Method and system for identifying and avoiding faulty vehicles based on ArUco code positioning

Abstract

The present invention discloses a method for identifying and avoiding a faulty vehicle based on ArUco code positioning, comprising the following steps: capturing a road condition image through a vehicle-mounted camera, and obtaining the ArUco code of a target vehicle when the target vehicle turns on a hazard warning indicator light; extracting the information of the ArUco code, analyzing the information based on the ArUco code and generating a pre-execution action according to a preset rule; and executing the pre-execution action. Based on ArUco code positioning, while turning on the hazard warning indicator light of the faulty vehicle, coordinate information is established based on the current location and a built-in preset world coordinate system; an ArUco code is generated based on the coordinate information and vehicle parameter information. The current vehicle can obtain the coordinate information and vehicle parameter information of the faulty vehicle when it captures the ArUco code, thereby analyzing the information through a processing module and establishing an ArUco code distribution map; and calculating the distance to the target vehicle based on the ArUco code distribution map. This improves the accuracy and reliability of measurement and avoidance.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned driving, and in particular relates to a method and system for realizing faulty vehicle identification and avoidance based on ArUco code positioning. Background Art

[0002] Autonomous driving, also known as unmanned driving, is a cutting-edge technology that relies on computers and artificial intelligence technology to complete complete, safe and effective driving without human control. With the continuous increase in car users, the problems of congestion and safety accidents faced by road traffic are becoming more and more serious. With the support of vehicle networking technology and artificial intelligence technology, autonomous driving technology can coordinate travel routes and planning time, thereby greatly improving travel efficiency and reducing energy consumption to a certain extent. Autonomous driving can also help avoid safety hazards such as drunk driving and fatigue driving, reduce driver errors and improve safety. Autonomous driving has therefore become a research and development focus of various countries in recent years. However, the existing unmanned driving technology still has many shortcomings, and there are problems such as limited or even no recognition of the distance of the car. Summary of the invention

[0003] To solve the above problems, the purpose of the present invention is to provide a method, system electronic equipment and storage medium for identifying and avoiding faulty vehicles based on ArUco code positioning. The method, system electronic equipment and storage medium can accurately locate the position of the target vehicle based on ArUco code positioning, accurately measure the distance, thereby improving the accuracy and reliability of identifying and avoiding faulty vehicles.

[0004] To achieve the above object, the technical solution of the present invention is: a method for identifying and avoiding a faulty vehicle based on ArUco code positioning, comprising the following steps:

[0005] The road condition image is captured by a vehicle-mounted camera, and the ArUco code of the target vehicle is obtained when the hazard warning indicator light of the target vehicle is turned on; the information of the ArUco code is extracted, and a pre-execution action is generated based on the analysis of the information of the ArUco code and according to preset rules; and the pre-execution action is executed.

[0006] In a possible embodiment of the present invention, the method for generating an ArUco code for the target vehicle includes: turning on a hazard warning indicator light when a fault is determined; a positioning module establishes coordinate information based on a current location and a built-in preset world coordinate system; and generating an ArUco code based on the coordinate information and vehicle parameter information.

[0007] In a possible embodiment of the present invention, the method of extracting the information of the ArUco code and analyzing based on the information of the ArUco code includes: acquiring and identifying the ArUco code within the image range for visual mapping; establishing an ArUco code distribution map based on the obtained ArUco code and a positioning module; and calculating the distance to the target vehicle based on the ArUco code distribution map.

[0008] In a possible embodiment of the present invention, the method for measuring the distance to the target vehicle based on the ArUco code distribution map includes: extracting four coordinate points based on the ArUco code on the ArUco code distribution map; defining a smaller processing area by the four coordinate points; and measuring the distance to the target vehicle based on the processing area according to a preset algorithm.

[0009] In a possible embodiment of the present invention, the method for generating a pre-execution action according to a preset rule includes: when the result of analyzing the information based on the ArUco code is a first result, generating a pre-execution action of deceleration; when the result of analyzing the information based on the ArUco code is a second result, generating a pre-execution action of parking; when the result of analyzing the information based on the ArUco code is a third result, generating a pre-execution action of changing lanes to the left; when the result of analyzing the information based on the ArUco code is a fourth result, generating a pre-execution action of changing lanes to the right.

