A method, apparatus, and equipment for detecting right-side overtaking of vehicles based on frame images.

Abstract

This invention discloses a method, apparatus, and device for detecting right-hand overtaking of vehicles based on frame images. The method includes acquiring onboard video information of the vehicle to be detected, extracting vehicle feature data and road surface feature data from frame images in the onboard video information, and generating position features and running features of the target vehicle. The position features include a first position feature and a second position feature. The method determines whether the first and second position features meet preset position conditions for right-hand overtaking; if so, it monitors the running features of the target vehicle. When the running features meet the preset motion conditions for right-hand overtaking, the method determines that the target vehicle is overtaking on the right. This invention improves the accuracy and efficiency of right-hand overtaking detection by detecting the running features of the target vehicle when the first and second position features of the target vehicle meet the position conditions for right-hand overtaking.

Description

Technical Field

[0001] This invention relates to the field of image detection technology, and in particular to a method, apparatus, and device for detecting right-side overtaking of vehicles based on frame images. Background Technology

[0002] As the number of cars in cities continues to increase, roads are becoming increasingly congested, placing higher demands on the precision of both manual and autonomous driving. In particular, overtaking on the right often leads to accidents due to limited visibility. Therefore, detecting illegal right-hand overtaking maneuvers early allows for timely intervention and reduces the likelihood of accidents.

[0003] Existing vehicle right-hand overtaking detection methods typically employ sensor elements. However, this method requires a large number of sophisticated sensors, resulting in high costs, a high failure rate, and consequently low detection accuracy. Therefore, improving the accuracy and efficiency of vehicle right-hand overtaking detection is a pressing technical problem that needs to be solved.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a method, apparatus, device, and storage medium for detecting right-side overtaking of vehicles based on frame images, aiming to solve the technical problem of low accuracy and efficiency in current vehicle right-side overtaking detection.

[0006] To achieve the above objectives, the present invention provides a method for detecting right-side overtaking of vehicles based on frame images, the method comprising the following steps:

[0007] Acquire the vehicle-mounted video information of the detected vehicle, and extract vehicle feature data and road feature data from the frame images in the vehicle-mounted video information;

[0008] Based on the vehicle feature data and road surface feature data, the position features and operating features of the target vehicle are generated; wherein, the position features include a first position feature and a second position feature;

[0009] Determine whether the first position feature and the second position feature meet the preset position conditions for overtaking on the right. If so, monitor the running characteristics of the target vehicle.

[0010] When the operating characteristics meet the preset right-hand overtaking conditions, it is determined that the target vehicle is overtaking on the right.

[0011] Optionally, the vehicle feature data includes vehicle location and vehicle attribute location; the road surface feature data includes lane line location and road surface line markings.

[0012] Optionally, before the step of generating the location features and operational features of the target vehicle based on the vehicle feature data and road surface feature data, the method further includes:

[0013] Based on the vehicle location and the vehicle attribute location, a first matching relationship is established between each vehicle location and the vehicle attribute location to obtain the vehicle attribute location corresponding to each vehicle location.

[0014] Based on the lane line positions and the road surface markings, a second matching relationship is established between each lane line and the road surface markings to obtain the lane line markings corresponding to each lane line.

[0015] Optionally, the first position feature is the position where the target vehicle first appears in the frame image; the second position feature is the position where the target vehicle appears in the frame image after a preset time.

[0016] Optionally, the step of determining whether the first position feature and the second position feature meet the preset position conditions for overtaking on the right specifically includes:

[0017] When it is determined that the vehicle position corresponding to the first position feature is in the right region of the frame image, whether the vehicle attribute position is in the frame image; if not, monitor the second position feature.

[0018] If the distance between the second position feature and the first position feature exceeds a preset value, the target vehicle is determined to meet the position conditions for overtaking on the right.

[0019] Optionally, the operational feature is: the vehicle position of the target vehicle or the direction of movement of the vehicle attribute position with a first matching relationship to the vehicle position relative to the lane line.

