Traffic management event processing method and apparatus, electronic device, and medium

Abstract

The application provides a traffic management event processing method and device, electronic equipment and medium, and relates to the technical field of automatic driving. The method comprises the following steps: detecting the current running condition of a target vehicle; determining the traffic management event corresponding to the current running condition of the target vehicle according to the corresponding relationship between the running condition of the vehicle and the traffic management event; determining the target traffic management event that needs to be processed by the target vehicle according to the traffic management event corresponding to the current running condition of the target vehicle; and controlling the target vehicle to execute the management mode corresponding to the target traffic management event. According to the corresponding relationship between the different running conditions of the vehicle and the traffic management event, the target traffic management event of the target vehicle can be determined, and the corresponding management mode can be executed, thereby providing a unified automatic processing mode for the traffic management event and improving the travel efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, and in particular to a traffic management event processing method and device, electronic equipment and medium. BACKGROUND

[0002] With the progress of science and technology, cars have also appeared automatic driving. An automatic driving car is an intelligent car system that realizes unmanned driving through a car-mounted computer system. In addition to self-driving, there is also an automatic driving taxi.

[0003] Currently, in the automatic driving taxi travel scenario, there is no clear response and solution to traffic management law enforcement. For example, there are some illegal behaviors in the driving of an automatic driving taxi, and traffic management personnel cannot stop the automatic driving taxi or get on the car to check, causing law enforcement delay and other influences. Moreover, special vehicles such as emergency vehicles may be encountered during driving to perform emergency rescue, and such special vehicles also need to be given way to avoid affecting the performance of official duties. SUMMARY

[0004] The present application provides a traffic management event processing method, device, electronic equipment and medium, which can determine the target traffic management event of the target vehicle through the corresponding relationship between the different running conditions of the vehicle and the traffic management event, and execute the corresponding management mode, providing a unified automatic processing method for traffic management events, and improving travel efficiency.

[0005] In a first aspect, an embodiment of the present application provides a traffic management event processing method, comprising:

[0006] detecting the current running condition of a target vehicle; wherein the running condition includes the state of the target vehicle and the position of the target vehicle;

[0007] determining the traffic management event corresponding to the current running condition of the target vehicle according to the corresponding relationship between the running condition of the vehicle and the traffic management event;

[0008] determining the target traffic management event that the target vehicle needs to process according to the traffic management event corresponding to the current running condition of the target vehicle; wherein the target traffic management event is the traffic management event corresponding to the current running condition of the target vehicle that meets the corresponding determination strategy; different traffic management events correspond to different determination strategies;

[0009] controlling the target vehicle to execute the management mode corresponding to the target traffic management event.

[0010] The method can detect the running state of the target vehicle, determine the traffic management event that needs to be processed by the target vehicle according to the corresponding relationship between the different running states of the vehicle and the traffic management event, and execute the corresponding management mode, thereby providing a unified automatic processing mode for the traffic management event and improving the travel efficiency.

[0011] In a possible implementation mode, wherein:

[0012] If the traffic management event is a driving vehicle parking inspection event, the determination strategy is to determine whether the distance between the target special vehicle and the target vehicle is less than the first length for more than the first preset time length;

[0013] If the traffic management event is a traffic signal waiting vehicle parking inspection event, the determination strategy is to determine whether the distance between the traffic management personnel and the target vehicle is less than the second length for more than the second preset time length;

[0014] If the traffic management event is a roadside parking vehicle inspection event, the determination strategy is to determine whether the distance between the traffic management personnel and the target vehicle is less than the third length within the third preset time length;

[0015] If the traffic management event is a vehicle avoiding special vehicle event, the determination strategy is to determine whether the vehicle with a distance less than the fourth length from the target vehicle is a special vehicle, whether the special vehicle turns on the warning light, and whether the position relationship between the special vehicle and the target vehicle is a preset position relationship.

[0016] The method can determine whether the user needs to process the traffic management event through the specific determination strategy, without manual intervention, thereby improving the operation efficiency.

[0017] In a possible implementation mode, the target special vehicle is identified in the following manner:

[0018] Identify the vehicle type of the vehicle in the first image;

[0019] If the vehicle type of the vehicle is the first type, identify the patterns contained in the vehicle in the first image, and determine the position of each pattern on the vehicle;

[0020] If the identified patterns contain all the patterns of the target special vehicle, and the position of each identified pattern on the vehicle is the same as the position of each same pattern on the target special vehicle, the vehicle is determined to be the target special vehicle.

[0021] The method can identify the vehicle pattern in the image through different vehicle types by identifying the vehicle type of the vehicle, and determine the position of the pattern on the vehicle, and determine whether the vehicle is the target special vehicle through pattern comparison and pattern position comparison, thereby improving the accuracy of the determination.

[0022] In a possible implementation, the determining of the position of each pattern on the vehicle comprises:

[0023] determining the positions of a plurality of marking lines in the first image, and determining at least one marking line corresponding to each pattern; wherein the marking lines include special patterns and / or structures of the vehicle;

[0024] For each pattern, the position of the at least one marking line corresponding to the pattern is used to represent the position of the pattern on the vehicle.

[0025] The method can identify the position of the pattern through the marking line corresponding to the pattern, thereby improving the accuracy of the positioning.

[0026] In a possible implementation, the traffic management personnel is identified in the following manner:

[0027] identifying the pattern on the person in the second image;

[0028] If the pattern on the person in the second image includes the special pattern of the traffic management personnel and the pattern on the person in the second image includes the number information of the traffic management personnel, it is determined that the person in the second image is the traffic management personnel.

[0029] The method can identify whether the person is the traffic management personnel by identifying the pattern on the person in the image, comparing the special pattern and the number information in the image, thereby improving the accuracy of the identification.

[0030] In a possible implementation, the target traffic management event that needs to be processed by the target vehicle is determined according to the traffic management event corresponding to the current running situation of the target vehicle, and the determining comprises:

[0031] If the traffic management event corresponding to the current running situation of the target vehicle is one, it is determined that the traffic management event corresponding to the current running situation of the target vehicle is the target traffic management event.

