CN111832376A

CN111832376A - Vehicle reverse running detection method and device, electronic equipment and storage medium

Info

Publication number: CN111832376A
Application number: CN201910651584.1A
Authority: CN
Inventors: 吴银生
Original assignee: Beijing Qisheng Technology Co Ltd
Current assignee: Beijing Qisheng Technology Co Ltd
Priority date: 2019-07-18
Filing date: 2019-07-18
Publication date: 2020-10-27

Abstract

The application provides a vehicle reverse driving detection method, a vehicle reverse driving detection device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring relative speed information of the target vehicle relative to each reference object; wherein the reference object is located in front of the target vehicle; determining the probability of the target vehicle running in the reverse direction based on the comparison result of the relative speed information of the target vehicle relative to each reference object and the preset highest speed matching; if the probability of the target vehicle running in the reverse direction is larger than a first preset threshold value, starting an image sensor installed on the target vehicle so that the image sensor acquires image information corresponding to the current running direction of the target vehicle; and determining whether the target vehicle runs in the reverse direction or not according to the image information corresponding to the current running direction of the target vehicle and the current running direction of the target vehicle. According to the method and the device, on the basis of low-cost hardware, the detection accuracy and the detection efficiency are improved.

Description

Vehicle reverse running detection method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of reverse driving detection technologies, and in particular, to a method and an apparatus for detecting reverse driving of a vehicle, an electronic device, and a storage medium.

Background

With the development of science and technology and the improvement of the living standard of people, people ride more and more vehicles for going out. With the popularization of shared electric vehicles and shared single vehicles, more and more vehicles appear on the road. Among them, the reverse driving of the vehicle is a serious harmful behavior, and many traffic accidents occur each year.

In view of the above problems, the related art provides a vehicle retrograde motion detecting method, in which two antennas are installed on a vehicle, and whether the current vehicle is retrograde is detected through the two antennas. However, the vehicle reverse detection method described above has poor detection accuracy.

Disclosure of Invention

In view of the above, an object of the present application is to provide a vehicle reverse driving detection method, device, electronic device and storage medium, which improve detection accuracy and detection efficiency on the basis of using low-cost hardware.

In a first aspect, an embodiment of the present application provides a vehicle reverse driving detection method, where the method includes:

acquiring relative speed information of the target vehicle relative to each reference object; wherein the reference object is located in front of the target vehicle;

determining the probability of the target vehicle running in the reverse direction based on the comparison result of the relative speed information of the target vehicle relative to each reference object and the preset highest speed matching;

if the probability of the target vehicle running in the reverse direction is larger than a first preset threshold value, starting an image sensor installed on the target vehicle so that the image sensor acquires image information corresponding to the current running direction of the target vehicle;

and determining whether the target vehicle runs in the reverse direction or not according to the image information corresponding to the current running direction of the target vehicle and the current running direction of the target vehicle.

With reference to the first aspect, an embodiment of the present application provides a first possible implementation manner of the first aspect, where the obtaining of the relative speed information of the target vehicle with respect to each reference object includes:

for each reference object, acquiring relative distance information of the target vehicle relative to the reference object, which is measured by a ranging sensor installed on the target vehicle;

determining distance change information of the target vehicle relative to the reference object in a preset time period based on the distance information of the target vehicle relative to the reference object;

and determining the speed information of the target vehicle relative to the reference object based on the distance change information of the target vehicle relative to the reference object in a preset time period.

With reference to the first aspect, the present application provides a second possible implementation manner of the first aspect, where the determining a probability of reverse driving of the target vehicle based on a comparison result between the relative speed information of the target vehicle with respect to each reference object and a preset maximum speed matching respectively includes:

inputting the relative speed information of the target vehicle relative to each reference object and a preset highest matching speed comparison result and at least one of the following information into a trained reverse running detection model to obtain the reverse running probability of the target vehicle:

current location information and location attribute information of the target vehicle; comparing the current running speed information of the target vehicle with each piece of the relative speed information; the distribution condition of the relative speed information in each monitoring period; the total duration information of the relative speed information which is smaller than a second preset threshold value in each monitoring period; the total duration information of the relative speed information which is greater than a third preset threshold value in each monitoring period; a current direction of travel of the target vehicle; and historical reverse running probability of the target lane where the target vehicle is located.

