vehicle image according to the obtained overtaking vehicle identification and the overtaken vehicle identification in advance, and determining the overtaking vehicle and the overtaken vehicle in each monitoring image.
In one embodiment, the identifying each vehicle image according to the obtained passing vehicle identifier and the passed vehicle identifier in advance to determine the passing vehicle and the passed vehicle in each monitoring image includes:
identifying each vehicle image to obtain a vehicle identifier corresponding to each vehicle image;
comparing each vehicle identification with the overtaking vehicle identification and the overtaken vehicle identification respectively;
if the vehicle identification is matched with the overtaking vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaking vehicle;
and if the vehicle identification is matched with the overtaken vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaken vehicle.
In one embodiment, the identifying each vehicle image according to the obtained passing vehicle identifier and the passed vehicle identifier in advance to determine the passing vehicle and the passed vehicle in each monitoring image includes:
identifying each vehicle image in the first monitoring image to obtain a vehicle identifier corresponding to each vehicle image in the first monitoring image; the first monitoring image is a clear monitoring image in the plurality of monitoring images;
determining overtaking vehicles and overtaken vehicles in the first monitoring image according to the vehicle identifications, the overtaking vehicle identifications and the overtaken vehicle identifications corresponding to the vehicle images in the first monitoring image;
according to the image of the overtaking vehicle and the image of the overtaken vehicle in the first monitoring image, identifying each vehicle image in the second monitoring image, and determining the overtaking vehicle and the overtaken vehicle in the second monitoring image; the second monitoring image is a monitoring image except the first monitoring image in the plurality of monitoring images.
In one embodiment, before the identifying of the vehicle images in the first monitoring image, the method further includes:
and performing definition detection on the plurality of monitoring images to obtain a first monitoring image with definition greater than preset definition.
An auditing apparatus for overtaking activity, the apparatus comprising:
the monitoring image acquisition module is used for acquiring a plurality of monitoring images; the time interval between every two adjacent monitoring images is less than the preset time length;
the vehicle detection module is used for detecting overtaking vehicles and overtaken vehicles from the monitoring images;
the position change track determining module is used for determining the position change track of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images;
and the overtaking behavior determining module is used for determining whether the overtaking vehicle has violation overtaking behavior according to the position change track.
In one embodiment, the position change trajectory determination module is specifically configured to detect lanes in each monitoring image to obtain a plurality of lanes in each monitoring image; determining the position of the overtaking vehicle relative to the overtaken vehicle in each monitoring image; wherein, the position of the vehicle of overtaking includes by the vehicle of overtaking relatively: whether the overtaking vehicle and the overtaken vehicle are positioned on the same lane or not, and whether the overtaking vehicle is positioned in front of or behind the overtaken vehicle along the driving direction; and determining the position change track according to the position of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images.
In one embodiment, the overtaking behavior determining module is specifically configured to determine that the overtaking vehicle has a violation overtaking behavior if it is detected that the position change track meets a preset condition; wherein the preset conditions include: and in the driving direction, the overtaking vehicle moves from the rear part of the same lane as the overtaken vehicle to the right lane of the overtaken vehicle and then moves to the front part of the same lane as the overtaken vehicle.
In one embodiment, the vehicle detection module is specifically configured to detect each monitored image to obtain a plurality of vehicle images in each monitored image; and identifying each vehicle image according to the obtained overtaking vehicle identification and the overtaken vehicle identification in advance, and determining the overtaking vehicle and the overtaken vehicle in each monitoring image.
In one embodiment, the vehicle detection module is specifically configured to identify each vehicle image to obtain a vehicle identifier corresponding to each vehicle image; comparing each vehicle identification with the overtaking vehicle identification and the overtaken vehicle identification respectively; if the vehicle identification is matched with the overtaking vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaking vehicle; and if the vehicle identification is matched with the overtaken vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaken vehicle.
In one embodiment, the vehicle detection module is specifically configured to identify each vehicle image in the first monitoring image to obtain a vehicle identifier corresponding to each vehicle image in the first monitoring image; the first monitoring image is a clear monitoring image in the plurality of monitoring images; determining overtaking vehicles and overtaken vehicles in the first monitoring image according to the vehicle identifications, the overtaking vehicle identifications and the overtaken vehicle identifications corresponding to the vehicle images in the first monitoring image; according to the image of the overtaking vehicle and the image of the overtaken vehicle in the first monitoring image, identifying each vehicle image in the second monitoring image, and determining the overtaking vehicle and the overtaken vehicle in the second monitoring image; the second monitoring image is a monitoring image except the first monitoring image in the plurality of monitoring images.
In one embodiment, the apparatus further comprises:
and the definition detection module is used for performing definition detection on the plurality of monitoring images to obtain a first monitoring image with definition greater than preset definition.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a plurality of monitoring images; the time interval between every two adjacent monitoring images is less than the preset time length;
detecting overtaking vehicles and overtaken vehicles from the monitoring images;
determining the position change track of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images;
and determining whether the overtaking vehicle breaks rules and regulations according to the position change track.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a plurality of monitoring images; the time interval between every two adjacent monitoring images is less than the preset time length;
detecting overtaking vehicles and overtaken vehicles from the monitoring images;
determining the position change track of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images;
and determining whether the overtaking vehicle breaks rules and regulations according to the position change track.
According to the method and the device for auditing the overtaking behaviors, the computer equipment and the storage medium, the server firstly obtains a plurality of monitoring images; detecting overtaking vehicles and overtaken vehicles from the monitoring images; and then determining the position change track of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images, and finally determining whether the overtaking vehicle has illegal overtaking behaviors or not according to the position change track. Through the embodiment of the application, whether the overtaking vehicle really has the violation overtaking behavior or not can be automatically checked, so that not only can manpower and time be saved, but also the checking efficiency can be improved.
Drawings
FIG. 1 is a diagram of an exemplary environment in which a method for auditing a cut-in maneuver may be performed;
FIG. 2 is a schematic flow chart diagram illustrating a method for auditing overtaking activities in one embodiment;
FIG. 3 is a schematic flow chart illustrating the step of determining a location change trajectory in one embodiment;
FIG. 4 is a schematic flow chart illustrating the steps for detecting overtaking vehicles and overtaken vehicles from the monitored images according to one embodiment;
FIG. 5 is a schematic flow chart diagram illustrating a method for auditing overtaking activities in another embodiment;
FIG. 6 is a block diagram of an exemplary embodiment of an audit device for overtaking activity;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The lane design in China is that the left-most express car of the road is set as a passing lane, and the roads on the middle and the right are traffic lanes. According to the relevant regulations of the road traffic safety law, the overtaking action is completed on the left lane.
In the related technology, law enforcement personnel usually check whether a suspicious overtaking vehicle is right-side violation overtaking according to a snapshot image, and the defect of manual check is that time and labor are consumed; and because the vehicle to be audited is more, the auditing efficiency is lower.
According to the position change track of the overtaking vehicle relative to the overtaken vehicle in the monitoring image, whether the overtaking vehicle has illegal overtaking behaviors or not is determined. Because the embodiment of the application realizes automatic auditing, not only can time and labor be saved, but also the auditing efficiency can be improved.
The method for checking the overtaking behaviors can be applied to the application environment shown in fig. 1. The application environment includes a terminal and a server, and the terminal 102 and the server 104 communicate through a network. The overtaking vehicle with the suspected violation overtaking is obtained through the terminal 102, and whether the overtaking vehicle really violates the regulation or not is determined through the server 104. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers and portable wearable devices, and the server 104 may be implemented by an independent server or a server cluster composed of a plurality of servers.
In one embodiment, as shown in fig. 2, an auditing method for overtaking behavior is provided, which is described by taking the method as an example applied to the terminal in fig. 1, and includes the following steps:
In the embodiment of the application, the monitoring camera can be arranged in the road, and the monitoring image is collected by the monitoring camera. Then, the collected monitoring image is stored in a server or a terminal. When the illegal overtaking is checked, the server can obtain the monitoring image from the local and also can obtain the monitoring image from the terminal. The embodiment of the present application does not specifically limit the acquisition manner, and may be set according to actual conditions.
In practical application, a plurality of monitoring images are selected at equal intervals from a large number of monitoring images collected by a monitoring camera. And the time interval between every two adjacent monitoring images is less than the preset time length. For example, 3 monitoring images are selected from a large number of monitoring images, and the time interval between every two adjacent monitoring images is less than 30 seconds. The preset duration is not limited in detail in the embodiment of the application, and can be set according to actual conditions.