[0032] If the current running condition of the target vehicle corresponds to multiple traffic management events, a detection order is determined, and according to the detection order, it is determined one by one whether the target vehicle meets the determination strategy corresponding to each traffic management event corresponding to the current running condition of the target vehicle until it is determined that the target vehicle meets the determination strategy corresponding to one traffic management event corresponding to the current running condition of the target vehicle, and the traffic management event is taken as the target traffic management event; wherein the detection order is the order of detecting the multiple traffic management events corresponding to the current running condition of the target vehicle.

[0033] The above method determines the target traffic management event from the multiple traffic management events corresponding to the current running condition of the target vehicle according to the detection order, so that the target traffic management event can be found more quickly.

[0034] In a possible implementation manner, the detection order is determined by:

[0035] The detection order is determined according to the size order of multiple ratios of the multiple traffic management events corresponding to the current running condition of the target vehicle in a preset time period; wherein each ratio is a ratio between the number of occurrences of each traffic management event corresponding to the current running condition of the target vehicle in the preset time period and the total number of occurrences of the multiple traffic management events corresponding to the current running condition of the target vehicle in the preset time period.

[0036] The above method predicts the detection order by the probability of data occurrence, and improves the accuracy of prediction.

[0037] In a second aspect, an embodiment of the present application provides a vehicle processing device for a traffic management event, comprising:

[0038] The detection module is configured to detect the current running condition of the target vehicle; wherein the running condition includes the state of the target vehicle and the position of the target vehicle.

[0039] The first determination module is configured to determine the traffic management event corresponding to the current running condition of the target vehicle according to the correspondence between the running condition of the vehicle and the traffic management event.

[0040] The second determination module is configured to determine the target traffic management event that needs to be processed by the target vehicle according to the traffic management event corresponding to the current running condition of the target vehicle; wherein the target traffic management event is a traffic management event that meets the corresponding determination strategy among the traffic management events corresponding to the current running condition of the target vehicle; different traffic management events correspond to different determination strategies.

[0041] A control module is configured to control the target vehicle to perform a management mode corresponding to the target traffic management event.

[0042] In a third aspect, an electronic device is provided, comprising:

[0043] a processor;

[0044] a memory for storing instructions executable by the processor;

[0045] The processor is configured to execute the instructions to implement the traffic management event processing method according to any one of the first aspect.

[0046] In a fourth aspect, a storage medium is provided, when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the traffic management event processing method according to any one of the first aspect.

[0047] In addition, the technical effects brought by any one of the implementation manners of the second aspect to the fourth aspect can refer to the technical effects brought by different implementation manners of the first aspect, which will not be repeated here.

[0048] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 A flowchart of a traffic management event processing method provided by an embodiment of the present application;

[0050] Figure 2 A flowchart of a method for determining a target traffic management event provided by an embodiment of the present application;

[0051] Figure 3 A flowchart of another method for determining a target traffic management event provided by an embodiment of the present application;

[0052] Figure 4 A flowchart of a method for identifying a target special vehicle provided by an embodiment of the present application;

[0053] Figure 5 A schematic diagram of a target special vehicle being a motorcycle type police car provided by an embodiment of the present application;

[0054] Figure 6 A flowchart of a method for determining the position of a pattern in a vehicle provided by an embodiment of the present application;

[0055] Figure 7 A schematic diagram of a target special vehicle being a small car type police car provided by an embodiment of the present application;

[0056] Figure 8 A flow chart of a method for identifying a special vehicle according to an embodiment of the present application;

[0057] Figure 9 A schematic diagram of a special vehicle according to an embodiment of the present application, which is a fire engine;

[0058] Figure 10 A schematic diagram of another special vehicle according to an embodiment of the present application, which is a fire engine;

[0059] Figure 11 A schematic diagram of a special vehicle according to an embodiment of the present application, which is a rescue vehicle;

[0060] Figure 12 A schematic diagram of a special vehicle according to an embodiment of the present application, which is an ambulance;

[0061] Figure 13 A flow chart of a method for identifying a traffic management personnel according to an embodiment of the present application;

[0062] Figure 14 A flow chart of a method for processing a driving vehicle stopping by the roadside for inspection event according to an embodiment of the present application;

[0063] Figure 15 A flow chart of a method for processing a vehicle stopping by the roadside for inspection event according to an embodiment of the present application;

[0064] Figure 16 A flow chart of a method for processing a vehicle stopping by the roadside for inspection event according to an embodiment of the present application;

[0065] Figure 17 A flow chart of a method for processing a vehicle avoiding a special vehicle event according to an embodiment of the present application;

[0066] Figure 18 A flow chart of another method for processing a vehicle avoiding a special vehicle event according to an embodiment of the present application;

[0067] Figure 19 A schematic diagram of a processing device for a vehicle to a traffic management event according to an embodiment of the present application;

[0068] Figure 20 A schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0069] In order to make the objects, technical solutions and advantages of the present application clearer, the following further describes the present application with reference to the accompanying drawings. Obviously, the described embodiments are only a part rather than all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those ordinarily skilled in the art without creative effort belong to the scope of the present application.

[0070] The present application is described in detail below with reference to the accompanying drawings:

[0071] In combination with Figure 1 As shown in the accompanying drawings, the embodiments of the present application provide a traffic management event processing method, comprising:

[0072] S100: detecting a current running condition of a target vehicle; wherein the running condition comprises a state of the target vehicle and a position of the target vehicle;

[0073] The state of the target vehicle is a driving state or a parking state; the position of the target vehicle can be on a driving road or on a roadside;

[0074] When the running condition is the driving state and the driving road, it indicates that the target vehicle is normally driving on the road;

[0075] When the running condition is the parking state and the driving road, it indicates that the target vehicle is waiting for a traffic signal light;

[0076] When the running condition is the parking state and the roadside, it indicates that the target vehicle is parked on the roadside.