[0020] Optionally, when the running feature meets the preset right-side overtaking motion conditions, the right-side overtaking motion conditions are determined to be: the running feature moves in the direction of approaching the right lane line of the detected vehicle.

[0021] Furthermore, to achieve the above objectives, the present invention also provides a vehicle right-side overtaking detection device based on frame images, the vehicle right-side overtaking detection device based on frame images comprising:

[0022] The extraction module is used to acquire the vehicle-mounted video information of the detected vehicle and extract vehicle feature data and road feature data from the frame images in the vehicle-mounted video information.

[0023] The generation module is used to generate the position features and running features of the target vehicle based on the vehicle feature data and road surface feature data; wherein, the position features include a first position feature and a second position feature;

[0024] The first judgment module is used to determine whether the first position feature and the second position feature meet the preset position conditions for overtaking on the right. If so, the module monitors the running characteristics of the target vehicle.

[0025] The second judgment module is used to determine that the target vehicle is overtaking on the right when the running characteristics meet the preset right-hand overtaking conditions.

[0026] Furthermore, in order to achieve the above objectives, the present invention also provides a vehicle right-side overtaking detection device based on frame images. The vehicle right-side overtaking detection device based on frame images includes: a memory, a processor, and a vehicle right-side overtaking detection program based on frame images stored in the memory and executable on the processor. When the vehicle right-side overtaking detection program based on frame images is executed by the processor, it implements the steps of the vehicle right-side overtaking detection method based on frame images as described above.

[0027] In addition, to achieve the above objectives, the present invention also provides a storage medium storing a vehicle right-side overtaking detection program based on frame images, wherein when the vehicle right-side overtaking detection program based on frame images is executed by a processor, the program implements the steps of the vehicle right-side overtaking detection method based on frame images as described above.

[0028] This invention proposes a method, apparatus, device, and storage medium for detecting right-hand overtaking of vehicles based on frame images. The method includes acquiring onboard video information of the vehicle to be detected, extracting frame images and road feature data from the onboard video information, and generating position features and running features of the target vehicle. The position features include a first position feature and a second position feature. The method determines whether the first and second position features meet preset position conditions for right-hand overtaking; if so, it monitors the running features of the target vehicle. When the running features meet the preset movement conditions for right-hand overtaking, the method determines that the target vehicle is overtaking on the right. This invention improves the accuracy and efficiency of right-hand overtaking detection by detecting the running features of the target vehicle when the first and second position features meet the position conditions for right-hand overtaking. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the vehicle right-side overtaking detection device based on frame images according to an embodiment of the present invention;

[0030] Figure 2 This is a flowchart illustrating the vehicle right-side overtaking detection method based on frame images according to an embodiment of the present invention.

[0031] Figure 3This is a structural block diagram of a vehicle right-side overtaking detection device based on frame images according to an embodiment of the present invention.

[0032] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0033] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0034] As the number of cars in cities continues to increase, roads are becoming increasingly congested, placing higher demands on the precision of both manual and autonomous driving. In particular, overtaking on the right often leads to accidents due to limited visibility. Therefore, detecting illegal right-hand overtaking maneuvers early allows for timely intervention and reduces the likelihood of accidents.

[0035] Existing vehicle right-hand overtaking detection methods typically employ sensor elements. However, this method requires a large number of sophisticated sensors, resulting in high costs, a high failure rate, and consequently low detection accuracy. Therefore, improving the accuracy and efficiency of vehicle right-hand overtaking detection is a pressing technical problem that needs to be solved.

[0036] To address this problem, various embodiments of the vehicle right-side overtaking detection method based on frame images of the present invention are proposed. The vehicle right-side overtaking detection method based on frame images provided by the present invention determines the right-side overtaking behavior of the target vehicle by detecting the target vehicle's running characteristics when the target vehicle's first and second position features meet the position conditions for right-side overtaking. Through image recognition and detection, the accuracy and efficiency of right-side overtaking detection are improved.

[0037] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a vehicle right-side overtaking detection device based on frame images, which is part of an embodiment of the present invention.

