Avoidance judgment method and apparatus for emergency vehicles at intersection, and medium

A technology of emergency vehicles and determination methods, which is applied in the field of transportation and can solve problems such as low efficiency

Active Publication Date: 2021-05-18
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The efficiency of the above...

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  • Avoidance judgment method and apparatus for emergency vehicles at intersection, and medium
  • Avoidance judgment method and apparatus for emergency vehicles at intersection, and medium
  • Avoidance judgment method and apparatus for emergency vehicles at intersection, and medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0077] A method for judging the avoidance of emergency vehicles at intersections, such as figure 2 As shown, the practical application scenarios of this method are as follows figure 1 As shown, the front end of the traffic intersection is provided with a camera 1, and the camera 1 captures the vehicles that are about to pass through the intersection. He turned sideways at a certain angle and pressed against the solid line 5 on the side of the road. Including the following steps:

[0078] Step 1: The electronic camera equipment located at the road intersection collects road images when there are no vehicles or the number of vehicles is as small as possible, and selects images with better light and weather conditions; the lane markings in the road images should be clearly identifiable. In the example, the road image size is set to 3392*2008.

[0079] Step 2: According to the road image collected in step 1, determine the position of the solid line 5 and calibrate it;

[0080...

Embodiment 2

[0088] According to a method for judging the avoidance of emergency vehicles at an intersection according to Embodiment 1, the difference is that:

[0089] Step 2: Perform inverse projection transformation and binarization processing on the road image collected in Step 1 to obtain the position of the solid line 5 and calibrate it. The image processing needs to be performed with the help of computer software. Such as image 3 As shown, when performing back projection transformation, since the extra useless information in the real-time road processing process is too complicated, a part of specific areas are selected for transformation processing, especially the original collected images are mixed with negligible road surrounding information, which should be concentrated in the road area. include:

[0090] A. Carry out inverse projection transformation to the road image collected in step 1 to obtain the transformation map, which means: transform the point in the image coordinat...

Embodiment 3

[0114] According to a method for judging the avoidance of emergency vehicles at an intersection according to Embodiment 1, the difference is that:

[0115] Step 6, including the following steps:

[0116] G. The positions of the rectangular frame areas of emergency vehicles 3 and ordinary vehicles 4 are {(x 0 ,y 0 ),w 0 , h 0}, {(x n ,y n ),w n , h n}, including center point coordinates, width and height information, n represents different ordinary vehicles 4; (x 0 ,y 0 ), w 0 、h 0 are the center point coordinates, width and height of the emergency vehicle 3 rectangular frame respectively, (x n ,yn ) 、w n 、h n Respectively, the coordinates of the center point, width and height of the 4 rectangular frames of ordinary vehicles;

[0117] H. Judging whether formula (Ⅲ) or formula (Ⅳ) is established, if established, then the target vehicle may avoid the situation of emergency vehicle 3, enter step 7, otherwise, return to step 4 to extract the next frame of video frame...

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Abstract

The invention relates to an avoidance judgment method and apparatus for emergency vehicles at an intersection, and a medium. The method comprises that: a road image is obtained in advance; the image is processed to obtain the position of a solid line, and the position is calibrated; a vehicle coming direction road video is shot and stored; video frames are extracted, vehicle detection is carried out on the road image through a target detection technology based on deep learning, and meanwhile, emergency vehicles needing to be avoided are identified; according to the relative positions in the same lane, whether the target vehicle possibly avoids the emergency vehicle is judged; if yes, the image is transformed into a top view by using inverse projection transformation; whether line pressing occurs or not is judged; if yes, illegal line pressing can be judged, and then avoidance judgment is carried out; and if yes, license plate recognition is carried out, and information is uploaded to execute violation record clearing. According to the invention, the efficiency of violation appeal work of avoiding the emergency vehicle can be improved, a guarantee is provided for a driver of the avoiding vehicle, and the initiative of avoiding the emergency vehicle can be improved.

Description

technical field [0001] The invention belongs to the field of traffic technology and computer technology, and in particular relates to a method, equipment and medium for judging whether there is a violation due to avoiding an emergency vehicle. Background technique [0002] With the rapid increase in car ownership year by year, urban road congestion continues to intensify. Traffic congestion has seriously affected the timely arrival of emergency vehicles to their destinations, hindering the implementation of rescue work. Especially during the occurrence of major health events, emergency vehicles such as ambulances are on standby at any time, and the number of tasks performed has greatly increased, and the trend of encountering road congestion has also increased. [0003] Many drivers know that when encountering emergency vehicles, including police cars, fire trucks, ambulances, and engineering emergency vehicles, they should take the initiative to give way. However, the traf...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32G06K9/46G06K9/62G06N3/04G06N3/08G06T7/13G06T7/168G06T7/80
CPCG06T7/13G06T7/168G06T7/80G06N3/04G06N3/08G06T2207/20061G06T2207/10016G06T2207/20081G06T2207/20084G06T2207/30256G06T2207/30252G06V20/584G06V20/588G06V10/25G06V10/44G06V2201/08G06V2201/07G06F18/24G06F18/253
Inventor 邢建平邢猛陈永红邢语轩许才溢高龙琛
Owner SHANDONG UNIV
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