[0077] S101: determining a traffic management event corresponding to the current running condition of the target vehicle according to a corresponding relationship between the running condition of the vehicle and the traffic management event;

[0078] The traffic management event comprises a driving vehicle parking on the roadside for inspection event, a vehicle waiting for a traffic signal light parking on the roadside for inspection event, a roadside parked vehicle inspection event and a vehicle avoiding a special vehicle event;

[0079] Exemplarily, the corresponding relationship between the running condition of the vehicle and the traffic management event can adopt the following table:

[0080] Table 1

[0081]

[0082] In detail, when the current running condition of the target vehicle is detected as the driving state and the driving road, the traffic management event corresponding to the current running condition of the target vehicle, i.e. the traffic management event that the target vehicle is likely to process, is the driving vehicle parking on the roadside for inspection event and the vehicle avoiding a special vehicle event;

[0083] When it is detected that the current running condition of the target vehicle is the parking state and on the road, the traffic management event that the target vehicle is likely to handle is the event of stopping the vehicle to check the traffic signal and the event of avoiding the special vehicle.

[0084] When it is detected that the current running condition of the target vehicle is the parking state and on the road, the traffic management event that the target vehicle is likely to handle is the event of stopping the vehicle to check the traffic signal and the event of avoiding the special vehicle.

[0085] S102: determining the target traffic management event that the target vehicle needs to handle according to the traffic management event corresponding to the current running condition of the target vehicle; wherein the target traffic management event is the traffic management event corresponding to the current running condition of the target vehicle and meeting the corresponding determination strategy; different traffic management events correspond to different determination strategies.

[0086] For example, if the traffic management event corresponding to the current running condition of the target vehicle is one, it is determined that the traffic management event corresponding to the current running condition of the target vehicle is the target traffic management event; that is, it is determined that the traffic management event corresponding to the current running condition of the target vehicle meets the determination strategy corresponding to the traffic management event corresponding to the current running condition of the target vehicle.

[0087] For example, when it is detected that the current running condition of the target vehicle is the parking state and on the road, the traffic management event corresponding to the current running condition of the target vehicle is the event of stopping the vehicle to check the traffic signal and the event of avoiding the special vehicle. In this case, the traffic management event corresponding to the current running condition of the target vehicle is one, and it is determined that the target traffic management event is the event of stopping the vehicle to check the traffic signal.

[0088] If the traffic management event corresponding to the current running condition of the target vehicle is multiple, the detection order is determined, and whether the target vehicle meets the determination strategy corresponding to each traffic management event corresponding to the current running condition of the target vehicle is determined one by one according to the detection order until it is determined that the target vehicle meets the determination strategy corresponding to one traffic management event corresponding to the current running condition of the target vehicle, and the traffic management event is taken as the target traffic management event; wherein the detection order is the order of detecting the multiple traffic management events corresponding to the current running condition of the target vehicle.

[0089] For example, when it is detected that the current running condition of the target vehicle is the driving state and on the road, the traffic management event corresponding to the current running condition of the target vehicle is the event of stopping the vehicle to check the traffic signal and the event of avoiding the special vehicle. In this case, the traffic management event corresponding to the current running condition of the target vehicle is multiple, and the target traffic management event needs to be determined according to the detection order. Specifically, if the detection order is the event of stopping the vehicle to check the traffic signal and the event of avoiding the special vehicle, the specific determination process is combined with the description of the event of stopping the vehicle to check the traffic signal and the event of avoiding the special vehicle.Figure 2 as shown, comprising:

[0090] S200: judging whether the target vehicle meets the determination strategy corresponding to the driving vehicle pull over inspection event; if yes, executing S201, otherwise, executing S202;

[0091] S201: determining that the driving vehicle pull over inspection event is the target traffic management event;

[0092] S202: judging whether the target vehicle meets the determination strategy corresponding to the vehicle avoiding special vehicle event; if yes, executing S203, otherwise, ending;

[0093] S203: determining that the vehicle avoiding special vehicle event is the target traffic management event.

[0094] Specifically, first, it is judged whether the target vehicle meets the determination strategy corresponding to the first event in the detection sequence; if yes, it is determined that the first event in the detection sequence is the target traffic management event; otherwise, it is continued to judge whether the target vehicle meets the determination strategy corresponding to the second event in the detection sequence, until the event in the detection sequence that the target vehicle meets the determination strategy is found.

[0095] Of course, when the number of traffic management events corresponding to the current running situation of the target vehicle is two, then the application embodiment provides a variant judgment mode, which combines Figure 3 as shown, comprising:

[0096] S300: judging whether the target vehicle meets the determination strategy corresponding to the driving vehicle pull over inspection event; if yes, executing S301, otherwise, executing S302;

[0097] S301: determining that the driving vehicle pull over inspection event is the target traffic management event;

[0098] S302: determining that the vehicle avoiding special vehicle event is the target traffic management event.

[0099] Wherein, the detection sequence is determined by the following way:

[0100] According to the size order of the plurality of ratios of the plurality of traffic management events corresponding to the current running situation of the target vehicle in the preset time period, the detection sequence is determined; wherein each ratio is the ratio between the occurrence number of each traffic management event corresponding to the current running situation of the target vehicle in the preset time period and the total occurrence number of the plurality of traffic management events corresponding to the current running situation of the target vehicle in the preset time period.

[0101] For example, the current running situation of the target vehicle corresponds to a traffic management event of a driving vehicle stopping by the roadside for inspection event and a vehicle avoiding a special vehicle event. The preset time period is 3 months, 1 year, etc., and the present application does not make specific limitations thereto.

[0102] The number of occurrences of the driving vehicle stopping by the roadside for inspection event within 3 months is counted as a; the number of occurrences of the vehicle avoiding a special vehicle event within 3 months is counted as b;

[0103] The ratio of the driving vehicle stopping by the roadside for inspection event is a / (a+b);

[0104] The ratio of the vehicle avoiding a special vehicle event is b / (a+b).

[0105] The size of a / (a+b) and b / (a+b) is compared, when a / (a+b) is greater than b / (a+b), then the detection order is determined as a / (a+b), b / (a+b). When a / (a+b) is less than b / (a+b), then the detection order is determined as b / (a+b), a / (a+b).

[0106] S103: Control the target vehicle to execute the management mode corresponding to the target traffic management event.

[0107] If the traffic management event is a driving vehicle stopping by the roadside for inspection event, the determination strategy is to determine that the distance between the target special vehicle and the target vehicle is less than the first length for more than the first preset time length; for example, the first preset time length is 10 seconds.

[0108] If the traffic management event is a driving vehicle stopping by the roadside for inspection event, the determination strategy is to determine that the distance between the traffic management personnel and the target vehicle is less than the second length for more than the second preset time length; for example, the second preset time length is 5 seconds.

[0109] If the traffic management event is a driving vehicle stopping by the roadside for inspection event, the determination strategy is to determine that the distance between the traffic management personnel and the target vehicle is less than the third length within the third preset time length; for example, the third preset time length is 30 seconds.

[0110] If the traffic management event is a driving vehicle stopping by the roadside for inspection event, the determination strategy is to determine that the distance between the traffic management personnel and the target vehicle is less than the third length within the third preset time length; for example, the third preset time length is 30 seconds.

[0111] If the traffic management event is a driving vehicle stopping by the roadside for inspection event, the determination strategy is to determine that the distance between the traffic management personnel and the target vehicle is less than the third length within the third preset time length; for example, the third preset time length is 30 seconds.

[0112] If the traffic management event is a traffic signal waiting event, the management mode corresponding to the traffic management event is to start a warning light of the target vehicle, determine a parking position, and control the target vehicle to park at the parking position.

[0113] If the traffic management event is a roadside parked vehicle inspection event, the management mode corresponding to the traffic management event is to verify the identity of the traffic management personnel and unlock the target vehicle.

[0114] If the traffic management event is a vehicle avoiding special vehicle event, and the target vehicle is in a driving state, the management mode corresponding to the traffic management event is to control the target vehicle to change lanes.

[0115] If the traffic management event is a vehicle avoiding special vehicle event, and the target vehicle is waiting for a traffic signal, the management mode corresponding to the traffic management event is to control the target vehicle to change lanes after determining that the target vehicle is at the head of the stop line of the traffic signal, and control the target vehicle to move following an adjacent vehicle after determining that the target vehicle is not at the head of the stop line of the traffic signal, wherein the adjacent vehicle is a vehicle located in front of the target vehicle.

[0116] In combination with Figure 4 As shown in FIG. 1, the embodiment of the present application provides a method for identifying a target special vehicle, comprising:

[0117] S400: identifying a vehicle type of a vehicle in a first image;

[0118] S401: if the vehicle type of the vehicle is a first type, identifying a pattern contained in the vehicle in the first image, and determining a position of each pattern in the vehicle;

[0119] S402: if the identified pattern contains all patterns of the target special vehicle, and the position of each identified pattern in the vehicle is the same as the position of each same pattern in the target special vehicle, determining that the vehicle is the target special vehicle.

[0120] For example, the target special vehicle is a police car. The vehicle type includes a small car and a motorcycle.

[0121] Identifying the vehicle type of the vehicle in the first image, if the vehicle type is a motorcycle, identifying a pattern on the vehicle, for example, a public security badge, a public security character, and a vehicle number. Figure 5

[0122] ​The position of the police badge is identified at the position of the motorcycle head, the police word is identified at the position of the motorcycle tail, and the vehicle number is identified at the position of the motorcycle tail. When the position of the police badge in the image is determined to be the same as the position of the police badge of a normal motorcycle, the position of the police word in the image is determined to be the same as the position of the police word of a normal motorcycle, and the position of the vehicle number in the image is determined to be the same as the position of the vehicle number of a normal motorcycle, the vehicle is determined to be the target special vehicle.

[0123] Of course, the application also provides a method for determining the position of each pattern on the vehicle, comprising Figure 6 as shown, comprising:

[0124] S600: determining the positions of the plurality of marking lines in the first image, and determining at least one marking line corresponding to each pattern; wherein the marking lines include the structure of the special pattern and / or the vehicle;

[0125] S601: for each pattern, using the position of the at least one marking line corresponding to the pattern to represent the position of the pattern on the vehicle.

[0126] In detail, the vehicle type of the vehicle in the first image is identified. If the vehicle type is a small car, the position of the pattern on the vehicle is identified, for example, the police badge, the police word, and the vehicle number. Figure 7 as shown, identifying the patterns on the vehicle, for example, the police badge, the police word, and the vehicle number.

[0127] The marking lines in the first image include the marking lines C1 and C2 of the "y" type pattern, the connecting line C3 of the vehicle glass and the vehicle door, the side line C4 of the front windshield, the middle line C5 of the front door and the rear door, the marking line C6 formed by the intersection of the rear door and the roof, the upper line C7 of the pattern at the rear of the vehicle, and the trunk side line C8.

[0128] When the pattern of the vehicle is the police badge, the marking lines corresponding to the police badge are the marking lines C1, the connecting line C3, the side line C4, and the middle line C5. Using the position of the at least one marking line corresponding to the pattern to represent the position of the pattern on the vehicle is: the center of the rectangle surrounded by the four marking lines is the center of the police badge, and the rectangle surrounded by the four marking lines contains the police badge.

[0129] When the pattern of the vehicle is the police word, the marking lines corresponding to the police word are the marking lines C1, the connecting line C3, the middle line C5, and the marking line C6. Using the position of the at least one marking line corresponding to the pattern to represent the position of the pattern on the vehicle is: the center of the rectangle surrounded by the four marking lines is the center of the police word, and the rectangle surrounded by the four marking lines contains the police word.

