WO2020211047A1 - 交通信息处理设备、***及方法 - Google Patents
交通信息处理设备、***及方法 Download PDFInfo
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- WO2020211047A1 WO2020211047A1 PCT/CN2019/083273 CN2019083273W WO2020211047A1 WO 2020211047 A1 WO2020211047 A1 WO 2020211047A1 CN 2019083273 W CN2019083273 W CN 2019083273W WO 2020211047 A1 WO2020211047 A1 WO 2020211047A1
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Definitions
- the embodiments of the present disclosure relate to a traffic information processing device, system and method.
- At least one embodiment of the present disclosure provides a traffic information processing device, including: an image recognition and decision device configured to process the received traffic path image to recognize a scene, and determine whether to perform an alarm operation according to the scene to obtain a determination result
- the warning device is configured to generate warning information according to the determination result for sending prompt information to vehicles in the traffic path.
- the traffic information processing equipment provided by an embodiment of the present disclosure further includes: a flying platform configured to perform a flight; an image acquisition device provided on the flying platform and configured to acquire the traffic path image; wherein The image recognition and decision device and the warning device are both arranged on the flight platform.
- the traffic information processing equipment provided by an embodiment of the present disclosure further includes a positioning device, wherein the positioning device is provided on the flight platform and is configured to obtain position information of the flight platform.
- the traffic information processing equipment provided by an embodiment of the present disclosure further includes: a communication device, which is set on the flight platform and configured to communicate with a target vehicle to obtain position information and speed information of the target vehicle
- the speed calculation device is set on the flying platform and configured to adjust the distance between the flying platform and the target vehicle by controlling the speed of the flying platform.
- the received traffic path image is processed to identify the scene, and whether to perform the alarm operation is determined according to the scene to obtain the determination result , Including: judging whether the scene is the expressway according to whether the flying platform is flying above the expressway when the traffic path image is acquired.
- the received traffic path image is processed to identify the scene, and whether to perform the alarm operation is determined according to the scene to obtain the determination result , Further including: if the scene is the expressway, acquiring the position of the emergency lane of the expressway in the traffic path image; and performing vehicle detection according to the position of the emergency lane in the traffic path image ; Determine whether there is a vehicle in the emergency lane; if the vehicle exists in the emergency lane, determine to perform the warning operation.
- the received traffic path image is processed to identify the scene, and whether to perform the alarm operation is determined according to the scene to obtain the determination result , It also includes: if the scene is not the expressway, performing vehicle detection on the traffic path image; determining whether the number of vehicles in the traffic path image is greater than or equal to the number threshold; if the traffic path image If the number of vehicles in the vehicle is greater than or equal to the number threshold, calculate the average speed of the vehicle; determine whether the average speed is less than the speed threshold; if the average speed is less than the speed threshold, then determine to proceed The alarm operation.
- the flight platform includes: a body; a flight control device configured to control the flight status of the flight platform; a data link device configured to transmit remote control commands And feedback data; a launch recovery device configured to control the lift-off process and landing process of the flight platform; a power supply configured to provide electrical energy; wherein the flight control device, the data link device, the launch recovery device and The power sources are all arranged on the body.
- the warning device includes a loudspeaker, an alarm bell, or a cell broadcast system.
- the target vehicle includes a police car, a fire truck, an engineering rescue vehicle or an ambulance.
- the traffic information processing equipment provided by an embodiment of the present disclosure further includes a signal transmission device, wherein the signal transmission device is configured to receive the traffic path image.
- At least one embodiment of the present disclosure also provides a traffic information processing system, including: an image recognition and decision-making device, configured to process the received traffic path image to identify a scene, and determine whether to perform an alarm operation according to the scene to obtain a determination The result; the flight platform is configured to fly; the warning device is set on the flight platform and is configured to generate warning information according to the determination result for sending prompt information to vehicles in the traffic path.
- a traffic information processing system including: an image recognition and decision-making device, configured to process the received traffic path image to identify a scene, and determine whether to perform an alarm operation according to the scene to obtain a determination The result; the flight platform is configured to fly; the warning device is set on the flight platform and is configured to generate warning information according to the determination result for sending prompt information to vehicles in the traffic path.
- the traffic information processing system further includes a signal transmission device, wherein the signal transmission device is configured to receive the traffic path image and transmit the determination result to the warning device; the image The identification and decision device and the signal transmission device are arranged outside the flight platform.
- At least one embodiment of the present disclosure also provides a traffic information processing method, including: processing the received traffic path image to identify a scene, and determining whether to perform an alarm operation according to the scene to obtain a determination result; generating according to the determination result The warning information is used to send prompt information to the vehicles in the traffic path.
- the received traffic path image is processed to identify the scene, and according to the scene, it is determined whether to perform the alarm operation to obtain the determination result , Including: judging whether the scene is a highway to obtain a judgment result, processing the traffic path image according to the judgment result, and determining whether to perform the alarm operation to obtain the determination result.
- the traffic path image is processed according to the determination result, and it is determined whether Performing the warning operation to obtain the determination result includes: if the scene is the expressway, acquiring the position of the emergency lane of the expressway in the traffic path image; Vehicle detection is performed on the location in the traffic path image; it is determined whether there is a vehicle in the emergency lane; if the vehicle exists in the emergency lane, the warning operation is determined to be performed.
- acquiring the position of the emergency lane of the expressway in the traffic path image includes: extracting gradient features of the traffic path image to obtain the gradient Figure; Obtain the local threshold of each pixel in the gradient map; Obtain a binarized image; Calculate the cumulative sum of each column of white pixels in the binarized image; Obtain the peak position of the cumulative sum; Perform straight line fitting within the neighborhood of the peak position of the accumulated sum in the quantized image; select multiple straight lines that meet the angle requirements; calculate the adjacent two straight lines located at the edge of the binarized image among the multiple straight lines.
- the number of white pixels in the domain judging whether the two straight lines are solid lines according to the number of white pixels; if the two straight lines are both solid lines, the area between the two straight lines is determined to be the The location of the emergency lane.
- the traffic path image is processed according to the determination result, and it is determined whether Performing the warning operation to obtain the determination result includes: if the scene is not the expressway, performing vehicle detection on the traffic path image; determining whether the number of vehicles in the traffic path image is greater than or Equal to the number threshold; if the number of vehicles in the traffic path image is greater than or equal to the number threshold, calculate the average speed of the vehicles; determine whether the average speed is less than the speed threshold; if the average If the speed is less than the speed threshold, it is determined to perform the alarm operation.
