Traffic transport equipment behavior detection method and device and storage medium

Abstract

Embodiments of the present application provide a traffic transport equipment behavior detection method and device, a storage medium and an electronic device, the method comprising: in the case of detecting that a traffic transport equipment is driving on a curve in a target area, acquiring a target position of the traffic transport equipment on the curve; extending a line from the target position to a target direction, and acquiring information of an intersection between the line and a boundary line of a driving channel included in the curve, wherein the curve includes a plurality of driving channels, and the target direction is a direction across the driving channels; and determining a behavior of the traffic transport equipment based on the information of the intersection. Through the present application, the problem that the traffic transport equipment behavior on the curve cannot be effectively and accurately detected in the related art is solved, and the behavior of the traffic transport equipment driving in the curve is effectively detected, and the detection accuracy is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of communications, and more specifically, to a method, apparatus, storage medium, and electronic device for detecting the behavior of transportation equipment. Background Technology

[0002] With the rapid development of society and economy, the number of public and private transportation equipment is constantly increasing. Traditional manual inspection can no longer meet the needs of traffic management. How to efficiently inspect the behavior of transportation equipment has become a new hot demand.

[0003] In related technologies, there are many devices for detecting the behavior of transportation equipment. However, these devices can only detect the behavior of transportation equipment on straight roads and cannot detect the behavior of transportation equipment on curves. The following example illustrates this using a vehicle traveling on a road:

[0004] Curves are a common feature of urban and highway roads. When driving on curves, drivers may commit illegal acts such as crossing lane lines or overtaking. Capturing and recording these violations is crucial evidence for traffic police to issue penalties.

[0005] There is currently no effective solution to the problem that related technologies cannot effectively and accurately detect the behavior of transportation equipment on curves. Summary of the Invention

[0006] This invention provides a method, apparatus, storage medium, and electronic device for detecting the behavior of transportation equipment, thereby at least solving the problem in the related art of not being able to effectively and accurately detect the behavior of transportation equipment on curves.

[0007] According to an embodiment of the present invention, a behavior detection method for a transportation device is provided, comprising: when the transportation device is detected to be traveling on a curve in a target area, obtaining the target position of the transportation device on the curve; drawing an extension line from the target position to a target direction, and obtaining information on the intersection point between the extension line and the boundary line of the driving lane included in the curve, wherein the curve includes multiple driving lanes, and the target direction is the direction that crosses the driving lanes; and determining the behavior of the transportation device based on the information of the intersection point.

[0008] In an exemplary embodiment, obtaining information about the intersection of the extension line and the boundary line of the driving lane included in the curve includes: continuously obtaining information about the number of intersections between the extension line and the boundary line of the driving lane during the process of the transportation vehicle driving on the curve, wherein the information about the intersections includes the number of intersections; determining the behavior of the transportation equipment based on the information about the intersections includes: determining that the transportation equipment has engaged in cross-lane driving behavior when a change in the number of intersections is detected.

[0009] In one exemplary embodiment, after determining that the transportation equipment has engaged in cross-channel driving, the method further includes: determining the type of the curve; and if the curve is determined to be a type of curve that does not allow cross-channel driving, reporting first violation information of the transportation equipment.

[0010] In an exemplary embodiment, after obtaining the target position of the transportation equipment on the curve, the method further includes: if the distance between the target position and the target boundary line of the driving channel included in the curve is less than a first distance threshold, determining the type of the target boundary line; if the target boundary line is determined to be a boundary line type that does not allow crossing, reporting the second violation driving information of the transportation equipment.

[0011] In one exemplary embodiment, after obtaining the target position of the transportation equipment on the curve, the method further includes: if it is determined that the distance between the target position and the boundary line of the driving channel included in the curve is less than a second distance threshold, sending a notification message to a target server to instruct the target server to push a reminder message to the terminal device in the transportation equipment.

[0012] In an exemplary embodiment, before obtaining the target position of the transportation equipment on the curve, the method further includes: drawing target lines on a target interface to indicate the boundary lines of each of the driving lanes included in the curve, and determining a predetermined correspondence between a first coordinate system where the curve is located and a second coordinate system where the target lines are located; obtaining the target position of the transportation equipment on the curve includes: obtaining first coordinate information of the transportation equipment in the first coordinate system; converting the first coordinate information into second coordinate information in the second coordinate system based on the predetermined correspondence; determining the position of the second coordinate information in the second coordinate system as the target position; drawing an extension line from the target position to the target direction includes: drawing an extension line from the target position to the target direction in the second coordinate system.

[0013] In an exemplary embodiment, drawing target lines on a target interface to indicate the boundary lines of each of the driving channels included in the curve, and determining a predetermined correspondence between the first coordinate system where the curve is located and the second coordinate system where the target lines are located, includes: taking a picture of the target area to obtain a first image; processing the image of each of the boundary lines included in the first image into a polyline composed of line segments of a predetermined length to obtain the target lines, and displaying the target lines on the target interface; selecting a second origin of the second coordinate system on the target interface, and selecting a target number of second points located on the target lines; determining a first origin included in the curve corresponding to the second origin, and a first point corresponding to each of the second points; and determining the predetermined correspondence based on the relative position information between the second points and the second origin, and the relative position information between the first points and the first origin.

[0014] According to another embodiment of the present invention, a behavior detection device for a transportation device is provided, comprising: a first acquisition module, configured to acquire a target position of the transportation device on a curve in a target area when the transportation device is detected to be traveling on a curve in a target area; a second acquisition module, configured to draw an extension line from the target position to a target direction and acquire information on the intersection point between the extension line and the boundary line of a driving lane included in the curve, wherein the curve includes multiple driving lanes and the target direction is a direction that crosses the driving lanes; and a first determination module, configured to determine the behavior of the transportation device based on the information of the intersection point.

[0015] According to yet another embodiment of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0016] According to yet another embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0017] This invention utilizes an extension line drawn from the location of the transportation equipment in the direction crossing the driving lane. The behavior of the transportation equipment is determined based on the intersection of this extension line and the boundary line of the driving lane. This method can effectively detect the driving information of the transportation equipment on curves, thereby determining its driving behavior. Furthermore, this detection method eliminates the need for manual on-site inspection, effectively saving manpower and resources. In addition, compared with manual inspection, the accuracy is effectively improved, thus effectively solving the problem of inaccurate detection of the behavior of transportation equipment on curves in related technologies. It achieves effective detection of the behavior of transportation equipment traveling on curves and improves the detection accuracy. Attached Figure Description

[0018] Figure 1 This is a hardware structure block diagram of a mobile terminal for a behavior detection method for transportation equipment according to an embodiment of the present invention.

[0019] Figure 2 This is a flowchart of a behavior detection device for transportation equipment according to an embodiment of the present invention;

[0020] Figure 3 This is an abstract illustration of a captured image according to an embodiment of the present invention. Figure 1 ;

[0021] Figure 4 This is an abstract illustration of a captured image according to an embodiment of the present invention. Figure 2 ;

[0022] Figure 5 This is an abstract illustration of a captured image according to an embodiment of the present invention. Figure 3 ;

[0023] Figure 6 This is an abstract illustration of a captured image according to an embodiment of the present invention. Figure 4 ;

[0024] Figure 7 This is a structural block diagram of a behavior detection device for transportation equipment according to an embodiment of the present invention. Detailed Implementation

[0025] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and examples.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0027] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a behavior detection method for transportation equipment according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0028] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the behavior detection method for transportation equipment in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0029] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0030] This embodiment provides a method for detecting the behavior of transportation equipment. Figure 2 This is a flowchart of a transportation equipment behavior detection method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0031] Step S202: If it is detected that the transportation equipment is traveling on a curve in the target area, obtain the target position of the transportation equipment on the curve.

[0032] Step S204: Starting from the target position, draw an extension line in the target direction and obtain information on the intersection point between the extension line and the boundary line of the driving lane included in the curve, wherein the curve includes multiple driving lanes and the target direction is the direction that crosses the driving lanes.

[0033] Step S206: Determine the behavior of the transportation equipment based on the information of the intersection point.

[0034] The entity executing the above steps can be a controller, a processor, a device or system with image acquisition and analysis capabilities, or other processing devices or units with similar processing capabilities.

[0035] In the above embodiments, the transportation equipment includes, but is not limited to, vehicles (e.g., trucks, buses, private cars, etc.), ships, aircraft, etc. The target area can be an area including highways, an area including sea routes, an area including air routes, etc. The target direction can be a pre-defined X-axis direction, or other pre-defined directions (e.g., a pre-defined Y-axis direction, a direction between a pre-defined X-axis and Y-axis, etc.). As long as it is a direction that can cross the driving channel included in the curve (not limited to a straight crossover, i.e., not limited to a crossover perpendicular to the tangent of the curve, but also a diagonal crossover, i.e., the angle with the tangent of the curve is an acute or obtuse angle), it is acceptable.

[0036] In the above embodiments, an extension line is drawn from the location of the transportation equipment in the direction of crossing the driving channel. The behavior of the transportation equipment is determined based on the intersection of this extension line and the boundary line of the driving channel. Based on this method, the driving information of the transportation equipment on the curve can be effectively detected, thereby determining its driving behavior. In addition, this detection method eliminates the need for manual on-site detection, effectively saving manpower and resources. Furthermore, compared with manual detection, the accuracy is effectively improved, thus effectively solving the problem of the inability to effectively and accurately detect the behavior of transportation equipment on curves in related technologies. It achieves the effect of effectively detecting the behavior of transportation equipment traveling in curves and improving the detection accuracy.

[0037] In an exemplary embodiment, obtaining information about the intersection of the extension line and the boundary line of the driving lane included in the curve includes: continuously obtaining information about the number of intersections between the extension line and the boundary line of the driving lane during the process of the transportation vehicle driving on the curve, wherein the information about the intersections includes the number of intersections; determining the behavior of the transportation equipment based on the information about the intersections includes: determining that the transportation equipment has engaged in cross-lane driving behavior when a change in the number of intersections is detected.

[0038] In the above embodiments, the quantity information included in the intersection information may be used to indicate an odd number of intersections or an even number of intersections. Furthermore, this quantity information can also directly indicate changes in the number of intersections. Different numbers of intersections represent different travel lanes occupied by the transportation equipment. For example, if the number of intersections indicated by the quantity information changes from odd to even or from even to odd, it indicates that the transportation equipment has changed its travel lane. Therefore, to improve detection accuracy, the number of intersections between an extension line drawn from the location of the transportation equipment and the boundary line of the travel lane can be obtained over a period of time (e.g., the time the transportation equipment travels within the curve, or a longer period including the time the transportation equipment travels within the curve). Based on the changes in the number of intersections, a comprehensive judgment can be made as to whether the transportation equipment has performed a specific behavior. When drawing the extension line from the location of the transportation equipment, a ray can be drawn from the center point of the transportation equipment towards the target direction; alternatively, it can start from other points included on the transportation equipment and draw a ray towards the target direction.

[0039] In one exemplary embodiment, after determining that the transportation equipment has engaged in cross-channel driving, the method further includes: determining the type of the curve; and if the curve is determined to be a type of curve that does not allow cross-channel driving, reporting first violation information of the transportation equipment.

[0040] In the above embodiments, in future development, there may be some curves where crossing lanes is permitted. Therefore, crossing lanes on such curves will not be considered illegal. Of course, currently, crossing lanes is not permitted on most curves. Therefore, if a transportation device is detected crossing lanes on such curves, it can be determined that the transportation device has committed a violation and the violation needs to be reported. For example, it can be reported to the traffic management department via the network or to a specific server, where personnel responsible for handling traffic violations can then extract the relevant information from the server. Taking a vehicle as an example of a transportation device, in the above embodiment, the first violation information may include at least the image information of the vehicle captured by the camera (which may include multiple images, which may be images that can reconstruct the vehicle crossing the lane, for example, at least three images: one image of the vehicle driving in the first lane, one image of the vehicle crossing the solid line between the first lane and the adjacent second lane, and one image of the vehicle just crossing into the second lane), the vehicle's identification information (e.g., the vehicle's license plate number), and the vehicle's violation type information (e.g., information used to identify that the vehicle has committed a violation of crossing the lane). In addition, the first violation information may also include the driver's information, the vehicle's type information, the time and frequency of the violation, etc.

[0041] In an exemplary embodiment, after obtaining the target position of the transportation equipment on the curve, the method further includes: if the distance between the target position and the target boundary line of the driving channel included in the curve is less than a first distance threshold, determining the type of the target boundary line; if the target boundary line is determined to be a boundary line type that does not allow crossing, reporting the second violation driving information of the transportation equipment.