With reference to the second possible implementation manner of the first aspect, the present application provides a third possible implementation manner of the first aspect, where a comparison result between the current travel speed information of the target vehicle and each piece of the relative speed information is determined by:

acquiring current running speed information of the target vehicle;

and aiming at any reference object, comparing the current running speed information of the target vehicle with the relative speed information of the target vehicle relative to the reference object to obtain a comparison result of the current running speed information of the target vehicle and the relative speed information matched with the reference object.

With reference to the third possible implementation manner of the first aspect, an embodiment of the present application provides a fourth possible implementation manner of the first aspect, where the obtaining current traveling speed information of the target vehicle includes:

acquiring motor rotating speed information of the target vehicle read by a Hall sensor arranged on the target vehicle;

and determining the current running speed information of the target vehicle according to the motor rotating speed information and the tire circumference information of the target vehicle.

With reference to the first aspect, an embodiment of the present application provides a fifth possible implementation manner of the first aspect, where the determining, according to image information corresponding to a current traveling direction of the target vehicle and the current traveling direction of the target vehicle, whether the target vehicle travels in a reverse direction includes:

extracting image features in the image information aiming at each frame of image information collected by the image sensor;

identifying road sign image characteristics of a target lane where the target vehicle is located from the extracted image characteristics;

if the driving indication direction corresponding to the road sign image characteristics is consistent with the current driving direction of the target vehicle, determining that the target vehicle normally drives;

and if the driving indication direction corresponding to the road sign image characteristics is not consistent with the current driving direction of the target vehicle, determining that the target vehicle drives in the reverse direction.

With reference to the first aspect, an embodiment of the present application provides a sixth possible implementation manner of the first aspect, where before the obtaining of the relative speed information of the target vehicle with respect to each reference object, the method further includes:

acquiring current position information of the target vehicle;

determining target lane information where the current position information of the target vehicle is located according to the corresponding relation between the position information and the lane information;

and if the target lane corresponding to the target lane information is a one-way lane, acquiring the relative speed information of the target vehicle relative to each reference object.

With reference to the second possible implementation manner of the first aspect, an embodiment of the present application provides a seventh possible implementation manner of the first aspect, where the location attribute information includes one or more of the following information: latitude and longitude information, road section information, lane information and POI (point of interest) category information.

In a second aspect, an embodiment of the present application provides a vehicle reverse driving detection apparatus, including:

the first acquisition module is used for acquiring the relative speed information of the target vehicle relative to each reference object; wherein the reference object is located in front of the target vehicle;

the first determining module is used for determining the probability of the target vehicle running in the reverse direction based on the comparison result of the relative speed information of the target vehicle relative to each reference object and the preset highest speed matching respectively;

the starting module is used for starting an image sensor installed on the target vehicle if the probability of the target vehicle running in the reverse direction is greater than a first preset threshold value, so that the image sensor acquires image information corresponding to the current running direction of the target vehicle;

and the second determining module is used for determining whether the target vehicle runs in the reverse direction or not according to the image information corresponding to the current running direction of the target vehicle and the current running direction of the target vehicle.

With reference to the second aspect, an embodiment of the present application provides a first possible implementation manner of the second aspect, where the first obtaining module is specifically configured to:

With reference to the second aspect, an embodiment of the present application provides a second possible implementation manner of the second aspect, where the first determining module is specifically configured to:

With reference to the second possible implementation manner of the second aspect, the present application provides a third possible implementation manner of the second aspect, where the apparatus further includes:

the second acquisition module is used for acquiring the current running speed information of the target vehicle;

and the comparison module is used for comparing the current running speed information of the target vehicle with the relative speed information of the target vehicle relative to the reference object aiming at any reference object to obtain a comparison result of the current running speed information of the target vehicle and the relative speed information matched with the reference object.

With reference to the third possible implementation manner of the second aspect, an embodiment of the present application provides a fourth possible implementation manner of the second aspect, where the second obtaining module is specifically configured to:

With reference to the second aspect, an embodiment of the present application provides a fifth possible implementation manner of the second aspect, where the second determining module is specifically configured to:

In combination with the second aspect, embodiments of the present application provide a sixth possible implementation manner of the second aspect, where the apparatus further includes:

the third acquisition module is used for acquiring the current position information of the target vehicle;

the third determining module is used for determining the target lane information where the current position information of the target vehicle is located according to the corresponding relation between the position information and the lane information;

the first obtaining module is specifically configured to obtain relative speed information of the target vehicle with respect to each reference object if the target lane corresponding to the target lane information is a one-way lane.

With reference to the second possible implementation manner of the second aspect, this application example provides a seventh possible implementation manner of the second aspect, where the location attribute information includes one or more of the following information: latitude and longitude information, road section information, lane information and POI (point of interest) category information.