[0130] When the pattern of the vehicle is the vehicle number, the marking line corresponding to the vehicle number is the marking line C2, the upper line C7, and the trunk side line C8. The position of the vehicle number is represented by the position of the at least one marking line corresponding to the pattern, and the position of the pattern on the vehicle is as follows: the upper 50 mm of the upper line C7 above the middle line between the marking line C2 and the trunk side line C8 is the position of the vehicle number, and the left 100 mm of the trunk side line C8 is the position of the vehicle number.

[0131] As shown in FIG. 1, the embodiment of the present application provides a method for identifying a special vehicle, which comprises the following steps. Figure 8 As shown in FIG. 1, the embodiment of the present application provides a method for identifying a special vehicle, which comprises the following steps.

[0132] S800: identifying the vehicle type of the vehicle in the first image;

[0133] S801: if the vehicle type of the vehicle is the first type, identifying the pattern contained in the vehicle in the first image, and determining the position of each pattern on the vehicle;

[0134] S802: if the identified pattern contains all patterns of the special vehicle, and the position of each identified pattern on the vehicle is the same as the position of each same pattern on the special vehicle, determining that the vehicle is the special vehicle.

[0135] For example, the special vehicle can be a fire engine, a rescue vehicle, or an ambulance.

[0136] When the special vehicle is a fire engine, the vehicle type includes a small car and a large car.

[0137] As shown in FIG. 1, the embodiment of the present application provides a method for identifying a special vehicle, which comprises the following steps. Figure 9 As shown in FIG. 1, the embodiment of the present application provides a method for identifying a special vehicle, which comprises the following steps.

[0138] The position of the fire engine badge is the front door position of the vehicle, and the positions of the fire word pattern and the vehicle number are the rear position of the vehicle. When it is determined that the position of the fire engine badge in the image is the same as the position of the fire engine badge of the fire engine, and the position of the fire word pattern in the image is the same as the position of the fire word pattern of the normal fire engine, and the position of the vehicle number in the image is the same as the position of the vehicle number of the normal fire engine, and the positions of the fire word pattern and the vehicle number are close to each other, it is determined that the vehicle is the special vehicle, i.e., the fire engine.

[0139] As shown in FIG. 1, the embodiment of the present application provides a method for identifying a special vehicle, which comprises the following steps. Figure 10 As shown in FIG. 1, the embodiment of the present application provides a method for identifying a special vehicle, which comprises the following steps.

[0140] The position of the fire truck logo is identified at the front door position of the vehicle, and the fire word is identified at the rear door position of the vehicle. When it is determined that the position of the fire truck logo in the image is the same as the position of the fire truck logo of the fire truck, and the position of the fire word in the image is the same as the position of the fire word of the normal fire truck, both are at the front door position of the vehicle, it is determined that the vehicle is a special vehicle, i.e., a fire truck.

[0141] When the special vehicle is a rescue vehicle, the vehicle type of the vehicle in the first image is identified, as shown in Figure 11 If the vehicle type is a small car, the pattern on the vehicle, such as the rescue word, and the vehicle number are identified.

[0142] The rescue word is identified on the front hood, and the vehicle number is identified at the roof position. When it is determined that the position of the rescue word in the image is the same as the position of the rescue word of the normal rescue vehicle, and the position of the vehicle number in the image is the same as the position of the vehicle number of the normal rescue vehicle, both are at the roof position of the vehicle, it is determined that the vehicle is a special vehicle, i.e., a rescue vehicle.

[0143] When the special vehicle is an ambulance, the vehicle type of the vehicle in the first image is identified, as shown in Figure 12 If the vehicle type is a medium car, the pattern on the vehicle, such as the ambulance logo and the ambulance word, are identified.

[0144] The ambulance logo is identified on the front door of the vehicle, and the ambulance word is identified at the rear position of the vehicle. When it is determined that the position of the ambulance logo in the image is the same as the position of the ambulance logo of the normal ambulance, and the position of the ambulance word in the image is the same as the position of the ambulance word of the normal ambulance, both are at the front door position of the vehicle, it is determined that the vehicle is a special vehicle, i.e., an ambulance.

[0145] Of course, the same, the vehicle type, the vehicle position, the pattern, and the marking line can also be identified by a neural network. The pattern, for example, the ambulance logo, the fire truck logo, and the public security logo mentioned above can be identified by a neural network.

[0146] For example, the embodiment of the present application provides a method for identifying traffic management personnel, as shown in Figure 13 The method comprises the following steps:

[0147] S1300: identifying the pattern on the person in the second image;

[0148] S1301: If the pattern on the person in the second image contains a special pattern of traffic management personnel, and the pattern on the person in the second image contains the number information of the traffic management personnel, it is determined that the person in the second image is a traffic management personnel.

[0149] The special patterns of traffic management personnel include a badge, an armband, and a police rank.

[0150] Based on the above, the embodiment of the application provides a processing method for a driving vehicle stopping by the roadside for inspection event, which combines Figure 14 as shown, comprising:

[0151] S1500: detecting a running condition of a target vehicle;

[0152] S1501: if it is detected that the target vehicle is normally driving on a road, a wide-angle camera on the target vehicle is used to identify whether a following police vehicle is included; if yes, S1502 is executed; otherwise, S1500 is continuously executed;

[0153] S1502: it is counted whether the police vehicle follows the target vehicle for more than 10 seconds; if yes, S1503 is executed; otherwise, S1500 is executed;

[0154] S1503: a double flash of the target vehicle is controlled to be turned on to indicate the police vehicle, to warn surrounding vehicles, and to select a suitable parking position to stop by the roadside to receive inspection of the police vehicle.

