CN115547066B - Laser radar-based street crossing warning method, device, equipment and storage medium - Google Patents
Laser radar-based street crossing warning method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN115547066B CN115547066B CN202211502438.0A CN202211502438A CN115547066B CN 115547066 B CN115547066 B CN 115547066B CN 202211502438 A CN202211502438 A CN 202211502438A CN 115547066 B CN115547066 B CN 115547066B
- Authority
- CN
- China
- Prior art keywords
- pedestrian
- area
- crossing
- street
- light color
- 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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/097—Supervising of traffic control systems, e.g. by giving an alarm if two crossing streets have green light simultaneously
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention discloses a street crossing warning method and device, equipment and a storage medium based on a laser radar, wherein the street crossing warning method is applied to a street crossing warning device arranged in a street crossing area, the street crossing warning device comprises the laser radar, a scanning area of the laser radar is the street crossing area, and pedestrian movement information of the street crossing area is obtained by acquiring a light color signal of a traffic light corresponding to the street crossing area and scanning the street crossing area by using the laser radar; judging whether the pedestrian has the violation behavior or not according to the light color signal and the pedestrian movement information; and if the pedestrian is confirmed to have the illegal behavior, triggering an alarm mode. The laser radar is used for detecting the pedestrians crossing the street area, so that more accurate multi-dimensional positioning information of the pedestrians can be obtained, the problems that the positioning accuracy of the detected pedestrians is not high when the pedestrians cross the street, and the illegal behaviors of the pedestrians cannot be accurately detected are solved, and the purpose of warning when the illegal behaviors of the pedestrians cross the street is achieved.
Description
Technical Field
The invention relates to the technical field of traffic intelligent monitoring, in particular to a laser radar-based street crossing warning method, a laser radar-based street crossing warning device, laser radar-based street crossing warning equipment and a laser radar-based storage medium.
Background
The irregular street crossing behavior of the pedestrians is frequent, and the irregular street crossing behavior of the pedestrians is one of the important reasons for causing traffic accidents, so that the monitoring of the street crossing behavior of the pedestrians is very necessary.
At present, the main image recognition technology for detecting the pedestrian crossing behavior is adopted. However, in the case of image recognition techniques, the ability to determine the spatial position of a detected moving object is weak, and sunlight is relied upon. Therefore, in the prior art, when the pedestrian crossing behavior is detected, the detection range is limited and the detection condition is high, so that the positioning accuracy of the detection when the pedestrian crosses the street is not high, the illegal behavior of the pedestrian cannot be accurately obtained, and the warning cannot be given when the pedestrian has the illegal crossing behavior.
Disclosure of Invention
Therefore, in order to solve the above problems, it is necessary to provide a method, an apparatus, a device, and a storage medium for warning when a pedestrian crossing behavior is detected, so as to solve the problems that the pedestrian crossing behavior cannot be accurately detected, and the warning cannot be given when the pedestrian crossing behavior is detected.
In order to achieve the above object, a first aspect of the present application provides a laser radar-based street crossing warning method, where the method is applied to a street crossing warning device disposed in a street crossing area, where the street crossing warning device includes a laser radar, and a scanning area of the laser radar is the street crossing area, and the method includes:
acquiring a light color signal of a traffic light corresponding to the street crossing area;
scanning the street crossing area by using a laser radar to obtain pedestrian motion information of the street crossing area;
judging whether the pedestrian has an illegal behavior or not according to the light color signal and the pedestrian movement information;
and if the pedestrian is confirmed to have the illegal behavior, triggering an alarm mode.
Further, the scanning the street crossing area by using the laser radar to obtain the pedestrian motion information of the street crossing area specifically includes:
scanning the street crossing area once by using the laser radar to obtain original data information of each pedestrian, and performing data classification on the original data information to obtain a target set, wherein the target set comprises position information of each pedestrian;
carrying out target tracking on the target set according to a target tracking algorithm to obtain a target track set, wherein the target track set comprises the motion tracks of all pedestrians;
and obtaining the pedestrian motion information according to the target track set.
Further, if the street crossing area at least includes a zebra crossing area, the step of determining whether there is an illegal action of the pedestrian according to the light color signal and the pedestrian movement information includes:
when the light color signal is a red light, judging whether pedestrians exist in the zebra crossing area or not according to the pedestrian movement information;
if the pedestrian is confirmed to exist in the zebra crossing area, confirming that the pedestrian has the violation behavior;
and if no pedestrian is confirmed in the zebra crossing area, confirming that no pedestrian has illegal behaviors.
Further, the street crossing area further includes a waiting area, and the method further includes:
if no pedestrian violation behavior is confirmed, judging whether a pedestrian waits for crossing the street in the waiting area or not according to the pedestrian movement information;
and if the pedestrian is confirmed to wait for crossing the street in the waiting area, adjusting the color of the traffic light according to the maximum passing time and the minimum passing time of the allowed vehicles, the first passing time of the vehicles, the maximum staying time of the pedestrian in the waiting area and the current waiting number.
Further, the determining, according to the pedestrian motion information, whether a pedestrian waits for crossing the street in the waiting area specifically includes:
judging whether a pedestrian passes through the waiting area or not according to the pedestrian motion information;
if the pedestrian is determined to pass through the waiting area, the staying time of the target pedestrian passing through the waiting area in the waiting area is obtained;
judging whether pedestrians wait for crossing the street in the waiting area according to the staying time;
and if the stay time is not less than the stay time threshold value, confirming that pedestrians wait for crossing the street in the waiting area.
Further, the adjusting the color of the traffic light according to the maximum passing time and the minimum passing time allowed for the vehicle to pass, the first passing time of the vehicle, the maximum staying time of the pedestrians in the waiting area, and the current number of waiting people specifically includes:
acquiring the maximum passing time, the minimum passing time, the first passed time of the vehicle, the longest stay time and the current waiting number of people;
when the first passing time of the vehicle is not less than the minimum passing time, calculating a required value according to the longest stay time and the current waiting number to obtain a pedestrian crossing required value, judging the pedestrian crossing required value and a pedestrian crossing required threshold value, and judging whether to adjust the light color of the traffic light;
if the pedestrian street crossing demand value is not smaller than the pedestrian street crossing demand threshold, determining to adjust the light color of the traffic light, and adjusting the light color of the traffic light to green;
if the pedestrian crossing demand value is smaller than the pedestrian crossing demand threshold value, acquiring second passing time of the vehicle, judging the second passing time of the vehicle and the maximum passing time, and judging whether to adjust the light color of the traffic light;
if the second passing time of the vehicle is not less than the maximum passing time, the adjustment of the light color of the traffic light is confirmed, and the light color of the traffic light is adjusted to be green;
if the second passing time of the vehicle is less than the maximum passing time, acquiring the current vehicle queuing length, calculating a required value according to the current vehicle queuing length to obtain a current vehicle passing required value, and judging whether to adjust the light color of the traffic light according to the current vehicle passing required value, a vehicle passing required threshold value and the current waiting number;
and if the current number of the pedestrians waiting in the waiting area is larger than the threshold value of the number of the pedestrians waiting in the waiting area and the current vehicle passing demand value is smaller than the threshold value of the vehicle passing demand, determining to adjust the light color of the traffic light and adjusting the light color of the traffic light to be green.
Further, the street crossing area at least comprises a zebra crossing area, and the zebra crossing area comprises a core zebra crossing area and an edge zebra crossing area;
the core zebra crossing area comprises a minimum area formed by zebra crossings, and the edge zebra crossing area comprises an area formed by a preset distance after the zebra crossings are extended by the preset distance;
the step of judging whether the pedestrian has the violation behavior according to the light color signal and the pedestrian movement information specifically comprises the following steps:
when the light color signal is a green light, judging whether a pedestrian is outside the core zebra crossing area or not according to the pedestrian motion information;
if the pedestrian is confirmed to be in the edge zebra crossing area, confirming that the pedestrian is out of the core zebra crossing area;
and if the pedestrian is determined to be outside the core zebra crossing area, determining that the pedestrian has illegal behaviors.
In order to achieve the above object, a second aspect of the present application provides a laser radar-based street crossing warning device, which is characterized in that the device includes: the system comprises a signal acquisition unit, a laser radar unit and a data processing unit;
the signal acquisition unit is used for acquiring the light color signals of the traffic lights corresponding to the street crossing areas;
the laser radar unit is used for scanning the street crossing area by using a laser radar to obtain pedestrian motion information of the street crossing area;
the data processing unit is used for judging whether the pedestrian has an illegal behavior according to the light color signal and the pedestrian movement information;
and if the pedestrian is confirmed to have the illegal behavior, triggering an alarm mode.
To achieve the above object, a third aspect of the present application provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, causes the processor to execute the steps of the method according to the first aspect.
To achieve the above object, a fourth aspect of the present application provides a computer device, which includes a memory and a processor, and is characterized in that the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the steps of the method according to the first aspect.
By adopting the embodiment of the invention, the following beneficial effects are achieved:
the invention is applied to a street crossing warning device arranged in a street crossing area, the street crossing warning device comprises a laser radar, a scanning area of the laser radar is the street crossing area, and pedestrian movement information of the street crossing area is obtained by acquiring a light color signal of a traffic light corresponding to the street crossing area and scanning the street crossing area by using the laser radar; judging whether the pedestrian has the violation behavior or not according to the light color signal and the pedestrian movement information; and if the pedestrian is confirmed to have the illegal behavior, triggering an alarm mode. The laser radar is used for detecting the pedestrians crossing the street area, so that more accurate multi-dimensional positioning information of the pedestrians can be obtained, the problems that the accuracy of positioning the pedestrians is not high when the pedestrians cross the street, and the pedestrian violation behaviors can not be accurately detected are solved, and the purpose of warning when the pedestrians have the violation street crossing behaviors is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Wherein:
FIG. 1 is a schematic diagram of a flow of a laser radar-based street crossing warning method in an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a refinement step of step 200 of the embodiment shown in FIG. 1 in an embodiment of the present application;
FIG. 3 is a schematic view of a street crossing area in an embodiment of the present application;
FIG. 4 is a diagram of a laser radar-based street crossing warning device in an embodiment of the present application;
fig. 5 is an internal structural diagram of a computer device in the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
In the embodiment of the present application, a method for warning street crossing based on a laser radar is provided, please refer to fig. 1, where fig. 1 is a schematic diagram of a flow of a method for warning street crossing based on a laser radar in the embodiment of the present invention, the method is applied to a warning device for street crossing arranged in a street crossing area, the warning device for street crossing includes a laser radar, a scanning area of the laser radar is the street crossing area, and the method for warning street crossing includes:
in the embodiment of the application, the street crossing warning device is used for monitoring the street crossing behavior of the pedestrians in the street crossing area, and the correct street crossing behaviors of the pedestrians are different under different light colors, so that the light color condition of traffic lights of the pedestrians in the street crossing area detected by a laser radar needs to be obtained, and the street crossing behavior of the pedestrians is monitored according to the light color condition;
the traffic lights of pedestrians generally have a color including at least red and green.
Step 200, scanning the street crossing area by using a laser radar to obtain pedestrian motion information of the street crossing area;
in the embodiment of the application, the laser radar can be erected at the periphery of the street crossing area to be detected so as to comprehensively scan the street crossing area, so as to obtain the motion information of all pedestrians in the street crossing area, and in a feasible embodiment, the laser radar with the performance parameter of 20HZ/S and the scanning angle of 270 degrees can be adopted.
Further, referring to fig. 2, in the embodiment of the present application, a flowchart of a refining step of step 200 in the embodiment shown in fig. 1 is illustrated, where step 200 specifically includes:
step 210, scanning the street crossing area once by using a laser radar to obtain original data information of each pedestrian, and performing data classification on the original data information to obtain a target set, wherein the target set comprises position information of each pedestrian;
specifically, in the embodiment of the present application, the original data information D of one frame in the street crossing area can be obtained by scanning the street crossing area for one week by using the laser radar. For example, if the laser radar is used to scan the street crossing area for the first time and there are n pedestrians in the street crossing area, the original data information D of one frame can be obtained 1 =（d 1,1 ,d 1，2 ，d 1,3 ,…，d 1，n ) And d is the distance value from the laser radar transmitting point to the pedestrian.
Upon acquiring the original data information D 1 =（d 1,1 ,d 1，2 ，d 1,3 ,…，d 1，n ) Then, calculating according to the distance value and the obtained offset included angle when the laser radar scans the pedestrian to obtain the coordinate of each pedestrian with the laser radar as the origin, for example, the distance value between the laser radar distance and the pedestrian n is d n And the offset angle of the lidar is alpha at this time, the coordinate of the pedestrian n can be represented as p 1，n （x，y）=（d 1，n *cosα，d 1，n * sin α). Therefore, the raw data information is subjected to data classification, position information including coordinates of each pedestrian can be obtained, and the target set K is obtained according to the position information of each pedestrian 1 ={k 1，1 ，k 1，2 ，…，k 1，n In which k is 1，n =p 1，n （x，y）=（d 1，n *cosα，d 1，n *sinα）。
specifically, in the embodiment of the present application, the target set K is aligned by using the laser radar according to the target tracking algorithm 1 ={k 1，1 ,k 1，2 ，…，k 1，n The pedestrians in the set T = { T } are tracked, because in the process of tracking the target, multi-frame data information about each pedestrian is obtained by scanning through the laser radar, position information of each pedestrian at different time is obtained according to the data information, and then a target track set T = { T } is obtained 1 ，t 2 ，…，t n H and t n ={p 1，n ，p 2，n ，…，p m，n And m is the number of scans.
And step 230, acquiring pedestrian motion information according to the target track set.
Specifically, in the embodiment of the present application, calculation and analysis are performed according to position information of each pedestrian in the target trajectory set, so as to obtain motion information of each pedestrian, where the motion information at least includes a motion speed, a motion direction, and a coordinate position of the pedestrian.
in order to facilitate understanding of the embodiment of the present application, please refer to fig. 3, fig. 3 is a schematic diagram of a street crossing area in the embodiment of the present application, there are two traffic light color situations, namely, a red light and a green light, and then, the street crossing warning method of the present application is described in two practical application scenarios, namely, the red light and the green light.
And (I) the current traffic light is a red light.
In a feasible embodiment of the present application, the street crossing area at least includes a zebra crossing area, and then, according to the light color signal and the pedestrian movement information, it is determined whether there is a violation by a pedestrian, which specifically includes:
when the light color signal is a red light, judging whether pedestrians exist in the zebra crossing area or not according to the pedestrian movement information; if the pedestrian is confirmed to exist in the zebra crossing area, confirming that the pedestrian has the illegal behavior; and if no pedestrian is confirmed in the zebra crossing area, confirming that no pedestrian has illegal behaviors.
Specifically, if the pedestrian is a red light, it should be monitored whether there is a pedestrian running the red light in the zebra crossing area of the street crossing area, and therefore, after obtaining the pedestrian motion information, it should be determined whether there is a pedestrian in the zebra crossing area according to the motion information of each pedestrian.
In a possible embodiment of the present application, the street crossing area further includes a waiting area, and the method further includes:
step 310, if it is determined that no pedestrian has an illegal behavior, judging whether a pedestrian waits for crossing the street in the waiting area according to the pedestrian motion information;
specifically, if the current traffic light is a red light, after whether a pedestrian runs the red light is judged, the waiting area is continuously monitored, and information that the pedestrian waits for shopping is obtained.
Further, judging whether a pedestrian waits for crossing the street in the waiting area according to the pedestrian motion information specifically comprises:
step 311, judging whether a pedestrian passes through the waiting area or not according to the pedestrian motion information;
specifically, the waiting area is monitored, and whether pedestrians pass through the waiting area is judged according to the monitored motion information of the pedestrians.
Step 312, if it is determined that a pedestrian passes through the waiting area, acquiring the staying time of the target pedestrian passing through the waiting area in the waiting area;
specifically, if a pedestrian passes through the waiting area, the pedestrian passing through the waiting area is subjected to target tracking, and the stay time of the pedestrian in the waiting area is recorded;
step 313, judging whether pedestrians wait for crossing the street in the waiting area according to the staying time; and if the stay time is not less than the stay time threshold value, confirming that pedestrians wait for crossing the street in the waiting area.
In a feasible embodiment of the present application, the retention time threshold is a minimum value of the retention time in the waiting area, and the retention time threshold is determined according to the situation in a specific application scenario, and optionally, the retention time threshold may be 2 to 4 seconds.
Specifically, after the time that the pedestrian stays in the waiting area is obtained, whether the pedestrian passing through the waiting area waits for crossing the street is judged according to the staying time and the staying time threshold.
If the stay time is not less than the stay time threshold, determining that the pedestrian is waiting for crossing the street;
and if the stay time is less than the stay time threshold value, determining that the pedestrian only passes through the waiting area and does not wait for crossing the street.
And step 320, if the pedestrian is confirmed to wait for crossing the street in the waiting area, adjusting the color of the traffic lights according to the maximum passing time and the minimum passing time of the allowed vehicles, the first passing time of the vehicles, the maximum staying time of the pedestrians in the waiting area and the current waiting number.
In addition, in a feasible embodiment of the application, the light color of the traffic light can be adjusted according to the street crossing requirement of pedestrians and the passing requirement of vehicles, so that the passing efficiency is improved.
Specifically, the method for improving the passing efficiency specifically comprises the following steps:
step 321, obtaining the maximum passing time, the minimum passing time, the first passing time of the vehicle, the longest stay time and the current waiting number of people;
in a feasible embodiment of the application, the maximum passing time and the minimum passing time for allowing vehicles to pass are preset according to the practical scene of the application of the warning device when the traffic light of pedestrians is a red light; the first passing time of the vehicle is the time from the starting time point of the vehicle passing starting action in the street crossing area to the current passing time of the vehicle; the longest stay time is the longest stay time between the time point when the pedestrian stays in the waiting area and the current time point; the current number of the pedestrians waiting for the street is determined at the current time point.
Step 322, when the first passing time of the vehicle is not less than the minimum passing time, calculating a required value according to the longest stay time and the current waiting number of people to obtain a pedestrian crossing required value, judging the pedestrian crossing required value and a pedestrian crossing required threshold value, and judging whether to adjust the light color of the traffic lights; if the pedestrian crossing demand value is not less than the pedestrian crossing demand threshold value, the light color of the traffic light is determined to be adjusted, and the light color of the traffic light is adjusted to be green;
in one possible embodiment of the present application, it is assumed that the maximum transit time is 300s and the minimum transit time is 30s; the pedestrian crossing demand threshold is a minimum crossing demand value which allows pedestrians to cross the street.
Specifically, when the first passed time of the vehicle is not less than the minimum passed time 30s, whether to adjust the light color is considered.
Firstly, calculating according to the obtained longest stay time of the pedestrian and the current number of waiting people to obtain a pedestrian crossing demand value, optionally, the pedestrian crossing demand value can be obtained by using the following formula: pedestrian street crossing demand = longest stay time value + current wait people value.
Secondly, comparing the pedestrian street crossing demand value with a pedestrian street crossing demand threshold value, and if the pedestrian street crossing demand value is not less than the pedestrian street crossing demand threshold value, adjusting the current red light of the traffic light to be a green light so as to enable the pedestrian to cross the street;
and if the pedestrian crossing demand value is less than the pedestrian crossing demand threshold value, the vehicle is enabled to continue to pass.
Step 323, if the pedestrian crossing demand value is smaller than the pedestrian crossing demand threshold, acquiring second passing time of the vehicle, judging the second passing time and the maximum passing time of the vehicle, and judging whether to adjust the light color of the traffic light; if the second passing time of the vehicle is not less than the maximum passing time, the adjustment of the light color of the traffic light is confirmed, and the light color of the traffic light is adjusted to be green;
specifically, after the condition that the pedestrian crossing demand value is smaller than the pedestrian crossing demand threshold value is confirmed, the vehicle is enabled to continue to pass, the second passing time of the vehicle is obtained, comparison is carried out according to the maximum passing time 300s of the second passing time, and if the second passing time of the vehicle is not smaller than the maximum passing time 300s, the current red light of the traffic light is adjusted to be the green light so as to enable the pedestrian to cross the street;
step 324, if the second passing time of the vehicle is less than the maximum passing time, obtaining the current vehicle queuing length, calculating a required value according to the current vehicle queuing length to obtain the current vehicle passing required value, and judging whether to adjust the light color of the traffic light according to the current vehicle passing required value, the vehicle passing required threshold and the current waiting number; and if the current waiting number of the pedestrians in the waiting area is greater than the threshold value of the waiting number of the pedestrians and the current vehicle passing demand value is smaller than the threshold value of the vehicle passing demand, determining to adjust the light color of the traffic light, and adjusting the light color of the traffic light to green.
In one possible embodiment of the present application, the vehicle passage demand threshold is a minimum demand value that allows the vehicle to continue to pass;
specifically, when the second passing time of the vehicle is less than the maximum passing time of 300s, the queuing length of the current vehicle is obtained, and calculation is performed according to the queuing length of the current vehicle and the vehicle value to obtain a current vehicle passing demand value; comparing the current vehicle passing demand value with a vehicle passing demand threshold value, and considering whether the light color of the traffic light needs to be adjusted or not according to the current waiting number of pedestrians in the waiting area;
if the current vehicle passing demand value is smaller than the vehicle passing demand threshold value and the current waiting number is larger than the pedestrian waiting number threshold value, the adjustment of the light color of the traffic light is confirmed, and the light color of the traffic light is adjusted to be green; otherwise, the color of the lamp is kept and the vehicle is allowed to pass continuously.
The waiting area is monitored by the method, the light color of the traffic light is adjusted according to the maximum passing time and the minimum passing time of the allowed vehicles, the first passing time of the vehicles, the longest residence time of the pedestrians in the waiting area and the current waiting number of people, various factors are comprehensively considered, the passing state is adjusted according to different conditions, and the passing efficiency is further improved.
And secondly, the current traffic light is a green light.
In a possible embodiment of the present application, the street crossing area at least includes a zebra crossing area, and the zebra crossing area includes a core zebra crossing area and an edge zebra crossing area; the central zebra crossing area comprises a minimum area formed by zebra crossings, and the edge zebra crossing area comprises an area formed by a preset distance after the zebra crossings are extended by the preset distance;
further, when the light color signal is a green light, judging whether a pedestrian is outside the core zebra crossing area or not according to the pedestrian motion information; if the pedestrian is confirmed to be in the edge zebra crossing area, the pedestrian is confirmed to be out of the core zebra crossing area; and if the pedestrian is determined to be outside the core zebra crossing area, determining that the pedestrian has illegal behaviors.
Specifically, when the traffic light is green, it is monitored whether pedestrians are crossing the street regularly, that is, whether pedestrians walk in the core zebra crossing area.
In this application embodiment, utilize laser radar to obtain more accurate multidimensional pedestrian because information, and then carry out the monitoring of pedestrian's action of crossing the street according to these motion information to detect out the pedestrian's action of crossing the street of irregularity, in addition, can also synthesize many-sided factors such as considering pedestrian and vehicle, control the light color of traffic lights, so that improve current efficiency.
And step 400, if the pedestrian is confirmed to have the illegal behavior, triggering an alarm mode.
Specifically, when the red and green light is the red light, if a pedestrian is monitored to be in the zebra crossing area, an alarm mode is triggered, the light of an alarm device flickers, and the pedestrian is alarmed to run the red light in a voice manner;
when the red and green light is the green light, if the situation that a pedestrian is in the edge zebra crossing area is monitored, an alarm mode is triggered, the light of the alarm device flickers, and the pedestrian is alarmed in a voice mode not to walk on the zebra crossing.
The street crossing warning method based on the laser radar is applied to a street crossing warning device arranged in a street crossing area, the street crossing warning device comprises the laser radar, a scanning area of the laser radar is the street crossing area, and pedestrian motion information of the street crossing area is obtained by acquiring a light color signal of a traffic light corresponding to the street crossing area and scanning the street crossing area by using the laser radar; judging whether the pedestrian has an illegal behavior or not according to the light color signal and the pedestrian movement information; and if the pedestrian is confirmed to have illegal behaviors, triggering an alarm mode. By the method, more accurate multi-dimensional positioning information of the pedestrian can be obtained, the problems that the positioning accuracy of detection is not high when the pedestrian crosses the street, and the violation behaviors of the pedestrian cannot be accurately detected are solved, and the purpose of warning when the pedestrian crosses the street in violation behaviors is achieved.
In the embodiment of the present application, a laser radar-based street crossing warning device is provided, please refer to fig. 4, where fig. 4 is a structural diagram of a laser radar-based street crossing warning device in the embodiment of the present application, and the street crossing warning device includes: a signal acquisition unit 401, a laser radar unit 402, and a data processing unit 403;
a signal acquiring unit 401, configured to acquire a light color signal of a traffic light corresponding to a street crossing area;
the laser radar unit 402 is configured to scan a street crossing area by using a laser radar to obtain pedestrian motion information of the street crossing area;
the data processing unit 403 is used for judging whether the pedestrian has an illegal behavior according to the light color signal and the pedestrian motion information;
and if the pedestrian is confirmed to have illegal behaviors, triggering an alarm mode.
Acquiring a light color signal of a traffic light corresponding to a street crossing area through the street crossing warning device, and scanning the street crossing area by using a laser radar to obtain pedestrian motion information of the street crossing area; judging whether the pedestrian has the violation behavior or not according to the light color signal and the pedestrian movement information; and if the pedestrian is confirmed to have illegal behaviors, triggering an alarm mode. By the method, more accurate multi-dimensional positioning information of the pedestrian can be obtained, the problems that the positioning accuracy of detection is not high when the pedestrian crosses the street, and the violation behaviors of the pedestrian cannot be accurately detected are solved, and the purpose of warning when the pedestrian crosses the street in violation behaviors is achieved.
FIG. 5 shows an internal block diagram of a computer device in one embodiment of the invention. The computer device may be specifically a terminal or a system. As shown in fig. 5, the computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program, which, when executed by the processor, causes the processor to carry out the steps of the above-described method embodiments. The internal memory may also store a computer program, which, when executed by the processor, causes the processor to perform the steps of the above-described method embodiments. Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, a computer device is proposed, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the above-described method embodiments.
In an embodiment, a computer-readable storage medium is proposed, in which a computer program is stored which, when being executed by a processor, causes the processor to carry out the individual steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, and the program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (8)
1. A street crossing warning method based on a laser radar is characterized in that the method is applied to a street crossing warning device arranged in a street crossing area, the street crossing warning device comprises the laser radar, a scanning area of the laser radar is the street crossing area, and the method comprises the following steps:
acquiring a light color signal of a traffic light corresponding to the street crossing area;
scanning the street crossing area by using a laser radar to obtain pedestrian motion information of the street crossing area;
judging whether the pedestrian has an illegal behavior or not according to the light color signal and the pedestrian movement information;
if the pedestrian is confirmed to have the illegal behavior, triggering an alarm mode;
wherein the street crossing area further comprises a waiting area, and the method further comprises:
when the light color signal is a red light, if no pedestrian is determined to have violation behaviors, judging whether a pedestrian waits for crossing the street in the waiting area according to the pedestrian movement information;
if the pedestrian is confirmed to wait for crossing the street in the waiting area, adjusting the color of the traffic light according to the maximum passing time and the minimum passing time of the allowed vehicles, the first passing time of the vehicles, the longest staying time of the pedestrian in the waiting area and the current waiting number;
the adjusting of the light color of the traffic light according to the maximum passing time and the minimum passing time of the allowed vehicles, the first passed time of the vehicles, the longest residence time of the pedestrians in the waiting area and the current number of the waiting people specifically comprises:
acquiring the maximum passing time, the minimum passing time, the first passed time of the vehicle, the longest stay time and the current waiting number of people;
when the first passing time of the vehicle is not less than the minimum passing time, calculating a required value according to the longest stay time and the current waiting number of people to obtain a pedestrian crossing required value, judging the pedestrian crossing required value and a pedestrian crossing required threshold value, and judging whether to adjust the light color of the traffic light;
if the pedestrian street crossing demand value is not smaller than the pedestrian street crossing demand threshold, determining to adjust the light color of the traffic light, and adjusting the light color of the traffic light to green;
if the pedestrian crossing demand value is smaller than the pedestrian crossing demand threshold value, acquiring second passing time of the vehicle, judging the second passing time of the vehicle and the maximum passing time, and judging whether to adjust the light color of the traffic light;
if the second passing time of the vehicle is not less than the maximum passing time, the light color of the traffic light is confirmed to be adjusted, and the light color of the traffic light is adjusted to be green;
if the second passing time of the vehicle is less than the maximum passing time, acquiring the current vehicle queuing length, calculating a required value according to the current vehicle queuing length to obtain a current vehicle passing required value, and judging whether to adjust the light color of the traffic light according to the current vehicle passing required value, a vehicle passing required threshold and the current waiting number;
and if the current waiting number of the pedestrians in the waiting area is greater than the threshold value of the waiting number of the pedestrians and the current vehicle passing demand value is smaller than the threshold value of the vehicle passing demand, determining to adjust the light color of the traffic light and adjusting the light color of the traffic light to be green.
2. The method according to claim 1, wherein the scanning the street crossing area by using the laser radar to obtain the pedestrian movement information of the street crossing area specifically comprises:
scanning the street crossing area once by using the laser radar to obtain original data information of each pedestrian, and performing data classification on the original data information to obtain a target set, wherein the target set comprises position information of each pedestrian;
carrying out target tracking on the target set according to a target tracking algorithm to obtain a target track set, wherein the target track set comprises the motion tracks of all pedestrians;
and obtaining the pedestrian motion information according to the target track set.
3. The method according to claim 1, wherein the street crossing area at least includes a zebra crossing area, and the determining whether there is an illegal action by a pedestrian according to the light color signal and the pedestrian motion information specifically includes:
when the light color signal is a red light, judging whether pedestrians exist in the zebra crossing area or not according to the pedestrian movement information;
if the pedestrians are confirmed to exist in the zebra crossing area, confirming that the pedestrians have illegal behaviors;
and if no pedestrian is confirmed in the zebra crossing area, confirming that no pedestrian has illegal behaviors.
4. The method according to claim 1, wherein the determining whether a pedestrian waits for crossing in the waiting area according to the pedestrian motion information specifically includes:
judging whether a pedestrian passes through the waiting area or not according to the pedestrian motion information;
if the pedestrian is determined to pass through the waiting area, the staying time of the target pedestrian passing through the waiting area in the waiting area is obtained;
judging whether pedestrians wait for crossing the street in the waiting area according to the staying time;
and if the stay time is not less than the stay time threshold value, confirming that pedestrians wait for crossing the street in the waiting area.
5. The method of claim 1, wherein the street crossing area comprises at least a zebra crossing area, the zebra crossing area comprising a core zebra crossing area and an edge zebra crossing area;
the core zebra crossing area comprises a minimum area formed by zebra crossings, and the edge zebra crossing area comprises an area formed by a preset distance after the zebra crossings are extended by the preset distance;
the judging whether the pedestrian has the illegal behavior according to the light color signal and the pedestrian movement information specifically comprises the following steps:
when the light color signal is a green light, judging whether a pedestrian is outside the core zebra crossing area or not according to the pedestrian motion information;
if the pedestrian is confirmed to be in the edge zebra crossing area, confirming that the pedestrian is out of the core zebra crossing area;
and if the pedestrian is determined to be outside the core zebra crossing area, determining that the pedestrian has illegal behaviors.
6. A laser radar-based street crossing warning device, characterized in that the device comprises: the system comprises a signal acquisition unit, a laser radar unit and a data processing unit;
the signal acquisition unit is used for acquiring the light color signals of the traffic lights corresponding to the street crossing areas;
the laser radar unit is used for scanning the street crossing area by using a laser radar to obtain pedestrian motion information of the street crossing area;
the data processing unit is used for judging whether the pedestrian has violation behaviors or not according to the light color signal and the pedestrian movement information;
if the pedestrian is confirmed to have the illegal behavior, triggering an alarm mode;
wherein, the street crossing area further comprises a waiting area, and the data processing unit is further configured to:
when the light color signal is a red light, if no pedestrian is determined to have violation behaviors, judging whether a pedestrian waits for crossing the street in the waiting area according to the pedestrian movement information;
if the pedestrian is confirmed to wait for crossing the street in the waiting area, adjusting the color of the traffic light according to the maximum passing time and the minimum passing time of the allowed vehicles, the first passing time of the vehicles, the longest staying time of the pedestrian in the waiting area and the current waiting number;
the adjusting the color of the traffic light according to the maximum passing time and the minimum passing time of the allowed vehicles, the first passing time of the vehicles, the longest staying time of the pedestrians in the waiting area and the current number of waiting people specifically comprises the following steps:
acquiring the maximum passing time, the minimum passing time, the first passed time of the vehicle, the longest stay time and the current waiting number of people;
when the first passing time of the vehicle is not less than the minimum passing time, calculating a required value according to the longest stay time and the current waiting number to obtain a pedestrian crossing required value, judging the pedestrian crossing required value and a pedestrian crossing required threshold value, and judging whether to adjust the light color of the traffic light;
if the pedestrian street crossing demand value is not smaller than the pedestrian street crossing demand threshold, determining to adjust the light color of the traffic light, and adjusting the light color of the traffic light to green;
if the pedestrian crossing demand value is smaller than the pedestrian crossing demand threshold value, acquiring second passing time of the vehicle, judging the second passing time of the vehicle and the maximum passing time, and judging whether to adjust the light color of the traffic light;
if the second passing time of the vehicle is not less than the maximum passing time, the adjustment of the light color of the traffic light is confirmed, and the light color of the traffic light is adjusted to be green;
if the second passing time of the vehicle is less than the maximum passing time, acquiring the current vehicle queuing length, calculating a required value according to the current vehicle queuing length to obtain a current vehicle passing required value, and judging whether to adjust the light color of the traffic light according to the current vehicle passing required value, a vehicle passing required threshold value and the current waiting number;
and if the current waiting number of the pedestrians in the waiting area is greater than the threshold value of the waiting number of the pedestrians and the current vehicle passing demand value is smaller than the threshold value of the vehicle passing demand, determining to adjust the light color of the traffic light and adjusting the light color of the traffic light to be green.
7. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 5.
8. A computer device comprising a memory and a processor, characterized in that the memory stores a computer program which, when executed by the processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211502438.0A CN115547066B (en) | 2022-11-29 | 2022-11-29 | Laser radar-based street crossing warning method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211502438.0A CN115547066B (en) | 2022-11-29 | 2022-11-29 | Laser radar-based street crossing warning method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115547066A CN115547066A (en) | 2022-12-30 |
| CN115547066B true CN115547066B (en) | 2023-03-10 |
Family
ID=84721845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211502438.0A Active CN115547066B (en) | 2022-11-29 | 2022-11-29 | Laser radar-based street crossing warning method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115547066B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108629968A (en) * | 2018-06-26 | 2018-10-09 | 吉林大学 | A kind of pedestrian's street crossing safety control based on laser radar |
| CN110428661A (en) * | 2019-08-12 | 2019-11-08 | 深圳成谷科技有限公司 | A kind of protection pedestrian crosses the method, apparatus and equipment of zebra stripes |
| CN110570670A (en) * | 2019-10-16 | 2019-12-13 | 公安部交通管理科学研究所 | Road section pedestrian crossing signal system and method based on video pedestrian detection |
| CN115273496A (en) * | 2022-07-27 | 2022-11-01 | 北京英泰智科技股份有限公司 | Method and system for dynamically controlling pedestrian crossing signal lamp timing and electronic equipment |
-
2022
- 2022-11-29 CN CN202211502438.0A patent/CN115547066B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108629968A (en) * | 2018-06-26 | 2018-10-09 | 吉林大学 | A kind of pedestrian's street crossing safety control based on laser radar |
| CN110428661A (en) * | 2019-08-12 | 2019-11-08 | 深圳成谷科技有限公司 | A kind of protection pedestrian crosses the method, apparatus and equipment of zebra stripes |
| CN110570670A (en) * | 2019-10-16 | 2019-12-13 | 公安部交通管理科学研究所 | Road section pedestrian crossing signal system and method based on video pedestrian detection |
| CN115273496A (en) * | 2022-07-27 | 2022-11-01 | 北京英泰智科技股份有限公司 | Method and system for dynamically controlling pedestrian crossing signal lamp timing and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115547066A (en) | 2022-12-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11380105B2 (en) | Identification and classification of traffic conflicts | |
| CN110047276B (en) | Method and device for determining congestion state of obstacle vehicle and related product | |
| CN112037249A (en) | Method and device for tracking object in image of camera device | |
| JP2008186170A (en) | Driving support system and driving support method | |
| CN113676702A (en) | Target tracking monitoring method, system and device based on video stream and storage medium | |
| Nguyen et al. | Real-time validation of vision-based over-height vehicle detection system | |
| CN107458308B (en) | Driving assisting method and system | |
| CN114670852A (en) | Method, device, equipment and medium for identifying abnormal driving behaviors | |
| Gandhi et al. | A novel approach of object detection using deep learning for animal safety | |
| CN115547066B (en) | Laser radar-based street crossing warning method, device, equipment and storage medium | |
| Dong et al. | Large field monitoring system of vehicle load on long-span bridge based on the fusion of multiple vision and wim data | |
| Baek et al. | Mono-camera based side vehicle detection for blind spot detection systems | |
| JP2020166409A (en) | In-vehicle device, in-vehicle system and surroundings monitoring method | |
| CN110533930B (en) | Traffic data processing method and device, computer equipment and storage medium | |
| CN115966084B (en) | Holographic intersection millimeter wave radar data processing method and device and computer equipment | |
| CN111680633A (en) | Vehicle violation identification method and device, computer equipment and storage medium | |
| US11917325B2 (en) | Automated scope limiting for video analytics | |
| Mostafi et al. | Real-Time Jaywalking Detection and Notification System using Deep Learning and Multi-Object Tracking | |
| CN113537238B (en) | Information processing method and image recognition device | |
| CN115909758B (en) | Laser radar-based vehicle detection method, device, equipment and storage medium | |
| CN114528040A (en) | Environment self-adaption method, device, medium and roadside perception and calculation system | |
| Yu et al. | Vehicle forward collision warning based upon low frequency video data: A hybrid deep learning modeling approach | |
| Moayed et al. | Surveillance-based collision-time analysis of road-crossing pedestrians | |
| CN110874549A (en) | Target visual field determining method, system, computer device and storage medium | |
| CN114529789A (en) | Target detection method, target detection device, computer equipment and storage medium |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |