Vehicle reverse driving detection method and device and storage medium

Abstract

The application discloses a vehicle reverse driving detection method and device and a storage medium. The method comprises the following steps: acquiring a lane direction image collected in a target detection area; inputting the acquired lane direction image into a target detection algorithm to obtain a vehicle detection frame image, wherein the vehicle detection frame is a detection of a vehicle in the lane direction image, the orientation information of a lane where a target vehicle is located is determined by acquiring the position of the vehicle detection frame of the target vehicle in the lane direction image; inputting the acquired vehicle detection frame of the target vehicle into the target detection algorithm to obtain the head-tail information of the target vehicle, and determining the orientation information of the target vehicle according to the head-tail information of the target vehicle and the position information of an image collection device; and determining whether the vehicle is reverse driving according to the acquired orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located. The application improves the accuracy of vehicle reverse driving detection.

Description

Technical Field

[0001] This invention belongs to the field of vehicle technology, and more specifically, relates to a method, device, and storage medium for detecting vehicles driving in the wrong direction. Background Technology

[0002] As vehicles become increasingly common in people's lives, driving has become the preferred mode of transportation. However, with the increase in the number of vehicles on the road, various traffic accidents have also occurred. Among them, the frequent occurrence of vehicles driving in the wrong direction seriously threatens road safety. Currently, the methods for detecting vehicles driving in the wrong direction can only be discovered after a traffic accident has occurred by reviewing the scene, and cannot achieve real-time monitoring of vehicles driving in the wrong direction.

[0003] In view of this, the present invention is proposed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a vehicle reverse driving detection method, device and storage medium. The detection frame of the target vehicle is located by locating the vehicle's lane orientation by lane area map, and the vehicle is judged to be driving in reverse by judging whether the vehicle's orientation and the orientation of the lane are the same, thereby making the vehicle reverse driving detection time shorter and more accurate.

[0005] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by the present invention is as follows:

[0006] According to a first aspect of the present invention, a method for detecting vehicles driving in the wrong direction is provided, comprising: acquiring a lane direction map collected within a target detection area; inputting the acquired lane direction map into a target detection algorithm to obtain a vehicle detection box image, wherein the vehicle detection box is for detecting vehicles within the lane direction map, and determining the orientation information of the lane where the target vehicle is located by acquiring the position of the vehicle detection box of the target vehicle in the lane direction map; inputting the acquired vehicle detection box of the target vehicle into the target detection algorithm to obtain the front and rear information of the target vehicle, and determining the orientation information of the target vehicle based on the front and rear information of the target vehicle and the position information of the image acquisition device; and determining whether the vehicle is driving in the wrong direction based on the acquired orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located.

[0007] In at least one embodiment, acquiring the lane direction map within the target detection area includes: acquiring a video image of the target detection area acquired by an image acquisition device; defining the lane information of the target detection area by different pixel values ​​based on lane information preset in the video image, the lane information including a driving area and driving direction corresponding to at least one lane; marking the driving direction of each lane within the target detection area based on the lane information preset in the video image; and acquiring the lane direction map within the target detection area.

[0008] In at least one embodiment, the step of defining the lane information of the target detection area by different pixel values ​​includes: acquiring the lane information of the target detection area; and determining the lane delineation area of ​​the target detection area based on the acquired lane information and the matching relationship between the pixel values ​​of the lane area and the lane number, wherein the pixel value of the area outside the lane range is 0.

[0009] In at least one embodiment, marking the driving direction of each lane within the target detection area includes: acquiring lane information of the lane area of ​​the target detection area; and marking the driving direction of each lane within the target detection area based on the acquired lane information and a preset lane driving direction.

[0010] In at least one embodiment, determining the orientation information of the lane where the target vehicle is located by acquiring the position of the vehicle detection frame of the target vehicle in the lane direction map includes: constructing a two-dimensional coordinate map based on the acquired lane direction map, wherein the point corresponding to the image acquisition device in the lane direction map is the origin of the two-dimensional coordinate map, the lane direction is the vertical axis of the two-dimensional coordinate map, and the direction passing through the point corresponding to the image acquisition device in the lane direction map and perpendicular to the lane direction is the horizontal axis of the two-dimensional coordinate map; determining the coordinate position of the center point of the lower edge of the vehicle detection frame of the target vehicle based on the acquired vehicle detection frame map of the target vehicle; and determining the orientation information of the lane where the target vehicle is located based on the position of the acquired coordinate position in the lane direction map.

[0011] In at least one embodiment, determining the orientation information of the target vehicle based on the position information of the front and rear of the target vehicle and the image acquisition device includes: acquiring the front and rear information obtained after inputting the vehicle detection frame of the target vehicle into a target detection algorithm; acquiring the coordinate information of the front and rear information in the two-dimensional coordinate graph; acquiring the relative position coordinate information of the front and rear information and the image acquisition device; if the relative position of the front coordinate information of the target vehicle obtained after inputting the vehicle detection frame of the target vehicle into the target detection algorithm and the origin of the image acquisition device is less than the relative position of the rear coordinate information of the target vehicle obtained after inputting the vehicle detection frame of the target vehicle into the target detection algorithm and the origin of the image acquisition device, then the orientation information of the vehicle is determined to be reverse driving; if the relative position of the front coordinate information of the target vehicle obtained after inputting the vehicle detection frame of the target vehicle into the target detection algorithm and the origin of the image acquisition device is greater than the relative position of the rear coordinate information of the target vehicle obtained after inputting the vehicle detection frame of the target vehicle into the target detection algorithm and the origin of the image acquisition device, then the orientation information of the vehicle is determined to be forward driving.

[0012] In at least one embodiment, determining whether a vehicle is traveling in the wrong direction based on the acquired orientation information of the target vehicle and the orientation information of the lane in which the target vehicle is located includes: if the orientation information of the target vehicle and the orientation information of the lane in which the target vehicle is located are the same, then the vehicle is determined to be traveling normally; if the orientation information of the target vehicle and the orientation information of the lane in which the target vehicle is located are different, then the vehicle is determined to be traveling in the wrong direction.

[0013] According to a second aspect of the present invention, a vehicle driving in the wrong direction detection device is provided, comprising: an acquisition module for acquiring a lane direction map collected within a target detection area; a first determination module for inputting the acquired lane direction map into a target detection algorithm to obtain a vehicle detection box image, wherein the vehicle detection box is for detecting vehicles within the lane direction map, and the orientation information of the lane where the target vehicle is located is determined by acquiring the position of the vehicle detection box of the target vehicle in the lane direction map; a second determination module for inputting the acquired vehicle detection box of the target vehicle into the target detection algorithm to obtain the front and rear information of the target vehicle, and determining the orientation information of the target vehicle based on the position information of the front and rear of the target vehicle and the image acquisition device; and a third determination module for determining whether the vehicle is driving in the wrong direction based on the acquired orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located.

[0014] In at least one embodiment, the acquisition module acquires the lane direction map collected within the target detection area in the following manner: acquiring a video image of the target detection area collected by an image acquisition device; defining the lane information of the target detection area by different pixel values ​​based on lane information preset in the video image, the lane information including a driving area and driving direction corresponding to at least one lane; marking the driving direction of each lane within the target detection area based on the lane information preset in the video image; and acquiring the lane direction map collected within the target detection area.

[0015] In at least one embodiment, the acquisition module delineates lane information of the target detection area by different pixel values ​​in the following manner: acquiring the lane information of the target detection area; and determining the lane delineation area of ​​the target detection area based on the acquired lane information and the matching relationship between the pixel values ​​of the lane area and the lane number, wherein the pixel value of the area outside the lane range is 0.

[0016] In at least one embodiment, the acquisition module marks the driving direction of each lane within the target detection area in the following manner: acquiring lane information of the lane area of ​​the target detection area; and marking the driving direction of each lane within the target detection area based on the acquired lane information and a preset lane driving direction.

[0017] In at least one embodiment, the first determining module determines the orientation information of the lane where the target vehicle is located by acquiring the position of the vehicle detection frame of the target vehicle in the lane direction map in the following manner: constructing a two-dimensional coordinate map based on the acquired lane direction map, wherein the point corresponding to the image acquisition device in the lane direction map is the origin of the two-dimensional coordinate map, the lane direction is the vertical axis of the two-dimensional coordinate map, and the direction passing through the point corresponding to the image acquisition device in the lane direction map and perpendicular to the lane direction is the horizontal axis of the two-dimensional coordinate map; determining the coordinate position of the center point of the lower edge of the vehicle detection frame of the target vehicle based on the acquired vehicle detection frame map of the target vehicle; and determining the orientation information of the lane where the target vehicle is located based on the position of the acquired coordinate position in the lane direction map.

[0018] In at least one embodiment, the second determining module determines the orientation information of the target vehicle based on the position information of the front and rear of the target vehicle and the image acquisition device in the following manner: acquiring the front and rear information obtained after inputting the vehicle detection frame of the target vehicle into a target detection algorithm; acquiring the coordinate information of the front and rear information in the two-dimensional coordinate graph; acquiring the relative position coordinate information of the front and rear information and the image acquisition device; if the relative position of the front coordinate information of the target vehicle obtained after inputting the vehicle detection frame of the target vehicle into the target detection algorithm and the origin of the image acquisition device is less than the relative position of the rear coordinate information of the target vehicle obtained after inputting the vehicle detection frame of the target vehicle into the target detection algorithm and the origin of the image acquisition device, then the orientation information of the vehicle is determined to be reverse driving; if the relative position of the front coordinate information of the target vehicle obtained after inputting the vehicle detection frame of the target vehicle into the target detection algorithm and the origin of the image acquisition device is greater than the relative position of the rear coordinate information of the target vehicle obtained after inputting the vehicle detection frame of the target vehicle into the target detection algorithm and the origin of the image acquisition device, then the orientation information of the vehicle is determined to be forward driving.

[0019] In at least one embodiment, the third determining module determines whether the vehicle is traveling in the wrong direction based on the acquired orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located, including: if the orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located are the same, then the vehicle is determined to be traveling normally; if the orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located are different, then the vehicle is determined to be traveling in the wrong direction.

[0020] According to a third aspect of the present invention, a vehicle driving in the wrong direction detection device is provided, comprising: a first processor; a first memory for storing instructions executable by the first processor; wherein the first processor is configured to execute the vehicle driving in the wrong direction detection method provided in the first aspect of the present invention.

[0021] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, having stored thereon computer program instructions, wherein the program instructions are executed by a first processor using the vehicle reverse driving detection method provided in the first aspect of the present invention.

