CN112232326A - Driving information generation method and device, electronic equipment and computer readable medium - Google Patents
Driving information generation method and device, electronic equipment and computer readable medium Download PDFInfo
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Abstract
The embodiment of the disclosure discloses a driving information generation method, a driving information generation device, an electronic device and a computer readable medium. One embodiment of the method comprises: determining the distance between each target coordinate data in the target coordinate data set and the coordinate origin as a vehicle distance to obtain a vehicle distance set; sequencing each distance in the distance set to obtain a distance sequence; determining a distance difference value between every two vehicle distance distances in the vehicle distance sequence as a vehicle distance difference value to obtain a vehicle distance difference value sequence; generating a speed value sequence of the detected vehicle based on the speed value set of the detected vehicle and the vehicle distance difference value sequence; generating a vehicle speed information set based on the speed value set of the detected vehicle and the speed value sequence of the detected vehicle; and generating a driving information set based on the vehicle distance set and the vehicle speed information set. The embodiment realizes the generation of the driving information, enlarges the range of the vehicle speed detection area and improves the driving safety of the vehicle.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of computers, in particular to a driving information generation method, a driving information generation device, electronic equipment and a computer readable medium.
Background
The running information refers to vehicle running information during running of the vehicle. The current common driving information generation method is to obtain the driving information of the detected vehicle by a speed measurement method of a detection probe with speed detection or a radar speed measurement method.
However, the following technical problems generally exist in obtaining the driving information of the detected vehicle by using a speed measurement method of a detection probe with speed detection or a radar speed measurement method:
firstly, the method can only detect the speed information in the fixed area, and cannot detect the overspeed problem of the vehicle in the dead angle area;
secondly, due to the problems of distortion and the like of the picture shot by the detection probe, an error exists between the distance obtained according to the picture shot by the camera and the actual distance, the driving information cannot be accurately broadcasted, and unnecessary misoperation is caused;
third, the detected information is not converted into a unified world coordinate system, resulting in a reduction in the efficiency of generating the driving information, a failure to quickly broadcast the driving information, and further unnecessary erroneous operation.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose a driving information generation method, apparatus, electronic device, and computer-readable medium to solve one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a driving information generating method, including: determining the distance between each target coordinate data in a target coordinate data set and a coordinate origin as a vehicle distance to obtain a vehicle distance set, wherein the coordinate origin refers to the coordinate origin of a world coordinate system, and the world coordinate system is a coordinate system established by taking the center of a front shaft of a detected vehicle as the coordinate origin, taking a line parallel to the advancing direction of the detected vehicle as a longitudinal axis, taking a line parallel to the front shaft of the detected vehicle as a transverse axis and taking a line perpendicular to the ground as a vertical axis; sequencing each distance between vehicles in the distance between vehicles set to obtain a distance between vehicles sequence; determining a distance difference value between every two vehicle distance distances in the vehicle distance sequence as a vehicle distance difference value to obtain a vehicle distance difference value sequence; generating a speed value sequence of the detected vehicle based on the speed value set of the detected vehicle and the vehicle distance difference value sequence; generating a speed information set based on the speed value set of the detected vehicle and the speed value sequence of the detected vehicle; and generating a driving information set based on the vehicle distance set and the vehicle speed information set.
In some embodiments, the camera parameter information of the onboard camera comprises a set of camera-external parameters and camera-internal parameters, the camera-external parameters comprising a first camera-external parameter and a second camera-external parameter; and
the performing coordinate conversion processing on each coordinate data in the coordinate data set to generate coordinate data after coordinate conversion processing as target coordinate data includes:
converting the coordinate data into corresponding target coordinate data under a camera coordinate system by a formula, wherein the camera coordinate system is a coordinate system established by taking a focusing center of the vehicle-mounted camera as a coordinate origin, taking an optical axis of the vehicle-mounted camera as a vertical axis, taking a line parallel to a horizontal axis of the image coordinate system as a horizontal axis, and taking a line parallel to a vertical axis of the image coordinate system as a vertical axis:
wherein the content of the first and second substances,
represents the abscissa in the coordinate data,
represents the ordinate in the coordinate data,
presentation instrumentThe vertical coordinates in the coordinate data are described,
representing the parameters of the camera within the camera,
representing the first out-of-camera parameter,
representing the second camera-external parameter,
a transposed matrix representing a 0 matrix,
represents the abscissa in the target coordinate data,
represents the ordinate in the target coordinate data,
representing vertical coordinates in the target coordinate data.
