CN112802347B - Method, device and equipment for determining running speed of vehicle passing through traffic intersection - Google Patents
Method, device and equipment for determining running speed of vehicle passing through traffic intersection Download PDFInfo
- Publication number
- CN112802347B CN112802347B CN201911111086.4A CN201911111086A CN112802347B CN 112802347 B CN112802347 B CN 112802347B CN 201911111086 A CN201911111086 A CN 201911111086A CN 112802347 B CN112802347 B CN 112802347B
- Authority
- CN
- China
- Prior art keywords
- time
- moment
- determining
- vehicle
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The application discloses a method, a device and equipment for determining the running speed of vehicles passing through a traffic intersection, and relates to the field of image processing and intelligent traffic. The specific implementation scheme is as follows: the method comprises the steps that a first camera applied to a traffic intersection is responded to acquire an image of a vehicle entering the traffic intersection, and a first moment is determined; responding to the second camera applied to the traffic intersection to acquire an image of the corresponding vehicle exiting the traffic intersection, and determining a second moment; inquiring to obtain a target driving track according to the first moment and the second moment; the positioning of the target running track at the first moment is in a first camera visual range, and the positioning of the target running track at the second moment is in a second camera visual range; determining a driving distance between a first moment and a second moment according to the target driving track; and determining the running speed according to the running distance and the time difference between the first time and the second time. The scheme can improve the accuracy of the calculation result of the running speed.
Description
Technical Field
The application relates to the technical field of image processing and intelligent traffic, in particular to a method, a device and equipment for determining the running speed of vehicles at a traffic intersection.
Background
In the technical field of intelligent traffic, the method for calculating the traffic track of the vehicle at the traffic intersection plays an important role in depicting the traffic running condition of the vehicle and calculating intersection indexes such as the passing time and the passing speed of the vehicle at the traffic intersection. In the prior art, the driving speed of a vehicle passing through a traffic intersection is determined according to position information periodically reported by a vehicle-mounted terminal.
In this way, because the time interval reported by the vehicle-mounted terminal is large, and in some scenes, there may be a situation (such as interference, shielding, etc.) where the locating point is missing, the passing speed or the traveling speed of the vehicle in a certain road section often cannot be accurately determined.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
The application provides a method, a device and equipment for determining the running speed of vehicles at a traffic intersection, so that the accuracy of a running speed calculation result is improved, the method can be used for calculating the running speed of a large traffic intersection with a shooting blind area easily, and can also be used for calculating the running speed among a plurality of traffic intersections, and the applicability of the method is improved.
The embodiment of the first aspect of the application provides a method for determining the running speed of a vehicle passing through a traffic intersection, which comprises the following steps:
responding to a first camera applied to the traffic intersection to acquire an image of a vehicle entering the traffic intersection, and determining a first moment;
responding to a second camera applied to the traffic intersection to acquire an image of a corresponding vehicle exiting the traffic intersection, and determining a second moment;
inquiring to obtain a target driving track according to the first moment and the second moment; the positioning of the target running track at the first moment is within the visual range of the first camera, and the positioning of the target running track at the second moment is within the visual range of the second camera;
determining a driving distance between the first moment and the second moment according to the target driving track;
and determining the running speed according to the running distance and the time difference between the first time and the second time.
The embodiment of the second aspect of the present application provides a device for determining the running speed of a vehicle passing through a traffic intersection, comprising:
the first determining module is used for responding to the image that the vehicle enters the traffic intersection and is acquired by a first camera applied to the traffic intersection and determining a first moment;
the second determining module is used for responding to an image that a corresponding vehicle exits the traffic intersection and is acquired by a second camera applied to the traffic intersection and determining a second moment;
the query module is used for querying and obtaining a target driving track according to the first time and the second time; the positioning of the target running track at the first moment is within the visual range of the first camera, and the positioning of the target running track at the second moment is within the visual range of the second camera;
the distance measurement module is used for determining the driving distance between the first moment and the second moment according to the target driving track;
and the speed measuring module is used for determining the running speed according to the running distance and the time difference between the first moment and the second moment.
An embodiment of a third aspect of the present application provides a computer device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for determining the driving speed of the vehicle passing through the traffic intersection, which is provided by the embodiment of the first aspect of the present application.
A fourth aspect of the present application provides a non-transitory computer-readable storage medium of computer instructions, where the computer instructions are configured to cause the computer to execute the method for determining a driving speed of a vehicle at a traffic intersection, provided by the first aspect of the present application.
An embodiment of a fifth aspect of the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for determining a driving speed of a vehicle passing through a traffic intersection, which is provided by the embodiment of the first aspect of the present application, is implemented.