[0022] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: It acquires a lane direction map collected within the target detection area; and inputs the acquired lane direction map into a target detection algorithm to obtain a vehicle detection box image, wherein the vehicle detection box detects vehicles within the lane direction map. By acquiring the position of the vehicle detection box of the target vehicle in the lane direction map, the orientation information of the lane where the target vehicle is located is determined; then, by inputting the acquired vehicle detection box of the target vehicle into the target detection algorithm, the front and rear information of the target vehicle is obtained. Based on the front and rear information of the target vehicle and the position information of the image acquisition device, the orientation information of the target vehicle is determined; finally, based on the acquired orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located, it is determined whether the vehicle is driving in the wrong direction. This allows for the determination of the lane position information of the vehicle located by the vehicle detection box within the lane area map, thereby determining the orientation information of the lane where the vehicle is located, and detecting the front and rear orientation information of the vehicle within the vehicle detection box. By judging the vehicle orientation and the orientation information of the lane where the vehicle is located, it is determined whether the vehicle is driving in the wrong direction, thus making the vehicle driving in the wrong direction detection time shorter and more accurate.

[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention.

[0024] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0026] The accompanying drawings, as part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0027] Figure 1 This is a flowchart illustrating a vehicle reverse driving detection method according to an exemplary embodiment;

[0028] Figure 2 This is a flowchart illustrating a method for acquiring lane direction maps according to an exemplary embodiment;

[0029] Figure 3 This is a flowchart illustrating a method for acquiring lane direction maps according to an exemplary embodiment;

[0030] Figure 4 This is a flowchart illustrating a method for acquiring lane direction maps according to an exemplary embodiment;

[0031] Figure 5 This is a flowchart illustrating a method for acquiring lane direction maps according to an exemplary embodiment;

[0032] Figure 6 This is a flowchart illustrating a vehicle reverse driving detection method according to an exemplary embodiment;

[0033] Figure 7 This is a flowchart illustrating a vehicle reverse driving detection method according to an exemplary embodiment;

[0034] Figure 8 This is a flowchart illustrating a vehicle reverse driving detection method according to an exemplary embodiment;

[0035] Figure 9 This is a block diagram illustrating a vehicle reverse driving detection device according to an exemplary embodiment;

[0036] Figure 10 This is a block diagram illustrating a vehicle reverse driving detection device according to an exemplary embodiment;

[0037] Figure 11 This is a block diagram illustrating a vehicle reverse driving detection device according to an exemplary embodiment.

[0038] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0040] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0041] It should be noted that all actions involving the acquisition of signals, information, or data in this invention are carried out in compliance with the relevant data protection laws and policies of the country where the invention is located, and with authorization from the owner of the relevant device.

[0042] Figure 1 This is a flowchart illustrating a vehicle reverse driving detection method according to an exemplary embodiment, such as... Figure 1 As shown, it includes the following steps.

[0043] In step S101, the lane direction map collected within the target detection area is obtained.

[0044] In this embodiment, the method for obtaining the lane direction map within the target detection area is to acquire it by real-time video capture of the road using a camera.

[0045] In one embodiment, the camera is positioned directly above the centerline of the road, enabling real-time monitoring of the road from a downward angle of 30 to 60 degrees. The camera is located in a fixed position and monitors the movement of vehicles in the lanes within the target detection area from a fixed perspective. The position of the camera does not shift, and the orientation of the lanes where the vehicles are located within the monitored target detection area is from top to bottom.

[0046] In step S102, the acquired lane direction map is input into the target detection algorithm to obtain the vehicle detection box image. The vehicle detection box is used to detect vehicles within the lane direction map. By obtaining the position of the target vehicle's vehicle detection box in the lane direction map, the orientation information of the lane where the target vehicle is located is determined.

[0047] In this embodiment, the method for obtaining the lane orientation information of the target vehicle is achieved by determining the position information of the lane where the target vehicle is located.

[0048] In one embodiment, based on the lane direction map collected within the target detection area, the direction of each lane in the lane direction map is marked according to the road direction. The lane direction map is then input into the target detection algorithm to display the vehicles located in the lane in the form of a detection box map and determine the position of the lane where the detection box is located, thereby determining the orientation information of the lane where the vehicle is located.

[0049] In step S103, the acquired vehicle detection box of the target vehicle is input into the target detection algorithm to obtain the front and rear information of the target vehicle. The orientation information of the target vehicle is determined based on the front and rear information of the target vehicle and the position information of the image acquisition device.

[0050] In this embodiment, the method for obtaining the orientation information of the target vehicle is to detect the position information of the front and rear of the target vehicle and the camera.

[0051] In one embodiment, based on the vehicle markings in the lane direction map using a target detection box, the target detection box is input into the vehicle front and rear recognition algorithm of the target detection algorithm to determine the vehicle front and rear information of the vehicle in the target detection box. By comparing the positional relationship between the vehicle front and the camera and the positional relationship between the vehicle rear and the camera in the target detection box, the orientation information of the target vehicle is determined. Specifically, when the positional relationship between the vehicle front and the camera in the target detection box is less than the positional relationship between the vehicle rear and the camera, it is determined that the vehicle is moving closer to the camera; when the positional relationship between the vehicle front and the camera in the target detection box is greater than the positional relationship between the vehicle rear and the camera, it is determined that the vehicle is moving away from the camera. The target detection algorithm for recognizing the vehicle front and rear is not limited to the vehicle front and rear recognition algorithm; all algorithms that can achieve vehicle front and rear recognition can be applied in this invention.

[0052] In step S104, based on the obtained orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located, it is determined whether the vehicle is driving in the wrong direction.