In some embodiments, determining the distance from the coordinate origin to each target coordinate data in the target coordinate data set as a vehicle-to-vehicle distance comprises:
and generating the distance between vehicles according to a formula:
wherein the content of the first and second substances,
which represents the distance between vehicles, in meters,
representing a sit-down in the target coordinate dataThe mark is that,
represents the ordinate in the target coordinate data,
representing the vertical coordinates in the target coordinate data,
an abscissa representing the origin of coordinates of the object,
a vertical coordinate representing the origin of said coordinates,
a vertical coordinate representing the origin of coordinates.
In some embodiments, the performing instantaneous speed processing on the speed value of the detected vehicle and each inter-vehicle distance difference value in the inter-vehicle distance difference value sequence to generate an instantaneous speed value as the speed value of the detected vehicle includes:
and generating a speed value of the detected vehicle by the formula:
wherein the content of the first and second substances,
which is indicative of the speed value of the vehicle under test,
a speed value of the test vehicle is indicated,
the vehicle-to-vehicle distance difference is represented,
the 1 st vehicle distance corresponding to the vehicle distance difference value is represented,
representing a second vehicle distance corresponding to the vehicle distance difference,
it is expressed as 0.1 second,
representing a preset distance.
In a second aspect, some embodiments of the present disclosure provide a travel information generating apparatus including: a first determining unit configured to determine a distance between each target coordinate data in a target coordinate data set and a coordinate origin as a vehicle-distance, to obtain a vehicle-distance set, wherein the coordinate origin refers to a coordinate origin of a world coordinate system, and the world coordinate system is a coordinate system established by taking a front axle center of a detected vehicle as the coordinate origin, taking a line parallel to a forward direction of the detected vehicle as a vertical axis, taking a line parallel to the front axle of the detected vehicle as a horizontal axis, and taking a line perpendicular to the ground as a vertical axis; the sequencing unit is configured to sequence each vehicle distance in the vehicle distance set to obtain a vehicle distance sequence; the second determining unit is configured to determine a distance difference value between every two vehicle distance distances in the vehicle distance sequence as a vehicle distance difference value to obtain a vehicle distance difference value sequence; a first generating unit configured to generate a speed value sequence of the detected vehicle based on the speed value set of the detected vehicle and the inter-vehicle distance difference value sequence; a second generation unit configured to generate a vehicle speed information set based on the speed value set of the detected vehicle and the speed value sequence of the detected vehicle; and a third generation unit configured to generate a travel information set based on the inter-vehicle distance set and the vehicle speed information set.
In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon which, when executed by one or more processors, cause the one or more processors to implement the method as described in the first aspect.
In a fourth aspect, some embodiments of the disclosure provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method as described in the first aspect.