[0010] In a possible embodiment of the present invention, the method for executing the pre-execution action includes: acquiring the pre-execution action; generating a preset execution instruction based on the pre-execution action; and controlling a corresponding execution module to execute the preset action based on the execution instruction.

[0011] Based on the same concept, the present invention also provides a system for identifying and avoiding faulty vehicles based on ArUco code positioning, which is characterized by comprising: an acquisition module, used to capture road condition images through a vehicle-mounted camera, and to acquire the ArUco code of the target vehicle when the target vehicle turns on the hazard warning indicator light; a processing module, used to extract information of the ArUco code, analyze based on the information of the ArUco code and generate a pre-execution action according to preset rules; and an execution module, used to execute the pre-execution action.

[0012] In a possible embodiment of the present invention, the processing module includes: an analysis module, used to acquire and identify ArUco codes within the image range for visual mapping; establish an ArUco code distribution map based on the acquired ArUco codes and a positioning module; calculate the distance to the target vehicle based on the ArUco code distribution map; an action generation module, used to generate a pre-execution action of deceleration when the result of the analysis based on the information of the ArUco code is a first result; generate a pre-execution action of parking when the result of the analysis based on the information of the ArUco code is a second result; generate a pre-execution action of changing lanes to the left when the result of the analysis based on the information of the ArUco code is a third result; and generate a pre-execution action of changing lanes to the right when the result of the analysis based on the information of the ArUco code is a fourth result.

[0013] Based on the same concept, the present invention also provides an electronic device, characterized in that it includes: a memory, the memory is used to store a processing program; a processor, when the processor executes the processing program, it implements any one of the above-mentioned methods for identifying and avoiding faulty vehicles based on ArUco code positioning.

[0014] Based on the same concept, the present invention also provides a readable storage medium, characterized in that a processing program is stored on the readable storage medium, and when the processing program is executed by the processor, any one of the above-mentioned methods for identifying and avoiding faulty vehicles based on ArUco code positioning is implemented.

[0015] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art:

[0016] Based on ArUco code positioning, the faulty vehicle activates the hazard warning indicator light, and establishes coordinate information based on the current location and the built-in preset world coordinate system; generates ArUco code based on the coordinate information and vehicle parameter information. When the current vehicle captures the ArUco code, the coordinate information and vehicle parameter information of the faulty vehicle can be obtained, and then analyzed through the processing module to establish an ArUco code distribution map; the distance to the target vehicle is calculated based on the ArUco code distribution map. This improves the accuracy and reliability of measurement and avoidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, wherein:

[0018] Figure 1 This is an embodiment of the method for realizing faulty vehicle identification and avoidance based on ArUco code positioning of the present invention;

[0019] Figure 2This is an embodiment of the method for realizing faulty vehicle identification and avoidance based on ArUco code positioning of the present invention;

[0020] Figure 3 This is an embodiment of the method for realizing faulty vehicle identification and avoidance based on ArUco code positioning of the present invention;

[0021] Figure 4 This is an embodiment of the method for realizing faulty vehicle identification and avoidance based on ArUco code positioning of the present invention;

[0022] Figure 5 The present invention is a device for realizing faulty vehicle identification and avoidance based on ArUco code positioning; DETAILED DESCRIPTION

[0023] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise ratios, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0024] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0025] The significant feature of the present invention is that, based on ArUco code positioning, the hazard warning indicator of the faulty vehicle is activated, and the coordinate information is established based on the current location and the built-in preset world coordinate system; the ArUco code is generated based on the coordinate information and vehicle parameter information. When the current vehicle captures the ArUco code, the coordinate information and vehicle parameter information of the faulty vehicle can be obtained, and then the ArUco code distribution map is established for analysis through the processing module; the distance to the target vehicle is calculated based on the ArUco code distribution map. Thereby improving the accuracy and reliability of measurement and avoidance.