One embodiment in the above application has the following advantages or benefits:
determining a first moment by collecting an image of a vehicle entering a traffic intersection in response to a first camera applied to the traffic intersection; responding to the second camera applied to the traffic intersection to acquire an image of the corresponding vehicle exiting the traffic intersection, and determining a second moment; inquiring to obtain a target driving track according to the first moment and the second moment; the positioning of the target running track at the first moment is in a first camera visual range, and the positioning of the target running track at the second moment is in a second camera visual range; determining a driving distance between a first moment and a second moment according to the target driving track; and determining the running speed according to the running distance and the time difference between the first time and the second time. In the application, the image identification information of the camera is combined with the positioning information, so that the running time period information of the camera is matched with the running track of the positioning, and the accuracy of the running speed calculation result is improved. In addition, the first camera and the second camera corresponding to each traffic intersection are used for collecting images, the view finding range can be enlarged, the accuracy of the running speed calculation result is further improved, the method can be used for calculating the running speed of a large traffic intersection with a shooting blind area easily, and can also be used for calculating the running speed among a plurality of traffic intersections, and the applicability of the method is improved.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the present solution and are not to be considered a limitation of the present application, and the foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments in connection with the accompanying drawings. Wherein:
fig. 1 is a schematic flow chart of a method for determining a driving speed of a vehicle passing through a traffic intersection according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for determining a driving speed of a vehicle passing through a traffic intersection according to a second embodiment of the present application;
fig. 3 is a schematic diagram illustrating a relationship between each positioning time and a corresponding position in the embodiment of the present application;
fig. 4 is a schematic flowchart of a method for determining a driving speed of a vehicle passing through a traffic intersection according to a third embodiment of the present application;
fig. 5 is a schematic flowchart of a method for determining a driving speed of a vehicle passing through a traffic intersection according to a fourth embodiment of the present application;
fig. 6 is a schematic structural diagram of a travel speed determination device for vehicles passing through a traffic intersection according to a fifth embodiment of the present application;
fig. 7 is a schematic structural diagram of a travel speed determination device for vehicles passing through a traffic intersection according to a sixth embodiment of the present application;
fig. 8 is a schematic structural diagram of a computer device according to a seventh embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The following describes a method, a device and equipment for determining the running speed of a vehicle passing through a traffic intersection according to an embodiment of the application with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a method for determining a driving speed of a vehicle passing through a traffic intersection according to an embodiment of the present disclosure.
The embodiment of the present application exemplifies that the method for determining the traveling speed of a vehicle passing through a traffic intersection is configured in a traveling speed determination device of a vehicle passing through a traffic intersection, which can be applied to any computer device so that the computer device can execute a traveling speed determination function of a vehicle passing through a traffic intersection.
The Computer device may be a Personal Computer (PC), a cloud device, a mobile device, and the like, and the mobile device may be a hardware device having various operating systems, touch screens, and/or display screens, such as a mobile phone, a tablet Computer, a Personal digital assistant, a wearable device, and an in-vehicle device.
As shown in fig. 1, the method for determining the traveling speed of a vehicle passing through a traffic intersection may include the steps of:
And step 102, responding to the second camera applied to the traffic intersection to acquire the image of the corresponding vehicle exiting the traffic intersection, and determining a second moment.
In this embodiment, the first camera and the second camera may be disposed at an exit and entrance position of the traffic intersection, for example, the first camera may be disposed at an entrance position of the traffic intersection, and the second camera may be disposed at an exit position of the traffic intersection. The number of the first camera and the second camera is not limited, that is, the number of the first camera and the second camera can be at least one. It should be understood that when a plurality of first cameras and a plurality of second cameras are respectively arranged at the entrance and exit of each traffic intersection, the view-finding range can be expanded, and the comprehensiveness of vehicle information acquisition is improved.
In the embodiment of the application, the first camera and the second camera can acquire images in real time, and when a certain vehicle enters the entrance of the traffic intersection, the first camera can acquire the image including the vehicle entering the traffic intersection, wherein the image indicating that the vehicle enters the view range of the first camera for the first time in the preset time period indicates that the vehicle enters the view range of the first camera for the first time, so that the image of the vehicle appearing for the first time in each image acquired by the first camera in the preset time period can be used as the image of the corresponding vehicle entering the traffic intersection, and the acquisition time of the image indicating that the vehicle enters the traffic intersection is used as the passing time of the vehicle, which is denoted as the first time in the application.
Similarly, when the vehicle travels from the entrance to the exit of the traffic intersection, the second camera may continuously collect images including the vehicle, and when the vehicle exits from the exit of the traffic intersection, the second camera cannot capture the vehicle after continuously collecting the images including the vehicle for multiple times, so that the last frame of the continuous multiple frames of the images including the vehicle collected by the second camera in the visible range can be used as the image when the vehicle exits from the traffic intersection, and the collection time of the image when the vehicle exits from the traffic intersection can be used as the passing time of the vehicle, which is referred to as the second time in this application.
For example, when the vehicle a first enters the entrance of the traffic intersection 1 on the same day, the first frame acquired by the first camera at the entrance of the traffic intersection 1 on the same day may include the image of the vehicle a as the image of the vehicle entering the traffic intersection, and the acquisition time of the image of the vehicle entering the traffic intersection may be taken as the first time, and when the vehicle a exits the exit of the traffic intersection 1, the second camera at the exit of the traffic intersection 1 may acquire the image including the vehicle a in consecutive multiple frames, and then the last frame before the first frame does not include the image of the vehicle a includes the image of the vehicle a as the image of the vehicle leaving the traffic intersection, and the acquisition time of the image of the vehicle leaving the traffic intersection may be taken as the second time.
103, inquiring to obtain a target driving track according to the first time and the second time; and the positioning at the first moment in the target driving track is in the visual range of the first camera, and the positioning at the second moment is in the visual range of the second camera.
In the embodiment of the application, the positioning information of each vehicle passing through the intersection area where the first camera and the second camera are located can be inquired in the time period between the first moment and the second moment, the running track of each vehicle is determined according to the positioning information of each vehicle, and from the running tracks, the target running track of which the positioning at the first moment is in the visible range of the first camera and the positioning at the second moment is in the visible range of the second camera is determined.