The above embodiments of the present disclosure have the following advantages: by the driving information generation method of some embodiments of the present disclosure, the range of the vehicle speed detection area is expanded, and the safety of vehicle driving is improved. Specifically, the reason why the safety of the vehicle running is low is that: the vehicle overspeed problem occurring in the dead angle area cannot be detected. Based on this, first, a distance between each target coordinate data in the target coordinate data set and a coordinate origin, which is a coordinate origin of a world coordinate system established with a front axle center of the inspection vehicle as the coordinate origin, a line parallel to a traveling direction of the inspection vehicle as a vertical axis, a line parallel to the front axle of the inspection vehicle as a horizontal axis, and a line perpendicular to the ground as a vertical axis, is determined as a vehicle-to-vehicle distance, and a vehicle-to-vehicle distance set is obtained. By determining the distance from the coordinate origin to each target coordinate data as the inter-vehicle distance, the distance information between the detected vehicle and the detected vehicle can be obtained. And then sequencing each distance between vehicles in the distance between vehicles set to obtain a distance between vehicles sequence. And secondly, determining a distance difference value between every two vehicle distance values in the vehicle distance sequence as a vehicle distance difference value to obtain a vehicle distance difference value sequence. Therefore, data support can be provided for the next step of calculating the speed value of the detected vehicle. And then, generating a speed value sequence of the detected vehicle based on the speed value set of the detected vehicle and the distance difference sequence. And then, generating a vehicle speed information set based on the speed value set of the detected vehicle and the speed value sequence of the detected vehicle. And finally, generating a driving information set based on the vehicle distance set and the vehicle speed information set. Due to the characteristic of detecting the flexible running of the vehicle, the vehicle speed can be detected in a monitoring probe with speed detection or an area which cannot be detected by radar speed measurement, and the range of the vehicle speed detection area is enlarged. Thus, the safety of the vehicle running is improved.
Drawings
The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.
Fig. 1 is a schematic view of an application scenario of a driving information generation method according to some embodiments of the present disclosure;
FIG. 2 is a flow diagram of some embodiments of a travel information generation method according to the present disclosure;
FIG. 3 is a flow diagram of some embodiments of generating a target coordinate data set according to a travel information generation method of the present disclosure;
FIG. 4 is a schematic block diagram of some embodiments of a travel information generation apparatus according to the present disclosure;
fig. 5 is a schematic configuration diagram of an electronic device according to the travel information generation method of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic view of an application scenario of a driving information generation method according to some embodiments of the present disclosure.
In the application scenario of fig. 1, first, the computing device 101 may determine a distance from the coordinate origin for each target coordinate data in the target coordinate data set 102 as a vehicle-to-vehicle distance, generating a vehicle-to-vehicle distance set 103. Next, the computing device 101 may rank the individual vehicle-to-vehicle distances in the set of vehicle-to-vehicle distances 103, generating a sequence of vehicle-to-vehicle distances 104. Second, the computing device 101 may determine a distance difference between every two vehicle-to-vehicle distances in the vehicle-to-vehicle distance series 104 as a vehicle-to-vehicle distance difference, generating a vehicle-to-vehicle distance difference series 105. The computing device 101 may then generate a sequence of velocity values 107 for the detected vehicle based on the sequence of inter-vehicle distance difference values 105 and the set of velocity values 106 for the detected vehicle. Then, the computing device 101 may generate a set of vehicle speed information 108 based on the sequence of speed values 107 of the detected vehicle and the set of speed values 106 of the detected vehicle. Finally, the computing device 101 may generate a set of travel information 109 based on the set of inter-vehicle distances 103 and the set of vehicle speed information 108.
The computing device 101 may be hardware or software. When the computing device is hardware, it may be implemented as a distributed cluster composed of multiple servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device is embodied as software, it may be installed in the hardware devices enumerated above. It may be implemented, for example, as multiple pieces of software and software modules used to provide distributed services, or as a single piece of software or software module. And is not particularly limited herein.
It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as implementation needs dictate.
With continued reference to fig. 2, a flow diagram 200 of some embodiments of a travel information generation method according to the present disclosure is shown. The method may be performed by the computing device 101 of fig. 1. The driving information generation method includes the steps of:
In some embodiments, an execution subject of the travel information generation method (such as the computing device 101 shown in fig. 1) may determine a distance of each target coordinate data in the target coordinate data set from the coordinate origin as the inter-vehicle distance by various methods, resulting in the inter-vehicle distance set. The coordinate system is established by taking the center of the front axle of the detection vehicle as the coordinate origin, taking a line parallel to the advancing direction of the detection vehicle as a vertical axis, taking a line parallel to the front axle of the detection vehicle as a horizontal axis and taking a line vertical to the ground as a vertical axis. The target coordinate data set may be coordinate data stored in the local server in advance. The executing body may determine a distance between each target coordinate data in the target coordinate data set and the coordinate origin as a vehicle distance by various methods, to obtain a vehicle distance set. The target coordinate data may be "[ -1,0,1 ]; [ -1,0,2 ]; [ -1,0,3]".