[0026] First embodiment

[0027] like Figure 1 As shown, this embodiment provides a method for identifying and avoiding a faulty vehicle based on ArUco code positioning, including the following steps:

[0028] The road condition image is captured by a vehicle-mounted camera, and the ArUco code of the target vehicle is obtained when the hazard warning indicator light of the target vehicle is turned on; the information of the ArUco code is extracted, and a pre-execution action is generated based on the analysis of the information of the ArUco code and according to preset rules; and the pre-execution action is executed.

[0029] The vehicle-mounted camera is used to capture and obtain road condition information. If a target vehicle is detected to have turned on the hazard warning indicator, the ArUco code of the target vehicle is captured, and the positioning information of the target vehicle and the vehicle-related information contained in the ArUco code are extracted. The ArUco code is generated by the internal system of the target vehicle when the hazard warning indicator is turned on. The vehicle-related information may include the length, width, height and other dimensional parameters of the vehicle. According to the extracted positioning information and vehicle-related information of the target vehicle, the corresponding pre-execution action is generated according to the preset algorithm, and the pre-execution action may include deceleration, parking, lane change, etc.

[0030] In a possible embodiment of the present invention, the method for generating an ArUco code for the target vehicle includes: turning on a hazard warning indicator light when a fault is determined; a positioning module establishes coordinate information based on a current location and a built-in preset world coordinate system; and generating an ArUco code based on the coordinate information and vehicle parameter information.

[0031] The way to judge whether a fault has occurred can be to trigger the corresponding operation switch manually, or the system can judge it according to the preset algorithm based on the running status of the vehicle. When the hazard warning indicator light is turned on, the system automatically establishes coordinate information based on the current location and the built-in preset world coordinate system and generates an ArUco code based on the coordinate information and vehicle parameter information. The ArUco code contains the location information and vehicle parameter information of the faulty vehicle.

[0032] In a possible embodiment of the present invention, the method of extracting the information of the ArUco code and analyzing based on the information of the ArUco code includes: acquiring and identifying the ArUco code within the image range for visual mapping; establishing an ArUco code distribution map based on the obtained ArUco code and a positioning module; and calculating the distance to the target vehicle based on the ArUco code distribution map.

[0033] After obtaining the information contained in the ArUco code of the target faulty vehicle, visual modeling is performed based on the location and vehicle parameter information of the target faulty vehicle, and the ArUco code distribution map is established in combination with the location determined by the positioning module of the vehicle. Based on the ArUco code distribution map, the distance between the vehicle and the target vehicle is accurately calculated. The distance measurement based on ArUco code positioning is more accurate, improving the accuracy and reliability of measurement and avoidance.

[0034] In a possible embodiment of the present invention, the method for measuring the distance to the target vehicle based on the ArUco code distribution map includes: extracting four coordinate points based on the ArUco code on the ArUco code distribution map; defining a smaller processing area by the four coordinate points; and measuring the distance to the target vehicle based on the processing area according to a preset algorithm.

[0035] In a possible embodiment of the present invention, the method for generating a pre-execution action according to a preset rule includes: when the result of analyzing the information based on the ArUco code is a first result, generating a pre-execution action of deceleration; when the result of analyzing the information based on the ArUco code is a second result, generating a pre-execution action of parking; when the result of analyzing the information based on the ArUco code is a third result, generating a pre-execution action of changing lanes to the left; when the result of analyzing the information based on the ArUco code is a fourth result, generating a pre-execution action of changing lanes to the right.

[0036] Through a large number of experiments, the analysis results are divided into no less than four results, so that the best execution action can be experimentally calculated based on the various results.

[0037] In a possible embodiment of the present invention, the method for executing the pre-execution action includes: acquiring the pre-execution action; generating a preset execution instruction based on the pre-execution action; and controlling a corresponding execution module to execute the preset action based on the execution instruction.

[0038] When a pre-execution action is received, the received pre-execution action is converted into an undetermined execution instruction according to a preset algorithm, thereby controlling the vehicle's hardware module to execute the corresponding execution instruction. For example, the vehicle is controlled to deflect 30 degrees to the left, and the vehicle is controlled to decelerate at an average deceleration of 4-6 meters per second. It should be noted that the specific values ​​of the left deflection angle and deceleration here are only exemplary descriptions. The specific values ​​can be matched with the pre-execution action based on a large amount of experimental data.