[0042] In the above embodiments, if the center point of the transportation equipment is determined as the target location, since the transportation equipment itself has a certain width, there is a possibility that the transportation equipment may cross the line before the target location completely coincides with the target boundary line. Therefore, it is necessary to set the first distance threshold. Once it is detected that the distance between the target location and the target boundary line is less than the first distance threshold, it is determined that the transportation equipment has crossed the line. The first distance threshold can be flexibly set. For example, the first distance threshold can be set to a fixed value (e.g., 0.5 meters, 0.8 meters, 1 meter, etc.). In addition, the first distance threshold can also be flexibly adjusted based on the type of transportation equipment. For example, when the transportation equipment is determined to be a large truck, the first distance threshold can be set relatively large, such as 1.1 meters, 1.3 meters, etc. Different types of transportation equipment have different widths. Therefore, to ensure the accuracy of detection, the first distance threshold can be set to half the width of the transportation equipment, or a value smaller than half the width of the transportation equipment.

[0043] Furthermore, in the above embodiments, there may be some boundary lines where crossing is permitted. For such boundary lines, crossing will not be considered a violation. However, for boundary lines where crossing is not permitted, crossing will be considered a violation if it is detected. In this case, relevant violation information needs to be reported. Taking a vehicle as an example, in this embodiment, the second violation information may include at least the image information of the vehicle captured by the camera (which may include multiple images, each of which can identify that the vehicle has crossed the line), the vehicle's identification information (e.g., the vehicle's license plate number), and the vehicle's violation type information (e.g., information used to identify that the vehicle has crossed the line). In addition, the second violation information may also include the driver's information, the vehicle's type information, the time and frequency of the violation, etc.

[0044] In one exemplary embodiment, after obtaining the target position of the transportation equipment on the curve, the method further includes: if it is determined that the distance between the target position and the boundary line of the driving channel included in the curve is less than a second distance threshold, sending a notification message to a target server to instruct the target server to push a reminder message to the terminal device in the transportation equipment.

[0045] In the above embodiments, the executing entity can be a camera that integrates an image recognition and analysis system. The second distance threshold can be a value greater than the first distance threshold. Taking a vehicle as an example, the camera can issue an early warning to the driver when it detects that the vehicle may be crossing the line, thereby reducing the occurrence of illegal driving behavior and avoiding traffic accidents.

[0046] In the above embodiments, both the camera and the vehicle terminal are network-connected devices. Therefore, a reminder message can be sent to the vehicle terminal via the network, and then the vehicle terminal can remind the driver through light or sound alarms.

[0047] In an exemplary embodiment, before obtaining the target position of the transportation equipment on the curve, the method further includes: drawing target lines on a target interface to indicate the boundary lines of each of the driving lanes included in the curve, and determining a predetermined correspondence between a first coordinate system where the curve is located and a second coordinate system where the target lines are located; obtaining the target position of the transportation equipment on the curve includes: obtaining first coordinate information of the transportation equipment in the first coordinate system; converting the first coordinate information into second coordinate information in the second coordinate system based on the predetermined correspondence; determining the position of the second coordinate information in the second coordinate system as the target position; drawing an extension line from the target position to the target direction includes: drawing an extension line from the target position to the target direction in the second coordinate system.

[0048] In the above embodiments, the curve can be pre-captured to obtain an image of the curve, which includes an image of the driving lanes within the curve. After capturing the image of the curve, the boundary lines of each lane can be drawn based on the image. Taking a lane as an example, the target lines of the boundary lines can be drawn in the web interface displaying the video according to the actual lane positions. The drawn boundary lines can be curves similar to the actual lane lines, or they can be polylines composed of multiple line segments (the trend of the polyline must be consistent with the actual trend of the lane lines). When the drawn boundary lines are polylines, each polyline will include at least two vertices, thus obtaining target lines with multiple vertices. In addition, the real-time driving information of the vehicle on the actual lane can be synchronously displayed in the web interface. Through the above method, the positional relationship between the vehicle position and the lane lines can be displayed in real time and intuitively in the web interface, so that when determining vehicle behavior, it can be directly determined in the web interface.

[0049] In an exemplary embodiment, drawing target lines on a target interface to indicate the boundary lines of each of the driving channels included in the curve, and determining a predetermined correspondence between the first coordinate system where the curve is located and the second coordinate system where the target lines are located, includes: taking a picture of the target area to obtain a first image; processing the image of each of the boundary lines included in the first image into a polyline composed of line segments of a predetermined length to obtain the target lines, and displaying the target lines on the target interface; selecting a second origin of the second coordinate system on the target interface, and selecting a target number of second points located on the target lines; determining a first origin included in the curve corresponding to the second origin, and a first point corresponding to each of the second points; and determining the predetermined correspondence based on the relative position information between the second points and the second origin, and the relative position information between the first points and the first origin.