And step 202, detecting overtaking vehicles and overtaken vehicles from the monitoring images.
In the embodiment of the application, each monitoring image is detected, and a vehicle image is detected from each monitoring image; then, each vehicle image is recognized, and it is determined whether the vehicle image is an image of a passing vehicle and whether the vehicle image is an image of a vehicle to be passed. Specifically, a monitoring image is input into a pre-trained vehicle detection model, and a vehicle detection frame is marked in the monitoring image by the vehicle detection model; cutting a vehicle image from the monitoring image according to the vehicle detection frame; then, comparing the vehicle image with the image of the overtaking vehicle and the image of the overtaken vehicle respectively; and finally, determining that the vehicle is one of the overtaking vehicle, the overtaken vehicle and other vehicles according to the comparison result.
For example, after 3 monitoring images are selected, the overtaking vehicle and the overtaken vehicle in the monitoring image 1 are sequentially determined, the overtaking vehicle and the overtaken vehicle in the monitoring image 2 are determined, and the overtaking vehicle and the overtaken vehicle in the monitoring image 3 are determined.
In practical application, at least 3 monitoring images are required to be provided with overtaking vehicles and overtaken vehicles, otherwise, the certificate chain is insufficient, and the overtaking vehicles can be directly determined to be free of illegal overtaking behaviors.
And step 203, determining the position change track of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images.
In the embodiment of the application, after the overtaking vehicle and the overtaken vehicle in each monitoring image are determined, the position coordinates of the overtaking vehicle and the position coordinates of the overtaken vehicle in each monitoring image are determined; then, determining the relative position between the overtaking vehicle and the overtaken vehicle according to the position coordinates of the overtaking vehicle and the position coordinates of the overtaken vehicle; and then, determining the position change track of the overtaking vehicle relative to the overtaken vehicle according to the relative positions of the overtaking vehicle and the overtaken vehicle in the plurality of monitoring images.
For example, the coordinates of the central point of the overtaking vehicle and the coordinates of the central point of the overtaken vehicle in the monitoring image 1 are determined, and the overtaking vehicle is determined to be positioned behind the overtaken vehicle according to the coordinates of the central points of the two vehicles; secondly, determining the coordinates of the central point of the overtaking vehicle and the coordinates of the central point of the overtaken vehicle in the monitoring image 2, and determining that the overtaking vehicle is positioned on the right side of the overtaken vehicle according to the coordinates of the central points of the two vehicles; then, the coordinates of the central point of the overtaking vehicle and the coordinates of the central point of the overtaken vehicle in the monitoring image 3 are determined, and the overtaking vehicle is determined to be positioned in front of the overtaken vehicle according to the coordinates of the central points of the two vehicles. According to the relative position between the overtaking vehicle and the overtaken vehicle in the 3 monitoring images, determining the position change track of the overtaking vehicle relative to the overtaken vehicle as follows: the overtaking vehicle moves from the rear to the right side of the overtaking vehicle and then moves to the front.
And step 204, determining whether the overtaking vehicle violates the overtaking behaviors or not according to the position change track.
In the embodiment of the application, after the position change track of the overtaking vehicle relative to the overtaken vehicle is obtained, whether the position change track meets the preset condition or not is detected, and if the position change track is detected to meet the preset condition, the overtaking vehicle is determined to have the violation overtaking behavior; and if the position change track is detected to be not in accordance with the preset condition, determining that the overtaking vehicle does not have the illegal overtaking behavior.
Wherein the preset conditions include: and in the driving direction, the overtaking vehicle moves from the rear part of the same lane as the overtaken vehicle to the right lane of the overtaken vehicle and then moves to the front part of the same lane as the overtaken vehicle. That is, if it is detected that the overtaking vehicle overtakes from the right lane of the overtaken vehicle, it is determined that there is a violation overtaking behavior of the overtaking vehicle; in other situations, the overtaking vehicle is determined not to have illegal overtaking behaviors.
In the method for checking the overtaking behaviors, a server firstly obtains a plurality of monitoring images; detecting overtaking vehicles and overtaken vehicles from the monitoring images; and then determining the position change track of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images, and finally determining whether the overtaking vehicle has illegal overtaking behaviors or not according to the position change track. Through the embodiment of the application, whether the overtaking vehicle really has the violation overtaking behavior or not can be automatically checked, so that not only can manpower and time be saved, but also the checking efficiency can be improved.