- calculating the average speed of the vehicle includes: obtaining the traffic path image according to the width of the vehicle in the traffic path image The actual distance represented by each pixel; calculate the pixel displacement of the vehicle in two adjacent frames of the traffic path image; according to the actual distance represented by each pixel in the traffic path image, the vehicle is in the adjacent The pixel displacement in the two frames of traffic path images and the interval time between two adjacent frames of traffic path images are used to obtain the speed of each of the vehicles; the average value of the speeds of all vehicles in the traffic path image is calculated, The average speed is obtained.
- the traffic information processing method provided by an embodiment of the present disclosure further includes: acquiring the traffic path image from a flying platform.
- the traffic information processing method provided by an embodiment of the present disclosure further includes: obtaining position information and speed information of the target vehicle; and controlling the speed of the flying platform to adjust the distance between the flying platform and the target vehicle.
- controlling the speed of the flying platform to adjust the distance between the flying platform and the target vehicle includes: according to the position information of the flying platform And the location information of the target vehicle, calculate the initial distance between the flight platform and the target vehicle; calculate the flight platform and the target vehicle according to the speed information of the target vehicle and the predetermined grooming time According to the comparison result of the initial distance and the predetermined distance, the speed of the flying platform is controlled to adjust the distance between the flying platform and the target vehicle.
- Fig. 1 is a schematic block diagram of a traffic information processing device provided by at least one embodiment of the present disclosure
- FIG. 2 is a schematic block diagram of another traffic information processing device provided by at least one embodiment of the present disclosure.
- FIG. 3 is a schematic block diagram of another traffic information processing device provided by at least one embodiment of the present disclosure.
- FIG. 4 is a schematic diagram of an application scenario of a traffic information processing device provided by at least one embodiment of the present disclosure
- FIG. 5 is a schematic diagram of an application scenario of another traffic information processing device provided by at least one embodiment of the present disclosure.
- FIG. 6 is a schematic diagram of a work flow of a traffic information processing device provided by at least one embodiment of the present disclosure
- FIG. 7 is a schematic flowchart of a traffic information processing device obtaining the location of an emergency lane according to at least one embodiment of the present disclosure
- FIG. 8 is a schematic diagram of a traffic information processing device provided by at least one embodiment of the present disclosure performing straight line fitting
- FIG. 9 is a schematic diagram of a traffic path image captured by a traffic information processing device provided by at least one embodiment of the present disclosure.
- FIG. 10 is a schematic flowchart of a traffic information processing device for calculating the average speed of a vehicle according to at least one embodiment of the present disclosure
- FIG. 11 is a schematic flowchart of a traffic information processing device adjusting the distance between a flying platform and a target vehicle according to at least one embodiment of the present disclosure
- FIG. 12 is a schematic block diagram of a traffic information processing system provided by at least one embodiment of the present disclosure.
- FIG. 13 is a schematic flowchart of a traffic information processing method provided by at least one embodiment of the present disclosure.
- FIG. 14 is a schematic diagram of a specific process of step S410 in FIG. 13;
- FIG. 15 is a schematic diagram of another specific flow of step S410 in FIG. 13.
- FIG. 16 is a schematic flowchart of another traffic information processing method provided by at least one embodiment of the present disclosure.
- At least one embodiment of the present disclosure provides a traffic information processing device, system, and method.
- the traffic information processing device can guide and warn vehicles (for example, vehicles on the road) in a traffic path, thereby helping, for example, police cars and fire trucks.
- vehicles for example, vehicles on the road
- Engineering rescue vehicles, ambulances and other special vehicles pass quickly, with real-time and accuracy, and can ensure the effectiveness of the road section, avoiding too long in advance and affecting the traffic or impeding the passage of special vehicles due to untimely dredging.
- At least one embodiment of the present disclosure provides a traffic information processing device, which includes an image recognition and decision device and an alarm device.
- the image recognition and decision device is configured to process the received traffic path image to recognize the scene, and determine whether to perform an alarm operation according to the scene to obtain the determination result.
- the warning device is configured to generate warning information according to the determination result for sending prompt information to vehicles in the traffic path.
- Fig. 1 is a schematic block diagram of a traffic information processing device provided by at least one embodiment of the present disclosure.
- the traffic information processing equipment 10 includes an image recognition and decision-making device 110 and an alarm device 120.
- the image recognition and decision device 110 is configured to process the received traffic path image to recognize the scene, and determine whether to perform an alarm operation according to the scene to obtain the determination result.
- the traffic path image may be captured by an image acquisition device separately provided or set in the traffic information processing device 10, and transmitted to the image recognition and decision device 110.
- the image recognition and decision device 110 can obtain the position of the emergency lane in the traffic path image and perform vehicle detection (such as vehicle detection), and then determine whether there is a vehicle in the emergency lane , If yes, confirm the alarm operation.
- the image recognition and decision device 110 may perform vehicle detection (such as vehicle detection) on the traffic path image, and obtain the number of vehicles in the traffic path image. If the number of vehicles is greater than or equal to the preset number threshold, the average speed of the vehicles is calculated, and it is determined whether the average speed of the vehicles is less than the preset speed threshold, and if so, an alarm operation is determined.
- vehicle detection such as vehicle detection
- the warning device 120 is configured to generate warning information according to the determination result for sending prompt information to the vehicles in the traffic path.
- determination result refers to the judgment result obtained by the image recognition and decision device 110, for example, the judgment result is to perform an alarm operation
- alarm information refers to control information, which can control the alarm device 120 itself or another
- the provided equipment sends out a prompt message.
- the vehicle in the traffic path is, for example, a vehicle running on the road.
- the alarm device 120 may include a loudspeaker, an alarm bell, or a cell broadcast system, etc.
- the alarm information is, for example, a loudspeaker, an alarm bell, or control information of a cell broadcast system, etc.
- the prompt information is, for example, a played prompt tone, Warning sounds or text messages (such as text messages) sent to the driver’s mobile phone through the cell broadcast system.
- the alarm device 120 may include any applicable components that can generate alarm information, such as an FM broadcasting device, etc.
- the prompt information may be any form of information, for example, received by the radio of the vehicle. Broadcast information, etc.
- the warning device 120 When there is a vehicle driving in the emergency lane of the expressway, the warning device 120 will generate a warning message to send a prompt message. After receiving the prompt information, the driver of the vehicle driving in the emergency lane can leave the emergency lane, thereby It is convenient for special vehicles such as police cars, fire trucks, engineering rescue vehicles, and ambulances to quickly pass through the emergency lane. When the non-highway is congested, the warning device 120 will also generate warning information to send reminders. After receiving the reminder information, the driver of the vehicle on the road can evade and evacuate, thereby providing assistance to police cars and firefighters. Special vehicles such as vehicles, engineering rescue vehicles, and ambulances give way to their lanes so that they can pass quickly.
- the traffic information processing device 10 can intelligently identify emergency lanes in expressways based on visual recognition technology, determine the congested sections of urban roads, and provide information on the traffic in the traffic path according to different road conditions.
- Tools for example, vehicles on the road
- the traffic information processing device 10 can not only guide and warn vehicles on the road, but also guide and warn the ships in the river. There are no restrictions on the types of vehicles and vehicles.
- Fig. 2 is a schematic block diagram of another traffic information processing device provided by at least one embodiment of the present disclosure.
- the traffic information processing equipment 10 may further include a flying platform 130, an image acquisition device 140 and a positioning device 150.
- the flying platform 130 is configured to fly, such as flying above a traffic path (for example, above a road) according to a preset path.
- the preset path may be set before the flight platform 130 takes off, or it may be set in real time during the flight of the flight platform 130 or transmitted to the flight platform 130 in real time, which is not limited in the embodiments of the present disclosure.
- the flight platform 130 may be a rotary-wing drone, a fixed-wing drone, or a flapping-wing drone, etc., for example, a common quad-rotor drone, a hexa-rotor drone, etc.
- the implementation of the present disclosure The example does not restrict this.
- the flying platform 130 is a rotary-wing drone, it has strong maneuverability, can take off, land and hover vertically, is suitable for low-altitude, low-speed flight, and can better meet the needs of traffic guidance.
- the image acquisition device 140 is provided on the flight platform 130 and is configured to acquire traffic path images.
- the image acquisition device 140 may be a down-view camera, such as a digital high-definition camera, and the shooting angle of the down-view camera is adjustable; for example, the traffic information processing device 10 may further include a storage device to temporarily or permanently store the image acquired by the image acquisition device 140 Image data.
- the image acquisition device 140 provided on the flying platform 130 can capture the traffic path image (ie, the image of the road), and transmit the traffic path image to the image recognition and decision device 110.
- the image acquisition device 140 may be directly installed on the flying platform 130, or may be installed on the flying platform 130 through a pan/tilt, or installed in other ways, which is not limited in the embodiment of the present disclosure.
- the image acquisition device 140 When the image acquisition device 140 is installed with a pan/tilt, it can have an image stabilization effect, avoid the image acquisition device 140 from being affected by factors such as the vibration of the flying platform 130 and airflow disturbance, making the image of the traffic path captured by the image acquisition device 140 clearer. It helps to improve the accuracy of subsequent processing performed by the image recognition and decision device 110.
- the positioning device 150 is provided on the flight platform 130 and is configured to obtain position information of the flight platform 130.
- the positioning device 150 may be a global positioning system (Global Positioning System, GPS) positioning device, a Beidou system positioning device, or the like.
- GPS Global Positioning System
- the image acquisition device 140 takes a shot, and the location information obtained by the positioning device 150 at the shooting time can be used to determine whether the flying platform 130 is flying above the highway at this time, so as to determine the traffic captured Whether the scene of the route image is a highway.
- the positioning device 150 may also be configured to navigate the flight platform 130, so that the flight platform 130 can fly according to a preset path.
- the working modes of the image recognition and decision device 110 and the alarm device 120 can be referred to the description of FIG. 1, which will not be repeated here.
- the image recognition and decision device 110 and the warning device 120 are both set on the flight platform 130.
- the signal transmission between the image recognition and decision-making device 110 and the image acquisition device 140, and between the image recognition and decision-making device 110 and the warning device 120 is faster, which helps to improve the real-time performance of the traffic information processing equipment 10. Sex and effectiveness.
- the warning device 120 since the warning device 120 is set on the flight platform 130 and can fly above the road with the flight platform 130, the warning device 120 can be set as a loudspeaker or alarm bell, etc., to play a prompt or warning sound. Intuitive, real-time and other advantages, and can reduce costs.
- the traffic information processing device 10 may further include a communication device 160 and a speed calculation device 170.
- the communication device 160 is set on the flight platform 130 and is configured to communicate with the target vehicle 20 to obtain position information and speed information of the target vehicle 20.
- the communication device 160 may be a Bluetooth communication device, a wireless local area network (WIFI) communication device based on the IEEE 802.11b standard, a 5G/4G/3G communication device, an infrared communication device, etc., which are not limited in the embodiments of the present disclosure.
- the target vehicle 20 is a special vehicle such as a police car, a fire truck, an engineering rescue vehicle, and an ambulance, and the target vehicle 20 is driving behind the flying platform 130.
- the target vehicle 20 transmits its position information and speed information to the communication device 160 based on the corresponding communication protocol.
- the target vehicle 20 is also correspondingly provided with a communication component to facilitate communication with the communication device 160.
- the speed calculation device 170 is provided on the flying platform 130 and is configured to adjust the distance between the flying platform 130 and the target vehicle 20 by controlling the speed of the flying platform 130.
- the communication device 160 transmits the received position information and speed information of the target vehicle 20 to the speed calculation device 170
- the positioning device 150 also transmits the position information of the flying platform 130 to the speed calculation device 170.
- the speed calculation device 170 is based on these The information controls the speed of the flying platform 130, thereby adjusting the distance between the flying platform 130 and the target vehicle 20, so that the distance between the two is not too large or too small.
- the distance between the flight platform 130 and the target vehicle 20 can be kept within a proper range, so as to ensure the effectiveness of the dredging of the road section, and avoid dredging too long in advance and affecting the traffic or the delay of dredging and hindering the special Vehicle traffic.
- Fig. 3 is a schematic block diagram of another traffic information processing device provided by at least one embodiment of the present disclosure.
- the flight platform 130 includes a body 131, a flight control device 132, a data link device 133, a transmission and recovery device 134, and a power supply 135.
- Other devices in the traffic information processing device 10 It is basically the same as each device in the traffic information processing device 10 shown in FIG. 2.
- the body 131 provides a rigid support structure for the flight platform 130 for installing other components.
- the body 131 may be made of composite materials, such as carbon fiber composite materials, glass fiber composite materials, honeycomb sandwich composite materials, etc., or may be made of metal, plastic, etc., which are not limited in the embodiments of the present disclosure.
- the flight control device 132 is configured to control the flight state of the flight platform 130.
- the flight control device 132 has an important influence on the stability, flight performance, and the reliability, accuracy, and real-time performance of data transmission of the flight platform 130.
- the data link device 133 is configured to transmit remote control commands and feedback data.
- the launch recovery device 134 is configured to control the lift-off process and the landing process of the flight platform 130. For example, the launch recovery device 134 can make the flying platform 130 lift up smoothly to reach a safe altitude and speed, and safely fall back from the sky to the ground after completing the mission.
- the power source 135 is configured to provide electrical energy.
- the flight control device 132, the data link device 133, the launch recovery device 134 and the power source 135 are all installed on the body 131.
- the flight control device 132, the data link device 133, the launch and recovery device 134, and the power supply 135, please refer to the conventional design, for example, refer to the corresponding devices in the usual drones, which will not be detailed here.
- the flight platform 130 may also include more devices, such as landing gear, motors, rotors, etc., which may be determined according to actual requirements, and the embodiments of the present disclosure do not limit this .
- the speed calculation device 170 transmits the calculated speed parameter to the flight control device 132 of the flight platform 130, thereby enabling flight control
- the device 132 controls the speed of the flying platform 130 according to the speed parameter.
- the image recognition and decision device 110, the alarm device 120, and the speed calculation device 170 may be hardware, software, firmware, and any feasible combination thereof.
- the image recognition and decision device 110, the alarm device 120, and the speed calculation device 170 may be dedicated or general-purpose circuits, chips or devices, etc., or may be a combination of a processor and a memory.
- the processor may be a central processing unit. (CPU), digital signal processor (DSP), etc.
- the memory can be any type of memory (such as flash memory, etc.), which stores computer executables for image recognition and decision-making functions, alarm information generation functions, speed calculation functions, etc. Code and the data required to execute the computer executable code and the data generated.
- the image recognition and decision device 110, the alarm device 120, and the speed calculation device 170 may be separate devices, or they may be integrated into the same device.
- the embodiment of the present disclosure does not limit this.
- Fig. 4 is a schematic diagram of an application scenario of a traffic information processing device provided by at least one embodiment of the present disclosure.
- the various devices in the traffic information processing equipment 10 such as the image recognition and decision device 110, the alarm device 120, the image acquisition device 140, the positioning device 150, the communication device 160, and the speed calculation device 170, etc., are not shown in the figure. All the devices shown are set on the flight platform 130, which is, for example, a quadrotor drone.
- the target vehicle 20 is an ambulance 210.
- the flying platform 130 is made to fly above the road and keep flying in front of the ambulance 210.
- the image acquisition device 140 takes a shot, obtains a traffic path image and transmits it to the image recognition and decision device 110.
- the image recognition and decision device 110 determines whether the flying platform 130 is flying above the expressway at this time according to the position information obtained by the positioning device 150 at the shooting time, so as to determine whether the scene of the captured traffic path image is an expressway.
- the image recognition and decision device 110 judges whether there is a vehicle in the emergency lane according to the traffic path image, and if there is, it determines to perform an alarm operation; when the traffic path image is a non-highway (for example, urban The image recognition and decision device 110 calculates the number of vehicles in the image of the road), further calculates the average speed of the vehicles, and judges whether the average speed of the vehicles is less than the preset speed threshold, and if so, determines to perform an alarm operation.
- the warning device 120 receives the determination result of the image recognition and decision-making device 110, and if the determination result indicates that an warning operation is performed, the warning device 120 generates warning information for sending warning information to vehicles on the road.
- the alarm device 120 may be a loudspeaker, an alarm bell, or a cell broadcast system, etc., set on the flight platform 130. Therefore, the alarm information may be a control signal of the loudspeaker, an alarm bell, or a cell broadcast system, etc., so as to Vehicles on the road play prompt sounds, warning sounds, or send text messages (such as text messages) to the driver's mobile phone through the cell broadcast system.
- the driver of the vehicle on the road can make way, such as driving from the emergency lane of the expressway to the non-emergency lane to keep the emergency lane clear, or changing lanes on the city road to avoid a clear one
- the ambulance 210 driving behind the flying platform 130 can pass through quickly.
- the communication device 160 may perform wireless communication with the ambulance 210 to obtain the position information and speed information of the ambulance 210, and transmit the position information and speed information to the speed calculation device 170.
- the positioning device 150 also transmits the position information of the flying platform 130 to the speed calculation device 170.
- the speed calculation device 170 controls the speed of the flight platform 130 according to the information, thereby adjusting the distance between the flight platform 130 and the ambulance 210, so that the distance between the two is not too large or too small, so as to ensure the effectiveness of the road section.
- each device in the traffic information processing device 10 is set on the flight platform 130, which can simplify the signal transmission mode between the devices, improve the signal transmission efficiency, and can improve the integration of the traffic information processing device 10 , Easy to maintain and manage.
- Fig. 5 is a schematic diagram of an application scenario of another traffic information processing device provided by at least one embodiment of the present disclosure.
- the traffic information processing equipment 10 includes an image recognition and decision device 110, an alarm device 120, and a signal transmission device 190.
- the image recognition and decision device 110 and the alarm device 120 are set in a separately provided service base station 180.
- the transmission device 190 is, for example, a wireless communication device installed on the ground and configured to receive traffic path images.
- the traffic information processing device 10 needs to work with a separately provided flight platform, such as the aforementioned flight platform 130, and the flight platform 130 is provided with an image acquisition device 140, a positioning device 150, and a communication device. 160 and a speed calculation device 170 (all devices are not shown in the figure).
- the flying platform 130 is a four-rotor drone, and the target vehicle 20 is an ambulance 210.
- the flying platform 130 that cooperates with it is made to fly above the road and keep flying in front of the ambulance 210.
- the image acquisition device 140 shoots, obtains the traffic path image and transmits it to the signal transmission device 190 through wireless communication.
- the signal transmission device 190 transmits the received traffic path image to the image recognition and decision device 110 set in the serving base station 180 .
- the position information obtained by the positioning device 150 at the shooting moment is also transmitted to the signal transmission device 190 through wireless communication, and further transmitted to the image recognition and decision-making device 110.
- the image recognition and decision device 110 determines whether the scene of the captured traffic path image is an expressway, and further determines whether to perform an alarm operation.
- the specific determination method can refer to the above content, which will not be repeated here.
- the alarm device 120 receives the determination result of the image recognition and decision device 110. If the determination result indicates that an alarm operation is performed, the alarm device 120 generates alarm information, which is, for example, control information. At this time, the alarm device 120 does not directly send out prompt information to the vehicles on the road, but instead sends out prompt information to the vehicles on the road through the alarm information to control a separately set device. For example, the alarm device 120 wirelessly transmits the alarm information to the loudspeaker, alarm bell, or cell broadcast system set on the flight platform 130 through the signal transmission device 190.
- the loudspeaker, alarm bell or cell broadcast system is Prompt messages are sent to the vehicles on the road under control, such as playing prompt sounds or warning sounds to the vehicles on the road, or sending text messages (such as text messages) to the driver's mobile phone through the cell broadcast system.
- the driver of the vehicle on the road can make an evasion so that the ambulance 210 driving behind the flying platform 130 can pass quickly.
- the communication device 160 provided on the flight platform 130 can wirelessly communicate with the ambulance 210 and work with the speed calculation device 170 to adjust the distance between the flight platform 130 and the ambulance 210.
- the communication device 160 provided on the flight platform 130 can wirelessly communicate with the ambulance 210 and work with the speed calculation device 170 to adjust the distance between the flight platform 130 and the ambulance 210.
- the image recognition and decision device 110 and the alarm device 120 are both set in the serving base station 180.
- the serving base station 180 is located in the ground control center, for example, so that the staff can coordinate and monitor uniformly, so as to serve multiple target traffic at the same time.
- the tool 20 conducts traffic flow and can be flexibly connected to multiple types of flight platforms, which improves the compatibility of the traffic information processing device 10.
- FIG. 6 is a schematic diagram of the work flow of a traffic information processing device provided by at least one embodiment of the present disclosure.
- FIG. 7 is a schematic diagram of a flow of obtaining the location of an emergency lane by a traffic information processing device provided by at least one embodiment of the present disclosure.
- FIG. 8 FIG. 9 is a schematic diagram of a traffic information processing device provided by at least one embodiment of the present disclosure for performing straight line fitting.
- FIG. 9 is a schematic diagram of a traffic path image captured by a traffic information processing device provided by at least one embodiment of the present disclosure.
- FIG. This is a schematic diagram of a flow of calculating the average speed of a vehicle by a traffic information processing device provided by at least one embodiment of the present disclosure.
- the work flow of the traffic information processing device 10 will be described below in conjunction with FIGS. 6 to 10.
- the image recognition and decision device 110 determines whether the scene is an expressway according to whether the flying platform 130 is flying above the expressway when acquiring the traffic path image.
- the scene is an expressway, obtain the position of the emergency lane of the expressway in the traffic path image, perform vehicle detection according to the position of the emergency lane in the traffic path image, and then determine whether there is a vehicle in the emergency lane. If there is a vehicle in the emergency lane, it is determined to perform an alarm operation; if there is no vehicle in the emergency lane, the monitoring is continued, and the image acquisition device 140 is allowed to perform the next shooting.
- vehicle detection vehicle detection
- the process of obtaining the position of the emergency lane of the expressway in the traffic path image is described as follows.
- extract the gradient features of the traffic path image to obtain the gradient map.
- the filter kernel can be [2,2,3,0,-3,-2,-2], so the gradient feature can be calculated as follows:
- grad(u,v) max(2*src[u-3,v]+2*src[u-2,v]+3*src[u-1,v]-3*src[u+1, v]
- src[u,v] represents the pixel value on the (u,v) coordinates in the traffic path image
- grad(u,v) represents the gradient feature on the (u,v) coordinates in the traffic path image.
- the local threshold of each pixel in the gradient map is obtained.
- the local threshold of each pixel is the average value of the pixel within the 32*1 window size centered on the current coordinate.
- the embodiments of the present disclosure are not limited to this, and the window size is not limited to 32*1, and other sizes may also be used, which may be determined according to actual requirements.
- After obtaining the local threshold of each pixel perform binarization processing to obtain a binarized image. For the detailed description of the binarization process, please refer to the conventional design, which will not be detailed here.
- the image acquisition device 140 that captures traffic path images is, for example, a downward-looking camera, the captured lane line is almost vertical.
- the suspected lane line pixels are white pixels (white dots), and the rest are black pixels. (Background black spots).
- a straight line is fitted in the neighborhood of the peak position of the accumulated sum in the binarized image, and multiple straight lines that meet the angle requirement are selected, and the straight lines that do not meet the angle requirement are deleted.
- a straight line whose angle with the vertical direction is equal to 0 degree, substantially equal to 0 degree or within a certain angle range is a straight line meeting the angle requirement.
- the number of white pixels in the neighboring regions of the two adjacent straight lines located at the edges of the binarized image among the multiple straight lines is calculated, and whether the two straight lines are solid lines is determined according to the number of white pixels. If the two straight lines are both solid lines, the area between the two straight lines is determined to be the location of the emergency lane.
- the image obtained after straight line fitting is performed on the binarized image is shown in FIG. 8. Assuming that there are u1, u2, u3, and u4 in the peak position, a neighborhood with a width of ⁇ w is selected with the peak position as the center, and a straight line is fitted.
- the least squares method may be used to perform straight line fitting, or any applicable method may be used, which is not limited in the embodiments of the present disclosure.
- vehicle detection is performed on the traffic path image.
- a schematic diagram of a non-highway traffic path image obtained by shooting is shown in FIG. 9.
- Carrying out vehicle detection (ie, vehicle detection) on the image can identify the vehicle in the image.
- vehicle detection can use Adaboost algorithm or deep learning-based target detection algorithms, such as SSD, Faster-RCNN, Yolo, etc., all of which need to train vehicle detection models in advance.
- Adaboost algorithm or deep learning-based target detection algorithms, such as SSD, Faster-RCNN, Yolo, etc., all of which need to train vehicle detection models in advance.
- the embodiments of the present disclosure are not limited to this, and any applicable algorithm may be used for vehicle detection, which may be determined according to actual requirements.
- the number of vehicles can be obtained, and it can be judged whether the number of vehicles in the traffic path image is greater than or equal to the number threshold. If the number of vehicles is less than the number threshold, it is considered that there will be no congestion, so continue to monitor and allow the image acquisition device 140 to take the next shot; if the number of vehicles is greater than or equal to the number threshold, it is considered that congestion may occur, so it is necessary Further calculate the average speed of the vehicle.
- the number threshold can be set in the traffic information processing device 10 in advance, or can be set or modified in real time.
- the numerical value of the number threshold may be determined according to actual requirements, for example, according to the degree of smoothness of the road to be achieved, which is not limited in the embodiment of the present disclosure.
- the process of calculating the average speed of a vehicle is shown in FIG. 10.
- the actual distance dd represented by each pixel in the traffic path image is obtained according to the width w of the vehicle in the traffic path image.
- the width w of all vehicles (vehicles) in the traffic path image can be obtained.
- the pixel displacement s of the vehicle in the two adjacent frames of traffic path images calculate the pixel displacement s of the vehicle in the two adjacent frames of traffic path images. For example, it is possible to perform multi-target tracking algorithms for each detected vehicle, such as deep-sort, KCF and other classic multi-target tracking algorithms, to obtain the predicted position of each vehicle in the next frame, and combine the next frame of image to obtain each The position of each vehicle in the next frame.
- multi-target tracking algorithms for each detected vehicle such as deep-sort, KCF and other classic multi-target tracking algorithms
- the pixel displacement s of the vehicle in two adjacent frames of traffic path images and the interval time ⁇ t between two adjacent frames of traffic path images are obtained to obtain the speed of each of the vehicles.
- the actual displacement of the i-th vehicle on the road s1 s*dd (or ).
- the flight platform 130 when calculating the average speed of the vehicle, the flight platform 130 needs to temporarily stop the position change (for example, keep the hovering state), so that the image acquisition device 140 is in the same position. At least two frames of traffic path images are captured to improve the validity and accuracy of the calculation results.
- the traffic information processing device 10 may also control the speed of the flying platform 130 to adjust the distance between the flying platform 130 and the target vehicle 20.
- the flying platform 130 has, for example, a speed adjustable function.
- FIG. 11 is a schematic flowchart of a traffic information processing device adjusting the distance between a flying platform and a target vehicle provided by at least one embodiment of the present disclosure.
- the initial distance ⁇ s between the flight platform 130 and the target vehicle 20 is calculated.
- the position information of the flight platform 130 may be acquired by the positioning device 150, and the position information of the target vehicle 20 may be transmitted to the communication device 160 by the target vehicle 20 through wireless communication.
- the predetermined distance s'between the flight platform 130 and the target vehicle 20 is calculated.
- the speed information of the target vehicle 20 may be transmitted by the target vehicle 20 to the communication device 160 through wireless communication.
- the interval between two calculations may be determined according to actual requirements, such as taking into account both the hardware resource overhead of the calculation and the timeliness of adjusting the distance, which is not limited in the embodiment of the present disclosure.
- the foregoing calculation process may be completed by the speed calculation device 170, which transmits the calculation result to the flight control device 132 of the flight platform 130, so that the speed of the flight platform 130 can be adjusted.
- the distance between the flight platform 130 and the target vehicle 20 can be kept within a proper range, so as to ensure the effectiveness of the dredging of the road section, and avoid dredging too long in advance and affecting the traffic or the delay of dredging and hindering the special Vehicle traffic.
- At least one embodiment of the present disclosure also provides a traffic information processing system, which can guide and warn vehicles in a traffic path (for example, vehicles on the road), thereby helping, for example, police cars, fire trucks, and engineering rescues.
- Special vehicles such as emergency vehicles and ambulances pass quickly, with real-time and accuracy, and can ensure the effectiveness of the dredging of road sections, avoiding the dredging too long in advance and affecting the traffic or the untimely dredging and obstructing the passage of special vehicles.
- Fig. 12 is a schematic block diagram of a traffic information processing system provided by at least one embodiment of the present disclosure.
- the traffic information processing system 30 includes an image recognition and decision-making device 310, a flight platform 320 and an alarm device 330.
- the flight platform 320 is configured to fly.
- the image recognition and decision device 310 is arranged outside the flight platform 320 and is configured to process the received traffic path image to recognize a scene, and determine whether to perform an alarm operation according to the scene to obtain a determination result.
- the warning device 330 is arranged on the flight platform 320 and is configured to generate warning information according to the determination result for sending prompt information to vehicles in the traffic path.
- the functions and implementations of the image recognition and decision device 310, the flight platform 320 and the warning device 330 are basically the same as the aforementioned image recognition and decision device 110, the flight platform 130 and the warning device 120, and will not be repeated here.
- the traffic information processing system 30 further includes a signal transmission device 340, which is arranged outside the flight platform 320 and is configured to receive traffic path images and transmit the determination result of the image recognition and decision device 310 to the warning device 330.
- the signal transmission device 340 may be various types of wireless communication devices, which are not limited in the embodiments of the present disclosure.
- the application scenario of the traffic information processing system 30 is basically similar to the application scenario shown in FIG. 5.
- the difference is that the alarm device 330 is set on the flight platform 320 instead of the serving base station 180.
- the image recognition and decision device 310 and the signal transmission device 340 are set outside the flight platform 320
- the image recognition and decision device 310 is, for example, set in the serving base station 180 shown in FIG. 5
- the signal transmission device 340 is, for example, as shown in FIG.
- the signal transmission device 190 please refer to the foregoing content, which will not be repeated here.
- the image recognition and decision device 310 and the warning device 330 are respectively arranged at the back end of the system (for example, the ground control center) and the front end of the system (for example, the flight platform 320 flying above the road), which is convenient for the staff to coordinate and coordinate.
- Monitoring is used to conduct traffic guidance for multiple target vehicles 20 at the same time, and can simplify the structure and function of the alarm device 330, and facilitate the alarm device 330 to directly send prompt information to the vehicles on the road.
- At least one embodiment of the present disclosure also provides a traffic information processing method.
- vehicles such as vehicles on the road
- Special vehicles such as engineering rescue vehicles and ambulances pass quickly, with real-time and accuracy, and can ensure the effectiveness of the dredging section, avoiding too long in advance and affecting the traffic or impeding the passage of special vehicles if the dredging is not timely.
- FIG. 13 is a schematic flowchart of a traffic information processing method provided by at least one embodiment of the present disclosure.
- the traffic information processing method includes the following operations.
- Step S410 Process the received traffic path image to identify the scene, and determine whether to perform an alarm operation according to the scene to obtain a determination result;
- Step S420 Generate alarm information according to the determination result for sending prompt information to the vehicles in the traffic path.
- step S410 can be implemented by the aforementioned image recognition and decision-making device 110
- step S420 can be implemented by the aforementioned alarm unit 120.
- step S410 the received traffic path image is processed to identify the scene, and whether the scene is an expressway is determined to obtain the judgment result, the traffic path image is processed according to the judgment result, and it is determined whether to perform an alarm operation. Get a definite result.
- FIG. 14 is a schematic diagram of a specific process of step S410 in FIG. 13.
- step S410 may include the following operations.
- Step S411 If the scene is an expressway, obtain the position of the emergency lane of the expressway in the traffic path image;
- Step S412 Perform vehicle detection according to the position of the emergency lane in the traffic path image
- Step S413 Determine whether there is a vehicle in the emergency lane
- Step S414 If there is a vehicle in the emergency lane, it is determined to perform an alarm operation.
- step S411 first extract the gradient features of the traffic path image to obtain a gradient map. Then obtain the local threshold of each pixel in the gradient map, and further obtain the binarized image. Calculate the cumulative sum of each column of white pixels in the binarized image to obtain the peak position of the cumulative sum. Then perform straight line fitting in the neighborhood of the peak position of the cumulative sum in the binarized image, and select multiple straight lines that meet the angle requirements, and calculate the two adjacent straight lines located at the edge of the binarized image among the multiple straight lines The number of white pixels in the neighborhood. Determine whether the two straight lines are solid lines according to the number of white pixels. If the two straight lines are solid lines, the area between the two straight lines is determined to be the location of the emergency lane.
- FIG. 15 is a schematic diagram of another specific flow of step S410 in FIG. 13.
- step S410 may include the following operations.
- Step S415 If the scene is not a highway, perform vehicle detection on the traffic path image;
- Step S416 Determine whether the number of vehicles in the traffic path image is greater than or equal to the number threshold
- Step S417 If the number of vehicles in the traffic path image is greater than or equal to the number threshold, calculate the average speed of the vehicles;
- Step S418 Determine whether the average speed is less than the speed threshold
- Step S419 If the average speed is less than the speed threshold, it is determined to perform an alarm operation.
- step S417 first obtain the actual distance represented by each pixel in the traffic path image according to the width of the vehicle in the traffic path image. Then calculate the pixel displacement of the vehicle in the two adjacent frames of the traffic path image, according to the actual distance represented by each pixel in the traffic path image, the pixel displacement of the vehicle in the two adjacent frames of the traffic path image and the traffic of the adjacent two frames The interval time of the path image to get the speed of each vehicle. Then calculate the average of the speeds of all vehicles in the traffic path image to get the average speed.
- FIG. 16 is a schematic flowchart of another traffic information processing method provided by at least one embodiment of the present disclosure.
- the traffic information processing method of this embodiment is basically the same as the traffic information processing method shown in FIG.
- Step S430 Obtain a traffic path image from the flight platform
- Step S440 Obtain location information and speed information of the target vehicle
- Step S450 Control the speed of the flight platform to adjust the distance between the flight platform and the target vehicle.
- step S450 first calculate the initial distance between the flight platform and the target vehicle according to the location information of the flight platform and the location information of the target vehicle. Then, according to the speed information of the target vehicle and the scheduled grooming time, the predetermined distance between the flight platform and the target vehicle is calculated. Then, according to the comparison result of the initial distance and the predetermined distance, the speed of the flying platform is controlled to adjust the distance between the flying platform and the target vehicle.
- the traffic information processing method may also include more or fewer steps, and the execution order of each step is not limited to the order described above, which may be determined according to actual needs.
- the embodiment of the present disclosure does not limit this.
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Abstract
Description
Claims (22)
- 一种交通信息处理设备,包括:图像识别及决策装置,配置为对接收的交通路径图像进行处理以识别场景,并根据所述场景确定是否进行告警操作以得到确定结果;告警装置,配置为根据所述确定结果产生告警信息以用于向交通路径中的交通工具发出提示信息。
- 根据权利要求1所述的交通信息处理设备,还包括:飞行平台,配置为进行飞行;图像获取装置,设置在所述飞行平台上,且配置为获取所述交通路径图像;其中,所述图像识别及决策装置和所述告警装置均设置在所述飞行平台上。
- 根据权利要求2所述的交通信息处理设备,还包括定位装置,其中,所述定位装置设置在所述飞行平台上,且配置为获取所述飞行平台的位置信息。
- 根据权利要求2或3所述的交通信息处理设备,还包括:通信装置,设置在所述飞行平台上,且配置为与目标交通工具进行通信,以获得所述目标交通工具的位置信息和速度信息;速度计算装置,设置在所述飞行平台上,且配置为通过控制所述飞行平台的速度以调节所述飞行平台与所述目标交通工具之间的距离。
- 根据权利要求2-4任一所述的交通信息处理设备,其中,对接收的所述交通路径图像进行处理以识别所述场景,并根据所述场景确定是否进行所述告警操作以得到所述确定结果,包括:根据获取所述交通路径图像时所述飞行平台是否飞行在高速公路的上方,判断所述场景是否为所述高速公路。
- 根据权利要求5所述的交通信息处理设备,其中,对接收的所述交通路径图像进行处理以识别所述场景,并根据所述场景确定是否进行所述告警操作以得到所述确定结果,还包括:若所述场景为所述高速公路,获取所述高速公路的应急车道在所述交通路径图像中的位置;根据所述应急车道在所述交通路径图像中的位置进行交通工具检测;判断所述应急车道中是否存在交通工具;若所述应急车道中存在所述交通工具,则确定进行所述告警操作。
- 根据权利要求5所述的交通信息处理设备,其中,对接收的所述交通路径图像进行处理以识别所述场景,并根据所述场景确定是否进行所述告警操作以得到所述确定结果,还包括:若所述场景不是所述高速公路,对所述交通路径图像进行交通工具检测;判断所述交通路径图像中的交通工具的数量是否大于或等于数量阈值;若所述交通路径图像中的所述交通工具的数量大于或等于所述数量阈值,则计算所述交通工具的平均速度;判断所述平均速度是否小于速度阈值;若所述平均速度小于所述速度阈值,则确定进行所述告警操作。
- 根据权利要求2-7任一所述的交通信息处理设备,其中,所述飞行平台包括:机体;飞行控制装置,配置为对所述飞行平台的飞行状态进行控制;数据链装置,配置为传输遥控指令和反馈数据;发射回收装置,配置为控制所述飞行平台的升空过程和降落过程;电源,配置为提供电能;其中,所述飞行控制装置、所述数据链装置、所述发射回收装置和所述电源均设置在所述机体上。
- 根据权利要求1-8任一所述的交通信息处理设备,其中,所述告警装置包括扩音器、警铃或小区广播***。
- 根据权利要求4所述的交通信息处理设备,其中,所述目标交通工具包括警车、消防车、工程救险车或救护车。
- 根据权利要求1所述的交通信息处理设备,还包括信号传输装置,其中,所述信号传输装置配置为接收所述交通路径图像。
- 一种交通信息处理***,包括:图像识别及决策装置,配置为对接收的交通路径图像进行处理以识别场景,并根据所述场景确定是否进行告警操作以得到确定结果;飞行平台,配置为进行飞行;告警装置,设置在所述飞行平台上,且配置为根据所述确定结果产生告警信息以用于向交通路径中的交通工具发出提示信息。
- 根据权利要求12所述的交通信息处理***,还包括信号传输装置,其中,所述信号传输装置配置为接收所述交通路径图像并将所述确定结果传输至所述告警装置;所述图像识别及决策装置和所述信号传输装置设置在所述飞行平台之外。
- 一种交通信息处理方法,包括:对接收的交通路径图像进行处理以识别场景,并根据所述场景确定是否进行告警操作以得到确定结果;根据所述确定结果产生告警信息以用于向交通路径中的交通工具发出提示信息。
- 根据权利要求14所述的交通信息处理方法,其中,对接收的所述交通路径图像进行处理以识别所述场景,并根据所述场景确定是否进行所述告警操作以得到所述确定结果,包括:判断所述场景是否为高速公路以得到判断结果,根据所述判断结果对所述交通路径图像进行处理,并确定是否进行所述告警操作以得到所述确定结果。
- 根据权利要求15所述的交通信息处理方法,其中,判断所述场景是否为所述高速公路以得到所述判断结果,根据所述判断结果对所述交通路径图像进行处理,并确定是否进行所述告警操作以得到所述确定结果,包括:若所述场景为所述高速公路,获取所述高速公路的应急车道在所述交通路径图像中的位置;根据所述应急车道在所述交通路径图像中的位置进行交通工具检测;判断所述应急车道中是否存在交通工具;若所述应急车道中存在所述交通工具,则确定进行所述告警操作。
- 根据权利要求16所述的交通信息处理方法,其中,获取所述高速公路的所述应急车道在所述交通路径图像中的位置,包括:提取所述交通路径图像的梯度特征,获得梯度图;获取所述梯度图中每个像素的局部阈值;获取二值化图像;计算所述二值化图像中每列白像素的累加和;获得所述累加和的峰值位置;在所述二值化图像中的累加和的峰值位置邻域内进行直线拟合;选择满足角度要求的多条直线;计算所述多条直线中位于所述二值化图像边缘处且相邻的两条直线邻域内的白像素个数;根据所述白像素个数判断所述两条直线是否为实线;若所述两条直线均为实线,则确定所述两条直线之间的区域为所述应急车道的位置。
- 根据权利要求15所述的交通信息处理方法,其中,判断所述场景是否为所述高速公路以得到所述判断结果,根据所述判断结果对所述交通路径图像进行处理,并确定是否进行所述告警操作以得到所述确定结果,包括:若所述场景不是所述高速公路,对所述交通路径图像进行交通工具检测;判断所述交通路径图像中的交通工具的数量是否大于或等于数量阈值;若所述交通路径图像中的所述交通工具的数量大于或等于所述数量阈值,则计算所述交通工具的平均速度;判断所述平均速度是否小于速度阈值;若所述平均速度小于所述速度阈值,则确定进行所述告警操作。
- 根据权利要求18所述的交通信息处理方法,其中,计算所述交通工具的所述平均速度,包括:根据所述交通路径图像中的所述交通工具的宽度得到所述交通路径图像中每个像素表示的实际距离;计算所述交通工具在相邻两帧交通路径图像中的像素位移;根据所述交通路径图像中每个像素表示的所述实际距离、所述交通工具在相邻两帧交通路径图像中的所述像素位移和相邻两帧交通路径图像的间隔时间,得到所述交通工具中每个的速度;计算所述交通路径图像中全部交通工具的速度的平均值,得到所述平均速度。
- 根据权利要求14-19任一所述的交通信息处理方法,还包括:从飞行平台获取所述交通路径图像。
- 根据权利要求14-20任一所述的交通信息处理方法,还包括:获得目标交通工具的位置信息和速度信息;控制飞行平台的速度以调节所述飞行平台与所述目标交通工具之间的距离。
- 根据权利要求21所述的交通信息处理方法,其中,控制所述飞行平台的速度以调节所述飞行平台与所述目标交通工具之间的距离,包括:根据所述飞行平台的位置信息和所述目标交通工具的位置信息,计算所述飞行平台与所述目标交通工具的初始距离;根据所述目标交通工具的速度信息和预定疏导时间,计算所述飞行平台与所述目标交通工具的预定距离;根据所述初始距离和所述预定距离的比较结果,控制所述飞行平台的速度,以调节所述飞行平台与所述目标交通工具之间的距离。
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