[0039] Second embodiment

[0040] Based on the same concept, the present invention also provides a system for identifying and avoiding faulty vehicles based on ArUco code positioning, which is characterized by comprising: an acquisition module, used to capture road condition images through a vehicle-mounted camera, and to acquire the ArUco code of the target vehicle when the target vehicle turns on the hazard warning indicator light; a processing module, used to extract information of the ArUco code, analyze based on the information of the ArUco code and generate a pre-execution action according to preset rules; and an execution module, used to execute the pre-execution action.

[0041] The vehicle-mounted camera is used to capture and obtain road condition information. If a target vehicle is detected to have turned on the hazard warning indicator, the ArUco code of the target vehicle is captured, and the positioning information of the target vehicle and the vehicle-related information contained in the ArUco code are extracted. The ArUco code is generated by the internal system of the target vehicle when the hazard warning indicator is turned on. The vehicle-related information may include the length, width, height and other dimensional parameters of the vehicle. According to the extracted positioning information and vehicle-related information of the target vehicle, the corresponding pre-execution action is generated according to the preset algorithm, and the pre-execution action may include deceleration, parking, lane change, etc.

[0042] In a possible embodiment of the present invention, the processing module includes: an analysis module, used to acquire and identify ArUco codes within the image range for visual mapping; establish an ArUco code distribution map based on the acquired ArUco codes and a positioning module; calculate the distance to the target vehicle based on the ArUco code distribution map; an action generation module, used to generate a pre-execution action of deceleration when the result of the analysis based on the information of the ArUco code is a first result; generate a pre-execution action of parking when the result of the analysis based on the information of the ArUco code is a second result; generate a pre-execution action of changing lanes to the left when the result of the analysis based on the information of the ArUco code is a third result; and generate a pre-execution action of changing lanes to the right when the result of the analysis based on the information of the ArUco code is a fourth result.

[0043] After obtaining the information contained in the ArUco code of the target faulty vehicle, visual modeling is performed based on the location and vehicle parameter information of the target faulty vehicle, and the ArUco code distribution map is established in combination with the location determined by the positioning module of the vehicle. Based on the ArUco code distribution map, the distance between the vehicle and the target vehicle is accurately calculated. The distance measurement based on ArUco code positioning is more accurate, improving the accuracy and reliability of measurement and avoidance.

[0044] Third embodiment

[0045] Based on the same concept, the present invention also provides an electronic device, characterized in that it includes: a memory, the memory is used to store a processing program; a processor, when the processor executes the processing program, it implements any one of the above-mentioned methods for identifying and avoiding faulty vehicles based on ArUco code positioning.

[0046] Based on the same concept, the present invention also provides a readable storage medium, characterized in that a processing program is stored on the readable storage medium, and when the processing program is executed by the processor, any one of the above-mentioned methods for identifying and avoiding faulty vehicles based on ArUco code positioning is implemented.

[0047] If the method for identifying and avoiding a faulty vehicle based on ArUco code positioning is implemented in the form of program instructions and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment is essentially or part of the contribution to the prior art or all or part of the technical solution can be embodied in the form of software, and the computer software is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0048] Those skilled in the art can clearly understand that, for the sake of convenience and brevity in description, the identification content specifically executed by the above-described system and device can refer to the corresponding process in the aforementioned method embodiment.

[0049] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the protection scope of the present invention.