[0155] The embodiment of the application provides a processing method for a vehicle stopping by the roadside for inspection event when waiting for a traffic signal, which combines Figure 15 as shown, comprising:

[0156] S1600: detecting a running condition of a target vehicle;

[0157] S1601: if it is detected that the target vehicle is waiting for a traffic signal, a wide-angle camera on the target vehicle is used to identify whether a traffic police appears around; if yes, S1602 is executed; otherwise, S1600 is continuously executed;

[0158] S1602: it is counted whether the traffic police approaches the target vehicle for more than 5 seconds; if yes, S1603 is executed; otherwise, S1600 is executed;

[0159] S1603: a double flash of the target vehicle is controlled to be turned on to indicate the police vehicle, to warn surrounding vehicles, and to select a suitable parking position to stop by the roadside to receive inspection of the police vehicle.

[0160] In the above two modes, stopping by the roadside to receive inspection of the police is to identify the identity of a traffic management personnel, and after authentication is completed, a door of the vehicle is automatically opened to receive inspection.

[0161] The embodiment of the application provides a processing method for a vehicle stopping by the roadside for inspection event, which combines Figure 16 as shown, comprising:

[0162] S1700: detecting the running condition of the target vehicle;

[0163] S1701: if it is detected that the target vehicle is parked on the roadside, using a wide-angle camera on the target vehicle to identify whether a traffic police appears around; if yes, performing S1702; otherwise, continuing to perform S1700;

[0164] S1702: counting whether the traffic police is close to the target vehicle for more than 30 seconds; if yes, performing S1703; otherwise, performing S1700;

[0165] S1703: comparing the picture of the traffic police in the certificate with the picture of the traffic police taken by the wide-angle camera to determine whether they are the same person; if yes, performing S1704; otherwise, continuing to perform S1705;

[0166] S1704: sending the picture of the traffic police taken by the wide-angle camera and the information of the traffic police on the certificate to the automatic driving control center;

[0167] S1705: warning that the identity authentication of the person close to the target vehicle fails.

[0168] S1706: if the identity verified by the automatic driving control center is true, unlocking the target vehicle and controlling the target vehicle to open the door to receive inspection.

[0169] S1707: if the identity verified by the automatic driving control center is false, warning that the identity authentication of the person close to the target vehicle fails.

[0170] For the identity verification process, after the target vehicle is parked on the roadside, the traffic police close to the target vehicle needs to be identified again, and the key feature points are the badge on the uniform, the police number, the police rank, and the armband. After the traffic police is identified as a traffic police, the traffic police needs to show the People's Police Certificate, and the People's Police Certificate needs to be identified. For the People's Police Certificate, the photo on the certificate needs to be compared with the face of the person to determine whether it is the person, and after the comparison is successful, the face of the traffic police is captured, and the photo and the name are reported to the automatic driving control center to query the authenticity of the traffic police. If the information is true, the target vehicle is automatically unlocked and the door is opened to receive inspection, otherwise the target vehicle continues to drive normally.

[0171] The embodiment of the present application provides a processing method for vehicle to avoid special vehicle events, which combines Figure 17 as shown, comprising:

[0172] S1900: detecting the running condition of the target vehicle;

[0173] S1901: if it is detected that the target vehicle is parked on the roadside, using a wide-angle camera on the target vehicle to identify whether the following vehicle is a special vehicle; if yes, performing S1902; otherwise, continuing to perform S1900;

[0174] S1902: judging whether the special vehicle turns on the warning light; if yes, executing S1903; otherwise, executing S1900;

[0175] S1903: judging whether the special vehicle drives behind the target vehicle and on the same lane line; if yes, executing S1904; otherwise, continuing to execute S1900;

[0176] S1904: controlling the target vehicle to select the opportunity to turn on the turn signal and yield.

[0177] The embodiment of the present application provides another processing method for vehicle to avoid the special vehicle event, which combines the above-mentioned two processing methods. Figure 18 As shown in the figure, the method comprises the following steps:

[0178] S2000: detecting the running condition of the target vehicle;

[0179] S2001: if the traffic signal at the intersection is detected, using the wide-angle camera on the target vehicle to identify whether the following vehicle is the special vehicle; if yes, executing S2002; otherwise, continuing to execute S2000;

[0180] S2002: judging whether the special vehicle turns on the warning light; if yes, executing S2003; otherwise, executing S2000;

[0181] S2003: judging whether the special vehicle drives behind the target vehicle and on the same lane line; if yes, executing S2004; otherwise, continuing to execute S2000;

[0182] S2004: judging whether the target vehicle stops at the beginning of the stop line; if yes, executing S2005; otherwise, executing S2006;

[0183] S2005: controlling the target vehicle to turn on the double flash to cross the stop line, to occupy the left lane, and to control the target vehicle to wait for the green light to pass and to turn off the double flash;

[0184] S2006: controlling the target vehicle to follow the front vehicle to move.

[0185] As shown in the figure, the present application further provides a processing device for vehicle to deal with the traffic management event, which comprises: Figure 19 The detection module 2100 is used to detect the current running condition of the target vehicle; wherein, the running condition comprises the state of the target vehicle and the position of the target vehicle;

[0186]

[0187] ​The first determining module 2101 is configured to determine a traffic management event corresponding to a current operation condition of the target vehicle according to a correspondence between operation conditions of a vehicle and traffic management events.

[0188] The second determining module 2102 is configured to determine a target traffic management event that needs to be processed by the target vehicle according to the traffic management event corresponding to the current operation condition of the target vehicle; the target traffic management event is a traffic management event that meets a corresponding determination strategy among the traffic management events corresponding to the current operation condition of the target vehicle; different traffic management events correspond to different determination strategies.

[0189] The control module 2103 is configured to control the target vehicle to perform a management mode corresponding to the target traffic management event.

[0190] Optionally, wherein:

[0191] If the traffic management event is a driving vehicle parking inspection event, the determination strategy is to determine whether a distance between the target special vehicle and the target vehicle is less than a first length for more than a first preset time length.

[0192] If the traffic management event is a traffic signal waiting vehicle parking inspection event, the determination strategy is to determine whether a distance between the traffic management personnel and the target vehicle is less than a second length for more than a second preset time length.

[0193] If the traffic management event is a roadside parking vehicle inspection event, the determination strategy is to determine whether a distance between the traffic management personnel and the target vehicle is less than a third length within a third preset time length.

[0194] If the traffic management event is a vehicle avoiding special vehicle event, the determination strategy is to determine whether a vehicle with a distance less than a fourth length from the target vehicle is a special vehicle, whether the special vehicle turns on an alarm light, and whether a positional relationship between the special vehicle and the target vehicle is a preset positional relationship.

[0195] Optionally, the recognition module is configured to:

[0196] recognize a vehicle type of a vehicle in the first image;

[0197] If the vehicle type of the vehicle is a first type, recognize a pattern contained in the vehicle in the first image, and determine a position of each pattern relative to the vehicle.

[0198] If the recognized pattern contains all patterns of the target special vehicle, and the position of each recognized pattern relative to the vehicle is the same as the position of each same pattern relative to the target special vehicle, the vehicle is determined to be the target special vehicle.

[0199] Optionally, the identifying module is further configured to:

[0200] determine positions of the plurality of marking lines in the first image, and determine at least one marking line corresponding to each pattern; wherein the marking lines include special patterns and / or structures of the vehicle;

[0201] for each pattern, represent a position of the pattern in the vehicle by using the position of the at least one marking line corresponding to the pattern.

[0202] Optionally, the identifying module is further configured to:

[0203] identify the patterns on the person in the second image;

[0204] if the patterns on the person in the second image include the special patterns of the traffic management personnel and the patterns on the person in the second image include the number information of the traffic management personnel, determine that the person in the second image is the traffic management personnel.

[0205] Optionally, the second determining module 2102 is specifically configured to:

[0206] if the traffic management event corresponding to the current running condition of the target vehicle is one, determine that the traffic management event corresponding to the current running condition of the target vehicle is the target traffic management event;

[0207] if the traffic management event corresponding to the current running condition of the target vehicle is multiple, determine a detection order, and according to the detection order, determine whether the target vehicle satisfies a judgment strategy corresponding to each traffic management event corresponding to the current running condition of the target vehicle one by one until it is determined that the target vehicle satisfies a judgment strategy corresponding to one traffic management event corresponding to the current running condition of the target vehicle, and take the traffic management event as the target traffic management event; wherein the detection order is an order of detecting the multiple traffic management events corresponding to the current running condition of the target vehicle.

[0208] Optionally, the second determining module 2102 is further configured to:

[0209] determine the detection order according to a size order of multiple ratios of the multiple traffic management events corresponding to the current running condition of the target vehicle within a preset time period; wherein each ratio is a ratio between a number of occurrences of each traffic management event corresponding to the current running condition of the target vehicle within the preset time period and a total number of occurrences of the multiple traffic management events corresponding to the current running condition of the target vehicle within the preset time period.

[0210] In addition, in combination with Figures 1-19The traffic management event processing method and device of the described embodiments of the present application can be implemented by an electronic device. The electronic device is on a target vehicle in order to control the target vehicle to implement the above functions.

[0211] An electronic device, comprising: a processor;

[0212] a memory for storing instructions executable by the processor;

[0213] The processor is configured to execute the instructions to implement the traffic management event processing method as described in any of the above.

[0214] Based on the above description, an example of an electronic device structure is proposed. Figure 20

[0215] The electronic device can include a processor 2210 and a memory 2220 storing computer program instructions.

[0216] Specifically, the processor 2210 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present application.

[0217] The memory 2220 can include a mass storage for data or instructions. By way of example and not limitation, the memory 2220 can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 2220 can include removable or non-removable (or fixed) media. Where appropriate, the memory 2220 can be internal or external to the data processing apparatus. In certain embodiments, the memory 2220 is a nonvolatile solid-state memory. In certain embodiments, the memory 2220 includes read-only memory (ROM). Where appropriate, this ROM can be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory or a combination of two or more of these.

[0218] The processor 2210 reads and executes the computer program instructions stored in the memory 2220 to implement the method of performing tasks in any of the above embodiments.

[0219] ​In one example, the electronic device can further include a communication interface 2230 and a bus 2240. Wherein, as shown in Figure 20 the processor 2210, the memory 2220, the communication interface 2230 are connected through the bus 2240 and complete the communication between each other.

[0220] The communication interface 2230 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the present application.

[0221] The bus 2240 includes hardware, software or both to couple the components of the electronic device to each other. By way of example, and not limitation, the bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable bus or combination of two or more of these. Where appropriate, the bus 2240 can include one or more buses. Although the present embodiments describe and show a particular bus, the present application contemplates any suitable bus or interconnect.

[0222] The electronic device can perform the method for performing a task in the embodiments of the present application based on the received task, thereby realizing the processing method and device of the traffic management event described in combination Figures 1-20 with the above embodiments.

[0223] In addition, in combination with the electronic device in the above embodiments, the embodiments of the present application can provide a storage medium, when the instructions in the storage medium are executed by the processor of the electronic device, the electronic device can perform the processing method of the traffic management event as described in any one of the above.

[0224] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system) and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the functions specified in the flow Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0225] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the Figure 1 function specified in the flow or flows and / or blocks of the block or blocks. Figure 1

[0226] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions that are executed on the computer or other programmable apparatus provide steps for implementing the Figure 1 function specified in the flow or flows and / or blocks of the block or blocks. Figure 1

[0227] While the preferred embodiments of the application have been described, it should be understood that various modifications and changes can be made by those skilled in the art which follow in the spirit of the application and the scope of the appended claims. Therefor, the description is intended to cover all modifications and changes as fall within the scope of the application, including customery, preferred and alternative embodiments.