[0038] The device can be a user equipment (UE) such as a mobile phone, smartphone, laptop, digital broadcast receiver, personal digital assistant (PDA), tablet computer (PAD), handheld device, in-vehicle device, wearable device, computing device or other processing device connected to a wireless modem, mobile station (MS), etc. The device may be referred to as a user terminal, portable terminal, desktop terminal, etc.

[0039] Typically, the device includes: at least one processor 301, a memory 302, and a frame-image-based vehicle right-hand overtaking detection program stored in the memory and executable on the processor, the frame-image-based vehicle right-hand overtaking detection program being configured to implement the steps of the frame-image-based vehicle right-hand overtaking detection method as described above.

[0040] Processor 301 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 301 may be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). Processor 301 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 301 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. Processor 301 may also include an AI (Artificial Intelligence) processor, which processes vehicle right-hand overtaking detection operations based on frame images, enabling the frame-image-based vehicle right-hand overtaking detection model to train and learn autonomously, improving efficiency and accuracy.

[0041] The memory 302 may include one or more computer-readable storage media, which may be non-transitory. The memory 302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 302 is used to store at least one instruction, which is executed by the processor 301 to implement the vehicle right-side overtaking detection method based on frame images provided in the method embodiments of this application.

[0042] In some embodiments, the terminal may also optionally include a communication interface 303 and at least one peripheral device. The processor 301, memory 302, and communication interface 303 can be connected via a bus or signal line. Each peripheral device can be connected to the communication interface 303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of a radio frequency circuit 304, a display screen 305, and a power supply 306.

[0043] The communication interface 303 can be used to connect at least one I / O (Input / Output) related peripheral device to the processor 301 and the memory 302. The communication interface 303 is used to receive movement trajectories and other data uploaded by the user from multiple mobile terminals via the peripheral device. In some embodiments, the processor 301, memory 302, and communication interface 303 are integrated on the same chip or circuit board; in other embodiments, any one or two of the processor 301, memory 302, and communication interface 303 can be implemented on separate chips or circuit boards, and this embodiment is not limited to this.

[0044] The radio frequency (RF) circuit 304 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 304 communicates with communication networks and other communication devices via electromagnetic signals, thereby acquiring the movement trajectories and other data of multiple mobile terminals. The RF circuit 304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 304 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 304 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: metropolitan area networks (MANs), various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks (WLANs), and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 304 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0045] Display screen 305 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 305 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 301 for processing. In this case, display screen 305 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, display screen 305 can be a single screen, the front panel of an electronic device; in other embodiments, display screen 305 can be at least two screens, respectively disposed on different surfaces of the electronic device or in a folded design; in still other embodiments, display screen 305 can be a flexible display screen, disposed on a curved or folded surface of the electronic device. Furthermore, display screen 305 can also be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. Display screen 305 can be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0046] Power supply 306 is used to supply power to various components in an electronic device. Power supply 306 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 306 includes a rechargeable battery, the rechargeable battery can support wired or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0047] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the vehicle right-side overtaking detection device based on frame images, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0048] This invention provides a method for detecting right-side overtaking of vehicles based on frame images, referring to... Figure 2 , Figure 2 This is a flowchart illustrating an embodiment of the vehicle right-side overtaking detection method based on frame images according to the present invention.

[0049] In this embodiment, the vehicle right-side overtaking detection method based on frame images includes the following steps:

[0050] Step S100: Obtain the vehicle-mounted video information of the detected vehicle, and extract vehicle feature data and road feature data from the frame images in the vehicle-mounted video information.

[0051] Specifically, when a vehicle is conducting a right-hand overtaking detection, it can first acquire the vehicle's onboard video information and use this information to monitor the driving behavior of other vehicles in the surrounding area. This allows the system to provide early warnings to the driver when a vehicle is detected overtaking on the right, or to directly adjust the attitude of the autonomous vehicle.