[0050] In the above embodiments, the executing entity can be a camera. The camera can pre-capture an image of the curve and then abstract that image; for example, it can be abstracted as... Figure 3 The abstracted image is then displayed in a web interface. After obtaining the abstracted image, any pixel point (which can be located on the lane line image, on the lane image, or in other locations) can be selected in the web interface as the origin of the image coordinate system (i.e., the second coordinate system mentioned above). The image coordinates of any four vertices (or other numbers of vertices, such as 3, 5, 6, or more) within the broken line of this curved road segment are manually marked. The physical location of the marked image coordinate system origin is then used as the origin of the road coordinate system (i.e., the first coordinate system mentioned above). The road coordinates of the four marked vertices in the image are measured. The road coordinates and pixel coordinates of the four vertices are then substituted into the linear equations for image-road coordinate transformation to solve for the image-road coordinate transformation relationship, thereby achieving the mutual transformation between image coordinates and road coordinates. Furthermore, it should be noted that the above method of implementing the transformation between the two coordinate systems is only an example and is not limited to this in practical applications.

[0051] The invention will now be illustrated using an example where the transportation equipment is a vehicle and the aforementioned travel lane is a roadway:

[0052] In this specific embodiment, a method for determining whether a vehicle is traveling in a curved lane is provided. This method is applied to a front-end system installed near the curved driving position and a back-end system deployed in a management center. The front-end system includes multiple main cameras and supplementary lighting, while the back-end system includes a server and a client. The front-end system connects to the back-end system via a transmission network, and the monitoring image covers the curved driving position area. The main cameras are used to record the driving status of vehicles within the lane, and each main camera integrates an image recognition and analysis system. The vehicle's driving posture, video monitoring images, and monitoring results are sent to the server of the back-end system. The client can call an interface to view the monitoring results and images on the server.

[0053] The specific vehicle behavior monitoring and analysis method involved in this embodiment includes the following steps:

[0054] Step 1: Draw the curved lane lines according to the actual lane positions in the web interface that displays the video.

[0055] Step 2: First, set the origin of the coordinate system, then measure the four points in the lane manually, and run the camera calibration program to realize the mutual conversion between the image coordinate system and the road coordinate system.

[0056] Step 3: When the vehicle enters the curve, the first image is captured. Based on the camera calibration results, a detection program is run to check whether the vehicle is within the lane, continuously judging whether the vehicle is crossing the lane lines or driving across the lane. If so, a capture is triggered. The captured image, video recording, and judgment results are all sent to the server.

[0057] Step 4: The server receives the data from the camera and stores it in the database. The traffic management department can then access the database through the client and extract relevant information as a basis for judgment.

[0058] In step 1, the curved lane line is actually a broken line composed of multiple short straight lines. Each broken line has n vertices, where n is greater than or equal to 2.

[0059] The calibration process in step 2 is as follows: the camera captures an image, which is abstracted as... Figure 3 As shown, any pixel in the image is selected as the origin of the image coordinate system. The image coordinates of any four vertices in the broken line of this curved road segment are manually marked. The physical location of the origin of the image coordinate system is marked, and this is used as the origin of the road coordinate system. The road coordinates of the four marked vertices in the image are measured. The road coordinates and pixel coordinates of the four vertices are substituted into the linear equations for image-road coordinate transformation to solve for the image-road coordinate transformation relationship, thereby realizing the mutual transformation between image coordinates and road coordinates.

[0060] The procedure for detecting whether a vehicle is within the lane in step 3 is as follows: a. Obtain the coordinates of the vehicle's center point, then divide the lane curve into multiple short straight lines, and determine whether the vehicle's center point coordinates lie on any of these short straight lines. If they do, it is determined to be a lane violation; otherwise... Figure 4 As shown.

[0061] b. Take the coordinates of the vehicle's center point, and draw a ray in the positive x-direction. If the number of intersection points is odd, then the vehicle lies within this polygon. Figure 5 As shown; an even number of intersection points are outside this polygon, as... Figure 6 As shown in the image, if a vehicle is detected to first be in the lane, then cross the line, and then exit the lane, these three captured images can be used to determine if it has crossed the lane to overtake.