As a possible implementation manner, each vehicle may be located, and location information, such as GPS information, corresponding to each vehicle at each location time may be acquired. After the positioning information corresponding to each vehicle at each positioning moment is obtained, the positioning information of each vehicle can be fitted, and the corresponding running track of the corresponding vehicle is determined, so that each running track can be inquired, the positioning at the first moment is determined to be in the visible range of the first camera, and the positioning at the second moment is determined to be in the target running track of the visible range of the second camera.
That is to say, in the present application, the positioning information at the first time and the second time may be queried, the target vehicle whose positioning is within the visible range of the first camera at the first time may be determined, the target vehicle whose positioning is within the visible range of the second camera at the second time may be determined, and the target driving trajectory may be determined according to the positions of the target vehicle obtained by positioning at each positioning time. For example, fitting can be performed according to the positions of the target vehicle located at each location time, so as to obtain a corresponding target driving track when the target vehicle passes through a traffic intersection.
And step 104, determining the driving distance between the first time and the second time according to the target driving track.
In the embodiment of the application, after the target running track is determined, the running distance between the first time and the second time can be determined according to the target running track. Specifically, a first position to which the vehicle travels at a first time and a second position to which the vehicle travels at a second time may be determined according to positions obtained by positioning at each positioning time in the target travel track, so that the length of the target travel track between the first position and the second position may be measured to obtain the travel distance.
And step 105, determining the running speed according to the running distance and the time difference between the first time and the second time.
In the embodiment of the application, after the driving distance is obtained, the driving speed can be determined according to the driving distance and the time difference between the first time and the second time. Specifically, the second time may be different from the first time to obtain a time difference, and the travel distance may be divided by the time difference to obtain the travel speed. According to the method and the device, the time when the vehicle enters the traffic intersection and the time when the vehicle exits the traffic intersection can be accurately determined according to the image acquired by the camera arranged at the traffic intersection, so that the accuracy of the determination result of the passing time of the vehicle through the traffic intersection can be improved. And the driving distance of the vehicle passing through the intersection is determined according to the positioning information corresponding to each moment, so that the accuracy of the determination result of the driving distance can be improved, and the accuracy of the calculation result of the driving speed is improved. That is to say, in the application, by combining the image identification information of the camera with the positioning information, the driving time period information of the camera can be matched with the positioned driving track, and the accuracy of the driving speed calculation result is improved.
According to the method for determining the running speed of the vehicle passing through the traffic intersection, the first moment is determined by responding to the image of the vehicle entering the traffic intersection collected by the first camera applied to the traffic intersection; responding to the second camera applied to the traffic intersection to acquire an image of the corresponding vehicle exiting the traffic intersection, and determining a second moment; inquiring to obtain a target driving track according to the first moment and the second moment; the positioning of the target running track at the first moment is in a first camera visual range, and the positioning of the target running track at the second moment is in a second camera visual range; determining a driving distance between a first moment and a second moment according to the target driving track; and determining the running speed according to the running distance and the time difference between the first time and the second time. In the application, the image identification information of the camera is combined with the positioning information, so that the running time period information of the camera is matched with the running track of the positioning, and the accuracy of the running speed calculation result is improved.
It should be noted that, in the prior art, the driving track and the passing speed of the vehicle are determined according to the images collected by the single camera arranged at the traffic intersection. In this way, the shooting range of a single camera is limited, and the method cannot be applied to a large traffic intersection or a scene of statistics among a plurality of traffic intersections.
In the application, the image identification information of the camera is combined with the positioning information, so that the running time period information of the camera is matched with the positioned running track, and the accuracy of the running speed calculation result is improved. In addition, the first camera and the second camera corresponding to each traffic intersection are used for collecting images, the view finding range can be enlarged, the accuracy of the running speed calculation result is further improved, the method can be used for calculating the running speed of a large traffic intersection with a shooting blind area easily, and can also be used for calculating the running speed among a plurality of traffic intersections, and the applicability of the method is improved.
It should be noted that, in practical application, there may be a situation where the positioning point is missing (such as interference, occlusion, etc.), at this time, it may happen that the position corresponding to the first time when the vehicle enters the traffic intersection cannot be determined, and/or the position corresponding to the second time when the same vehicle exits the traffic intersection cannot be determined, so that the accuracy of the determination result of the driving distance cannot be ensured. In order to solve the technical problem, in the present application, the position corresponding to the first time and/or the position corresponding to the second time may be determined according to an interpolation algorithm, so as to improve the accuracy of determining the driving distance and further improve the accuracy of the result of determining the driving speed. The above process is described in detail with reference to example two.
Fig. 2 is a schematic flow chart of a method for determining a driving speed of a vehicle passing through a traffic intersection according to a second embodiment of the present application.
As shown in fig. 2, the method for determining the traveling speed of a vehicle through a traffic intersection may include the steps of:
The execution process of steps 201 to 203 may refer to the execution process of steps 101 to 103 in the above embodiment, which is not described herein again.
And 204, determining a first position to which the vehicle runs at the first moment and a second position to which the vehicle runs at the second moment according to the positions obtained by positioning at all the positioning moments in the target running track.
In the embodiment of the application, when the first position to which the vehicle runs at the first time cannot be obtained, that is, when the first position corresponding to the first time is lost, at this time, interpolation calculation may be performed according to positions corresponding to positioning moments adjacent to the first time to obtain the first position. Specifically, when each positioning time is different from the first time, the first reference positions located at two positioning times adjacent to the first time may be determined in the target driving track, and the first position to which the first time is driven may be obtained by interpolating between the two first reference positions according to the time difference between the first time and the two adjacent positioning times.