In an embodiment, as shown in fig. 3, the step of determining the position change trajectory of the passing vehicle relative to the passing vehicle in the plurality of monitoring images may specifically include the following steps:
In the embodiment of the application, the monitoring image can be input into a pre-trained lane detection model, and the lane detection model outputs a plurality of lanes in the monitoring image. For example, the monitor image is input to a lane detection model, and three lanes are detected. The lane detection model can be a CCNet (Cross-Cross Attention) model, which is not easily affected by illumination and road conditions when lane segmentation is performed, and has small operand and good real-time performance.
In the embodiment of the application, after the lanes in the monitoring image are obtained, whether the overtaking vehicle and the overtaken vehicle are in the same lane can be determined according to the lane, the coordinates of the central point of the overtaking vehicle and the coordinates of the central point of the overtaken vehicle. If the passing vehicle is not in the same lane as the vehicle being passed, it can be determined whether the passing vehicle is in the right or left lane of the vehicle being passed. Further, it may also be determined whether the passing vehicle is in front of or behind the passed vehicle along the traveling direction.
For example, it is determined that the passing vehicle and the vehicle to be passed are located on the same lane in the monitoring image 1, and the passing vehicle is located behind the vehicle to be passed in the traveling direction; determining that the overtaking vehicle is positioned in the right lane of the overtaking vehicle in the monitoring image 2; it is determined in the monitoring image 3 that the passing vehicle is located on the same lane as the passing vehicle and that the passing vehicle is located ahead of the passing vehicle in the traveling direction.
And step 303, determining a position change track according to the positions of the overtaking vehicles relative to the overtaken vehicles in the plurality of monitoring images.
In the embodiment of the application, after the position of the overtaking vehicle relative to the overtaken vehicle in each monitoring image is obtained, the position change track is drawn according to the change of the position along with time.
In the step of determining the position change track of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images, the lanes in each monitoring image are detected to obtain a plurality of lanes in each monitoring image, and the detected lanes are adopted to assist in determining the position change track of the overtaking vehicle relative to the overtaken vehicle. Because the CCNet (Criss-Cross Attention) model is adopted for lane segmentation, the influence of illumination and road conditions can be reduced, and the calculation accuracy can be improved; and the computation amount of the model is small, so that the computation speed can be improved.
In an embodiment, as shown in fig. 4, the step of detecting the overtaking vehicle and the overtaken vehicle from the monitoring images may specifically include:
In the embodiment of the application, the monitoring image is input into a pre-trained vehicle detection model to obtain a plurality of vehicle images. For example, the monitor image 1 is input to a vehicle detection model, and vehicle images a1, a2, a3 are obtained.
The vehicle detection model can adopt yolov3-Tiny model, the FPS (Frames PerSecond ) value of the model can process images in real time, and a model basis is provided for detecting whether overtaking vehicles violate regulations exists in real time. Moreover, the model can also improve the mAP (Mean average precision) of the vehicle detection model.
And 402, identifying each vehicle image according to the obtained overtaking vehicle identification and overtaken vehicle identification in advance, and determining the overtaking vehicle and the overtaken vehicle in each monitoring image.
In the embodiment of the application, the overtaking vehicle and the overtaken vehicle in the monitoring image can be determined in multiple modes:
the first method is as follows: identifying each vehicle image to obtain a vehicle identifier corresponding to each vehicle image; comparing each vehicle identification with the overtaking vehicle identification and the overtaken vehicle identification respectively; if the vehicle identification is matched with the overtaking vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaking vehicle; and if the vehicle identification is matched with the overtaken vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaken vehicle.
Specifically, each vehicle image is input into a pre-trained recognition model, and a vehicle identifier corresponding to each vehicle image is obtained. Each vehicle identification is then compared to the passing vehicle identification and the passed vehicle identification. And if the vehicle identification can be a license plate number, comparing each license plate number with the license plate number of the overtaking vehicle, and comparing the license plate number with the license plate number of the overtaking vehicle. If the license plate number is matched with the license plate number of the overtaking vehicle, determining that the vehicle corresponding to the license plate number is the overtaking vehicle; if the license plate number is matched with the license plate number of the overtaking vehicle, determining that the vehicle corresponding to the license plate number is the overtaking vehicle; and if the license plate number is not matched with the license plate number of the overtaking vehicle and the license plate number of the overtaken vehicle, determining that the vehicle corresponding to the license plate number is other vehicles.