[0228] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.​​

Claims

1. A method of handling a traffic management event, characterized by, The method comprises: detecting a current running condition of a target vehicle; wherein the running condition comprises a state of the target vehicle and a position of the target vehicle; determining a traffic management event corresponding to the current running condition of the target vehicle according to a corresponding relationship between a running condition of a vehicle and a traffic management event; wherein when it is detected that the current running condition of the target vehicle is a driving state and a driving road, the traffic management event corresponding to the current running condition of the target vehicle is a driving vehicle stopping for inspection event and a vehicle avoiding a special vehicle event; when it is detected that the current running condition of the target vehicle is a parking state and a driving road, the traffic management event corresponding to the current running condition of the target vehicle is a traffic signal waiting vehicle stopping for inspection event and the vehicle avoiding the special vehicle event; when it is detected that the current running condition of the target vehicle is a parking state and a roadside, the traffic management event corresponding to the current running condition of the target vehicle is a roadside parked vehicle inspection event; determining a target traffic management event that needs to be processed by the target vehicle according to the traffic management event corresponding to the current running condition of the target vehicle; wherein the target traffic management event is a traffic management event that meets a corresponding determination strategy in the traffic management event corresponding to the current running condition of the target vehicle; different traffic management events correspond to different determination strategies; controlling the target vehicle to perform a management mode corresponding to the target traffic management event.

2. The traffic management event handling method according to claim 1, characterized in that, In the method: if the traffic management event is the driving vehicle stopping for inspection event, the determination strategy is determining whether a distance between the target special vehicle and the target vehicle is less than a first length for more than a first preset time length; if the traffic management event is the traffic signal waiting vehicle stopping for inspection event, the determination strategy is determining whether a distance between a traffic management personnel and the target vehicle is less than a second length for more than a second preset time length; if the traffic management event is the roadside parked vehicle inspection event, the determination strategy is determining whether a distance between the traffic management personnel and the target vehicle is less than a third length within a third preset time length; if the traffic management event is the vehicle avoiding the special vehicle event, the determination strategy is determining whether a vehicle with a distance less than a fourth length from the target vehicle is a special vehicle, and whether the special vehicle turns on an alarm light and whether a positional relationship between the special vehicle and the target vehicle is a preset positional relationship.

3. The traffic management event handling method according to claim 2, characterized in that, The target special vehicle is identified by: identifying a vehicle type of a vehicle in a first image; if the vehicle type of the vehicle is a first type, identifying a pattern contained in the vehicle in the first image, and determining a position of each pattern in the vehicle; if the identified pattern contains all patterns of the target special vehicle, and each identified pattern is in the same position in the vehicle as each same pattern in the target special vehicle, determining that the vehicle is the target special vehicle.

4. The traffic management event handling method according to claim 3, characterized in that, The determination of the position of each pattern in the vehicle comprises: determining positions of a plurality of marking lines in the first image, and determining at least one marking line corresponding to each pattern; wherein the marking lines include special patterns and / or structures of the vehicle; for each pattern, representing a position of the pattern in the vehicle by using the position of the at least one marking line corresponding to the pattern.

5. The traffic management event handling method of claim 2, wherein, identifying a traffic management personnel by: identifying a pattern on a person in a second image; if the pattern on the person in the second image includes a special pattern of the traffic management personnel and the pattern on the person in the second image includes number information of the traffic management personnel, determining that the person in the second image is the traffic management personnel.

6. The traffic management incident handling method according to any one of claims 1 to 5, characterized in that, determining a target traffic management event that needs to be handled by the target vehicle according to a traffic management event corresponding to a current running condition of the target vehicle, including: if the traffic management event corresponding to the current running condition of the target vehicle is one, determining that the traffic management event corresponding to the current running condition of the target vehicle is the target traffic management event; if the traffic management event corresponding to the current running condition of the target vehicle is multiple, determining a detection order, and according to the detection order, judging whether the target vehicle satisfies a judgment strategy corresponding to each traffic management event corresponding to the current running condition of the target vehicle one by one until it is determined that the target vehicle satisfies a judgment strategy corresponding to one traffic management event corresponding to the current running condition of the target vehicle, and taking the traffic management event as the target traffic management event; wherein the detection order is an order of detecting the multiple traffic management events corresponding to the current running condition of the target vehicle.

7. The traffic management event handling method of claim 6, wherein, determining the detection order, including: determining the detection order according to a size order of a plurality of ratios of the multiple traffic management events corresponding to the current running condition of the target vehicle within a preset time period; wherein each ratio is a ratio between a number of occurrences of each traffic management event corresponding to the current running condition of the target vehicle within the preset time period and a total number of occurrences of the multiple traffic management events corresponding to the current running condition of the target vehicle within the preset time period.

8. A vehicle-to-traffic management event handling apparatus characterized by comprising: including: a detection module configured to detect a current running condition of a target vehicle; wherein the running condition includes a state of the target vehicle and a position of the target vehicle; The first determining module is configured to determine a traffic management event corresponding to a current operation condition of the target vehicle according to a correspondence between vehicle operation conditions and traffic management events; when it is detected that the current operation condition of the target vehicle is a driving state and a driving road, the traffic management event corresponding to the current operation condition of the target vehicle is a driving vehicle parking inspection event and a vehicle avoiding special vehicle event; when it is detected that the current operation condition of the target vehicle is a parking state and a driving road, the traffic management event corresponding to the current operation condition of the target vehicle is a traffic signal waiting vehicle parking inspection event and a vehicle avoiding special vehicle event; when it is detected that the current operation condition of the target vehicle is a parking state and a roadside, the traffic management event corresponding to the current operation condition of the target vehicle is a roadside parking vehicle inspection event; The second determining module is configured to determine a target traffic management event that needs to be processed by the target vehicle according to the traffic management event corresponding to the current operation condition of the target vehicle; the target traffic management event is a traffic management event that meets a corresponding judgment strategy in the traffic management event corresponding to the current operation condition of the target vehicle; different traffic management events correspond to different judgment strategies; The control module is configured to control the target vehicle to perform a management mode corresponding to the target traffic management event.

9. An electronic device, comprising: The electronic device comprises: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the traffic management event processing method according to any one of claims 1 to 7.

10. A storage medium, characterized by When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device can execute the traffic management event processing method according to any one of claims 1 to 7.

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