As an example, referring to fig. 3, a first time is marked as t1, two adjacent positioning times are respectively t0 and t2, a first reference position corresponding to t0 is S0, and a first reference position corresponding to t2 is S2, then according to an interpolation calculation, the first position S1 may be determined, that is, S1 may be calculated according to the following formula:
similarly, when the second position to which the vehicle runs at the second time cannot be obtained, that is, when the positioning loss of the second position corresponding to the second time occurs, at this time, interpolation calculation may be performed according to positions corresponding to positioning times adjacent to the second time, so as to obtain the second position. Specifically, when each positioning time is different from the second time, the second reference positions located at two positioning times adjacent to the second time may be determined in the target driving track, and the second position to which the second time is driven may be obtained by interpolating between the two second reference positions according to a time difference between the second time and the two adjacent positioning times.
And step 206, determining the running speed according to the running distance and the time difference between the first time and the second time.
In the embodiment of the application, when the positioning information cannot be obtained, the corresponding positioning information is obtained according to interpolation calculation, so that the driving distance can be ensured to be normally obtained, and the corresponding driving speed can be accurately calculated.
It should be noted that the image acquired by the camera may include a plurality of vehicles, and therefore, the number of target vehicles that are within the visible range of the first camera at the first time and within the visible range of the second camera at the second time may be a plurality of vehicles, that is, the location of the first time is within the visible range of the first camera, and the number of target travel tracks that are within the visible range of the second camera at the second time may be a plurality of tracks. Therefore, in the present application, when calculating the travel speed, the average value of the travel distances corresponding to the plurality of target travel tracks may be used to divide the time difference between the first time and the second time. The above process is described in detail with reference to example three.
Fig. 4 is a schematic flow chart of a method for determining the traveling speed of a vehicle passing through a traffic intersection according to a third embodiment of the present application.
As shown in fig. 4, on the basis of the embodiment shown in fig. 1 or fig. 2, when the target driving track is multiple, the method for determining the driving speed of the vehicle passing through the traffic intersection may include the following steps:
In the present application, the travel speed is calculated by using the transit time (the second time minus the first time) when the same vehicle passes through the intersection and the travel distance.
Therefore, in the application, in order to identify the same vehicle, after the first camera collects the image of the vehicle entering the traffic intersection, the image of the vehicle entering the traffic intersection can be subjected to license plate identification according to a license plate identification technology, a target license plate is determined, license plate identification is performed on each image collected by the second camera, an image containing the target license plate is determined, and then the image of the vehicle exiting the traffic intersection is determined according to the image containing the target license plate.
For example, when a license plate is identified, the acquired image may be identified based on a Single Shot multi box Detector (SSD), a your eye Only (YOLO), fast-RCNN and other target detection algorithms, an image region presenting the license plate is determined, then a convolutional neural network is used to perform feature extraction on the image region to obtain a feature matrix of the image region, and finally the feature matrix is input to a recurrent neural network to sequentially identify text information at each text position of the license plate, thereby determining the license plate information.
The execution process of step 303 may refer to the execution process of step 103 in the above embodiments, which is not described herein again.
And step 304, determining a driving distance between the first time and the second time according to the target driving track.
In the embodiment of the application, after the target running track is determined, the first position to which the vehicle runs at the first moment and the second position to which the vehicle runs at the second moment can be determined according to the positions obtained by positioning at the positioning moments in the target running track, so that the length of the target running track between the first position and the second position can be measured, and the running distance can be obtained.
And 305, calculating an average value of the running distances according to the running distance corresponding to each target running track.
In the embodiment of the application, after the driving distance corresponding to each target driving track is determined, all the driving distances may be added and averaged to obtain an average value of the driving distances.
And step 306, dividing the average value of the running distance by the time difference between the first time and the second time to obtain the running speed.
In the embodiment of the application, after the average value of the travel distances is calculated, the average value of the travel distances may be divided by the time difference between the first time and the second time to obtain the travel speed.
As an application scene, when a vehicle passes through a first camera arranged at an entrance of a traffic intersection A, license plate recognition can be carried out on an image collected by the first camera, the vehicle passing time A corresponding to the license plate is recorded, when the vehicle passes through a second camera arranged at an exit of the traffic intersection A, license plate recognition can be carried out on an image collected by the second camera, and the vehicle passing time B corresponding to the license plate is recorded. And then, determining the vehicle passing time A and the vehicle passing time B corresponding to the same license plate from the records of the first camera and the second camera, and determining the time length T of the same vehicle passing through the traffic intersection A according to the difference between the vehicle passing time B and the vehicle passing time A. In the corresponding time period, the positioning information of each vehicle passing through the area of the traffic intersection A can be positioned, the target vehicles passing through the positions near the first camera and the second camera are determined from the vehicles, fitting is carried out according to the positions of the target vehicles positioned at the positioning moments to obtain the corresponding target running track when the target vehicles pass through the traffic intersection A, and then the running distance S between the vehicle passing moment A and the vehicle passing moment B can be determined according to the target running track. Finally, the speed of the vehicle passing through the intersection A can be determined according to the ratio of the running distance S to the time length T of the vehicle passing through the intersection A.
According to the method for determining the driving speed, the driving distances corresponding to the target driving tracks are integrated, the average value of the driving distances and the time difference between the first moment and the second moment are used for calculating the time length of the vehicle passing through the traffic intersection corresponding to the first camera and the second camera, and the reliability of the calculation result can be improved.