[0053] In this embodiment, the method for determining whether a vehicle is traveling in the wrong direction is achieved by judging whether the orientation information of the lane in which the vehicle is located is consistent with the vehicle's orientation information.

[0054] In one embodiment, when the orientation information of the lane where the vehicle is located is consistent with the vehicle's orientation information, the vehicle is determined to be driving normally; when the orientation information of the lane where the vehicle is located is inconsistent with the vehicle's orientation information, the vehicle is determined to be driving in the opposite direction.

[0055] Figure 2 This is a flowchart illustrating a method for acquiring lane direction maps according to an exemplary embodiment, such as... Figure 2 As shown, it includes the following steps.

[0056] In step S201, a video image of the target detection area is acquired by the image acquisition device.

[0057] In this embodiment, based on the video image of the target detection area acquired by the camera acquisition device, the lane direction map of the target detection area at a certain moment is obtained through the target detection algorithm, and it is determined whether there is a phenomenon of vehicles driving in the wrong direction in the lane direction map.

[0058] In step S202, lane information of the target detection area is defined based on the preset target detection area in the video image. The lane information includes the driving area and driving direction corresponding to at least one lane. The lane information of the target detection area is defined by different pixel values.

[0059] In this embodiment, the method for defining lane information in the target detection area is to mark different lanes using different pixel values, thereby distinguishing different lanes in the lane direction map.

[0060] In one embodiment, the lane direction map is a grayscale image, distinguishing different lanes by different pixel values. Each pixel value is an integer ranging from 0 to 255. Lanes in the lane direction map are numbered according to their pixel values. For example, when there are two lanes in the lane direction map, the white area with a pixel value of 1 is designated as lane 1 and numbered 1, and the gray area with a pixel value of 2 is designated as lane 2 and numbered 2. When there are multiple lanes in the lane direction map, the lane numbers are determined sequentially based on the pixel values. The black area with a pixel value of 0 represents areas outside the designated lanes.

[0061] In step S203, the driving direction of each lane in the target detection area is marked according to the lane information of the target detection area preset in the video image.

[0062] In this embodiment, the method for marking the driving direction of the lanes is based on a preset road direction, and the driving direction of each lane is specified according to road traffic rules.

[0063] In one embodiment, when the camera detects two lanes in the lane direction diagram, and lane 1 travels towards the camera while lane 2 travels away from the camera, then lanes 1 and 2 are marked according to traffic rules, determining that vehicles in lane 1 are traveling in the opposite direction and vehicles in lane 2 are traveling in the forward direction. When multiple lanes exist in the lane direction diagram, the travel direction of each lane is also determined according to traffic rules.

[0064] In step S204, the lane direction map collected within the target detection area is obtained.

[0065] In this embodiment, the method for obtaining the lane direction map collected within the target detection area is achieved by marking the lanes in the lane direction map and determining the driving direction of each lane. Furthermore, by delineating lane areas and marking the driving direction of the lanes through the lane direction map, the obtained lane direction map can be made similar to the actual lanes.

[0066] This invention uses lane area maps to distinguish lanes on the road surface and mark lane orientations, which can intuitively display the lane information monitored by the camera, reduce the situation where vehicles driving in the wrong direction are not identified due to misjudgment, and reduce the process of obtaining lane orientation, that is, no additional algorithm is needed to determine lane orientation, thus simplifying the method of obtaining lane orientation.

[0067] Figure 3 This is a flowchart illustrating a method for acquiring lane direction maps according to an exemplary embodiment, such as... Figure 3 As shown, it includes the following steps.

[0068] In step S301, lane information of the target detection area is obtained.

[0069] In step S302, based on the acquired lane information, the lane delineation area of ​​the target detection area is determined according to the matching relationship between the pixel values ​​of the lane area and the lane number, wherein the pixel value of the area outside the lane range is 0.

[0070] In this embodiment, using pixel values ​​to define lane information allows the lane information in the lane direction diagram to be displayed intuitively, thereby enabling faster and more accurate detection of vehicles driving in the wrong direction. However, the definition of lanes in the lane direction diagram is not limited to using pixel values; any method that can distinguish between lanes in the lane direction diagram can be applied to this invention.

[0071] Figure 4 This is a flowchart illustrating a method for acquiring lane direction maps according to an exemplary embodiment, such as... Figure 4 As shown, it includes the following steps.

[0072] In step S401, lane information of the lane area of ​​the target detection area is obtained.

[0073] In step S402, based on the acquired lane information, the driving direction of each lane within the target detection area is marked according to the preset lane driving direction.

[0074] In this embodiment, the driving direction of each lane in the lane direction diagram is not determined by human will, but is defined according to the provisions of road traffic safety rules. The lane orientation serves as the basis for determining the orientation of the lane in which the vehicle is located. A fixed and uniform marking method will make the detection of vehicles driving in the wrong direction more accurate and reduce the possibility of misjudgment.

[0075] Figure 5 This is a flowchart illustrating a method for acquiring lane direction maps according to an exemplary embodiment, as shown in Figure 5, which includes the following steps.

[0076] In step S501, when the vehicle's direction of travel is towards the image acquisition device, the vehicle's direction of travel is determined to be reverse.

[0077] In step S502, when the vehicle's direction of travel is away from the image acquisition device, the vehicle's direction of travel is determined to be forward.