[0052] In practical applications, vehicle feature data includes vehicle location and vehicle attribute location; road surface feature data includes lane line location and road surface linear markings. Specifically, vehicle location refers to the vehicle's position within a frame of the onboard video information; vehicle attribute location refers to the location of vehicle markers, such as the rear of the vehicle, license plate, and taillights; lane line location refers to the position of lane lines on the road surface; and road surface linear markings refer to markings on the road surface or roadside used to indicate lane lines.

[0053] Step S200: Based on the vehicle feature data and road surface feature data, generate the position features and running features of the target vehicle; wherein, the position features include a first position feature and a second position feature.

[0054] Specifically, based on the vehicle location and the vehicle attribute location, a first matching relationship is established between each vehicle location and the vehicle attribute location to obtain the vehicle attribute location corresponding to each vehicle location; based on the lane line location and the road surface line markings, a second matching relationship is established between each lane line and the road surface line markings to obtain the lane line markings corresponding to each lane line.

[0055] In practical applications, the first positional feature is the position where the target vehicle first appears in the frame image; the second positional feature is the position where the target vehicle appears in the frame image after a preset time.

[0056] In addition, the running characteristic is the vehicle position of the target vehicle or the direction of movement of the vehicle attribute position relative to the lane line, which has a first matching relationship with the vehicle position.

[0057] It is easy to understand that after obtaining vehicle feature data, it is necessary to extract the position and operation features of the target vehicle from the vehicle feature data in order to determine the driving status of the target vehicle, and then detect whether it intends to overtake on the right, so as to detect it early and provide early warning information to the driver, or directly affect the autonomous vehicle to detect the vehicle's attitude adjustment.

[0058] The first position feature is the position where the target vehicle first appears in the frame image, and the second position feature is the position where the target vehicle appears in the frame image after a preset time, which is used to detect the direction of movement of the target vehicle relative to the detected vehicle within the preset time.

[0059] Among them, the operational feature is the direction of movement of the target vehicle's position or vehicle attribute position relative to the lane line, which is used to detect the direction of movement of the target vehicle relative to the lane line.

[0060] Step S300: Determine whether the first position feature and the second position feature meet the preset position conditions for overtaking on the right. If so, monitor the running characteristics of the target vehicle.

[0061] Specifically, after obtaining the first position feature, the second position feature, and the running feature, in order to determine whether the target vehicle meets the preset position conditions for overtaking on the right, it can be determined whether the vehicle attribute position is in the frame image when the vehicle position corresponding to the first position feature is in the right region of the frame image. If not, the second position feature is monitored; if the distance between the second position feature and the first position feature exceeds a preset value, it is determined that the target vehicle meets the position conditions for overtaking on the right.

[0062] It's easy to understand that by judging the vehicle position and vehicle attribute position corresponding to the first position feature, we can determine whether the target vehicle intends to overtake the detected vehicle at the first moment. Then, by judging the distance between the second position feature and the first position feature, we can determine whether the target vehicle has the action of traveling overtaking distance. That is, after detecting the head of the vehicle on the right side of the frame image at the first moment, if the target vehicle moves forward a preset distance relative to the detected vehicle at the second moment, it indicates that the target vehicle meets the position condition for overtaking on the right.

[0063] Step S400: When the running characteristics meet the preset right-hand overtaking conditions, it is determined that the target vehicle is overtaking on the right.

[0064] Specifically, after determining that the target vehicle meets the preset position conditions for overtaking on the right, in order to determine whether the target vehicle meets the preset movement conditions for overtaking on the right, the lane markings of the right lane of the detected vehicle can be obtained; when the movement characteristics satisfy that the target vehicle's position or the movement direction of the vehicle attribute position that has a first matching relationship with the vehicle position is moving towards the lane markings, it is determined that the target vehicle is overtaking on the right.

[0065] It is easy to understand that once the target vehicle meets the positional conditions for overtaking on the right, that is, the target vehicle has traveled a distance to the right of the detection vehicle within a preset time for overtaking, it is necessary to determine whether the target vehicle has made a driving action close to the right lane line of the detection vehicle. If so, it is determined that the target vehicle has overtaken on the right.