As a possible implementation manner, when the driving speed of a certain traffic intersection is low, in the application, the traffic capacity of the traffic intersection can be optimized. Specifically, when the first camera and the second camera are both located at the target intersection, if the determined running speed is lower than the threshold speed according to step 105, step 206, or step 306, this indicates that the target intersection is congested, and therefore, the traffic capacity of the target intersection can be optimized. Wherein the threshold speed is a smaller speed value.
For example, when the traffic intersection B is congested, it may happen that the front end traffic intersection is too long to let the vehicle go, and the back end traffic intersection is congested, that is, there are many vehicles at the traffic intersection B.
However, in practical applications, when a target intersection is congested, a situation that a traffic intersection adjacent to the target intersection is also congested may occur, and therefore, as a possible implementation manner, in the present application, a driving route and a driving speed between a plurality of traffic intersections may be analyzed in combination to implement collaborative optimization between the plurality of traffic intersections. Specifically, when the running speed passing through the target intersection is lower than the threshold speed, the target running route passing through the target intersection and having the highest vehicle number ratio can be determined according to the vehicle number ratio of each running route, so that the collaborative optimization can be performed on each traffic intersection through which the target running route passes. The above process is described in detail with reference to example four.
Fig. 5 is a schematic flow chart of a method for determining a driving speed of a vehicle passing through a traffic intersection according to a fourth embodiment of the present application.
As shown in fig. 5, optimizing the traffic capacity of the target intersection may specifically include the following sub-steps:
In the embodiment of the application, for the collaborative optimization among a plurality of traffic intersections, the number plate recognized by the cameras arranged at the plurality of traffic intersections can be used for counting the number plates of the vehicles passing through each traffic intersection in sequence, so that the driving routes of the vehicles among the traffic intersections can be obtained.
In the embodiment of the application, the number of cars corresponding to each driving route can be counted according to the number of cars. Specifically, for each driving route, the number of times that the driving route is repeatedly driven by the vehicle may be determined, for example, marked as X times, the number of all recognized driving routes is marked as Y, that is, the number of total driving routes driven by all vehicles between each traffic intersection is Y, and the vehicle number occupancy ratio is X/Y. That is, the number of cars per travel route is a ratio of the number of times the corresponding travel route is repeatedly traveled by the vehicle to the number of all recognized travel routes.
And 503, performing collaborative optimization on each traffic intersection passed by the target driving route.
In the embodiment of the application, if a target driving route which passes through the target intersection and has the highest train number ratio exists, the cooperative optimization can be performed on each traffic intersection through which the target driving route passes. Therefore, when the target intersection is congested, each traffic intersection in the target driving route which passes through the target intersection and has the highest vehicle number occupation ratio can be optimized, and the multiple traffic intersections can be cooperatively optimized.
For example, when the target intersection is intersection C, the traffic intersection C is determined to pass through according to the number of vehicles of each driving route, and the target driving route with the highest number of vehicles is: the route from the traffic intersection a to the traffic intersection C to the traffic intersection B (traffic intersection a → C → B), that is, more vehicles travel from the traffic intersection a to the traffic intersection C and then to the traffic intersection B, and the traveling speed through the traffic intersection C is slower, then the traffic intersections a, C, B can be cooperatively optimized.
In order to realize the above embodiments, the present application also proposes a traveling speed determination device for a vehicle passing through a traffic intersection.
Fig. 6 is a schematic structural diagram of a travel speed determination device for vehicles passing through a traffic intersection according to a fifth embodiment of the present application.
As shown in fig. 6, the traveling speed determination device 600 for a vehicle passing through a traffic intersection includes: a first determining module 601, a second determining module 602, an inquiring module 603, a ranging module 604, and a speed measuring module 605.
The first determining module 601 is configured to determine a first time in response to an image of a vehicle entering a traffic intersection collected by a first camera applied to the traffic intersection.
The second determining module 602 is configured to determine a second time in response to a second camera applied to the traffic intersection acquiring an image of a corresponding vehicle exiting the traffic intersection.
The query module 603 is configured to query to obtain a target driving track according to the first time and the second time; and the positioning at the first moment in the target driving track is within the visual range of the first camera, and the positioning at the second moment is within the visual range of the second camera.
And the distance measuring module 604 is configured to determine a driving distance between the first time and the second time according to the target driving track.
The speed measuring module 605 is configured to determine a driving speed according to the driving distance and a time difference between the first time and the second time.
Further, in a possible implementation manner of the embodiment of the present application, referring to fig. 7, on the basis of the embodiment shown in fig. 6, the apparatus 600 for determining the traveling speed of a vehicle passing through a traffic intersection may further include: a calculation module 606 and an optimization module 607.
As a possible implementation, the ranging module 604 includes:
and a positioning unit 6041, configured to determine, according to the positions obtained by positioning at the respective positioning times in the target driving track, a first position where the vehicle is driven at the first time and a second position where the vehicle is driven at the second time.
And a measuring unit 6042 for measuring the length of the target running track between the first position and the second position to obtain the running distance.
As a possible implementation manner, the positioning unit 6041 is specifically configured to: if the positioning moments are different from the first moment, determining a first reference position positioned at two positioning moments adjacent to the first moment in the target running track; interpolating between two first reference positions according to the time difference between the first time and two adjacent positioning times to obtain a first position to which the first time runs; if the positioning moments are different from the second moment, determining a second reference position positioned at two positioning moments adjacent to the second moment in the target running track; and interpolating between the two second reference positions according to the time difference between the first time and the two adjacent positioning times to obtain a second position to which the second time runs.