In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, when an electronic device runs, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to execute the steps of the vehicle reverse driving detection method according to any one of the first aspect.

In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the vehicle reverse driving detection method according to any one of the first aspect.

According to the vehicle reverse running detection method and device, the electronic equipment and the storage medium, the reverse running probability of the target vehicle is determined based on the relative speed information of the target vehicle relative to each reference object, and the hardware cost is low. When the probability of the target vehicle running in the reverse direction is larger than a first preset threshold value, an image sensor on the target vehicle is started, and a reverse running detection mode is carried out based on the combination of the probability of the reverse running and the image sensor, so that the detection accuracy and the detection efficiency are improved; meanwhile, the image sensor does not need to work in real time, so that the resource consumption is reduced, and the resource utilization rate is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic diagram illustrating an architecture of a vehicle reverse driving detection system according to an embodiment of the present application;

FIG. 2 is a flow chart illustrating a method for detecting a vehicle in a reverse driving direction according to an embodiment of the present disclosure;

FIG. 3 is a flow chart illustrating another vehicle reverse driving detection method provided by the embodiments of the present application;

FIG. 4 is a flow chart illustrating another vehicle reverse driving detection method provided by the embodiments of the present application;

FIG. 5 is a flow chart illustrating another vehicle reverse driving detection method provided by the embodiments of the present application;

FIG. 6 is a flow chart illustrating another vehicle back-driving detection method provided by the embodiments of the present application;

fig. 7 is a schematic structural diagram illustrating a vehicle reverse running detection apparatus according to an embodiment of the present application;

fig. 8 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and steps without logical context may be performed in reverse order or simultaneously. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.

In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

To enable those skilled in the art to use the present disclosure, the following embodiments are presented in conjunction with a specific application scenario "shared vehicles". It will be apparent to those skilled in the art that the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the application. Although the present application is described primarily in the context of sharing vehicles, it should be understood that this is only one exemplary embodiment.

It should be noted that in the embodiments of the present application, the term "comprising" is used to indicate the presence of the features stated hereinafter, but does not exclude the addition of further features.

Fig. 1 is a schematic structural diagram of a vehicle reverse driving detection system 100 according to an embodiment of the present disclosure. The retrograde detection system 100 includes a server 110, a network 120, a target vehicle 130, and a database 140; wherein the target vehicle 130 has a processor installed therein.

In some embodiments, a processor is included in server 110, and target vehicle 130 has a processor installed therein that may process information and/or data related to the retrograde detection to perform one or more of the functions described herein. For example, the processor may determine the reverse travel probability of the target vehicle 130 based on the comparison result of the relative speed information of the target vehicle 130 with respect to the respective reference objects with the preset highest pace and the position attribute information of the target vehicle 130, respectively. In some embodiments, a processor may include one or more processing cores (e.g., a single-core processor (S) or a multi-core processor (S)). Merely by way of example, a Processor may include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), an Application Specific Instruction Set Processor (ASIP), a Graphics Processing Unit (GPU), a Physical Processing Unit (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a controller, a microcontroller Unit, a Reduced Instruction Set computer (Reduced Instruction Set computer), a microprocessor, or the like, or any combination thereof.

Network 120 may be used for the exchange of information and/or data. In some embodiments, one or more components (e.g., server 110, target vehicle 130) in the retrograde detection system 100 may send information and/or data to other components. For example, the server 110 may obtain relevant data from the target vehicle 130 via the network 120. In some embodiments, the network 120 may be any type of wired or wireless network, or combination thereof. Merely by way of example, Network 120 may include a wired Network, a Wireless Network, a fiber optic Network, a telecommunications Network, an intranet, the internet, a Local Area Network (LAN), a Wide Area Network (WAN), a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Wide Area Network (WAN), a Public Switched Telephone Network (PSTN), a bluetooth Network, a ZigBee Network, or a Near Field Communication (NFC) Network, among others, or any combination thereof. In some embodiments, network 120 may include one or more network access points. For example, network 120 may include wired or wireless network access points, such as base stations and/or network switching nodes, through which one or more components of the retrograde detection system 100 may connect to network 120 to exchange data and/or information.

In some embodiments, a database 140 may be connected to the network 120 to communicate with one or more components (e.g., the server 110) in the retrograde detection system 100. One or more components in the retrograde detection system 100 may access data or instructions stored in the database 140 via the network 120. In some embodiments, the database 140 may be directly connected to one or more components in the retrograde detection system 100, or the database 140 may be part of the server 110.

The vehicle reverse driving detection method provided by the embodiment of the present application will be described in detail below with reference to the content described in the vehicle reverse driving detection system 100 shown in fig. 1. Referring to fig. 2, a schematic flowchart of a vehicle reverse driving detection method provided in an embodiment of the present application is shown, where the method may be executed by a processor installed on a target vehicle 130 in a vehicle reverse driving detection system 100, or may be executed by a server in the vehicle reverse driving detection system 100. The following description will be given by taking an example of a method for detecting the vehicle back running executed by a processor of the target vehicle 130, wherein the specific execution process includes the following steps:

s201, obtaining relative speed information of the target vehicle relative to each reference object; wherein the reference object is located in front of the target vehicle.

In the embodiment of the application, a distance measuring sensor and a processor are installed on a target vehicle; the distance measuring sensor measures the relative distance information of a target vehicle from a reference object positioned right in front of the target vehicle in real time and sends the measured relative distance information to the processor; the processor calculates relative speed information of the target vehicle from a reference object directly in front of the target vehicle based on the relative distance information. As an embodiment, the ranging sensor may be installed at a head position of the target vehicle.

When a user rides a target vehicle, the heading direction of the target vehicle is usually changed, and therefore, the distance measuring sensor measures relative distance information of the target vehicle from each reference object in front of the target vehicle. The processor may calculate relative speed information of the target vehicle from respective reference objects directly in front of based on the relative distance information matching the respective reference objects.

S202, determining the probability of the target vehicle running in the reverse direction based on the comparison result of the relative speed information of the target vehicle relative to each reference object and the preset highest speed matching.

In the embodiment of the application, the preset highest matching speed can be set as required. As an embodiment, the highest speed matching information corresponding to different lanes in different time periods is different. Correspondingly, the processor obtains the position information of the target vehicle and searches the highest matching speed matched with the position information of the target vehicle. And aiming at any reference object, the processor compares the relative speed information matched with the reference object with the preset highest matching speed to obtain a comparison result of the relative speed information matched with the reference object and the preset highest matching speed, and the comparison result is used as the comparison result matched with the reference object.

And after obtaining the comparison results matched with the reference objects, the processor inputs the comparison results into a pre-trained reverse driving detection model to obtain the reverse driving probability of the target vehicle.

S203, if the probability of the target vehicle running in the reverse direction is larger than a first preset threshold value, starting an image sensor installed on the target vehicle so that the image sensor collects image information corresponding to the current running direction of the target vehicle.

In the embodiment of the application, after the comparison result matching each reference object is input to the retrograde motion detection model, the processor outputs the retrograde motion probability of the target vehicle by the retrograde motion detection model. The processor compares the reverse running probability with a first preset threshold value, and if the reverse running probability of the target vehicle is greater than the first preset threshold value, the image sensor mounted on the target vehicle is started. The started image sensor collects image information corresponding to the current driving direction of the target vehicle in real time and sends the collected image information to the processor, so that the processor can accurately detect whether the target vehicle runs in the reverse direction or not based on the received image information.

In the embodiment of the present application, the probability of the backward travel may be set as needed. For example, the probability of driving in the wrong direction is set to be 60%; for another example, the probability of driving in the wrong direction is set to 65%; for another example, the reverse travel probability is set to 70%. In the present embodiment, the specific numerical value of the above described retrograde motion probability is not particularly limited.

And S204, determining whether the target vehicle runs in the reverse direction or not according to the image information corresponding to the current running direction of the target vehicle and the current running direction of the target vehicle.

In the embodiment of the application, after receiving image information sent by an image sensor, a processor determines the driving indication direction of a target lane where a target vehicle is located based on the received image information; and determining whether the target vehicle runs in the reverse direction or not based on the running indication direction of the target lane in which the target vehicle is located and the current running direction of the target vehicle.

According to the vehicle reverse running detection method, the reverse running probability of the target vehicle is determined based on the relative speed information of the target vehicle relative to each reference object, and the hardware cost is low. When the probability of the target vehicle running in the reverse direction is larger than a first preset threshold value, an image sensor on the target vehicle is started, and a reverse running detection mode is carried out based on the combination of the probability of the reverse running and the image sensor, so that the detection accuracy and the detection efficiency are improved; meanwhile, the image sensor does not need to work in real time, so that the resource consumption is reduced, and the resource utilization rate is improved.