[0078] In this embodiment, the lane directions in the acquired lane direction map are marked according to the provisions of road traffic rules. Accordingly, on the map, when a vehicle is traveling towards the camera's acquisition device, the driving direction of the vehicle in that lane is determined to be reversed according to the provisions of road traffic rules, and the lane is marked; when a vehicle is traveling away from the camera's acquisition device, the driving direction of the vehicle in that lane is determined to be forward according to the provisions of road traffic rules, and the lane is marked.

[0079] The algorithm uses a target recognition algorithm to determine the direction of vehicles in the target detection box detected in the lane direction map. By comparing the detected vehicle direction with the camera position, the method of determining the vehicle's orientation is made simpler and the recognition results are more accurate.

[0080] Figure 6 This is a flowchart illustrating a vehicle reverse driving detection method according to an exemplary embodiment, such as... Figure 6 As shown, it includes the following steps.

[0081] In step S601, a two-dimensional coordinate graph is constructed based on the acquired lane direction map. The point on the lane direction map corresponding to the image acquisition device is the origin of the two-dimensional coordinate graph, the lane direction is the vertical axis of the two-dimensional coordinate graph, and the direction passing through the point on the lane direction map corresponding to the image acquisition device and perpendicular to the lane direction is the horizontal axis of the two-dimensional coordinate graph.

[0082] In step S602, the coordinates of the center point of the lower edge of the target vehicle's vehicle detection frame are determined based on the obtained vehicle detection frame diagram of the target vehicle.

[0083] In step S603, the orientation information of the lane where the target vehicle is located is determined based on the obtained coordinate position in the lane direction map.

[0084] In this embodiment, the orientation of the lane in which the vehicle is located is determined by determining the position of the vehicle detection frame identified by the camera.

[0085] In one embodiment, the position information of the vehicle in the lane is determined by constructing a two-dimensional coordinate graph. The two-dimensional coordinate graph of the lane direction graph is constructed with the position of the corresponding point of the camera perpendicular to the lane as the origin, the direction parallel to the route corresponding to the driving direction of the vehicle in the lane as the vertical axis, and the direction perpendicular to the route corresponding to the driving direction of the vehicle in the lane as the horizontal axis.

[0086] In another embodiment, based on the constructed two-dimensional coordinate map of lane directions, the corresponding areas of lane 1, lane 2, ..., lane n on the two-dimensional coordinate map are determined. Then, the position of the vehicle detection box within the lane direction map is determined. The determination method is as follows: obtain the coordinates of the center point of the lower edge of the vehicle detection box in the two-dimensional coordinate map, and determine which lane area of ​​the lane direction map the coordinates of the center point fall into. If the center point is located in the lane 1 area, then the lane where the vehicle is located is determined to be lane 1, and the orientation of the lane where the vehicle is located is the orientation corresponding to lane 1; if the center point is located in the lane 2 area, then the lane where the vehicle is located is determined to be lane 2, and the orientation of the lane where the vehicle is located is the orientation corresponding to lane 2. Here, the coordinates of the center point of the lower edge of the vehicle detection box are located within the lane area of ​​the lane direction map, and this point can more accurately reflect the position of the vehicle in the lane.

[0087] The orientation of a vehicle in a lane is determined by the position of the vehicle detection frame, which simplifies the method of judging vehicles driving in the wrong direction, thereby improving the accuracy of vehicle driving in the wrong direction detection and making the detection of vehicles driving in the wrong direction more convenient and faster.

[0088] Figure 7 This is a flowchart illustrating a vehicle reverse driving detection method according to an exemplary embodiment, such as... Figure 7 As shown, it includes the following steps.

[0089] In step S701, the front and rear information of the vehicle is obtained after inputting the vehicle detection box of the target vehicle into the target detection algorithm.

[0090] In step S702, the coordinate information of the front and rear of the vehicle is obtained in a two-dimensional coordinate graph.

[0091] In step S703, the relative position coordinates of the front and rear of the vehicle and the image acquisition device are obtained.

[0092] In step S704, if the relative position of the front coordinates of the target vehicle obtained after inputting the vehicle detection box of the target vehicle into the target detection algorithm and the origin of the image acquisition device is less than the relative position of the rear coordinates of the target vehicle obtained after inputting the vehicle detection box of the target vehicle into the target detection algorithm and the origin of the image acquisition device, then the vehicle's orientation information is determined to be reverse driving.

[0093] In step S705, if the relative position of the front coordinates of the target vehicle obtained after inputting the vehicle detection box of the target vehicle into the target detection algorithm and the origin of the image acquisition device is greater than the relative position of the rear coordinates of the target vehicle obtained after inputting the vehicle detection box of the target vehicle into the target detection algorithm and the origin of the image acquisition device, then the vehicle's orientation information is determined to be forward travel.

[0094] In this embodiment, the vehicle's orientation information is obtained by identifying the front and rear of the vehicle using a target detection algorithm.

[0095] In one embodiment, after obtaining the vehicle's front and rear information by inputting a vehicle detection box into a target detection algorithm, the positional relationship between the detected vehicle's front and rear and the camera is determined by comparing the coordinates of the center points of the left and right edges of the vehicle detection box in a two-dimensional coordinate graph with the coordinates of the origin of the camera. Specifically, the distance between the vehicle's front and rear and the camera is determined by comparing straight-line distances. When the detected vehicle's front is located at the left edge of the detection box, the coordinates of the center point of the left edge are determined to obtain a first distance from the origin. The coordinates of the center point of the right edge of the vehicle's rear are also determined to obtain a second distance from the origin. The vehicle's orientation is determined by comparing the first and second distances.