In some optional implementations of some embodiments, the executing entity may generate the vehicle distance by a formula:
wherein the content of the first and second substances,
representing the vehicle-to-vehicle distance in meters.
Represents the abscissa in the above-mentioned target coordinate data.
Indicating the ordinate in the target coordinate data.
Indicating the vertical coordinates in the target coordinate data.
The abscissa representing the origin of the above coordinates.
The ordinate represents the origin of the coordinates.
A vertical coordinate representing the origin of the coordinates.
As an example, the target coordinate data may be "[ -1,0,1 [ - ]]", then pass
The calculated distance is
And (4) rice.
And step 202, sequencing each distance between vehicles in the distance between vehicles set to obtain a distance between vehicles sequence.
In some embodiments, the execution subject may sort the vehicle-to-vehicle distances in the vehicle-to-vehicle distance set according to a magnitude sequence of the numerical values, so as to obtain a vehicle-to-vehicle distance sequence.
And step 203, determining a distance difference value between every two vehicle distance values in the vehicle distance and distance sequence as a vehicle distance and distance difference value, and obtaining a vehicle distance and distance difference value sequence.
In some embodiments, the executing entity may determine a distance difference between every two vehicle-to-vehicle distances in the vehicle-to-vehicle distance sequence as a vehicle-to-vehicle distance difference, and obtain a vehicle-to-vehicle distance difference sequence.
And step 204, generating a speed value sequence of the detected vehicle based on the speed value set of the detected vehicle and the distance difference value sequence.
In some embodiments, the execution subject may generate the speed value sequence of the detected vehicle based on the speed value set of the detected vehicle and the inter-vehicle distance difference value sequence in various ways.
In some optional implementations of some embodiments, the executing body may perform instantaneous speed processing on the speed value of the detected vehicle and each inter-vehicle distance difference value in the inter-vehicle distance difference value sequence by using a formula based on the speed value of each detected vehicle in the speed value set of the detected vehicles to generate an instantaneous speed value as the speed value of the detected vehicle.
And generating a speed value of the detected vehicle by the formula:
wherein the content of the first and second substances,
representing the velocity value of the sensed vehicle.
Representing the velocity value of the above-mentioned test vehicle.
The vehicle-to-vehicle distance difference is represented.
And the 1 st vehicle distance corresponding to the vehicle distance difference is shown.
And the 2 nd vehicle distance corresponding to the vehicle distance difference is shown.
Representing a time threshold value of 0.1 seconds.
Representing a preset distance.
As an example, a velocity value of a vehicle is detected
May be "10 m/s". Difference in distance
May be "3 meters". Difference in distance
Corresponding distance of 1 st vehicle distance
May be "2 meters". Difference in distance
Corresponding distance of 2 nd vehicle
May be "5 meters". A predetermined distance
May be "7 meters". Thereby obtaining the speed value of the detected vehicle of 20 m/s corresponding to the distance difference value of 3 m.
The formula and the related content in step 204 are regarded as an invention point of the present disclosure, thereby solving the technical problem mentioned in the background art, i.e., "there is an error between the distance obtained from the picture taken by the camera and the actual distance due to distortion of the picture taken by the camera, and the driving information cannot be accurately broadcasted, which causes unnecessary misoperation". The resulting unnecessary operator error is often as follows: because there are distortion scheduling problems in the picture that the camera was shot, can lead to the distance that obtains according to the picture that the camera was shot to have the error with actual distance, can not accurately report the information of traveling. If the above factors are solved, the effect of reducing unnecessary operation errors can be achieved. To achieve this effect, by introducing
The speed value is subjected to expansion processing as an expansion coefficient, so that the error between the distance obtained from the picture taken by the camera and the actual distance caused by the picture distortion and other problems is reduced. Further, the calculated speed value of the detected vehicle is made closer to the actual speed value. In addition, because the preset time threshold value is smaller, more pictures can be shot in the preset time, so that the error between the distance obtained by the pictures shot by the camera and the actual distance is smaller, the accuracy of broadcasting the driving information is improved, and unnecessary misoperation is reduced.