As shown in fig. 3, in the vehicle reverse driving detection method provided in the embodiment of the present application, the acquiring the relative speed information of the target vehicle with respect to each reference object includes:

s301, aiming at each reference object, obtaining the relative distance information of the target vehicle relative to the reference object, which is measured by a ranging sensor installed on the target vehicle.

In the embodiment of the application, aiming at each reference object encountered by the target vehicle in the driving process, the ranging sensor measures the relative distance information of the target vehicle relative to the reference object in real time and sends the measured relative distance information to the processor.

In one embodiment, the distance measuring sensor is an ultrasonic distance measuring sensor that transmits an ultrasonic wave to a reference object, the ultrasonic wave returns to the distance measuring sensor after encountering the reference object, the distance measuring sensor calculates a time difference between a time point at which the ultrasonic wave is received and a time point at which the ultrasonic wave is transmitted, and the relative distance information of the target vehicle with respect to the reference object is calculated based on a propagation speed of the ultrasonic wave and the calculated time difference.

S302, determining distance change information of the target vehicle relative to the reference object in a preset time period based on the distance information of the target vehicle relative to the reference object.

In the embodiment of the present application, the preset time period may be set as needed. For example, the preset time period is set to 2 s. It should be noted that, in the embodiment of the present application, specific values of the preset time period are not specifically limited.

The distance measuring sensor acquires first relative distance information of the target vehicle relative to the reference object at a first moment and second relative distance information of the target vehicle relative to the reference object at a second moment, and calculates a difference value between the first relative distance information and the second relative distance information to serve as distance change information of the target vehicle relative to the reference object. Wherein the second time is later than the first time. For example, the first time is 8 o 'clock 01 min 00 sec, and the first time is 8 o' clock 01 min 02 sec.

S303, determining the speed information of the target vehicle relative to the reference object based on the distance change information of the target vehicle relative to the reference object in a preset time period.

As an embodiment, the processor calculates a ratio of the distance change information of the target vehicle relative to the reference object and the time length information from the first time to the second time as the speed information of the target vehicle relative to the reference object.

In the embodiment of the application, in order to improve the detection accuracy of the target vehicle reverse running probability, the processor determines the reverse running probability of the target vehicle based on the comparison result matching each reference object and other characteristic information corresponding to the target vehicle. Based on this, in the vehicle reverse driving detection method provided in the embodiment of the present application, determining the reverse driving probability of the target vehicle based on the comparison result between the relative speed information of the target vehicle with respect to each reference object and the preset highest speed matching respectively includes:

In an actual scene, generally, the probability of the vehicle running backwards is low, if the target vehicle runs backwards, the number of vehicles which normally run in the target lane of the target vehicle is larger than that of vehicles running backwards, and accordingly, the relative speed information between the target vehicle and the continuous multiple reference objects is larger than the preset highest speed matching. Therefore, the processor continuously monitors the relative speed information between the target vehicle and the plurality of continuous reference objects, and takes the comparison result of the relative speed information matched with each reference object and the preset highest matching speed as the characteristic information for determining the reverse running probability of the target vehicle.

In the embodiment of the application, when the relative speed information between the target vehicle and the continuous multiple reference objects is greater than the preset highest speed matching, the probability that the target vehicle moves backwards is high.

In the embodiment of the application, the processor includes a pre-trained retrograde detection model. The processor inputs the characteristic information of the target vehicle into a pre-trained reverse driving detection model, and the reverse driving detection model outputs the reverse driving probability of the target vehicle.

As one embodiment, the characteristic information for determining whether the vehicle is running in reverse may include one or more of the following information: current location information and location attribute information of the target vehicle; the comparison result of the current running speed information of the target vehicle and each piece of relative speed information; the distribution condition of the relative speed information in each monitoring period; the total duration information of the relative speed information which is smaller than a second preset threshold value in each monitoring period; the total duration information of the relative speed information which is greater than a third preset threshold value in each monitoring period; a current direction of travel of the target vehicle; and historical reverse running probability of the target lane where the target vehicle is located. Based on the characteristic information, the training process of the retrograde detection model in the processor is as follows:

obtaining a plurality of sample data, the plurality of sample data comprising: positive sample data for reverse driving and negative sample data for normal driving under various conditions. Wherein, the normal driving conditions include: the situation that the vehicle normally runs when the road condition is smooth; and when the road conditions are congested or construction is carried out, the vehicle normally runs when bypassing the congested area.