As a possible implementation, the target travel track is multiple.
And a calculating module 606, configured to calculate an average value of the travel distances according to the travel distance corresponding to each target travel track.
The speed measurement module 605 is specifically configured to: and dividing the average value of the running distance by the time difference to obtain the running speed.
As a possible implementation manner, the second determining module 602 is specifically configured to: carrying out license plate recognition on an image of a vehicle entering a traffic intersection to determine a target license plate; and (4) carrying out license plate recognition on each image collected by the second camera, and taking the image of the recognized target license plate as an image of the corresponding vehicle exiting the traffic intersection.
As a possible implementation, the first camera and the second camera are both at the target intersection.
And the optimizing module 607 is used for determining that the running speed is lower than the threshold speed and optimizing the traffic capacity of the target intersection.
It should be noted that the explanation of the method for determining the driving speed of a vehicle passing through a traffic intersection in the embodiment of fig. 1 to 5 also applies to the device for determining the driving speed of a vehicle passing through a traffic intersection in the embodiment, and the details are not repeated here.
The device for determining the running speed of the vehicle passing through the traffic intersection, disclosed by the embodiment of the application, is used for determining a first moment by responding to an image acquired by a first camera applied to the traffic intersection when the vehicle enters the traffic intersection; responding to the second camera applied to the traffic intersection to acquire an image of the corresponding vehicle exiting the traffic intersection, and determining a second moment; inquiring to obtain a target driving track according to the first moment and the second moment; the positioning of the target running track at the first moment is in a first camera visual range, and the positioning of the target running track at the second moment is in a second camera visual range; determining a driving distance between a first moment and a second moment according to the target driving track; and determining the running speed according to the running distance and the time difference between the first time and the second time. In the application, the image identification information of the camera is combined with the positioning information, so that the running time period information of the camera is matched with the running track of the positioning, and the accuracy of the running speed calculation result is improved.
In order to implement the foregoing embodiment, the present application further provides a computer device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method for determining a speed of travel of a vehicle through a traffic intersection as set forth in the foregoing embodiments of the present application.
In order to achieve the above embodiments, the present application also proposes a non-transitory computer-readable storage medium of computer instructions for causing a computer to execute the method for determining a traveling speed of a vehicle through a traffic intersection proposed by the foregoing embodiments of the present application.
In order to implement the foregoing embodiments, the present application further proposes a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements the method for determining the driving speed of a vehicle passing through a traffic intersection proposed by the foregoing embodiments of the present application.
According to an embodiment of the present application, a computer device and a readable storage medium are also provided.
As shown in fig. 8, it is a block diagram of a computer device of a method for determining a traveling speed of a vehicle through a traffic intersection according to an embodiment of the present application. Computer devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The computer device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
As shown in fig. 8, the computer apparatus includes: one or more processors 801, memory 802, and interfaces for connecting the various components, including a high speed interface and a low speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the computer device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple computer devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 8 illustrates an example of a processor 801.
The memory 802 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform a method of determining a travel speed of a vehicle as provided herein. A non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to execute a method of determining a travel speed of a vehicle through a traffic intersection provided by the present application.
The memory 802 is a non-transitory computer readable storage medium, and can be used for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the method for determining the traveling speed of a vehicle at a traffic intersection in the embodiment of the present application (for example, the first determining module 601, the second determining module 602, the query module 603, the distance measuring module 604, and the speed measuring module 605 shown in fig. 6). The processor 801 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 802, that is, implements the method for determining the travel speed of a vehicle through a traffic intersection in the above-described method embodiments.
The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 802 may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 802 optionally includes memory located remotely from the processor 801, which may be connected to a computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The computer device may further include: an input device 803 and an output device 804. The processor 801, the memory 802, the input device 803, and the output device 804 may be connected by a bus or other means, and are exemplified by a bus in fig. 8.
The input device 803 may receive input numeric or character information and generate key signal inputs relating to user settings and function control of the computer device, such as a touch screen, keypad, mouse, track pad, touch pad, pointer stick, one or more mouse buttons, track ball, joystick or other input device. The output devices 804 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, the first moment is determined by responding to the image of the vehicle entering the traffic intersection collected by the first camera applied to the traffic intersection; responding to an image of a corresponding vehicle which is acquired by a second camera applied to the traffic intersection, and determining a second moment; inquiring to obtain a target driving track according to the first moment and the second moment; the positioning at the first moment in the target driving track is within the visual range of a first camera, and the positioning at the second moment is within the visual range of a second camera; determining a driving distance between a first moment and a second moment according to the target driving track; and determining the running speed according to the running distance and the time difference between the first time and the second time. In the application, the image identification information of the camera is combined with the positioning information, so that the running time period information of the camera is matched with the running track of the positioning, and the accuracy of the running speed calculation result is improved.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (12)
1. A method of determining a travel speed of a vehicle through a traffic intersection, the method comprising:
responding to an image of a vehicle entering the traffic intersection acquired by a first camera applied to the traffic intersection, and determining a first moment, wherein the image of the vehicle appearing for the first time in each image acquired by the first camera in a preset time period is used as a corresponding image of the vehicle entering the traffic intersection, and the acquisition moment of the image of the vehicle entering the traffic intersection is determined as the first moment;
determining a second moment in response to a second camera applied to the traffic intersection acquiring images of corresponding vehicles exiting the traffic intersection, wherein the second moment is determined by acquiring the acquisition moments of the images of the vehicles exiting the traffic intersection from a plurality of continuous frames including the images of the vehicles acquired by the second camera within a visible range, and determining the acquisition moments of the images of the vehicles exiting the traffic intersection as the second moment;
inquiring to obtain a target driving track according to the first moment and the second moment; the positioning of the target driving track at the first moment is in the visible range of the first camera, and the positioning of the target driving track at the second moment is in the visible range of the second camera;
determining a driving distance between the first time and the second time according to the target driving track;
determining a driving speed according to the driving distance and the time difference between the first moment and the second moment;
the first camera and the second camera are both positioned at a target intersection, and after determining the driving speed according to the driving distance and the time difference between the first moment and the second moment, the method further comprises the following steps:
determining that the running speed is lower than a threshold speed, and optimizing the traffic capacity of the target intersection;
the optimizing the traffic capacity of the target intersection comprises the following steps:
determining the driving route of the same vehicle between the traffic intersections according to the cameras arranged at different traffic intersections;
determining a target driving route which passes through the target intersection and has the highest vehicle number ratio according to the vehicle number ratio of each driving route;
performing collaborative optimization on each traffic intersection passed by the target driving route;
wherein a ratio of the number of times that the corresponding travel route is repeatedly traveled by the vehicle to the number of total recognized travel routes, which is the number of total traveled travel routes of all vehicles between the traffic intersections, is determined as the number of times of each travel route.