In some embodiments, the executing entity may combine the speed value of each detected vehicle in the speed value set of detected vehicles and the speed value of the detected vehicle corresponding to the speed value of the detected vehicle into a binary set, and obtain the binary set as the vehicle speed information set.
As an example, the velocity value of the test vehicle may be "15 m/sec". The speed value of the detected vehicle may be "20 m/sec". "15 m/sec" and "20 m/sec" were combined into a binary group "(15 m/sec, 20 m/sec)".
And step 206, generating a driving information set based on the distance between vehicles and the speed information set.
In some embodiments, the executing entity may combine each of the inter-vehicle distances in the inter-vehicle distance set and the vehicle speed information into a binary set, and obtain the binary set as the driving information set.
As an example, the above-described inter-vehicle distance may be "2 meters". The vehicle speed information may be "(15 m/s, 20 m/s)". "2 meters" and "(15 meters/second, 20 meters/second)" were combined into a doublet "(2 meters, (15 meters/second, 20 meters/second))".
In some optional implementation manners of some embodiments, in response to the presence of the driving information that does not meet the preset condition in the driving information set, the vehicle alarm device is controlled to perform early warning processing.
In some optional implementations of some embodiments, each piece of the travel information in the travel information set is transmitted to an in-vehicle device terminal having a display function and a storage function to display and store the travel information.
The above embodiments of the present disclosure have the following advantages: by the driving information generation method of some embodiments of the present disclosure, the range of the vehicle speed detection area is expanded, and the safety of vehicle driving is improved. Specifically, the reason why the safety of the vehicle running is low is that: the vehicle overspeed problem occurring in the dead angle area cannot be detected. Based on this, first, a distance between each target coordinate data in the target coordinate data set and a coordinate origin, which is a coordinate origin of a world coordinate system established with a front axle center of the inspection vehicle as the coordinate origin, a line parallel to a traveling direction of the inspection vehicle as a vertical axis, a line parallel to the front axle of the inspection vehicle as a horizontal axis, and a line perpendicular to the ground as a vertical axis, is determined as a vehicle-to-vehicle distance, and a vehicle-to-vehicle distance set is obtained. By determining the distance from the coordinate origin to each target coordinate data as the inter-vehicle distance, the distance information between the detected vehicle and the detected vehicle can be obtained. And then sequencing each distance between vehicles in the distance between vehicles set to obtain a distance between vehicles sequence. And secondly, determining a distance difference value between every two vehicle distance values in the vehicle distance sequence as a vehicle distance difference value to obtain a vehicle distance difference value sequence. Therefore, data support can be provided for the next step of calculating the speed value of the detected vehicle. And then, generating a speed value sequence of the detected vehicle based on the speed value set of the detected vehicle and the distance difference sequence. And then, generating a vehicle speed information set based on the speed value set of the detected vehicle and the speed value sequence of the detected vehicle. And finally, generating a driving information set based on the vehicle distance set and the vehicle speed information set. Due to the characteristic of detecting the flexible running of the vehicle, the vehicle speed can be detected in a monitoring probe with speed detection or an area which cannot be detected by radar speed measurement, and the range of the vehicle speed detection area is enlarged. Thus, the safety of the vehicle running is improved.
With further reference to fig. 3, a flow 300 of some embodiments of generating a target coordinate data set in accordance with a travel information generation method of the present disclosure is shown. The method may be performed by the computing device 101 of fig. 1. The driving information generation method includes the steps of:
In some embodiments, the execution subject may acquire the set of images captured by the onboard camera and the camera parameter information of the onboard camera through a wired connection manner or a wireless connection manner. Wherein, there is a one-to-one correspondence relationship between each image in the image set and the velocity value in the velocity value set of the detected vehicle. The camera parameter information of the vehicle-mounted camera may include a set of camera-external parameters and camera-internal parameters, the camera-external parameters may include a first camera-external parameter and a second camera-external parameter, the first camera-external parameter may be a rotation matrix, and the second camera-external parameter may be a translation vector.
