CN111832376B

CN111832376B - Vehicle reverse running detection method and device, electronic equipment and storage medium

Info

Publication number: CN111832376B
Application number: CN201910651584.1A
Authority: CN
Inventors: 吴银生
Original assignee: Beijing Qisheng Technology Co Ltd
Current assignee: Beijing Qisheng Technology Co Ltd
Priority date: 2019-07-18
Filing date: 2019-07-18
Publication date: 2024-08-27
Anticipated expiration: 2039-07-18
Also published as: CN111832376A

Abstract

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

Description

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

Technical Field

The application relates to the technical field of retrograde detection, in particular to a vehicle retrograde detection method, a device, electronic equipment and a storage medium.

Background

With the development of science and technology and the improvement of living standard of people, more and more people ride vehicles to go out. With the popularization of electric vehicles and electric bicycles, more and more vehicles are on the road. Among them, the reverse running of vehicles is a serious hazard, and many traffic accidents occur every year.

Based on the above-described problems, the related art provides a vehicle reverse travel detection method that detects whether a current vehicle is in reverse travel by installing two antennas on the vehicle. However, the detection accuracy of the vehicle reverse running detection method is poor.

Disclosure of Invention

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

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

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

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

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

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

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

Acquiring, for each reference object, relative distance information of the target vehicle with respect to the reference object measured by a distance measurement sensor mounted on the target vehicle;

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

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

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

The relative speed information of the target vehicle relative to each reference object is respectively input into a trained retrograde detection model according to the comparison result of the relative speed information of the target vehicle relative to each reference object and the preset highest matching speed, and at least one of the following information is input into the trained retrograde detection model to obtain retrograde driving probability of the target vehicle:

The current position information and the position attribute information of the target vehicle; comparing the current running speed information of the target vehicle with the relative speed information; distribution of relative velocity information within each monitoring period; total duration information of the relative speed information smaller than a second preset threshold value in each monitoring period; total duration information of the relative speed information which is larger than a third preset threshold value in each monitoring period; the current traveling direction of the target vehicle; and the historical reverse probability of the target lane where the target vehicle is located.

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

acquiring current running speed information of the target vehicle;

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

With reference to the third possible implementation manner of the first aspect, the embodiment of the present application provides a fourth possible implementation manner of the first aspect, wherein the acquiring current running speed information of the target vehicle includes:

Acquiring motor rotation speed information of the target vehicle, which is read by a Hall sensor installed on the target vehicle;

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

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

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

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

If the running indication direction corresponding to the road sign image characteristics is consistent with the current running direction of the target vehicle, determining that the target vehicle normally runs;

And if the running indication direction corresponding to the road sign image characteristics is inconsistent with the current running direction of the target vehicle, determining that the target vehicle runs in reverse.

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

acquiring current position information of the target vehicle;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

a third acquisition module, configured to acquire current position information of the target vehicle;

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

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

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

In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a storage medium, and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor in communication with the storage medium via the bus when the electronic device is running, the processor executing the machine-readable instructions to perform the steps of the vehicle reverse detection method according to any one of the first aspects.

In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the vehicle reverse running detection method according to any one of the first aspects.

The vehicle reverse running detection method, device, electronic equipment and storage medium provided by the embodiment of the application have the advantage that the hardware cost is low in a mode of determining the reverse running probability of the target vehicle based on the relative speed information of the target vehicle relative to each reference object. When the reverse running probability of the target vehicle is larger than a first preset threshold value, starting an image sensor positioned on the target vehicle, and based on a reverse running detection mode combining the reverse running probability and the image sensor, improving the detection accuracy and the detection efficiency; meanwhile, an image sensor does not need to work in real time, so that the resource consumption is reduced, and the resource utilization rate is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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

fig. 2 shows a flowchart of a vehicle reverse running detection method provided by an embodiment of the present application;

FIG. 3 is a flowchart of another vehicle reverse running detection method according to an embodiment of the present application;

FIG. 4 is a flowchart of another vehicle reverse running detection method according to an embodiment of the present application;

FIG. 5 shows a flowchart of another vehicle reverse travel detection method provided by an embodiment of the present application;

FIG. 6 is a flowchart of another vehicle reverse running detection method according to an embodiment of the present application;

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

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

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for the purpose of illustration and description only and are not intended to limit the scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.

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

In order to enable one skilled in the art to use the present disclosure, the following embodiments are presented in connection with a particular application scenario "shared vehicle". It will be apparent to those having ordinary skill in the art that the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the application. Although the application is primarily described in the context of a shared vehicle, it should be understood that this is but one exemplary embodiment.

It should be noted that the term "comprising" will be used in embodiments of the application to indicate the presence of the features stated hereafter, but not to exclude the addition of other features.

Fig. 1 is a schematic architecture diagram of a vehicle reverse running detection system 100 according to an embodiment of the present application. The reverse travel detection system 100 includes a server 110, a network 120, a target vehicle 130, and a database 140; wherein the target vehicle 130 has a processor mounted therein.

In some embodiments, the server 110 includes a processor, and the target vehicle 130 has a processor installed therein, which may process information and/or data related to the reverse detection to perform one or more of the functions described herein. For example, the processor may determine the reverse running probability of the target vehicle 130 based on the comparison result of the relative speed information of the target vehicle 130 with the respective reference objects with the preset highest matching speeds and the position attribute information of the target vehicle 130, respectively. In some embodiments, a processor may include one or more processing cores (e.g., a single core processor (S) or a multi-core processor (S)). By way of example only, the Processor may include a central processing unit (Central Processing Unit, CPU), application Specific Integrated Circuit (ASIC), special instruction set Processor (Application Specific Instruction-set Processor, ASIP), graphics processing unit (Graphics Processing Unit, GPU), physical processing unit (Physics Processing Unit, PPU), digital signal Processor (DIGITAL SIGNAL Processor, DSP), field programmable gate array (Field Programmable GATE ARRAY, FPGA), programmable logic device (Programmable Logic Device, PLD), controller, microcontroller unit, reduced instruction set computer (Reduced Instruction Set Computing, RISC), microprocessor, or the like, or any combination thereof.

Network 120 may be used for the exchange of information and/or data. In some embodiments, one or more components (e.g., server 110, target vehicle 130) in the reverse detection system 100 may send information and/or data to other components. For example, server 110 may obtain relevant data from target vehicle 130 via network 120. In some embodiments, network 120 may be any type of wired or wireless network, or a combination thereof. By way of example only, the network 120 may include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the internet, a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN), a wireless local area network (Wireless Local Area Networks, WLAN), a metropolitan area network (Metropolitan Area Network, MAN), a wide area network (Wide Area Network, WAN), a public switched telephone network (Public Switched Telephone Network, PSTN), a bluetooth network, a ZigBee network, a near field Communication (NEAR FIELD Communication, NFC) network, or the like, or any combination thereof. In some embodiments, network 120 may include one or more network access points. For example, network 120 may include wired or wireless network access points, such as base stations and/or network switching nodes, through which one or more components of the reverse run detection system 100 may connect to the network 120 to exchange data and/or information.

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

The following describes in detail a vehicle reverse travel detection method according to an embodiment of the present application, with reference to the description of the vehicle reverse travel detection system 100 shown in fig. 1. Referring to fig. 2, a flow chart of a vehicle reverse running detection method according to an embodiment of the present application is shown, and the method may be executed by a processor installed on a target vehicle 130 in the vehicle reverse running detection system 100, or may be executed by a server in the vehicle reverse running detection system 100. The following describes an example of a method for detecting vehicle reverse running by a processor of the target vehicle 130, wherein the specific implementation procedure includes the following steps:

S201, acquiring relative speed information of a target vehicle relative to each reference object; wherein the reference object is located in front of the target vehicle.

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

In which the head direction of the target vehicle is generally changed when the user rides the target vehicle, the ranging sensor measures relative distance information of the target vehicle from each reference object directly in front of the target vehicle. The processor may calculate relative velocity information of each reference object directly in front of the target vehicle from based on the relative distance information matching each reference object.

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

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

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

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

In the embodiment of the application, after the comparison results matched with all the reference objects are input into the reverse detection model, the processor outputs the reverse running probability of the target vehicle by the reverse detection model. The processor compares the reverse running probability with a first preset threshold value, and if the reverse running probability of the target vehicle is larger than the first preset threshold value, the image sensor installed on the target vehicle is started. The image sensor after starting acquires image information corresponding to the current running direction of the target vehicle in real time, and sends the acquired image information to the processor, so that the processor accurately detects whether the target vehicle runs in reverse or not based on the received image information.

In the embodiment of the application, the retrograde driving probability can be set according to the requirement. For example, the reverse running probability is set to 60%; for another example, the reverse running probability is set to 65%; for another example, the reverse running probability is set to 70%. Note that, in the embodiment of the present application, specific numerical values of the reverse running probabilities are not particularly limited.

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

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

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

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

s301, for each reference object, acquiring relative distance information of the target vehicle relative to the reference object measured by a ranging sensor mounted on the target vehicle.

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

As one embodiment, the range sensor is an ultrasonic range sensor that emits ultrasonic waves toward the reference object, the ultrasonic waves return to the range sensor after encountering the reference object, the range sensor calculates a time difference between a time point at which the ultrasonic waves are received and a time point at which the ultrasonic waves are emitted, and calculates relative distance information of the target vehicle with respect to the reference object based on a propagation speed of the ultrasonic waves and the calculated time difference.

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

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

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

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

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

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

In an actual scene, the probability of reverse driving of the vehicle is generally low, if the target vehicle is in reverse driving, the number of vehicles which normally drive in a target lane of the target vehicle is larger than the number of vehicles which drive in reverse driving, and correspondingly, the relative speed information between the target vehicle and a plurality of continuous reference objects is larger than the preset highest matching speed. Accordingly, the processor continuously monitors the relative speed information between the target vehicle and the continuous plurality of reference objects, and uses the comparison result of the relative speed information matched with each reference object and the preset highest matching speed as the characteristic information for determining the reverse running probability of the target vehicle.

In the embodiment of the application, when the relative speed information between the target vehicle and the continuous multiple reference objects is larger than the preset highest speed, the probability of the target vehicle going backwards is larger.

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

As one embodiment, the characteristic information that determines whether the vehicle is traveling in reverse may include one or more of the following information: the current position information and the position attribute information of the target vehicle; comparing the current running speed information of the target vehicle with the relative speed information; distribution of relative velocity information within each monitoring period; total duration information of the relative speed information smaller than a second preset threshold value in each monitoring period; total duration information of the relative speed information which is larger than a third preset threshold value in each monitoring period; the current traveling direction of the target vehicle; and the historical reverse probability of the target lane where the target vehicle is located. Based on the characteristic information, the training process of the retrograde detection model in the processor is as follows:

Acquiring a plurality of sample data, the plurality of sample data comprising: positive sample data of reverse travel and negative sample data of normal travel in many cases. Wherein, each situation of the normal running includes: when the road condition is smooth, the vehicle normally runs; when the road condition is congested or constructed, the vehicle normally runs when bypassing the congested area.

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

The following describes respective feature information input into the reverse detection model:

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

The positioning device used in the present application may be a global positioning system (Global Positioning System, GPS), global navigation satellite system (Global Navigation SATELLITE SYSTEM, GLONASS), COMPASS navigation system (COMPASS), galileo positioning system, quasi Zenith satellite system (Quasi-Zenith SATELLITE SYSTEM, QZSS), wireless fidelity (WIRELESS FIDELITY, WIFI), or the like, or any combination thereof. One or more of the above-described positioning devices may be used interchangeably in embodiments of the present application.

The location attribute information on the target vehicle includes one or more of the following: road segment information, lane information, point of interest (Point of Interest, POI) category information. For example, the road section information is the su zhou street in the sea lake area of beijing, the lane information is the south-to-north africa motor vehicle lane, and the POI category information is finance (specifically, banks); for another example, the road section information is a four-ring western road auxiliary road in the sea and lake area of Beijing city, the lane information is an east-west non-motor vehicle lane, and the POI type information is traffic (specifically, a bus stop).

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

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

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

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

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

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

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

Third, in addition to directly determining whether the target vehicle is traveling in reverse, it is also possible to determine whether the target vehicle is traveling in reverse based on the distribution of the relative speed information of the target vehicle and each reference object in the monitoring period.

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

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

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

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

As shown in fig. 5, in the vehicle reverse running detection method provided by the embodiment of the present application, determining whether the target vehicle runs in reverse according to the image information corresponding to the current running direction of the target vehicle and the current running direction of the target vehicle includes:

S501, extracting image features in image information of each frame of image information acquired by the image sensor.

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

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

In the embodiment of the application, a plurality of road sign image features are prestored in a processor. For each detected image feature of each image sub-block, the processor calculates the similarity of the image feature with each road sign image feature.

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

S503, if the running indication direction corresponding to the road sign image characteristics is consistent with the current running direction of the target vehicle, determining that the target vehicle normally runs.

As one embodiment, if the driving instruction direction corresponding to the road sign image feature is from north to south and the current driving direction of the target vehicle is from north to south, determining that the target vehicle is driving normally.

S504, if the running indication direction corresponding to the road sign image characteristics is inconsistent with the current running direction of the target vehicle, determining that the target vehicle runs in reverse.

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

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

s601, acquiring current position information of the target vehicle.

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

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

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

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

In the embodiment of the application, when the processor detects that the target lane is the unidirectional lane, the vehicle reverse running detection method in the embodiment of the application is executed, so that the resource consumption can be reduced by one step, and the resource utilization rate can be improved.

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

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

A first determining module 702, configured to determine a reverse running probability of the target vehicle based on comparison results of relative speed information of the target vehicle with respect to each reference object and a preset highest matching speed;

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

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

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

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

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

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

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

Further, in the vehicle reverse running detection device provided by the embodiment of the application, the location attribute information includes one or more of the following information: longitude and latitude information, road section information, lane information and POI category information.

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

As shown in fig. 8, an electronic device 800 provided in an embodiment of the present application includes: a processor 801, a memory 802, and a bus, the memory 802 storing machine readable instructions executable by the processor 801, the processor 801 and the memory 802 communicating over the bus when the electronic device is running, the processor 801 executing the machine readable instructions to perform the steps of the vehicle reverse detection method as described above.

Specifically, the above-described memory 802 and processor 801 can be general-purpose memories and processors, and are not particularly limited herein, and the above-described vehicle reverse running detection method can be executed when the processor 801 runs a computer program stored in the memory 802.

Corresponding to the vehicle reverse running detection method, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program executes the steps of the vehicle reverse running detection method when being run by a processor.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the vehicle reverse running detection device described above may refer to the corresponding process in the method embodiment, and will not be repeated in the present application. In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, and the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, and for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, indirect coupling or communication connection of devices or modules, electrical, mechanical, or other form.

The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

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

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily appreciate variations or alternatives within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

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

The relative speed information of the target vehicle relative to each reference object is respectively input into a trained retrograde detection model according to the comparison result of the relative speed information of the target vehicle relative to each reference object and the preset highest matching speed, and at least one of the following information is input into the trained retrograde detection model to obtain retrograde driving probability of the target vehicle: the current position information and the position attribute information of the target vehicle; comparing the current running speed information of the target vehicle with the relative speed information; distribution of relative velocity information within each monitoring period; total duration information of the relative speed information smaller than a second preset threshold value in each monitoring period; total duration information of the relative speed information which is larger than a third preset threshold value in each monitoring period; the current traveling direction of the target vehicle; the historical reverse probability of the target lane where the target vehicle is located;

Wherein a comparison result of the current running speed information of the target vehicle and each of the relative speed information is determined by: acquiring current running speed information of the target vehicle; comparing the current running speed information of the target vehicle with the relative speed information of the target vehicle relative to any reference object to obtain a comparison result of the current running speed information of the target vehicle and the relative speed information matched with the reference object;

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

3. The vehicle reverse travel detection method according to claim 1, characterized in that the acquiring current travel speed information of the target vehicle includes:

4. The vehicle reverse travel detection method according to claim 1, wherein the determining whether the target vehicle is traveling in reverse or not based on the image information corresponding to the current traveling direction of the target vehicle and the current traveling direction of the target vehicle includes:

5. The vehicle reverse travel detection method according to claim 1, wherein before the obtaining of the relative speed information of the target vehicle with respect to the respective reference objects, the method further comprises:

acquiring current position information of the target vehicle;

6. The vehicle reverse travel detection method according to claim 1, wherein the position attribute information includes one or more of the following information: longitude and latitude information, road section information, lane information and POI category information.

7. A vehicle reverse travel detection device, characterized in that the device comprises:

The first determining module is used for respectively inputting the comparison result of the relative speed information of the target vehicle relative to each reference object and the preset highest matching speed and at least one of the following information into the trained retrograde detection model to obtain retrograde driving probability of the target vehicle: the current position information and the position attribute information of the target vehicle; comparing the current running speed information of the target vehicle with the relative speed information; distribution of relative velocity information within each monitoring period; total duration information of the relative speed information smaller than a second preset threshold value in each monitoring period; total duration information of the relative speed information which is larger than a third preset threshold value in each monitoring period; the current traveling direction of the target vehicle; the historical reverse probability of the target lane where the target vehicle is located;

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

8. The vehicle reverse travel detection device according to claim 7, wherein the first acquisition module is specifically configured to:

9. The vehicle reverse travel detection device according to claim 7, wherein the second acquisition module is specifically configured to:

10. The vehicle reverse travel detection device according to claim 7, wherein the second determination module is specifically configured to:

11. The vehicle reverse travel detection device according to claim 7, characterized in that the device further comprises:

12. The vehicle reverse travel detection device according to claim 7, wherein the position attribute information includes one or more of the following information: longitude and latitude information, road section information, lane information and POI category information.

13. An electronic device, comprising: a processor, a storage medium, and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the vehicle reverse detection method according to any one of claims 1 to 6.

14. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the vehicle reverse running detection method according to any one of claims 1 to 6.