2. The travel speed determination method according to claim 1, wherein the determining a travel distance between the first time and the second time based on the target travel track includes:
determining a first position to which the vehicle runs at the first moment and a second position to which the vehicle runs at the second moment according to the positions obtained by positioning at all the positioning moments in the target running track;
and measuring the length of the target running track between the first position and the second position to obtain the running distance.
3. The method for determining a driving speed according to claim 2, wherein the determining a first position to which the vehicle is driven at the first time and a second position to which the vehicle is driven at the second time according to the positions located at the respective locating times in the target driving track includes:
if each positioning time is different from the first time, determining a first reference position positioned by two positioning times adjacent to the first time in the target driving track; interpolating between the two first reference positions according to the time difference between the first time and two adjacent positioning times to obtain a first position to which the first time runs;
if the positioning moments are different from the second moment, determining second reference positions positioned at two positioning moments adjacent to the second moment in the target running track; and interpolating between the two second reference positions according to the time difference between the first time and the two adjacent positioning times to obtain a second position to which the second time runs.
4. The running speed determination method according to claim 2, wherein the target running locus is a plurality of pieces; after determining the driving distance between the first time and the second time according to the target driving track, the method further includes:
calculating the average value of the running distance according to the running distance corresponding to each target running track;
determining a driving speed according to the driving distance and the time difference between the first time and the second time comprises:
and dividing the average value of the running distance by the time difference to obtain the running speed.
5. The method for determining travel speed according to any one of claims 1-4, wherein determining a second time instant in response to a second camera applied to the traffic intersection capturing an image of a respective vehicle exiting the traffic intersection comprises:
carrying out license plate recognition on the image of the vehicle entering the traffic intersection to determine a target license plate;
and carrying out license plate recognition on each image collected by the second camera, and taking the image of the recognized target license plate as the image of the corresponding vehicle exiting the traffic intersection.
6. A travel speed determination apparatus for a vehicle passing through a traffic intersection, the apparatus comprising:
the first determining module is used for responding to an image of a vehicle entering the traffic intersection acquired by a first camera applied to the traffic intersection, and determining a first moment, wherein the image of the vehicle appearing for the first time in each image acquired by the first camera within a preset time period is used as a corresponding image of the vehicle entering the traffic intersection, and the acquiring moment of the image of the vehicle entering the traffic intersection is determined as the first moment;
a second determining module, configured to determine a second time in response to a second camera applied to the traffic intersection acquiring an image that a corresponding vehicle exits from the traffic intersection, wherein a last frame of a plurality of frames of images acquired by the second camera in a visible range includes the vehicle as an image that the vehicle exits from the traffic intersection, and an acquisition time of the image that the vehicle exits from the traffic intersection is determined as the second time;
the query module is used for querying and obtaining a target driving track according to the first time and the second time; the positioning of the target running track at the first moment is within the visual range of the first camera, and the positioning of the target running track at the second moment is within the visual range of the second camera;
the distance measuring module is used for determining the driving distance between the first moment and the second moment according to the target driving track;
the speed measuring module is used for determining the running speed according to the running distance and the time difference between the first moment and the second moment;
the first camera and the second camera are both at a target intersection, the device further comprises:
the optimization module is used for determining that the running speed is lower than a threshold speed and optimizing the traffic capacity of the target intersection;
the optimizing the traffic capacity of the target intersection comprises the following steps:
determining the driving route of the same vehicle between the traffic intersections according to the cameras arranged at different traffic intersections;
determining a target driving route which passes through the target intersection and has the highest vehicle number ratio according to the vehicle number ratio of each driving route;
carrying out collaborative optimization on each traffic intersection passed by the target driving route;
wherein a ratio of the number of times that the corresponding travel route is repeatedly traveled by the vehicle to the number of total recognized travel routes, which is the number of total traveled travel routes of all vehicles between the traffic intersections, is determined as the duty ratio of each travel route.
7. The travel speed determination device according to claim 6, wherein the ranging module includes:
the positioning unit is used for determining a first position to which the vehicle runs at the first moment and a second position to which the vehicle runs at the second moment according to positions obtained by positioning at all positioning moments in a target running track;
and the measuring unit is used for measuring the length of the target running track between the first position and the second position to obtain the running distance.