In practical application, the overtaking vehicle and the overtaken vehicle are detected in the monitoring image, and the monitoring image is an effective monitoring image; and if at least one of the overtaking vehicle and the overtaken vehicle is not detected in the monitoring image, the monitoring image is an invalid monitoring image. If the effective monitoring images in the plurality of monitoring images are less than 3, namely the certificate chain is insufficient, the overtaking vehicle can be directly determined to have no illegal overtaking behaviors. If the number of the monitoring images is only 3, the 3 monitoring images are detected in sequence, and when no overtaking vehicle or overtaken vehicle is detected in any monitoring image, the overtaking vehicle can be directly determined to have no illegal overtaking behavior.
Identifying each vehicle image in the first monitoring image to obtain a vehicle identifier corresponding to each vehicle image in the first monitoring image; determining overtaking vehicles and overtaken vehicles in the first monitoring image according to the vehicle identifications, the overtaking vehicle identifications and the overtaken vehicle identifications corresponding to the vehicle images in the first monitoring image; according to the image of the overtaking vehicle and the image of the overtaken vehicle in the first monitoring image, identifying each vehicle image in the second monitoring image, and determining the overtaking vehicle and the overtaken vehicle in the second monitoring image;
the first monitoring image is a clear monitoring image in the plurality of monitoring images; the second monitoring image is a monitoring image except the first monitoring image in the plurality of monitoring images.
Specifically, the vehicle identification is recognized from each monitored image, the calculation amount is large, and the vehicle identification in some monitored images is not easy to recognize when the vehicle identification is small or fuzzy. Therefore, the vehicle image can be identified only for the clear first monitoring image to obtain the vehicle identifier; determining overtaking vehicles and overtaken vehicles in the clear first monitoring image; then, a vehicle re-identification (reid) model is adopted to perform re-identification of other vehicle images according to the determined images of the overtaking vehicles and the overtaken vehicles, so as to determine the overtaking vehicles and the overtaken vehicles in the second monitoring image. The overtaking vehicle and the overtaken vehicle are determined by adopting the vehicle weight recognition model, so that the calculation amount can be reduced, and the influence of illumination and road conditions on the vehicle identification is reduced.
In one embodiment, before each vehicle image in the first monitoring image is identified, definition detection is performed on a plurality of monitoring images, and the first monitoring image with definition larger than preset definition is obtained.
Specifically, each monitoring image is input into a pre-trained definition detection model, and definition confidence of each monitoring image is obtained. And if the definition confidence coefficient of the monitored image is greater than the preset confidence coefficient, determining that the definition is greater than the preset definition, and determining the monitored image as a first monitored image. The definition detection model can be a neural network model, which is not limited in detail in the embodiment of the application and can be set according to actual conditions.
In the step of detecting overtaking vehicles and overtaken vehicles from the monitoring images, detecting the monitoring images to obtain a plurality of vehicle images in the monitoring images; and identifying each vehicle image according to the obtained overtaking vehicle identification and the overtaken vehicle identification in advance, and determining the overtaking vehicle and the overtaken vehicle in each monitoring image. According to the embodiment of the application, the yolov3-Tiny model is adopted to improve the speed and the precision of vehicle detection, and the reid model is adopted to improve the speed and the accuracy of vehicle identification, so that the calculation basis is improved for realizing the online real-time detection of whether the overtaking vehicle has the violation overtaking behavior.
In an embodiment, as shown in fig. 5, on the basis of the above embodiment, the method for inspecting passing behavior may further include the following steps:
And 503, identifying each vehicle image according to the obtained overtaking vehicle identification and overtaken vehicle identification in advance, and determining the overtaking vehicle and the overtaken vehicle in each monitoring image.
And step 504, detecting the lanes in each monitoring image to obtain a plurality of lanes in each monitoring image.
And 505, determining the position of the overtaking vehicle relative to the overtaken vehicle in each monitoring image.
Wherein, the position of the vehicle of overtaking includes by the vehicle of overtaking relatively: whether the overtaking vehicle and the overtaken vehicle are positioned on the same lane or not, and whether the overtaking vehicle is positioned in front of or behind the overtaken vehicle along the driving direction;
The embodiment of the application can realize automatic checking of whether overtaking vehicles really have violation overtaking behaviors, so that not only can manpower and time be saved, but also the checking efficiency can be improved.
It should be understood that although the various steps in the flowcharts of fig. 2-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps or stages.
In one embodiment, as shown in fig. 6, there is provided an auditing apparatus for overtaking behavior, including:
a monitoring image obtaining module 601, configured to obtain a plurality of monitoring images; the time interval between every two adjacent monitoring images is less than the preset time length;
a vehicle detection module 602, configured to detect an overtaking vehicle and an overtaken vehicle from each of the monitoring images;
a position change trajectory determination module 603, configured to determine a position change trajectory of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images;
and the overtaking behavior determining module 604 is used for determining whether the overtaking vehicle has illegal overtaking behaviors according to the position change track.
In one embodiment, the position change trajectory determination module is specifically configured to detect lanes in each monitoring image to obtain a plurality of lanes in each monitoring image; determining the position of the overtaking vehicle relative to the overtaken vehicle in each monitoring image; wherein, the position of the vehicle of overtaking includes by the vehicle of overtaking relatively: whether the overtaking vehicle and the overtaken vehicle are positioned on the same lane or not, and whether the overtaking vehicle is positioned in front of or behind the overtaken vehicle along the driving direction; and determining the position change track according to the position of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images.
In one embodiment, the overtaking behavior determining module is specifically configured to determine that the overtaking vehicle has a violation overtaking behavior if it is detected that the position change track meets a preset condition; wherein the preset conditions include: and in the driving direction, the overtaking vehicle moves from the rear part of the same lane as the overtaken vehicle to the right lane of the overtaken vehicle and then moves to the front part of the same lane as the overtaken vehicle.
In one embodiment, the vehicle detection module is specifically configured to detect each monitored image to obtain a plurality of vehicle images in each monitored image; and identifying each vehicle image according to the obtained overtaking vehicle identification and the overtaken vehicle identification in advance, and determining the overtaking vehicle and the overtaken vehicle in each monitoring image.
In one embodiment, the vehicle detection module is specifically configured to identify each vehicle image to obtain a vehicle identifier corresponding to each vehicle image; comparing each vehicle identification with the overtaking vehicle identification and the overtaken vehicle identification respectively; if the vehicle identification is matched with the overtaking vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaking vehicle; and if the vehicle identification is matched with the overtaken vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaken vehicle.
In one embodiment, the vehicle detection module is specifically configured to identify each vehicle image in the first monitoring image to obtain a vehicle identifier corresponding to each vehicle image in the first monitoring image; the first monitoring image is a clear monitoring image in the plurality of monitoring images; determining overtaking vehicles and overtaken vehicles in the first monitoring image according to the vehicle identifications, the overtaking vehicle identifications and the overtaken vehicle identifications corresponding to the vehicle images in the first monitoring image; according to the image of the overtaking vehicle and the image of the overtaken vehicle in the first monitoring image, identifying each vehicle image in the second monitoring image, and determining the overtaking vehicle and the overtaken vehicle in the second monitoring image; the second monitoring image is a monitoring image except the first monitoring image in the plurality of monitoring images.
In one embodiment, the apparatus further comprises:
and the definition detection module is used for performing definition detection on the plurality of monitoring images to obtain a first monitoring image with definition greater than preset definition.
For the specific definition of the checking device for overtaking behavior, reference may be made to the above definition of the checking method for overtaking behavior, which is not described herein again. All or part of the modules in the overtaking behavior auditing device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing audit data of overtaking behaviors. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of auditing a cut-in maneuver.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a plurality of monitoring images; the time interval between every two adjacent monitoring images is less than the preset time length;
detecting overtaking vehicles and overtaken vehicles from the monitoring images;
determining the position change track of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images;
and determining whether the overtaking vehicle breaks rules and regulations according to the position change track.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
detecting lanes in each monitoring image to obtain a plurality of lanes in each monitoring image;
determining the position of the overtaking vehicle relative to the overtaken vehicle in each monitoring image; wherein, the position of the vehicle of overtaking includes by the vehicle of overtaking relatively: whether the overtaking vehicle and the overtaken vehicle are positioned on the same lane or not, and whether the overtaking vehicle is positioned in front of or behind the overtaken vehicle along the driving direction;
and determining the position change track according to the position of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
if the position change track is detected to meet the preset condition, determining that the overtaking vehicle has illegal overtaking behaviors; wherein the preset conditions include: and in the driving direction, the overtaking vehicle moves from the rear part of the same lane as the overtaken vehicle to the right lane of the overtaken vehicle and then moves to the front part of the same lane as the overtaken vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
detecting each monitoring image to obtain a plurality of vehicle images in each monitoring image;
and identifying each vehicle image according to the obtained overtaking vehicle identification and the overtaken vehicle identification in advance, and determining the overtaking vehicle and the overtaken vehicle in each monitoring image.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
identifying each vehicle image to obtain a vehicle identifier corresponding to each vehicle image;
comparing each vehicle identification with the overtaking vehicle identification and the overtaken vehicle identification respectively;
if the vehicle identification is matched with the overtaking vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaking vehicle;
and if the vehicle identification is matched with the overtaken vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaken vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
identifying each vehicle image in the first monitoring image to obtain a vehicle identifier corresponding to each vehicle image in the first monitoring image; the first monitoring image is a clear monitoring image in the plurality of monitoring images;
determining overtaking vehicles and overtaken vehicles in the first monitoring image according to the vehicle identifications, the overtaking vehicle identifications and the overtaken vehicle identifications corresponding to the vehicle images in the first monitoring image;
according to the image of the overtaking vehicle and the image of the overtaken vehicle in the first monitoring image, identifying each vehicle image in the second monitoring image, and determining the overtaking vehicle and the overtaken vehicle in the second monitoring image; the second monitoring image is a monitoring image except the first monitoring image in the plurality of monitoring images.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and performing definition detection on the plurality of monitoring images to obtain a first monitoring image with definition greater than preset definition.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a plurality of monitoring images; the time interval between every two adjacent monitoring images is less than the preset time length;
detecting overtaking vehicles and overtaken vehicles from the monitoring images;
determining the position change track of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images;
and determining whether the overtaking vehicle breaks rules and regulations according to the position change track.
In one embodiment, the computer program when executed by the processor further performs the steps of:
detecting lanes in each monitoring image to obtain a plurality of lanes in each monitoring image;
determining the position of the overtaking vehicle relative to the overtaken vehicle in each monitoring image; wherein, the position of the vehicle of overtaking includes by the vehicle of overtaking relatively: whether the overtaking vehicle and the overtaken vehicle are positioned on the same lane or not, and whether the overtaking vehicle is positioned in front of or behind the overtaken vehicle along the driving direction;
and determining the position change track according to the position of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images.
In one embodiment, the computer program when executed by the processor further performs the steps of:
if the position change track is detected to meet the preset condition, determining that the overtaking vehicle has illegal overtaking behaviors; wherein the preset conditions include: and in the driving direction, the overtaking vehicle moves from the rear part of the same lane as the overtaken vehicle to the right lane of the overtaken vehicle and then moves to the front part of the same lane as the overtaken vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of:
detecting each monitoring image to obtain a plurality of vehicle images in each monitoring image;
and identifying each vehicle image according to the obtained overtaking vehicle identification and the overtaken vehicle identification in advance, and determining the overtaking vehicle and the overtaken vehicle in each monitoring image.
In one embodiment, the computer program when executed by the processor further performs the steps of:
identifying each vehicle image to obtain a vehicle identifier corresponding to each vehicle image;
comparing each vehicle identification with the overtaking vehicle identification and the overtaken vehicle identification respectively;
if the vehicle identification is matched with the overtaking vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaking vehicle;
and if the vehicle identification is matched with the overtaken vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaken vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of:
identifying each vehicle image in the first monitoring image to obtain a vehicle identifier corresponding to each vehicle image in the first monitoring image; the first monitoring image is a clear monitoring image in the plurality of monitoring images;
determining overtaking vehicles and overtaken vehicles in the first monitoring image according to the vehicle identifications, the overtaking vehicle identifications and the overtaken vehicle identifications corresponding to the vehicle images in the first monitoring image;
according to the image of the overtaking vehicle and the image of the overtaken vehicle in the first monitoring image, identifying each vehicle image in the second monitoring image, and determining the overtaking vehicle and the overtaken vehicle in the second monitoring image; the second monitoring image is a monitoring image except the first monitoring image in the plurality of monitoring images.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and performing definition detection on the plurality of monitoring images to obtain a first monitoring image with definition greater than preset definition.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An auditing method for overtaking behavior, the method comprising:
acquiring a plurality of monitoring images; the time interval between every two adjacent monitoring images is less than the preset time length;
detecting overtaking vehicles and overtaken vehicles from the monitoring images;
determining a position change track of the overtaking vehicle relative to the overtaken vehicle in a plurality of monitoring images;
and determining whether the overtaking vehicle has illegal overtaking behaviors or not according to the position change track.
2. The method of claim 1, wherein said determining a trajectory of change in position of said overtaking vehicle relative to said overtaken vehicle in said plurality of monitored images comprises:
detecting lanes in each monitoring image to obtain a plurality of lanes in each monitoring image;
determining the position of the overtaking vehicle relative to the overtaken vehicle in each monitoring image; wherein the position of the overtaking vehicle relative to the overtaken vehicle comprises: whether the overtaking vehicle and the overtaken vehicle are located on the same lane, and whether the overtaking vehicle is located in front of or behind the overtaken vehicle in the traveling direction;
and determining the position change track according to the position of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images.
3. The method of claim 2 wherein said ascertaining whether said passing vehicle has violation passing activity based on said location change trajectory comprises:
if the position change track is detected to meet the preset condition, determining that the overtaking vehicle has illegal overtaking behaviors; wherein the preset conditions include: and in the driving direction, the overtaking vehicle moves from the rear of the same lane as the overtaken vehicle to the right lane of the overtaken vehicle and then moves to the front of the same lane as the overtaken vehicle.
4. The method of claim 1, wherein said detecting overtaking vehicles and overtaken vehicles from each of said monitored images comprises:
detecting each monitoring image to obtain a plurality of vehicle images in each monitoring image;
and identifying each vehicle image according to the obtained overtaking vehicle identification and overtaken vehicle identification in advance, and determining the overtaking vehicle and the overtaken vehicle in each monitoring image.
5. The method according to claim 4, wherein the identifying each vehicle image according to the obtained overtaking vehicle identification and overtaken vehicle identification in advance to determine the overtaking vehicle and the overtaken vehicle in each monitoring image comprises:
identifying each vehicle image to obtain a vehicle identifier corresponding to each vehicle image;
comparing each vehicle identification with the overtaking vehicle identification and the overtaken vehicle identification respectively;
if the vehicle identification is matched with the overtaking vehicle identification, determining that the vehicle corresponding to the vehicle identification is an overtaking vehicle;
and if the vehicle identification is matched with the overtaken vehicle identification, determining that the vehicle corresponding to the vehicle identification is the overtaken vehicle.
6. The method according to claim 4, wherein the identifying each vehicle image according to the obtained overtaking vehicle identification and overtaken vehicle identification in advance to determine the overtaking vehicle and the overtaken vehicle in each monitoring image comprises:
identifying each vehicle image in a first monitoring image to obtain a vehicle identifier corresponding to each vehicle image in the first monitoring image; the first monitoring image is a clear monitoring image in the plurality of monitoring images;
determining overtaking vehicles and overtaken vehicles in the first monitoring image according to the vehicle identifications, the overtaking vehicle identifications and the overtaken vehicle identifications corresponding to the vehicle images in the first monitoring image;
according to the images of the overtaking vehicles and the overtaken vehicles in the first monitoring image, identifying each vehicle image in a second monitoring image, and determining the overtaking vehicles and the overtaken vehicles in the second monitoring image; the second monitoring image is a monitoring image except the first monitoring image in the plurality of monitoring images.
7. The method of claim 6, wherein prior to said identifying each vehicle image in the first monitored image, the method further comprises:
and carrying out definition detection on the plurality of monitoring images to obtain a first monitoring image with definition greater than preset definition.
8. An auditing apparatus for overtaking activity, the apparatus comprising:
the monitoring image acquisition module is used for acquiring a plurality of monitoring images; the time interval between every two adjacent monitoring images is less than the preset time length;
the vehicle detection module is used for detecting overtaking vehicles and overtaken vehicles from the monitoring images;
the position change track determining module is used for determining the position change track of the overtaking vehicle relative to the overtaken vehicle in the plurality of monitoring images;
and the overtaking behavior determining module is used for determining whether the overtaking vehicle has violation overtaking behavior according to the position change track.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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