[0096] In another embodiment, when the first distance is greater than the second distance, it indicates that the vehicle is moving away from the camera, and the vehicle's direction of travel is determined to be forward; when the first distance is less than the second distance, it indicates that the vehicle is moving closer to the camera, and the vehicle's direction of travel is determined to be reverse.

[0097] This invention uses the vehicle front and rear algorithm of the target detection algorithm to identify the vehicle front and rear information in the vehicle detection box, and realizes the identification of the vehicle front and rear in a single frame image to determine the vehicle's orientation information. This makes the detection of vehicles going in the wrong direction faster and more accurate, and reduces the tracking failure caused by tracking errors in the detection of vehicles going in the wrong direction during vehicle movement.

[0098] Figure 8 This is a flowchart illustrating a vehicle reverse driving detection method according to an exemplary embodiment, such as... Figure 8 As shown, it includes the following steps.

[0099] In step S801, if the orientation information of the target vehicle is the same as the orientation information of the lane where the target vehicle is located, then the vehicle is determined to be driving normally.

[0100] In step S802, if the orientation information of the target vehicle is different from the orientation information of the lane where the target vehicle is located, the vehicle is determined to be traveling in the opposite direction.

[0101] In this embodiment, determining whether a vehicle is traveling in the wrong direction is achieved by judging whether the vehicle's orientation is consistent with the orientation of the lane in which the vehicle is located.

[0102] Figure 9 This is a block diagram illustrating a vehicle reverse driving detection device according to an exemplary embodiment, such as... Figure 9 As shown, the device 100 may include an acquisition module 110, a first determination module 120, a second determination module 130, and a third determination module 140.

[0103] The acquisition module 110 is configured to acquire lane direction maps collected within the target detection area.

[0104] The first determining module 120 is configured to input the acquired lane direction map into the target detection algorithm to obtain a vehicle detection box image, wherein the vehicle detection box is the detection of vehicles within the lane direction map, and the orientation information of the lane where the target vehicle is located is determined by obtaining the position of the vehicle detection box of the target vehicle in the lane direction map.

[0105] The second determining module is configured to input the acquired vehicle detection box of the target vehicle into the target detection algorithm to obtain the front and rear information of the target vehicle, and determine the orientation information of the target vehicle based on the position information of the front and rear of the target vehicle and the image acquisition device.

[0106] The third determining module is configured to determine whether a vehicle is traveling in the wrong direction based on the acquired orientation information of the target vehicle and the orientation information of the lane in which the target vehicle is located.

[0107] In at least one embodiment, the acquisition module 110 acquires the lane direction map collected within the target detection area in the following manner: acquiring a video image of the target detection area collected by the image acquisition device; defining the lane information of the target detection area by different pixel values ​​based on the lane information of the target detection area preset in the video image, wherein the lane information includes the driving area and driving direction corresponding to at least one lane; marking the driving direction of each lane within the target detection area based on the lane information of the target detection area preset in the video image; and acquiring the lane direction map collected within the target detection area.

[0108] In at least one embodiment, the acquisition module 110 delineates lane information of the target detection area by different pixel values ​​in the following manner: acquiring lane information of the target detection area; and determining the lane delineation area of ​​the target detection area based on the acquired lane information and the matching relationship between the pixel values ​​of the lane area and the lane number, wherein the pixel value of the area outside the lane range is 0.

[0109] In at least one embodiment, the acquisition module 110 marks the driving direction of each lane within the target detection area in the following manner: acquiring lane information of the lane area of ​​the target detection area; and marking the driving direction of each lane within the target detection area based on the acquired lane information and according to a preset lane driving direction.

[0110] In at least one embodiment, the first determining module 120 determines the orientation information of the lane where the target vehicle is located by acquiring the position of the vehicle detection frame of the target vehicle on the lane direction map in the following manner: constructing a two-dimensional coordinate map based on the acquired lane direction map, wherein the point corresponding to the image acquisition device on the lane direction map is the origin of the two-dimensional coordinate map, the lane direction is the vertical axis of the two-dimensional coordinate map, and the direction passing through the point corresponding to the image acquisition device on the lane direction map and perpendicular to the lane direction is the horizontal axis of the two-dimensional coordinate map; determining the coordinate position of the center point of the lower edge of the vehicle detection frame of the target vehicle based on the acquired vehicle detection frame map of the target vehicle; and determining the orientation information of the lane where the target vehicle is located based on the position of the acquired coordinate position on the lane direction map.

[0111] In at least one embodiment, the second determining module 130 determines the orientation information of the target vehicle based on the position information of the front and rear of the target vehicle and the image acquisition device in the following manner: acquiring the front and rear information obtained after inputting the vehicle detection box of the target vehicle into the target detection algorithm; acquiring the coordinate information of the front and rear information in a two-dimensional coordinate graph; acquiring the relative position coordinate information of the front and rear information and the image acquisition device; if the relative position of the front coordinate information of the target vehicle obtained after inputting the vehicle detection box of the target vehicle into the target detection algorithm and the origin of the image acquisition device is less than the relative position of the rear coordinate information of the target vehicle obtained after inputting the vehicle detection box of the target vehicle into the target detection algorithm and the origin of the image acquisition device, then the orientation information of the vehicle is determined to be reverse driving; if the relative position of the front coordinate information of the target vehicle obtained after inputting the vehicle detection box of the target vehicle into the target detection algorithm and the origin of the image acquisition device is greater than the relative position of the rear coordinate information of the target vehicle obtained after inputting the vehicle detection box of the target vehicle into the target detection algorithm and the origin of the image acquisition device, then the orientation information of the vehicle is determined to be forward driving.