And then, taking the reverse driving characteristics and the normal driving characteristics as explanatory variables, taking the reverse driving results and the normal driving results as explained variables, constructing a nonlinear model, and training the nonlinear model through a plurality of sample data to obtain a reverse driving detection model.

The following describes each feature information input to the retrograde motion detection model:

firstly, a positioning device is installed on a target vehicle, and the positioning device collects current position information and current driving direction information of the target vehicle in real time and sends the current position information and the current driving direction information of the target vehicle to a processor. The current position information may be current longitude and latitude information.

The Positioning device used in the present application may be a Global Positioning System (GPS), a Global Navigation Satellite System (GLONASS), a COMPASS Navigation System (COMPASS), a galileo Positioning System, a Quasi-Zenith Satellite System (QZSS), a Wireless Fidelity (WiFi), or the like, or any combination thereof. One or more of the above-described positioning devices may be used interchangeably in the embodiments of the present application.

The location attribute information on the target vehicle includes one or more of the following information: road section information, lane information, Point of Interest (POI) category information. For example, the road section information is suzhou street in the hai lake area of beijing, the lane information is south-to-north non-motor vehicle lanes, and the POI category information is finance (specifically bank); for another example, the road section information is a north four-ring west road auxiliary road in the hai lake area of beijing, the lane information is an east-west non-motor lane, and the POI category information is traffic (specifically, a bus stop).

Secondly, in the embodiment of the present application, in addition to the relative speed information of the matching reference object, the absolute speed information of the target vehicle (i.e., the current running speed information of the target vehicle) needs to be considered; for example, the reference object of the target vehicle may be a stationary object, and the relative speed information of the matching reference object is larger because the current traveling speed information of the target vehicle is larger. In general, if the target vehicle travels in reverse, the relative speed information of the matching reference object is greater than the current travel speed information of the target vehicle. Based on this, in the embodiment of the present application, the result of comparing the current travel speed information of the target object with the relative speed information of the matching reference object is also taken as the feature information for determining the probability of retrograde travel of the target vehicle.

As shown in fig. 4, in the vehicle reverse driving detection method provided in the embodiment of the present application, the comparison result between the current traveling speed information of the target vehicle and each of the relative speed information is determined by:

s401, obtaining the current running speed information of the target vehicle.

In the embodiment of the application, the processor acquires the motor rotating speed information of the target vehicle read by the Hall sensor mounted on the target vehicle, and determines the current running speed information of the target vehicle according to the motor rotating speed information and the tire circumference information of the target vehicle.

The Hall sensor is further mounted on the target vehicle, reads the motor rotating speed information of the target vehicle and sends the motor rotating speed information of the target vehicle to the processor. The processor receives the motor rotating speed information of the target vehicle sent by the Hall sensor, calculates the product of the motor rotating speed information and the tire circumference information of the target vehicle, and determines the product as the current running speed information of the target vehicle.

S402, aiming at any reference object, comparing the current running speed information of the target vehicle with the relative speed information of the target vehicle relative to the reference object to obtain a comparison result of the current running speed information of the target vehicle and the relative speed information matched with the reference object.

By means of the step, the processor can obtain the comparison result of the current running speed information of the target vehicle and the relative speed information matched with each reference object.

Thirdly, in addition to directly determining whether the target vehicle is traveling in the wrong direction, it is also possible to determine whether the target vehicle is traveling in the wrong direction based on the distribution of the relative speed information of the target vehicle and the respective reference objects in the monitoring period.

For example, the distribution of the relative speed information between the target vehicle and each reference object in the monitoring period includes: the distribution time of the relative speed information smaller than the second preset threshold value in any monitoring period, the duration information of the relative speed information smaller than the second preset threshold value in each occurrence in any monitoring period, and the duration information of the relative speed information larger than the third preset threshold value in each occurrence in any monitoring period.

For example, the target vehicle normally travels, and the front of the target vehicle includes the vehicle 1a, the vehicle 2a, the vehicle 3a, the vehicle 4a, and the vehicle 5 a. In general, the relative speed information of the target vehicle and each of the vehicles 1a to 5a is relatively small. Here, the relative speed information of the target vehicle and the vehicles 1a to 5a is smaller than the second preset threshold value. The subject vehicle travels in reverse, and the subject vehicle encounters the opposing vehicle 1b, vehicle 2b, vehicle 3b, vehicle 4b, and vehicle 5b in that order. In general, the relative speed information of the target vehicle and the vehicles 1b to 5b is large. Here, the relative speeds of the target vehicle and the vehicles 1b to 5b are all greater than the third preset threshold value.