Claims

1. A method for identifying and avoiding a faulty vehicle based on ArUco code positioning, characterized in that: The following steps are involved: Capturing road condition images through a vehicle-mounted camera, and obtaining the ArUco code of the target vehicle when the hazard warning indicator light of the target vehicle is turned on; wherein the method for generating the ArUco code of the target vehicle comprises: turning on the hazard warning indicator light when a fault is determined; the positioning module establishes coordinate information based on the current location and a built-in preset world coordinate system; generating the ArUco code based on the coordinate information and vehicle parameter information; Extract the information of the ArUco code, analyze based on the information of the ArUco code and generate a pre-execution action according to a preset rule; the method of extracting the information of the ArUco code and analyzing based on the information of the ArUco code includes: acquiring and identifying the ArUco code within the image range for visual mapping; establishing an ArUco code distribution map based on the obtained ArUco code and a positioning module; calculating the distance to the target vehicle based on the ArUco code distribution map; the method of calculating the distance to the target vehicle based on the ArUco code distribution map includes: extracting four coordinate points based on the ArUco code on the ArUco code distribution map; defining a processing area through the four coordinate points; and calculating the distance to the target vehicle based on the processing area according to a preset algorithm; The pre-execution action is performed.

2. The method for realizing faulty vehicle identification and avoidance based on ArUco code positioning according to claim 1 is characterized in that: The method for generating a pre-execution action according to a preset rule comprises: If the result of the analysis based on the information of the ArUco code is a first result, generating a pre-execution action of deceleration; If the result of analyzing the information based on the ArUco code is a second result, generating a pre-execution action for parking; If the result of the analysis based on the information of the ArUco code is a third result, generating a pre-execution action of changing lane to the left; When the result of analyzing the information based on the ArUco code is the fourth result, a pre-execution action for changing lanes to the right is generated.

3. The method for realizing faulty vehicle identification and avoidance based on ArUco code positioning according to claim 2 is characterized in that: The method for performing the pre-execution action comprises: Obtaining the pre-execution action; generating a preset execution instruction based on the pre-execution action; Based on the execution instruction, the corresponding execution module is controlled to execute a preset action.

4. A system for identifying and avoiding faulty vehicles based on ArUco code positioning, characterized in that: include: The acquisition module is used to capture the road condition image through the vehicle camera, and acquire the ArUco code of the target vehicle when the hazard warning indicator light of the target vehicle is turned on; wherein the method for generating the ArUco code of the target vehicle includes: turning on the hazard warning indicator light when a fault is determined; the positioning module establishes coordinate information based on the current location and the built-in preset world coordinate system; and generates the ArUco code based on the coordinate information and the vehicle parameter information; A processing module is used to extract the information of the ArUco code, analyze based on the information of the ArUco code and generate a pre-execution action according to a preset rule; the method of extracting the information of the ArUco code and analyzing based on the information of the ArUco code includes: acquiring and identifying the ArUco code within the image range for visual mapping; establishing an ArUco code distribution map based on the obtained ArUco code and the positioning module; calculating the distance to the target vehicle based on the ArUco code distribution map; the method of calculating the distance to the target vehicle based on the ArUco code distribution map includes: extracting four coordinate points based on the ArUco code on the ArUco code distribution map; defining a processing area through the four coordinate points; and calculating the distance to the target vehicle based on the processing area according to a preset algorithm; An execution module is used to execute the pre-execution action.

5. The system for identifying and avoiding a faulty vehicle based on ArUco code positioning according to claim 4 is characterized in that: The processing module comprises: The analysis module is used to obtain and identify the ArUco code within the image range for visual mapping; establish an ArUco code distribution map based on the obtained ArUco code and the positioning module; and calculate the distance to the target vehicle based on the ArUco code distribution map; An action generation module is used to generate a pre-execution action of deceleration when the result of the analysis based on the information of the ArUco code is a first result; to generate a pre-execution action of parking when the result of the analysis based on the information of the ArUco code is a second result; to generate a pre-execution action of changing lanes to the left when the result of the analysis based on the information of the ArUco code is a third result; and to generate a pre-execution action of changing lanes to the right when the result of the analysis based on the information of the ArUco code is a fourth result.

6. An electronic device, characterized in that: include: A memory, the memory being used to store a processing program; A processor, wherein when executing the processing program, the processor implements the method for identifying and avoiding a faulty vehicle based on ArUco code positioning as described in any one of claims 1 to 3.

7. A readable storage medium, characterized in that: The readable storage medium stores a processing program, and when the processing program is executed by the processor, the method for identifying and avoiding a faulty vehicle based on ArUco code positioning as described in any one of claims 1 to 3 is implemented.

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