[0112] In at least one embodiment, the third determining module 140 determines whether a vehicle is traveling in the wrong direction based on the obtained orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located, including: if the orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located are the same, then the vehicle is determined to be traveling normally; if the orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located are different, then the vehicle is determined to be traveling in the wrong direction.

[0113] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0114] The present invention also provides a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, implement the steps of the vehicle reverse driving detection method provided by the present invention.

[0115] Figure 10 This is a block diagram illustrating a vehicle reverse driving detection device according to an exemplary embodiment.

[0116] Reference Figure 10 The device 1000 may include one or more of the following components: a first processing component 1002, a first memory 1004, a power component 1006, a multimedia component 1008, an audio component 1010, a first input / output interface 1012, a sensor component 1014, and a communication component 1016.

[0117] The first processing component 1002 typically controls the overall operation of the device 1000, including operations associated with display, telephone calls, data communication, camera operation, and recording. The first processing component 1002 may include one or more processors 1020 to execute instructions to complete all or part of the steps of the vehicle reverse-driving detection method described above. Furthermore, the first processing component 1002 may include one or more modules to facilitate interaction between the first processing component 1002 and other components. For example, the first processing component 1002 may include a multimedia module to facilitate interaction between the multimedia component 1008 and the first processing component 1002.

[0118] The first memory 1004 is configured to store various types of data to support the operation of the device 1000. Examples of such data include instructions for any application or method operating on the device 1000, contact data, phonebook data, messages, pictures, videos, etc. The first memory 1004 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0119] The power supply component 1006 provides power to the various components of the device 1000. The power supply component 1006 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to the device 1000.

[0120] Multimedia component 1008 includes a screen that provides an output interface between device 1000 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 1008 includes a front-facing camera and / or a rear-facing camera. When device 1000 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0121] Audio component 1010 is configured to output and / or input audio signals. For example, audio component 1010 includes a microphone (MIC) configured to receive external audio signals when device 1000 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in first memory 1004 or transmitted via communication component 1016. In some embodiments, audio component 1010 also includes a speaker for outputting audio signals.

[0122] The first input / output interface 1012 provides an interface between the first processing component 1002 and the peripheral interface module. The peripheral interface module may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to, a home button, volume buttons, a start button, and a lock button.

[0123] Sensor assembly 1014 includes one or more sensors for providing state assessments of various aspects of device 1000. For example, sensor assembly 1014 may detect the on / off state of device 1000, the relative positioning of components such as the display and keypad of device 1000, changes in the position of device 1000 or a component of device 1000, the presence or absence of user contact with device 1000, the orientation or acceleration / deceleration of device 1000, and temperature changes of device 1000. Sensor assembly 1014 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 1014 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 1014 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0124] Communication component 1016 is configured to facilitate wired or wireless communication between device 1000 and other devices. Device 1000 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 1016 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 1016 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0125] In an exemplary embodiment, the apparatus 1000 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described vehicle reverse driving detection method.

[0126] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a first memory 1004 including instructions, which can be executed by the processor 1020 of the device 1000 to complete the vehicle reverse driving detection method described above. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0127] The aforementioned device can be a standalone electronic device or a part of a standalone electronic device. For example, in one embodiment, the device can be an integrated circuit (IC) or a chip, wherein the integrated circuit can be a single IC or a collection of multiple ICs. The chip can include, but is not limited to, the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), and SoC (System on Chip). The aforementioned integrated circuit or chip can be used to execute executable instructions (or code) to implement the aforementioned vehicle reverse-driving detection method. The executable instructions can be stored in the integrated circuit or chip or obtained from other devices or equipment. For example, the integrated circuit or chip includes a processor, memory, and an interface for communicating with other devices. The executable instruction can be stored in the first memory, and when the executable instruction is executed by the processor, it implements the above-mentioned vehicle reverse driving detection method; or, the integrated circuit or chip can receive the executable instruction through the interface and transmit it to the processor for execution to implement the above-mentioned vehicle reverse driving detection method.

[0128] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle reverse driving detection method when executed by the programmable device.

[0129] Figure 11 This is a block diagram illustrating a vehicle wrong-way detection device according to an exemplary embodiment. For example, device 1100 may be provided as a server. (Refer to...) Figure 11 The device 1100 includes a second processing component 1122, which further includes one or more processors, and memory resources represented by a second memory 1132 for storing instructions, such as application programs, that can be executed by the second processing component 1122. The application programs stored in the second memory 1132 may include one or more modules, each corresponding to a set of instructions. Furthermore, the second processing component 1122 is configured to execute instructions to perform the aforementioned vehicle reverse-driving detection.

[0130] Device 1100 may also include a power supply component 1126 configured to perform power management of device 1100, a wired or wireless network interface 1150 configured to connect device 1100 to a network, and a second input / output interface 1158. Device 1100 may operate on an operating system stored in memory 1132, such as Windows Server™, MacOS X™, Unix™, Linux™, FreeBSD™, or similar.