In some embodiments, the executing subject may determine coordinates of the detected vehicle displayed in each image of the set of images to generate coordinate data, resulting in a coordinate data set. Wherein the coordinates of the detected vehicle are coordinates in an image coordinate system.
As an example, the coordinates of the detected vehicle displayed in each image in the image set may be determined by a pre-trained convolutional neural network to generate coordinate data, resulting in a coordinate data set. Specifically, the pre-trained convolutional neural network may include a feature extraction layer, a feature summarization layer, and a coordinate determination layer. The feature extraction layer is used for identifying the detected vehicle in the image and extracting features. The characteristic summarizing layer is used for summarizing the extracted characteristics. And the coordinate determination layer is used for determining the coordinate data of the detected vehicle according to the summarized characteristics.
And 303, performing coordinate conversion processing on each coordinate data in the coordinate data set based on the camera parameter information of the vehicle-mounted camera to generate coordinate data after coordinate conversion processing as target coordinate data, so as to obtain a target coordinate data set.
In some embodiments, the third step may convert the coordinate data into corresponding target coordinate data in a camera coordinate system by using a formula, wherein the camera coordinate system is a coordinate system established by using a focusing center of the onboard camera as a coordinate origin, using an optical axis of the onboard camera as a vertical axis, using a line parallel to a horizontal axis of the image coordinate system as a horizontal axis, and using a line parallel to a vertical axis of the image coordinate system as a vertical axis:
wherein the content of the first and second substances,
the abscissa in the coordinate data is indicated.
The ordinate in the coordinate data is indicated.
Indicating the vertical coordinates in the coordinate data.
Representing the above-mentioned in-camera parameters.
Representing the first camera extrinsic parameters.
The second camera external parameter is represented.
Representing a transposed matrix of the 0 matrix.
Represents the abscissa in the above-mentioned target coordinate data.
Indicating the ordinate in the target coordinate data.
Indicating the vertical coordinates in the target coordinate data.
As an example, a first camera extrinsic parameter
Can be
. Second camera extrinsic parameter
Can be
。
May be 1.
Can be
. The coordinate data may be
. Generating target coordinate data by the above formula
。
The formula and the related content in step 303 serve as an invention point of the present disclosure, thereby solving the technical problem mentioned in the background art three, "the detected information is not converted into a uniform world coordinate system, which results in reducing the efficiency of generating the driving information, causing the driving information not to be broadcast quickly, and further causing unnecessary misoperation". The resulting unnecessary operator error is often as follows: the detected information is not converted into a unified world coordinate system, resulting in a reduction in the efficiency of the travel information generation, resulting in a failure to rapidly broadcast the travel information. If the above factors are solved, the effect of reducing unnecessary operation errors can be achieved. In order to achieve the effect, the coordinates of the detected vehicle in the image coordinate system can be converted into the world coordinate system through the coordinate conversion formula, so that the coordinates are uniform, and the calculation and the use in the subsequent steps are convenient. This improves the efficiency of the travel information generation. Furthermore, the speed of broadcasting the driving information is improved, and unnecessary misoperation is reduced.
As can be seen from fig. 3, compared with the description of some embodiments corresponding to fig. 2, the process 300 of the driving information generating method in some embodiments corresponding to fig. 3 may convert the coordinates of the detected vehicle in the image coordinate system into the world coordinate system through the coordinate conversion formula, so that the coordinates are uniform, and the calculation in the following steps is facilitated.
With further reference to fig. 4, as an implementation of the methods illustrated in the above figures, the present disclosure provides some embodiments of a driving information generating apparatus, which correspond to those of the method embodiments described above in fig. 2, and which may be applied in particular to various electronic devices.