[0066] In this embodiment, the target vehicle's right-hand overtaking behavior is determined by detecting its running characteristics when the first and second position features of the target vehicle meet the position conditions for right-hand overtaking. Through image recognition and detection, the accuracy and efficiency of right-hand overtaking detection are improved.

[0067] Reference Figure 3 , Figure 3 This is a structural block diagram of an embodiment of the vehicle right-side overtaking detection device based on frame images of the present invention.

[0068] like Figure 3 As shown, the vehicle right-side overtaking detection device based on frame images proposed in this embodiment of the invention includes:

[0069] Extraction module 10 is used to acquire the vehicle video information of the detected vehicle and extract vehicle feature data and road feature data from the frame images in the vehicle video information.

[0070] The generation module 20 is used to generate the position features and running features of the target vehicle based on the vehicle feature data and road surface feature data; wherein, the position features include a first position feature and a second position feature;

[0071] The first judgment module 30 is used to determine whether the first position feature and the second position feature meet the preset position conditions for overtaking on the right. If so, it monitors the running characteristics of the target vehicle.

[0072] The second judgment module 40 is used to determine that the target vehicle is overtaking on the right when the running characteristics meet the preset right overtaking motion conditions.

[0073] In one implementation, the vehicle feature data in the extraction module 10 includes vehicle location and vehicle attribute location; the road surface feature data includes lane line location and road surface line markings.

[0074] In one implementation, the generation module 20 is further configured to establish a first matching relationship between each vehicle location and the vehicle attribute location based on the vehicle location and the vehicle attribute location, so as to obtain the vehicle attribute location corresponding to each vehicle location; and to establish a second matching relationship between each lane line and the road surface line marking based on the lane line location and the road surface line marking, so as to obtain the lane line marking corresponding to each lane line.

[0075] In one implementation, in the generation module 20, the first position feature is the position where the target vehicle's position first appears in the frame image; the second position feature is the position where the target vehicle's position appears in the frame image after a preset time.

[0076] In one implementation, the first judgment module 30 is further configured to determine whether the vehicle attribute position is in the frame image when the vehicle position corresponding to the first position feature is in the right region of the frame image; if not, monitor the second position feature; if the distance between the second position feature and the first position feature exceeds a preset value, determine that the target vehicle meets the position condition for overtaking on the right.

[0077] As one implementation, in the generation module 20, the running feature is: the movement direction of the target vehicle's vehicle position or the vehicle attribute position that has a first matching relationship with the vehicle position relative to the lane line.

[0078] In one implementation, the second judgment module 40 is also used to acquire the lane line marking of the right lane of the detected vehicle; when the movement direction of the target vehicle's vehicle position or the vehicle attribute position that has a first matching relationship with the vehicle position is moving towards the lane line marking, it is determined that the target vehicle is overtaking on the right.

[0079] The vehicle right-side overtaking detection device based on frame images provided in this embodiment determines the right-side overtaking behavior of the target vehicle by detecting the target vehicle's running characteristics when the target vehicle's first and second position features meet the position conditions for right-side overtaking. Through image recognition and detection, the accuracy and efficiency of right-side overtaking detection are improved.

[0080] Other embodiments or specific implementations of the vehicle right-side overtaking detection device based on frame images of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0081] Furthermore, this embodiment of the invention also proposes a storage medium storing a vehicle right-hand overtaking detection program based on frame images. When executed by a processor, the vehicle right-hand overtaking detection program based on frame images implements the steps of the vehicle right-hand overtaking detection method based on frame images described above. Therefore, it will not be repeated here. Additionally, the beneficial effects of using the same method will not be repeated here either. For technical details not disclosed in the computer-readable storage medium embodiments involved in this application, please refer to the description of the method embodiments of this application. As an example, program instructions can be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0082] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0083] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0084] Through the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus necessary general-purpose hardware, and of course, it can also be implemented by special hardware including application-specific integrated circuits, special CPUs, special memory, special components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for the present invention, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, portable hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