[0131] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0132] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. The implementation schemes in the above embodiments can also be further combined or replaced. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A method for detecting vehicles driving in the wrong direction, characterized in that, include: Obtain the lane direction map collected within the target detection area; The acquired lane direction map is input into the target detection algorithm to obtain a vehicle detection box image. The vehicle detection box is used to detect vehicles within the lane direction map. By obtaining the position of the vehicle detection box of the target vehicle in the lane direction map, the orientation information of the lane where the target vehicle is located is determined. The acquired vehicle detection box of the target vehicle is input into the target detection algorithm to obtain the front and rear coordinates of the target vehicle. If the relative distance between the front coordinates and the position of the image acquisition device is less than the relative distance between the rear coordinates and the position of the image acquisition device, the target vehicle's orientation is determined to be reverse; if the relative distance between the front coordinates and the position of the image acquisition device is greater than the relative distance between the rear coordinates and the position of the image acquisition device, the target vehicle's orientation is determined to be forward. Based on the obtained orientation information of the target vehicle and the orientation information of the lane in which the target vehicle is located, it is determined whether the vehicle is driving in the wrong direction.

2. The method for detecting vehicles driving in the wrong direction according to claim 1, characterized in that, The acquisition of the lane direction map collected within the target detection area includes: Acquire video images of the target detection area captured by the image acquisition device; Based on the lane information of the target detection area preset in the video image, the lane information includes the driving area and driving direction corresponding to at least one lane, and the lane information of the target detection area is defined by different pixel values; Based on the lane information of the target detection area preset in the video image, mark the driving direction of each lane in the target detection area; Obtain the lane direction map collected within the target detection area.

3. The method for detecting vehicles driving in the wrong direction according to claim 2, characterized in that, The process of defining lane information for the target detection region using different pixel values ​​includes: Obtain the lane information of the target detection area; Based on the acquired lane information, the lane delineation area of ​​the target detection area is determined according to the matching relationship between the pixel values ​​of the lane area and the lane number, wherein the pixel value of the area outside the lane range is 0.

4. A method for detecting vehicles driving in the wrong direction according to claim 2, characterized in that, The marking of the travel direction of each lane within the target detection area includes: Obtain the lane information of the lane area of ​​the target detection area; Based on the acquired lane information, the driving direction of each lane within the target detection area is marked according to the preset lane driving direction.

5. The method for detecting vehicles driving in the wrong direction according to claim 1, characterized in that, The step of determining the orientation information of the lane where the target vehicle is located by obtaining the position of the vehicle detection frame of the target vehicle in the lane direction map includes: A two-dimensional coordinate graph is constructed based on the acquired lane direction map, wherein the point corresponding to the lane direction map of the image acquisition device is the origin of the two-dimensional coordinate graph, the lane direction is the vertical axis of the two-dimensional coordinate graph, and the direction passing through the point corresponding to the lane direction map of the image acquisition device and perpendicular to the lane direction is the horizontal axis of the two-dimensional coordinate graph. Based on the obtained vehicle detection frame diagram of the target vehicle, determine the coordinate position of the center point of the lower edge of the vehicle detection frame of the target vehicle; Based on the obtained coordinates and their position on the lane direction map, the orientation information of the lane where the target vehicle is located is determined.

6. The method for detecting vehicles driving in the wrong direction according to claim 1, characterized in that, If the position of the front of the vehicle detected in the vehicle detection frame is at the left edge of the vehicle detection frame, then the coordinates of the center point of the left edge of the vehicle detection frame are determined as the coordinates of the front of the vehicle, and the coordinates of the center point of the right edge of the vehicle detection frame are determined as the coordinates of the rear of the vehicle.

7. The method for detecting vehicles driving in the wrong direction according to claim 1, characterized in that, The step of determining whether the vehicle is driving in the wrong direction based on the acquired orientation information of the target vehicle and the orientation information of the lane in which the target vehicle is located includes: If the orientation information of the target vehicle is the same as the orientation information of the lane in which the target vehicle is located, then the vehicle is determined to be driving normally. If the orientation information of the target vehicle is different from the orientation information of the lane in which the target vehicle is located, then the vehicle is determined to be traveling in the wrong direction.

8. A vehicle reverse driving detection device, characterized in that, include: The acquisition module is used to acquire lane direction maps collected within the target detection area; The first determining module is used to input the acquired lane direction map into the target detection algorithm to obtain a vehicle detection box image, wherein the vehicle detection box is the detection of vehicles in the lane direction map, and the orientation information of the lane where the target vehicle is located is determined by obtaining the position of the vehicle detection box of the target vehicle in the lane direction map. The second determining module is used to input the acquired vehicle detection box of the target vehicle into the target detection algorithm to obtain the front and rear information of the target vehicle, and to determine the orientation information of the target vehicle based on the position information of the front and rear of the target vehicle and the image acquisition device; the front and rear information includes the front coordinate information and the rear coordinate information of the target vehicle; a first distance is determined based on the front coordinate information and the position information of the image acquisition device, and a second distance is determined based on the rear coordinate information and the position information of the image acquisition device; when the first distance is greater than the second distance, the orientation information of the target vehicle is determined to be forward travel; when the first distance is less than the second distance, the orientation information of the target vehicle is determined to be reverse travel. The third determining module is used to determine whether the vehicle is driving in the wrong direction based on the acquired orientation information of the target vehicle and the orientation information of the lane where the target vehicle is located.

9. A vehicle reverse driving detection device, characterized in that, include: First processor; A first memory for storing instructions executable by a first processor; The first processor is configured to execute the vehicle reverse driving detection method according to any one of claims 1-8.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the program instructions are executed by the first processor, they implement the vehicle reverse driving detection method according to any one of claims 1-8.

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