[0062] By setting up zigzag lanes and continuously detecting whether vehicles are within the zigzag lanes, the identification and capture of violations on curves have been achieved.

[0063] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0064] This embodiment also provides a transportation equipment detection device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0065] Figure 7 This is a structural block diagram of a transportation equipment behavior detection device according to an embodiment of the present invention, such as... Figure 7 As shown, the device includes:

[0066] The first acquisition module 72 is used to acquire the target position of the transportation equipment on the curve when it is detected that the transportation equipment is traveling on the curve in the target area.

[0067] The second acquisition module 74 is used to draw an extension line from the target position to the target direction and acquire information about the intersection point between the extension line and the boundary line of the driving lane included in the curve, wherein the curve includes multiple driving lanes and the target direction is the direction that crosses the driving lanes.

[0068] The first determining module 76 is used to determine the behavior of the transportation equipment based on the information of the intersection point.

[0069] In one exemplary embodiment, the second acquisition module 74 includes:

[0070] The first acquisition submodule is used to continuously acquire the number of intersections between the extension line and the boundary line of the driving channel during the process of the transportation vehicle traveling on the curve, wherein the information of the intersections includes the number of intersections.

[0071] In one exemplary embodiment, the first determining module 76 includes:

[0072] The first determining submodule is used to determine that the transportation equipment has engaged in cross-channel travel when the number of intersections is detected to have changed.

[0073] In one exemplary embodiment, the above-described apparatus further includes:

[0074] The second determining module is used to determine the type of the curve after determining that the transportation equipment has engaged in cross-channel travel.

[0075] The first reporting module is used to report the first violation information of the transportation equipment when it is determined that the curve is a type of curve in which crossing the channel is not allowed.

[0076] In one exemplary embodiment, the above-described apparatus further includes:

[0077] The third determining module is used to determine the type of the target boundary line after obtaining the target position of the transportation equipment on the curve and determining that the distance between the target position and the target boundary line of the driving channel included in the curve is less than a first distance threshold.

[0078] The second reporting module is used to report the second violation information of the transportation equipment when it is determined that the target boundary line is a boundary line type that does not allow crossing.

[0079] In one exemplary embodiment, the above-described apparatus further includes:

[0080] The sending module is configured to, after obtaining the target position of the transportation equipment on the curve, and if it is determined that the distance between the target position and the boundary line of the driving channel included in the curve is less than a second distance threshold, send a notification message to the target server to instruct the target server to push a reminder message to the terminal device within the transportation equipment.

[0081] In one exemplary embodiment, the above-described apparatus further includes:

[0082] The fourth determining module is used to draw target lines on the target interface to indicate the boundary lines of each of the driving channels included in the curve before obtaining the target position of the transportation equipment on the curve, and to determine a predetermined correspondence between the first coordinate system where the curve is located and the second coordinate system where the target lines are located.

[0083] In one exemplary embodiment, the first acquisition module 72 includes:

[0084] The second acquisition submodule is used to acquire the first coordinate information of the transportation equipment in the first coordinate system;

[0085] The conversion submodule is used to convert the first coordinate information into second coordinate information in the second coordinate system based on the predetermined correspondence.

[0086] The second determining submodule is used to determine the position of the second coordinate information in the second coordinate system as the target position.

[0087] In one exemplary embodiment, the second acquisition module 74 includes:

[0088] The first processing submodule is used to draw an extension line in the second coordinate system, starting from the target position and extending towards the target direction.

[0089] In one exemplary embodiment, the fourth determining module described above includes:

[0090] The imaging submodule is used to capture images of the target area to obtain a first image;

[0091] The second processing submodule is used to process the image of each of the boundary lines included in the first image into a polyline composed of line segments of a predetermined length to obtain the target line, and to display the target line on the target interface.

[0092] The selection submodule is used to select the second origin of the second coordinate system on the target interface, and to select a target number of second points located on the target line;

[0093] The third determining submodule is used to determine the first origin point in the curve that corresponds to the second origin point, and the first point that corresponds to each of the second points respectively;

[0094] The fourth determining submodule is used to determine the predetermined correspondence based on the relative position information between the second point and the second origin, and the relative position information between the first point and the first origin.

[0095] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0096] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0097] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0098] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0099] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0100] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0101] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0102] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for detecting the behavior of transportation equipment, characterized in that, include: If it is detected that a transportation device is traveling on a curve in a target area, the target position of the transportation device on the curve is obtained; Starting from the target location, draw an extension line in the target direction and obtain information on the intersection point between the extension line and the boundary line of the driving lane included in the curve, wherein the curve includes multiple driving lanes and the target direction is the direction that crosses the driving lanes; The behavior of the transportation equipment is determined based on the information from the intersection point; Before obtaining the target position of the transportation equipment on the curve, the method further includes: drawing target lines on the target interface to indicate the boundary lines of each of the driving channels included in the curve, and determining a predetermined correspondence between the first coordinate system where the curve is located and the second coordinate system where the target lines are located; Obtaining the target position of the transportation equipment on the curve includes: obtaining first coordinate information of the transportation equipment in a first coordinate system; converting the first coordinate information into second coordinate information in a second coordinate system based on a predetermined correspondence; and determining the position of the second coordinate information in the second coordinate system as the target position. Drawing an extension line from the target position to the target direction includes: in the second coordinate system, drawing an extension line from the target position to the target direction.

2. The method according to claim 1, characterized in that, Obtaining information on the intersection of the extension line and the boundary line of the driving lane included in the curve includes: continuously obtaining information on the number of intersections between the extension line and the boundary line of the driving lane during the process of the vehicle traveling on the curve, wherein the information on the intersections includes the number of intersections; Determining the behavior of the transportation equipment based on the information of the intersection points includes: determining that the transportation equipment has engaged in cross-channel travel when a change in the number of intersection points is detected.

3. The method according to claim 2, characterized in that, After determining that the transportation equipment has engaged in cross-channel travel, the method further includes: Determine the type of the curve; If it is determined that the curve is a type of curve in which crossing the passage is not permitted, the first violation information of the transportation equipment shall be reported.

4. The method according to claim 1, characterized in that, After obtaining the target position of the transportation equipment on the curve, the method further includes: If the distance between the target location and the target boundary line of the driving channel included in the curve is less than a first distance threshold, the type of the target boundary line is determined. If the target boundary line is determined to be a boundary line type that does not allow crossing, the second violation information of the transportation equipment shall be reported.

5. The method according to claim 1, characterized in that, After obtaining the target position of the transportation equipment on the curve, the method further includes: If the distance between the target location and the boundary line of the driving channel included in the curve is less than a second distance threshold, a notification message is sent to the target server to instruct the target server to push a reminder message to the terminal device in the transportation equipment.

6. The method according to claim 1, characterized in that, Drawing target lines on the target interface to indicate the boundary lines of each of the driving channels included in the curve, and determining a predetermined correspondence between the first coordinate system where the curve is located and the second coordinate system where the target lines are located includes: The target area is photographed to obtain a first image; The image of each of the boundary lines included in the first image is processed into a polyline composed of line segments of predetermined length to obtain the target line, and the target line is displayed on the target interface; On the target interface, select the second origin of the second coordinate system, and select the target number of second points located on the target line; Determine the first origin point in the curve that corresponds to the second origin point, and the first point that corresponds to each of the second points respectively; The predetermined correspondence is determined based on the relative position information between the second point and the second origin, and the relative position information between the first point and the first origin.

7. A behavior detection device for transportation equipment, characterized in that, include: The first acquisition module is used to acquire the target position of the transportation equipment on the curve when it is detected that the transportation equipment is traveling on the curve in the target area. The second acquisition module is used to draw an extension line from the target position to the target direction and acquire information about the intersection point between the extension line and the boundary line of the driving lane included in the curve, wherein the curve includes multiple driving lanes and the target direction is the direction that crosses the driving lanes. The first determining module is used to determine the behavior of the transportation equipment based on the information of the intersection point; The device is further configured to draw target lines on the target interface to indicate the boundary lines of each of the driving lanes included in the curve, and determine a predetermined correspondence between the first coordinate system where the curve is located and the second coordinate system where the target lines are located; acquire first coordinate information of the transportation equipment in the first coordinate system; convert the first coordinate information into second coordinate information in the second coordinate system based on the predetermined correspondence; determine the position of the second coordinate information in the second coordinate system as the target position; and draw an extension line in the second coordinate system from the target position towards the target direction.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method described in any one of claims 1 to 6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 6.

Images