Claims

1. A method for detecting right-side overtaking of vehicles based on frame images, characterized in that, The method includes the following steps: The vehicle's onboard video information is acquired, and vehicle feature data and road surface feature data are extracted from the frame images in the onboard video information. The vehicle feature data includes vehicle position and vehicle attribute position. The road surface feature data includes lane line position and road surface line markings. The vehicle attribute position includes: rear position, license plate position and taillight position. Based on the vehicle location and the vehicle attribute location, a first matching relationship is established between each vehicle location and the vehicle attribute location to obtain the vehicle attribute location corresponding to each vehicle location; based on the lane line location and the road surface markings, a second matching relationship is established between each lane line and the road surface markings to obtain the lane line markings corresponding to each lane line; based on the vehicle feature data and road surface feature data, the location features and running features of the target vehicle are generated; wherein, the location features include a first location feature and a second location feature, wherein the first location feature is the location where the target vehicle's location first appears in the frame image; the second location feature is the location where the target vehicle's location appears in the frame image after a preset time, and the movement direction of the target vehicle's location or the vehicle attribute location with the first matching relationship with the vehicle location relative to the lane line; When determining that the vehicle position corresponding to the first position feature is in the right region of the frame image, whether the vehicle attribute position is in the frame image; if not, monitor the second position feature; if the distance between the second position feature and the first position feature exceeds a preset value, determine that the target vehicle meets the position condition for overtaking on the right; if so, monitor the running characteristics of the target vehicle. When the running feature meets the preset right-side overtaking motion conditions, it is determined that the target vehicle is overtaking on the right. The right-side overtaking motion conditions are: the running feature moves in the direction of approaching the right lane line of the detected vehicle.

2. A vehicle right-side overtaking detection device based on frame images, characterized in that, The vehicle right-side overtaking detection device based on frame images includes: The extraction module is used to acquire the vehicle video information of the detected vehicle and extract vehicle feature data and road feature data from the frame images in the vehicle video information; the vehicle feature data includes vehicle position and vehicle attribute position; the road feature data includes lane line position and road line markings, wherein the vehicle attribute position includes: rear position, license plate position and taillight position. The generation module is used to: establish a first matching relationship between each vehicle position and its attribute position based on the vehicle position and the vehicle attribute position, to obtain the vehicle attribute position corresponding to each vehicle position; establish a second matching relationship between each lane line and its road surface markings based on the lane line position and the road surface markings, to obtain the lane line markings corresponding to each lane line; and generate the position features and movement features of the target vehicle based on the vehicle feature data and the road surface feature data. The position features include a first position feature and a second position feature, wherein the first position feature is the position where the target vehicle's position first appears in the frame image; the second position feature is the position where the target vehicle's position appears in the frame image after a preset time, and the movement direction of the target vehicle's position or the vehicle attribute position with the first matching relationship to the vehicle position relative to the lane line is defined. The first judgment module is used to determine whether the vehicle attribute position is in the frame image when the vehicle position corresponding to the first position feature is in the right region of the frame image. If not, the second position feature is monitored. If the distance between the second position feature and the first position feature exceeds a preset value, the target vehicle is determined to meet the position condition for overtaking on the right. If so, the running characteristics of the target vehicle are monitored. The second judgment module is used to determine that the target vehicle is overtaking on the right when the running feature meets the preset right overtaking motion conditions. The right overtaking motion conditions are: the running feature moves in the direction of the right lane line of the detected vehicle.

3. A vehicle right-side overtaking detection device based on frame images, characterized in that, The frame image-based vehicle right-side overtaking detection device includes: a memory, a processor, and a frame image-based vehicle right-side overtaking detection program stored in the memory and executable on the processor. When the frame image-based vehicle right-side overtaking detection program is executed by the processor, it implements the steps of the frame image-based vehicle right-side overtaking detection method as described in claim 1.

4. A storage medium, characterized in that, The storage medium stores a vehicle right-side overtaking detection program based on frame images. When the frame-image-based vehicle right-side overtaking detection program is executed by the processor, it implements the steps of the vehicle right-side overtaking detection method based on frame images as described in claim 1.

Images