The second preset threshold and the third preset threshold may be the same, or the third preset threshold is greater than the second preset threshold. The second preset threshold, the third preset threshold and the monitoring period may be set as needed, and the specific values are not limited in the embodiment of the present application.

For example, the monitoring period is 5 minutes, and the distribution time of the relative speed information smaller than the second preset threshold in the current 5 minutes, the duration information of the relative speed information smaller than the second preset threshold every time, and the duration information of the relative speed information larger than the third preset threshold every time are determined.

As shown in fig. 5, a method for detecting a vehicle running backwards according to an embodiment of the present application, where determining whether the target vehicle runs backwards according to image information corresponding to a current running direction of the target vehicle and the current running direction of the target vehicle includes:

s501, aiming at each frame of image information collected by the image sensor, extracting image characteristics in the image information.

In the embodiment of the application, the processor may detect the image characteristics of each image sub-block in the image according to the set detection region; wherein, the size of each image sub-block is equal to the size of the set detection area.

S502, identifying the road sign image characteristics of the target lane where the current target vehicle is located from the extracted image characteristics.

In the embodiment of the application, a plurality of road sign image features are stored in the processor in advance. Aiming at the detected image characteristics of each image sub-block, the processor calculates the similarity between the image characteristics and the road sign image characteristics respectively.

And selecting each road sign image characteristic with the similarity larger than a preset threshold value based on the similarity between the image characteristic of each image sub-block and each road sign image characteristic, and selecting the target road sign image characteristic with the maximum similarity from the selected road sign image characteristics as the road sign image characteristic of the target lane where the target vehicle is located.

S503, if the driving indication direction corresponding to the road sign image features is consistent with the current driving direction of the target vehicle, determining that the target vehicle normally drives.

In one embodiment, if the driving indication direction corresponding to the road sign image feature is from north to south and the current driving direction of the target vehicle is from north to south, it is determined that the target vehicle is normally driven.

S504, if the driving indication direction corresponding to the road sign image features is not consistent with the current driving direction of the target vehicle, determining that the target vehicle drives in a reverse direction.

In one embodiment, if the driving indication direction corresponding to the road sign image feature is from north to south and the current driving direction of the target vehicle is from south to north, it is determined that the target vehicle is driving in reverse.

As shown in fig. 6, the method for detecting a vehicle back running provided in the embodiment of the present application, where the obtaining of the relative speed information of the target vehicle with respect to each reference object includes:

s601, obtaining the current position information of the target vehicle.

In the embodiment of the application, the current position information of the target vehicle is positioned by the positioning device installed in the target vehicle, and the current position information is sent to the processor.

S602, determining target lane information where the current position information of the target vehicle is located according to the corresponding relation between the position information and the lane information.

In the embodiment of the application, the processor stores the position information and the lane information corresponding to the position information in advance, and searches the target lane information where the current position information of the target vehicle is located based on the corresponding relation between the position information and the lane information.

And S603, if the target lane corresponding to the target lane information is a one-way lane, acquiring the relative speed information of the target vehicle relative to each reference object.

In the embodiment of the application, the processor executes the vehicle reverse driving detection method in the embodiment of the application when detecting that the target lane is a unidirectional lane, so that the resource consumption can be reduced and the resource utilization rate can be improved.

Fig. 7 is a block diagram illustrating a vehicle reverse travel detection apparatus according to some embodiments of the present application, which implements functions corresponding to the steps performed by the above-described method. The device may be understood as the server or the processor of the server, or may be understood as a component that is independent of the server or the processor and implements the functions of the present application under the control of the server, as shown in fig. 7, the vehicle reverse driving detection device may include:

a first obtaining module 701, configured to obtain relative speed information of a target vehicle with respect to each reference object; wherein the reference object is located in front of the target vehicle;

a first determining module 702, configured to determine a probability of retrograde motion of the target vehicle based on a comparison result between the relative speed information of the target vehicle with respect to each reference object and a preset highest speed matching;

a starting module 703, configured to start an image sensor installed on the target vehicle if the probability of retrograde motion of the target vehicle is greater than a first preset threshold, so that the image sensor acquires image information corresponding to the current direction of motion of the target vehicle;

a second determining module 704, configured to determine whether the target vehicle runs in a reverse direction according to the image information corresponding to the current running direction of the target vehicle and the current running direction of the target vehicle.

Further, in the vehicle reverse driving detection apparatus provided in the embodiment of the present application, the first obtaining module 701 is specifically configured to:

Further, in the vehicle reverse driving detection apparatus provided in the embodiment of the present application, the first determining module 702 is specifically configured to:

Further, in the vehicle reverse running detection device provided in the embodiment of the present application, the device further includes:

Further, in the vehicle reverse driving detection apparatus provided in the embodiment of the present application, the second obtaining module is specifically configured to:

Further, in the vehicle reverse driving detection apparatus provided in the embodiment of the present application, the second determining module 704 is specifically configured to:

Further, in the vehicle reverse driving detection apparatus provided in the embodiment of the present application, the position attribute information includes one or more of the following information: latitude and longitude information, road section information, lane information and POI (point of interest) category information.

According to the vehicle reverse running detection device provided by the embodiment of the application, the reverse running probability of the target vehicle is determined based on the relative speed information of the target vehicle relative to each reference object, and the hardware cost is low. When the probability of the target vehicle running in the reverse direction is larger than a first preset threshold value, an image sensor on the target vehicle is started, and a reverse running detection mode is carried out based on the combination of the probability of the reverse running and the image sensor, so that the detection accuracy and the detection efficiency are improved; meanwhile, the image sensor does not need to work in real time, so that the resource consumption is reduced, and the resource utilization rate is improved.

As shown in fig. 8, an electronic device 800 provided in an embodiment of the present application includes: a processor 801, a memory 802 and a bus, wherein the memory 802 stores machine-readable instructions executable by the processor 801, when the electronic device is operated, the processor 801 communicates with the memory 802 through the bus, and the processor 801 executes the machine-readable instructions to execute the steps of the vehicle reverse driving detection method.

Specifically, the memory 802 and the processor 801 can be general-purpose memories and processors, which are not specifically limited herein, and the vehicle reverse detection method can be performed when the processor 801 executes a computer program stored in the memory 802.

Corresponding to the vehicle reverse driving detection method, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to perform the steps of the vehicle reverse driving detection method.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the vehicle reverse driving detection apparatus described above may refer to the corresponding process in the method embodiment, and is not described in detail in this application. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and there may be other divisions in actual implementation, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some communication interfaces, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle reverse travel detection method, characterized in that the method comprises:

2. The vehicle reverse running detection method according to claim 1, wherein the acquiring of the relative speed information of the target vehicle with respect to each reference object includes:

3. The vehicle reverse running detection method according to claim 1, wherein the determining of the reverse running probability of the target vehicle based on the comparison result of the relative speed information of the target vehicle with respect to each reference object with the preset highest speed matching respectively comprises:

4. The vehicle reverse running detection method according to claim 3, characterized in that the result of comparison of the current running speed information of the target vehicle with each of the relative speed information is determined by:

acquiring current running speed information of the target vehicle;

5. The vehicle reverse running detection method according to claim 4, wherein the acquiring of the current running speed information of the target vehicle includes:

6. The vehicle reverse running detection method according to claim 1, wherein the determining whether the target vehicle runs in reverse running according to the image information corresponding to the current running direction of the target vehicle and the current running direction of the target vehicle includes:

7. The vehicle reverse running detection method according to claim 1, wherein before the obtaining of the relative speed information of the target vehicle with respect to each reference object, the method further comprises:

acquiring current position information of the target vehicle;

8. The vehicle reverse running detection method according to claim 3, wherein the position attribute information includes one or more of the following information: latitude and longitude information, road section information, lane information and POI (point of interest) category information.

9. A vehicle reverse travel detection apparatus, characterized in that the apparatus comprises:

10. The vehicle reverse detection device according to claim 9, wherein the first obtaining module is specifically configured to:

11. The vehicle reverse travel detection apparatus according to claim 9, wherein the first determination module is specifically configured to:

12. The vehicle reverse running detection apparatus according to claim 11, characterized by further comprising:

13. The vehicle reverse detection device according to claim 12, wherein the second obtaining module is specifically configured to:

14. The vehicle reverse travel detection apparatus according to claim 9, wherein the second determination module is specifically configured to:

15. The vehicle reverse running detection apparatus according to claim 9, characterized by further comprising:

16. The vehicle reverse run detection apparatus according to claim 11, wherein the position attribute information includes one or more of the following information: latitude and longitude information, road section information, lane information and POI (point of interest) category information.

17. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the vehicle reverse driving detection method according to any one of claims 1 to 8.

18. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, carries out the steps of the vehicle reverse running detection method according to any one of claims 1 to 8.