8. The travel speed determination apparatus according to claim 7, wherein the positioning unit is specifically configured to:
if each positioning time is different from the first time, determining a first reference position positioned by two positioning times adjacent to the first time in the target driving track; interpolating between the two first reference positions according to the time difference between the first time and two adjacent positioning times to obtain a first position to which the first time runs;
if the positioning moments are different from the second moment, determining second reference positions positioned at two positioning moments adjacent to the second moment in the target running track; and interpolating between the two second reference positions according to the time difference between the first time and the two adjacent positioning times to obtain a second position to which the second time runs.
9. The travel speed determination device according to claim 7, wherein the target travel locus is a plurality of pieces; the device further comprises:
the calculation module is used for calculating the average value of the running distance according to the running distance corresponding to each target running track;
the speed measuring module is specifically used for:
and dividing the average value of the running distance by the time difference to obtain the running speed.
10. The travel speed determination apparatus according to any one of claims 6 to 9, characterized in that the second determination module is specifically configured to:
carrying out license plate recognition on the image of the vehicle entering the traffic intersection to determine a target license plate;
and recognizing license plates of all images collected by the second camera, and taking the image of the recognized target license plate as an image of the corresponding vehicle exiting the traffic intersection.
11. A computer device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of determining travel speed of a vehicle through a traffic intersection of any of claims 1-5.
12. A non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the method for determining a travel speed of a vehicle through a traffic intersection according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911111086.4A CN112802347B (en) | 2019-11-14 | 2019-11-14 | Method, device and equipment for determining running speed of vehicle passing through traffic intersection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911111086.4A CN112802347B (en) | 2019-11-14 | 2019-11-14 | Method, device and equipment for determining running speed of vehicle passing through traffic intersection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112802347A CN112802347A (en) | 2021-05-14 |
| CN112802347B true CN112802347B (en) | 2022-11-25 |
Family
ID=75803482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911111086.4A Active CN112802347B (en) | 2019-11-14 | 2019-11-14 | Method, device and equipment for determining running speed of vehicle passing through traffic intersection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112802347B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115619869B (en) * | 2022-12-14 | 2023-08-01 | 库卡机器人(广东)有限公司 | Positioning method and device of automatic guiding transport vehicle and automatic guiding transport vehicle |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1292391C (en) * | 2005-01-02 | 2006-12-27 | 刘刚 | System for realizing full-range over speed monitoring of vehicles running on expressway and its operating method |
| US9707960B2 (en) * | 2014-07-31 | 2017-07-18 | Waymo Llc | Traffic signal response for autonomous vehicles |
| CN105336171B (en) * | 2015-10-16 | 2017-12-29 | 浙江宇视科技有限公司 | A kind of camera position scaling method and device |
-
2019
- 2019-11-14 CN CN201911111086.4A patent/CN112802347B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112802347A (en) | 2021-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111583668B (en) | Traffic jam detection method and device, electronic equipment and storage medium | |
| CN110910665B (en) | Signal lamp control method and device and computer equipment | |
| CN110910658B (en) | Traffic signal control method, traffic signal control device, computer equipment and storage medium | |
| CN111292531B (en) | Tracking method, device and equipment of traffic signal lamp and storage medium | |
| CN112053563B (en) | Event detection method and device applicable to edge computing platform and cloud control platform | |
| CN110929639A (en) | Method, apparatus, device and medium for determining position of obstacle in image | |
| CN111649739A (en) | Positioning method and apparatus, autonomous vehicle, electronic device, and storage medium | |
| CN112507949A (en) | Target tracking method and device, road side equipment and cloud control platform | |
| CN111311906B (en) | Intersection distance detection method and device, electronic equipment and storage medium | |
| CN111767360A (en) | Method and device for marking virtual lane at intersection | |
| CN111291681A (en) | Method, device and equipment for detecting lane line change information | |
| CN110796865A (en) | Intelligent traffic control method and device, electronic equipment and storage medium | |
| CN111339877B (en) | Method and device for detecting length of blind area, electronic equipment and storage medium | |
| CN111666876A (en) | Method and device for detecting obstacle, electronic equipment and road side equipment | |
| CN111652112A (en) | Lane flow direction identification method and device, electronic equipment and storage medium | |
| CN111681417B (en) | Traffic intersection canalization adjusting method and device | |
| CN111627241A (en) | Method and device for generating vehicle queuing information | |
| CN113392794A (en) | Vehicle over-line identification method and device, electronic equipment and storage medium | |
| CN113673281A (en) | Speed limit information determining method, device, equipment and storage medium | |
| CN112129315A (en) | Method and device for recommending parking lot, electronic equipment and storage medium | |
| CN112802347B (en) | Method, device and equipment for determining running speed of vehicle passing through traffic intersection | |
| CN111721305A (en) | Positioning method and apparatus, autonomous vehicle, electronic device, and storage medium | |
| CN111324616A (en) | Method, device and equipment for detecting lane line change information | |
| CN110782551A (en) | Data processing method and device, electronic equipment and storage medium | |
| CN111640301B (en) | Fault vehicle detection method and fault vehicle detection system comprising road side unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211013 Address after: 100176 101, floor 1, building 1, yard 7, Ruihe West 2nd Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant after: Apollo Zhilian (Beijing) Technology Co.,Ltd. Address before: 2 / F, *** building, 10 Shangdi 10th Street, Haidian District, Beijing 100085 Applicant before: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |