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Vehicle trajectory tracking method, device and equipment and storage medium

A vehicle track and vehicle technology, applied in the field of vehicle management, can solve problems such as high cost, high rate of toll evasion, and difficulty in obtaining evidence for evasion

Active Publication Date: 2021-03-12
GUANGZHOU HUAGONG INFORMATION SOFTWARE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention provides a vehicle trajectory tracking method, device, equipment and storage medium to solve the problems of high cost, high rate of toll evasion and difficulty in obtaining evidence for toll evasion in the current parking charging mode

Method used

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  • Vehicle trajectory tracking method, device and equipment and storage medium
  • Vehicle trajectory tracking method, device and equipment and storage medium
  • Vehicle trajectory tracking method, device and equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] figure 1 It is a flow chart of a vehicle trajectory tracking method provided by Embodiment 1 of the present invention. This embodiment is applicable to monitoring vehicle behavior in roadside open parking areas and recording driving trajectories to trigger business operations related to parking In this case, the method can be performed by a vehicle trajectory tracking device, which can be implemented by software and / or hardware, and can be configured in computer equipment, such as servers, workstations, personal computers, etc., the method Specifically include the following steps:

[0029] S101. When it is detected that the vehicle enters the parking area on the side of the road, multiple frames of image data captured by the camera for the vehicle and multiple frames of point cloud data detected by the millimeter wave radar for the vehicle are acquired.

[0030] In this embodiment, a camera and a millimeter-wave radar are arranged on the side of the road. The monitorin...

Embodiment 2

[0069] figure 2 It is a schematic structural diagram of a vehicle trajectory tracking device provided in Embodiment 2 of the present invention. In this embodiment, a camera and a millimeter-wave radar are arranged on the side of the road, and the monitoring range of the camera covers part of the parking area on the road side. The monitoring range of the millimeter-wave radar covers all parking areas on the road side, and the device may specifically include the following modules:

[0070] The data acquisition module 201 is configured to acquire multiple frames of image data captured by the camera for the vehicle and multiple frames of point cloud data detected by the millimeter-wave radar for the vehicle when it is detected that the vehicle enters the parking area on the road side ;

[0071] The first driving trajectory calculation module 202 is configured to fuse the color histogram of the vehicle with particle filter in the multiple frames of the image data to calculate the...

Embodiment 3

[0114] image 3 A schematic structural diagram of a computer device provided in Embodiment 3 of the present invention, such as image 3 As shown, the computer device includes a processor 300, a memory 301, a communication module 302, an input device 303 and an output device 304; the number of processors 300 in the computer device may be one or more, image 3 Take a processor 300 as an example; the processor 300, the memory 301, the communication module 302, the input device 303 and the output device 304 in the computer equipment can be connected through a bus or other methods, image 3 Take connection via bus as an example.

[0115] The memory 301, as a computer-readable storage medium, can be used to store software programs, computer-executable programs and modules, such as modules corresponding to the vehicle trajectory tracking method in the embodiment of the present invention (for example, such as figure 2 The data acquisition module 201, the first driving trajectory ca...

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Abstract

The invention discloses a vehicle trajectory tracking method, device and equipment and a storage medium. The method comprises the steps of obtaining the data of a plurality of frames of images photographed by a camera for a vehicle and the data of a plurality of frames of point clouds detected by a millimeter-wave radar for the vehicle when the vehicle is detected to enter a parking region on a road side, in the multi-frame image data, fusing the color histogram of the vehicle with particle filtering to calculate a first driving trajectory of the vehicle moving in the parking region, calculating a second driving trajectory of the vehicle moving in the parking region based on the multi-frame point cloud data by referring to a coordinate conversion relationship between the camera and the millimeter-wave radar, splicing the first driving trajectory and the second driving trajectory to determine a target driving trajectory of the vehicle moving in the parking region, and comparing the target driving trajectory with the parking space in the parking region so as to execute parking-related business operation on the vehicle entering or leaving the parking space. According to the scheme, vehicle behaviors in the parking region can be detected in real time, and certificates are provided for business operation.

Description

technical field [0001] Embodiments of the present invention relate to vehicle management technology, and in particular to a vehicle trajectory tracking method, device, equipment and storage medium. Background technique [0002] At present, the open parking areas on the side of urban roads mainly use geomagnetic, video piles, meters and manual charging. [0003] However, the geomagnetic installation is destructive to the road, and battery maintenance is also troublesome. When the vehicle is parked for a long time or other vehicles pass by, there may be false triggering of the geomagnetic signal; the video pile has limited ability to control the parking space and is easily blocked. Artificial occlusion and damage require too much investment and high cost; meters are widely used, but construction is difficult, building a large number of meters will easily affect the image of the city, equipment is also easily damaged, and maintenance costs are high; manual mode charges The eff...

Claims

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Application Information

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IPC IPC(8): G08G1/01G08G1/14G07B15/02G06K9/00G06T5/40
CPCG08G1/0125G08G1/0137G08G1/147G07B15/02G06T5/40G06V20/586
Inventor 罗庆异谢海强李俊贤陈健练小娟王绍先
Owner GUANGZHOU HUAGONG INFORMATION SOFTWARE
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