As shown in fig. 4, the travel information generation apparatus 400 of some embodiments includes: a first determining unit 401, a sorting unit 402, a second determining unit 403, a first generating unit 404, a second generating unit 405, and a third generating unit 406. A first determining unit 401 configured to determine a distance between each target coordinate data in a target coordinate data set and a coordinate origin as a vehicle distance to obtain a vehicle distance set, wherein the coordinate origin is a coordinate origin of a world coordinate system, the world coordinate system is a coordinate system established by taking a front axle center of a detected vehicle as the coordinate origin, taking a line parallel to a forward direction of the detected vehicle as a vertical axis, taking a line parallel to the front axle of the detected vehicle as a horizontal axis, and taking a line perpendicular to the ground as a vertical axis; a sorting unit 402 configured to sort each of the vehicle distance sets to obtain a vehicle distance sequence; a second determining unit 403, configured to determine a distance difference between every two vehicle-to-vehicle distances in the vehicle-to-vehicle distance sequence as a vehicle-to-vehicle distance difference, so as to obtain a vehicle-to-vehicle distance difference sequence; a first generating unit 404 configured to generate a speed value sequence of the detected vehicle based on the speed value set of the detected vehicle and the inter-vehicle distance difference value sequence; a second generating unit 405 configured to generate a vehicle speed information set based on the speed value set of the detected vehicle and the speed value sequence of the detected vehicle; a third generating unit 406 configured to generate a set of traveling information based on the set of inter-vehicle distance and the set of vehicle speed information.
It will be understood that the elements described in the apparatus 400 correspond to various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 400 and the units included therein, and will not be described herein again.
Referring now to FIG. 5, a block diagram of an electronic device (e.g., computing device 101 of FIG. 1) 500 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 5, electronic device 500 may include a processing means (e.g., central processing unit, graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input/output (I/O) interface 504 is also connected to bus 504.
Generally, the following devices may be connected to the I/O interface 504: input devices 506 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 507 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; storage devices 508 including, for example, magnetic tape, hard disk, etc.; and a communication device 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 5 illustrates an electronic device 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 5 may represent one device or may represent multiple devices as desired.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program, when executed by the processing device 501, performs the above-described functions defined in the methods of some embodiments of the present disclosure.
It should be noted that the computer readable medium described above in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the apparatus; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining the distance between each target coordinate data in a target coordinate data set and a coordinate origin as a vehicle distance to obtain a vehicle distance set, wherein the coordinate origin refers to the coordinate origin of a world coordinate system, and the world coordinate system is a coordinate system established by taking the center of a front shaft of a detected vehicle as the coordinate origin, taking a line parallel to the advancing direction of the detected vehicle as a longitudinal axis, taking a line parallel to the front shaft of the detected vehicle as a transverse axis and taking a line perpendicular to the ground as a vertical axis; sequencing each distance between vehicles in the distance between vehicles set to obtain a distance between vehicles sequence; determining a distance difference value between every two vehicle distance distances in the vehicle distance sequence as a vehicle distance difference value to obtain a vehicle distance difference value sequence; generating a speed value sequence of the detected vehicle based on the speed value set of the detected vehicle and the vehicle distance difference value sequence; generating a speed information set based on the speed value set of the detected vehicle and the speed value sequence of the detected vehicle; and generating a driving information set based on the vehicle distance set and the vehicle speed information set.
Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes a first determining unit, a sorting unit, a second determining unit, a first generating unit, a second generating unit, and a third generating unit. The names of these units do not form a limitation on the units themselves in some cases, and for example, the sorting unit may also be described as "a unit that sorts the respective inter-vehicle distances in the inter-vehicle distance set to obtain an inter-vehicle distance sequence".
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the technical method may be formed by replacing the above-mentioned features with (but not limited to) technical features having similar functions disclosed in the embodiments of the present disclosure.
Claims (10)
1. A travel information generation method comprising:
determining the distance between each target coordinate data in a target coordinate data set and a coordinate origin as a vehicle distance to obtain a vehicle distance set, wherein the coordinate origin refers to the coordinate origin of a world coordinate system, and the world coordinate system is a coordinate system established by taking the center of a front shaft of a detected vehicle as the coordinate origin, taking a line parallel to the advancing direction of the detected vehicle as a longitudinal axis, taking a line parallel to the front shaft of the detected vehicle as a transverse axis and taking a line perpendicular to the ground as a vertical axis;
sequencing each distance between vehicles in the distance between vehicles set to obtain a distance between vehicles sequence;
determining a distance difference value between every two vehicle distance distances in the vehicle distance sequence as a vehicle distance difference value to obtain a vehicle distance difference value sequence;
generating a speed value sequence of the detected vehicle based on the speed value set of the detected vehicle and the vehicle distance difference value sequence;
generating a speed information set based on the speed value set of the detected vehicle and the speed value sequence of the detected vehicle;
and generating a driving information set based on the vehicle distance set and the vehicle speed information set.
2. The method of claim 1, wherein the target coordinate dataset is obtained by:
acquiring an image set shot by a vehicle-mounted camera and camera parameter information of the vehicle-mounted camera;
determining coordinates of a detected vehicle displayed in each image in the image set to generate coordinate data, so as to obtain a coordinate data set, wherein the coordinates of the detected vehicle are coordinates in an image coordinate system;
and performing coordinate conversion processing on each coordinate data in the coordinate data set based on the camera parameter information of the vehicle-mounted camera to generate coordinate data after coordinate conversion processing as target coordinate data, so as to obtain a target coordinate data set.
3. The method of claim 1, wherein generating a sequence of velocity values for the detected vehicle based on the set of velocity values for the detected vehicle and the sequence of range-to-distance difference values comprises:
and performing instantaneous speed processing on the speed value of the detected vehicle and each inter-vehicle distance difference value in the inter-vehicle distance difference value sequence based on the speed value of each detected vehicle in the speed value set of the detected vehicles to generate an instantaneous speed value as the speed value of the detected vehicle.
4. The method of claim 1, wherein the method further comprises:
and controlling vehicle alarm equipment to perform early warning processing in response to the fact that the running information which does not accord with the preset condition exists in the running information set.
5. The method of claim 1, wherein the method further comprises:
and transmitting each piece of running information in the running information set to an on-board equipment terminal with a display function and a storage function so as to display and store the running information.
6. A travel information generation device comprising:
a first determining unit configured to determine a distance between each target coordinate data in a target coordinate data set and a coordinate origin as a vehicle distance, to obtain a vehicle distance set, wherein the coordinate origin refers to a coordinate origin of a world coordinate system, and the world coordinate system is a coordinate system established by taking a front axle center of a detected vehicle as the coordinate origin, taking a line parallel to a forward direction of the detected vehicle as a longitudinal axis, taking a line parallel to the front axle of the detected vehicle as a horizontal axis, and taking a line perpendicular to the ground as a vertical axis;
the sequencing unit is configured to sequence each vehicle distance in the vehicle distance set to obtain a vehicle distance sequence;
the second determining unit is configured to determine a distance difference value between every two vehicle distance distances in the vehicle distance sequence as a vehicle distance difference value to obtain a vehicle distance difference value sequence;
a first generating unit configured to generate a sequence of speed values of the detected vehicle based on the set of speed values of the detected vehicle and the sequence of inter-vehicle distance difference values;
a second generation unit configured to generate a set of vehicle speed information based on the set of speed values of the detected vehicle and the sequence of speed values of the detected vehicle;
a third generating unit configured to generate a set of travel information based on the set of inter-vehicle distance and the set of vehicle speed information.
7. The running information generation device according to claim 6, wherein the first generation unit is further configured to:
and performing instantaneous speed processing on the speed value of the detected vehicle and each inter-vehicle distance difference value in the inter-vehicle distance difference value sequence based on the speed value of each detected vehicle in the speed value set of the detected vehicles to generate an instantaneous speed value as the speed value of the detected vehicle.
8. The running information generation device according to claim 6, wherein the device further comprises: a control unit; the control unit is configured to control a vehicle warning device to perform warning processing in response to the presence of the travel information in the set of travel information that does not meet a preset condition.
9. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
10. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-5.
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| CN202011470214.7A CN112232326A (en) | 2020-12-15 | 2020-12-15 | Driving information generation method and device, electronic equipment and computer readable medium |
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