Method and device for adjusting focal length of gun in roadside sensing system and roadside equipment

Abstract

The present disclosure provides a method and device for adjusting the focal length of a gun in a roadside sensing system and a roadside device, relating to the technical field of artificial intelligence, and specifically to the technical field of intelligent transportation. The specific implementation scheme is as follows: the roadside sensing system comprises a fisheye camera and a gun arranged on a monitoring pole. The adjustment comprises: acquiring an original image collected by the fisheye camera, an imaging image collected by the gun, and a physical focal length of the gun; determining a first distance from the fisheye camera to the monitoring pole based on the original image; determining a second sensing overlap distance of the fisheye camera and the gun on the opposite side of the monitoring pole based on the physical focal length, the imaging image, the first distance, and a first sensing overlap distance of the fisheye camera and the gun on the side of the monitoring pole; and in response to determining that the second sensing overlap distance is less than a first preset distance, adjusting the physical focal length of the gun, thereby improving the coverage range of the roadside sensing system.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence technology, specifically to the field of intelligent transportation technology, and particularly to a method, device, and roadside equipment for adjusting the focal length of a camera in a roadside perception system. Background Technology

[0002] In the construction of V2X infrastructure for vehicle-to-everything (V2X) cooperation, roadside perception systems provide beyond-line-of-sight sensing information. As one of the most important sensors in roadside perception systems, the accurate configuration of cameras is crucial. Summary of the Invention

[0003] This disclosure provides a method, device, electronic equipment, storage medium, computer program product, roadside equipment, and cloud control platform for adjusting the focal length of a bullet in a roadside sensing system, thereby improving the coverage of the roadside sensing system.

[0004] According to one aspect of this disclosure, a method for adjusting the focal length of a bullet camera in a roadside sensing system is provided. The roadside sensing system includes a fisheye camera and a bullet camera mounted on a monitoring pole. The method includes: acquiring an original image captured by the fisheye camera, an image captured by the bullet camera, and the physical focal length of the bullet camera; determining a first distance from the maximum effective sensing position of the fisheye camera to the monitoring pole based on the original image; determining a second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole based on the physical focal length, the image captured, the first distance, and a first sensing overlap distance between the fisheye camera and the bullet camera on the monitoring pole side; and adjusting the physical focal length of the bullet camera in response to determining that the second sensing overlap distance is less than a first preset distance.

[0005] According to another aspect of this disclosure, a device for adjusting the focal length of a bullet camera in a roadside sensing system is provided. The roadside sensing system includes a fisheye camera and a bullet camera mounted on a monitoring pole. The device includes: an acquisition module configured to acquire an original image captured by the fisheye camera, an image captured by the bullet camera, and the physical focal length of the bullet camera; a first distance determination module configured to determine a first distance from the maximum effective sensing position of the fisheye camera to the monitoring pole based on the original image; a second sensing overlap distance determination module configured to determine a second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole based on the physical focal length, the image captured, the first distance, and the first sensing overlap distance between the fisheye camera and the bullet camera on the monitoring pole side; and a first adjustment module configured to adjust the physical focal length of the bullet camera in response to determining that the second sensing overlap distance is less than a first preset distance.

[0006] According to another aspect of this disclosure, an electronic device is provided, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the above-described method for adjusting the focal length of the gun in a roadside sensing system.

[0007] According to another aspect of this disclosure, embodiments of this application provide a computer-readable medium having computer instructions stored thereon, the computer instructions being used to enable a computer to perform the above-described method for adjusting the focal length of the gun in a roadside sensing system.

[0008] According to another aspect of this disclosure, an embodiment of this application provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described method for adjusting the focal length of the gun in a roadside sensing system.

[0009] According to another aspect of this disclosure, embodiments of this application provide a roadside device, including the electronic equipment described above.

[0010] According to another aspect of this disclosure, embodiments of this application provide a cloud control platform, including the electronic device described above.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0012] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0013] Figure 1 This is a flowchart of an embodiment of a gun focus adjustment method in a roadside sensing system according to the present disclosure;

[0014] Figure 2 This is a schematic diagram of an application scenario of the gun focus adjustment method in the roadside sensing system according to this disclosure;

[0015] Figure 3 This is a schematic diagram of an imaging image captured by a front-mounted camera according to the present disclosure;

[0016] Figure 4 This is a schematic diagram of an imaging image captured by a rear-mounted camera according to this disclosure;

[0017] Figure 5 This is a schematic diagram of the original image captured by the fisheye camera according to this disclosure;

[0018] Figure 6This is a flowchart of yet another embodiment of the gun focus adjustment method in the roadside sensing system according to the present disclosure;

[0019] Figure 7 This is a schematic diagram of a fisheye camera with distortion correction according to the present disclosure;

[0020] Figure 8 This is a schematic diagram of an application scenario of the gun focus adjustment method in the roadside sensing system according to this disclosure;

[0021] Figure 9 This is a schematic diagram of an application scenario of the gun focus adjustment method in the roadside sensing system according to this disclosure;

[0022] Figure 10 This is a flowchart of yet another embodiment of the gun focus adjustment method in the roadside sensing system according to the present disclosure;

[0023] Figure 11 This is a schematic diagram of an application scenario of the gun focus adjustment method in the roadside sensing system according to this disclosure;

[0024] Figure 12 This is a schematic diagram of an embodiment of the gun focus adjustment device in the roadside sensing system according to the present disclosure;

[0025] Figure 13 This is a block diagram of an electronic device used to implement the gun focus adjustment method in the roadside sensing system according to embodiments of the present disclosure. Detailed Implementation

[0026] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0027] Figure 1 A flowchart 100 illustrates a method for adjusting the focal length of a gun in a roadside sensing system according to an embodiment of this application. The specific steps of the method are as follows:

[0028] Step 101: Acquire the original image captured by the fisheye camera, the image captured by the gun, and the physical focal length of the gun.

[0029] In this embodiment, the roadside sensing system includes a fisheye camera and a bullet camera mounted on a monitoring pole, wherein the physical focal length of the bullet camera is specified as "lens," measured in inches. For example, as... Figure 2As shown, a front-view bullet camera 11, a rear-view bullet camera 12, and a fisheye camera 13 are simultaneously installed on the horizontal arm 15 of a roadside monitoring pole 10 in a certain direction of travel at an intersection. The front-view bullet camera 11 refers to a bullet camera (or simply "bullet camera") whose camera is oriented in the same direction of travel. An example of its captured image is shown below. Figure 3 As shown; the rear-view gun-type camera 12 refers to a gun-type camera (or simply "gun camera") with the camera facing the opposite direction of travel, and an example of the image it captures is shown below. Figure 4 As shown, the fisheye camera 13 is used to supplement the coverage blind spots of the forward-looking camera 11 and the rear-looking camera 12. It can completely cover the coverage blind spots of the forward-looking camera and the rear-looking camera, and has a certain overlap distance with the coverage range of the forward-looking camera and the rear-looking camera. In vehicle-to-everything (V2X) scenarios, the fisheye camera 13 can usually be a fisheye camera with a large field of view, such as a fisheye camera with a 180-degree field of view, a fisheye camera with a 152-degree field of view, etc. An example of the original image acquired by the fisheye camera is shown below. Figure 5 As shown.

[0030] In this embodiment, as Figure 2 As shown, the distance of the blind spot of a bullet camera refers to the length of the blind spot along a specified direction. It can be the distance between the bottom edge of the image captured by the bullet camera (e.g., quadrilateral AA'B'B) and the monitoring pole. Figure 2 In the context of BD; the coverage distance of a fisheye camera refers to the distance of its coverage area in a specified direction. It should be understood that the coverage distance of a fisheye camera is twice the DF; the overlap distance between the coverage areas of a fisheye camera and a bullet camera refers to the distance in a specified direction of the overlapping portion between their coverage areas, such as... Figure 2 BF in the middle.

[0031] It should be noted that in vehicle-to-infrastructure (V2I) scenarios, the optical axes of both the front and rear bullet cameras are typically parallel to the direction of road extension. The specified direction can be the direction of road extension, which is also the direction of the optical axes of the front and rear bullet cameras. In other application scenarios, the specified direction can be set and adjusted according to the actual installation scenario and requirements of the fisheye and bullet cameras, and no specific limitations are made here.

[0032] also, Figure 2 The installation positions of the fisheye camera and the front and rear view cameras shown are merely illustrative examples. The installation heights of the fisheye camera and the front and rear view cameras can be the same or different. The blind zone distances of the front and rear view cameras can be equal or unequal. The overlap distances of the coverage areas of the fisheye camera with the front and rear view cameras can be equal or unequal. This embodiment does not impose any specific limitations here.

[0033] Step 102: Based on the original image, determine the first distance from the maximum effective sensing position of the fisheye camera to the monitoring pole.

[0034] In this embodiment, based on the original image from the fisheye camera, the first distance from the fisheye camera's maximum effective sensing position to the monitoring pole can be determined. Wherein, as... Figure 2 As shown, the intersection of the monitoring pole and the ground is D. Point F indicates the maximum effective sensing position of the fisheye camera on the same side of the road as the monitoring pole. In other words, the distance from the maximum effective sensing position of the fisheye camera to the monitoring pole is DF.

[0035] Step 103: Based on the physical focal length, the image, the first distance, and the first sensing overlap distance between the fisheye camera and the bullet camera on the side of the monitoring pole, determine the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole.

[0036] In this embodiment, after determining the first distance through step 102, the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole can be determined based on the physical focal length, the image, the first distance, and the first sensing overlap distance between the fisheye camera and the bullet camera on the monitoring pole side.

[0037] Among them, such as Figure 2 As shown, the image is a quadrilateral AA'B'B; the first sensing overlap distance between the fisheye camera and the bullet camera on the monitoring pole side is BF, which can be set between 5m and 10m according to actual needs; point G is the maximum effective sensing position of the fisheye camera on the road opposite the monitoring pole. That is to say, in order to ensure that the blind spots of the bullet camera on the road on both the monitoring pole side and the road opposite the monitoring pole can be covered by the fisheye camera, there is also a second sensing overlap distance of GH between the fisheye camera and the bullet camera on the opposite side of the monitoring pole.

[0038] Step 104: In response to determining that the second sensing overlap distance is less than the first preset distance, adjust the physical focal length of the gun.

[0039] In this embodiment, the first preset distance is set to 5m. That is, when GH is less than 5m, the physical focal length of the bullet camera needs to be adjusted to obtain GH greater than or equal to 5m. At this time, it can be ensured that there are no blind spots on the road on both the side of the monitoring pole and the side opposite the monitoring pole. Furthermore, by reasonably setting the sensing overlap distance between the fisheye camera and the bullet camera, the coverage of the roadside sensing system is maximized.

[0040] In this embodiment, by determining the sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole, and by comparing this sensing overlap distance with a preset distance, it is determined whether the physical focal length of the bullet camera needs to be adjusted. This guides the reasonable installation and selection of the bullet camera, effectively improving the installation efficiency of the camera, and enabling the roadside sensing system containing both the bullet camera and the fisheye camera to work within its maximum sensing range.

[0041] See Figure 6 This application illustrates a flowchart 200 of yet another embodiment of a gun adjustment method in a roadside sensing system, as shown below. Figure 6 As shown, the method includes:

[0042] Step 201: Acquire the original image captured by the fisheye camera, the image captured by the gun, and the physical focal length of the gun.

[0043] In this embodiment, the description of step 201 is the same as that of step 101, and will not be described in detail here.

[0044] Step 202: Perform distortion correction processing on the original image to obtain a distortion-corrected image.

[0045] In this embodiment, distortion correction processing is performed on the original image captured by the fisheye camera. This can be achieved using existing distortion correction methods, such as the open-source distortion correction functions in OpenCV, which will not be elaborated here.

[0046] For example Figure 5 This is a raw image captured by a fisheye camera according to an embodiment of this disclosure. Figure 7 Yes Figure 5 The original image shown is the image obtained by distortion correction. Figure 5 and Figure 7 By comparison, it can be seen that the original image was acquired and projected onto a plane in the spherical coordinate system used by the fisheye camera. After distortion correction processing of the original image, not only were severely distorted edge areas removed, but the coordinate system of the effective sensing area was also transformed so that the coordinate system of the obtained distortion-corrected image is the coordinate system corresponding to that of the bullet camera. Figure 7 As shown, the distorted image can be a square image.

[0047] Step 203: Obtain the first installation height of the fisheye camera on the monitoring pole, the equivalent bullet focal length of the distorted image, and the image size of the distorted image.

[0048] In this embodiment, the first installation height of the fisheye camera on the monitoring pole can be represented by height_jk1, which can be set according to the actual scene and is not limited here; the size of the distortion-free image of the fisheye camera refers to the resolution of the distortion-free image, which can be represented by width w_fisheye and height h_fisheye.

[0049] The equivalent gunnery focal length of a distorted image can be represented by fx' and fy', and can also be called the pixel focal length of the equivalent gunnery of the distorted image. For example Figure 7The corresponding distorted image can be considered as being captured by an equivalent camera. The pixel focal length of the equivalent camera in the distorted image can be understood as the pixel focal length of the equivalent camera that can directly capture the distorted image. For example, fx' can be equal to (first mounting height * half the pixel length of the side of the distorted image) / half the distance of the corresponding side of the distorted image. fy' can be calculated using the same principle. Considering that the distorted image can be a square image, fy' = fx' can be directly taken. In this embodiment, focal_fisheye can be directly used to represent the equivalent camera focal length of the distorted image, that is, focal_fisheye = fy' = fx'.

[0050] Step 204: Based on the first installation height, equivalent bullet focal length, and image size, determine the first distance from the fisheye camera's maximum effective sensing position to the monitoring pole.

[0051] In this embodiment, as Figure 2 As shown, the intersection of the monitoring pole and the ground is D. Point F indicates the maximum effective sensing position of the fisheye camera, which refers to the monitoring boundary corresponding to the distortion-free image from the fisheye camera. In other words, the distance from the maximum effective sensing position of the fisheye camera to the monitoring pole is DF. To calculate the distance DF, as follows... Figure 8 As shown, the fisheye camera is installed at point P', and the distorted image of the fisheye camera is GG'F'F. In this embodiment, the size of ∠QP'P can be calculated first. It should be understood that ∠QP'P is half of the effective sensing field of view of the fisheye camera, focal_fisheye.

[0052] Specifically, according to Figure 8 Given the triangular relationship shown, let ∠QP'P be θ6, then:

[0053] Tanθ6=w_fisheye / 2 / focal_fisheye

[0054] Therefore, the effective field of view of a fisheye camera, fov_fisheye, is equal to 2θ6, which can be expressed as:

[0055] fov_fisheye=atan(w_fisheye / 2 / focal_fisheye)*2

[0056] At this point, the distance dis_fisheye from the maximum effective sensing position of the corresponding fisheye camera to the monitoring pole can be expressed by the following formula:

[0057] dis_fisheye=height_jk1*tan(fov_fisheye / 2)

[0058] Based on this, the first distance DF from the maximum effective sensing position of the fisheye camera to the monitoring pole can be accurately determined.

[0059] Step 205: Based on the physical focal length, determine the lateral and longitudinal field of view of the bolt.

[0060] In this embodiment, the lateral and longitudinal field of view of the bolt can be determined based on the physical focal length of the bolt (lens).

[0061] In some optional embodiments of this example, the steps for determining the lateral field of view and the longitudinal field of view are as follows:

[0062] Step 2051: Obtain the resolution of the imaging image and the imaging sensor parameters of the gun.

[0063] In this embodiment, the physical focal length of the gun's sensor in the image can be represented as lens, and the imaging sensor parameter of the gun is the imaging sensor size, which can be represented as sensor_size; the resolution of the gun's image can be represented as width img_width * height img_height.

[0064] Step 2052: Determine the pixel focal length of the gun based on the physical focal length, imaging sensor parameters, and the resolution of the imaging image.

[0065] In this embodiment, the pixel focal length of the camera can be expressed as focal, where:

[0066]

[0067] Step 2053: Based on the pixel focal length and the resolution of the image, determine the lateral and longitudinal field of view of the bolt.

[0068] In this embodiment, the lateral field of view is denoted as fov_width, and the longitudinal field of view is denoted as fov_height. The fov_width and fov_height can be determined using the following formulas.

[0069] fov_width=atan(img_width / 2 / focal)

[0070] fov_height=atan(img_height / 2 / focal)

[0071] Step 206: Determine the road surface line corresponding to the lower edge of the image. The first end of the road surface line is the roadside position, which is on the same side of the road as the monitoring point.

[0072] In this embodiment, as Figure 2As shown, the image is AA'B'B, AB is the road surface line corresponding to the lower edge of the image, and point B is the first end of the road surface line AB, i.e. the roadside position. It should be understood that the roadside position of point B is on the same side of the road as the monitoring pole 10.

[0073] Step 207: Based on the first distance and the first sensing overlap distance, determine the second distance from the roadside location to the monitoring pole.

[0074] In this embodiment, as Figure 2 As shown, the first distance is the distance between DF, and the first sensing overlap distance between the fisheye camera and the bullet camera is BF, which can be represented by overlap1. Thus, the second distance from the roadside position to the monitoring pole is the distance between BD, and the distance of BD is equal to the distance of DF minus the distance of BF. Therefore, the second distance from the roadside position at the lower edge of the bullet camera's image to the monitoring pole, i.e., the blind zone distance dis1 of the bullet camera on the roadside of the monitoring pole, can be expressed by the following formula:

[0075] dis1 = dis_fisheye–overlap1

[0076] Based on this, the second distance from the roadside position of the lower edge of the bullet imaging image to the monitoring pole can be accurately determined.

[0077] In practical applications, when installing cameras for roadside sensing systems, if the intrinsic parameters of the fisheye camera and the preset installation information are known, the above-described method of this embodiment can be used to obtain the distance from the position corresponding to the lower edge of the bullet camera's image to the monitoring pole during the installation of the bullet camera. This can guide the installation of the bullet camera, which can not only avoid non-perceptual overlap between the bullet camera and the fisheye camera, causing blind spots in monitoring, but also avoid excessive perceptual overlap between the bullet camera and the fisheye camera, resulting in a reduced sensing range of the bullet camera.

[0078] Step 208: Determine the perpendicular line from the projected position of the gun on the road surface to the road surface line.

[0079] In this embodiment, as Figure 2 As shown, the perpendicular line from the projected position of the gun on the road surface to the road surface line is determined. Gun 11 and gun 12 are both installed at point C'. The projected position of the gun on the ground is the location of point C. The perpendicular line from the projected position of the gun on the road surface to the road surface line is the perpendicular line CO from C to the road surface line AB.

[0080] Step 209: Determine the perpendicular distance of the perpendicular line based on the second distance and the lateral field of view.

[0081] In this embodiment, the perpendicular distance of the perpendicular line CO can be determined based on the second distance dis1 from the roadside position to the monitoring pole and the lateral field of view fov_width.

[0082] In some optional embodiments of this example, the steps for determining the perpendicular distance are as follows:

[0083] Step 2091: Obtain the second installation height of the bolt carrier on the monitoring pole and the installation distance of the crossarm.

[0084] In this embodiment, as Figure 2 As shown, the gun bolts are all installed at point C' on the horizontal arm 15 of the monitoring pole 10. The second installation height is the distance between C' and C, denoted by height_jk2; the horizontal arm installation distance is the distance between C' and D, denoted by x.

[0085] Step 2092: Based on the crossarm installation distance and the second distance, determine the third distance from the projection position to the roadside position.

[0086] In this embodiment, as Figure 2 As shown, the projection position is C, the projection of the gun on the road surface, and the roadside position is point B. The third distance l1 between the projection position and the roadside position, i.e., the distance between B and C, can be expressed by the following formula according to the Pythagorean theorem:

[0087]

[0088] Step 2093: Based on the second installation height and the third distance, determine the fourth distance from the gun to the roadside position.

[0089] In this embodiment, as Figure 2 As shown, the fourth distance from the gun bolt to the roadside position, i.e., the distance between BC', is determined based on the second installation height and the third distance, i.e., based on C'C and BC. Based on the Pythagorean theorem, the distance between BC', i.e., the fourth distance m from the gun bolt to the roadside position, can be determined using the following formula:

[0090]

[0091] Step 2094: Based on the fourth distance and the lateral field of view, determine the fifth distance from the foot of the vertical line to the bolt.

[0092] In this embodiment, as Figure 2 As shown, the intersection point O of the perpendicular line CO and the road surface line AB is the foot of the perpendicular. The distance from the foot of the perpendicular to the fifth distance of the gun bolt, i.e., OC', can be obtained based on the Pythagorean theorem as follows:

[0093]

[0094]

[0095]

[0096] Among them, C'O=focal, AN=img_height / 2, OA=img_width / 2

[0097] Therefore, based on the above relationship, the distance between the foot of the perpendicular and the fifth distance OC' of the bolt can be determined.

[0098] In some optional ways of this embodiment, such as Figure 2 As shown, since AB is the position corresponding to the lower edge of the image AA'B'B, and the bolt is installed at point C', according to the imaging characteristics of the bolt, C'A = C'B = m. Therefore, the distance OC' can be determined using the following formula:

[0099]

[0100] Where OA = img_width / 2

[0101] Step 2095: Determine the perpendicular distance of the perpendicular line based on the fifth distance and the second installation height.

[0102] In this embodiment, as Figure 9 As shown, after determining the fifth distance from the foot of the perpendicular to the bolt, which is the distance between OC' and CC', we can further combine this distance with the second installation height. Based on the Pythagorean theorem, we can determine the perpendicular distance l2 of the perpendicular CO using the following formula:

[0103]

[0104] Step 210: Based on the vertical distance, determine the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole.

[0105] In this embodiment, after determining the vertical distance, the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole can be determined based on the vertical distance. For example... Figure 2 As shown, the blind zone distance GE of the bullet camera on the opposite side of the monitoring pole, point H is the maximum effective sensing position of the fisheye camera on the opposite side of the monitoring pole, that is, HE is the coverage distance of the fisheye camera on the opposite side of the monitoring pole, and GH is the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole.

[0106] In some optional embodiments of this example, the step of determining the second sensing overlap distance is as follows:

[0107] Step 2101: Based on the crossarm installation distance and the second distance, determine the first angle of the line connecting the roadside position and the projection position relative to the crossarm of the monitoring pole.

[0108] In this embodiment, as Figure 2As shown, the line connecting the roadside position B and the projected position C is BC', and the projection DE of the horizontal arm of the monitoring pole onto the road surface is the first angle, which is the angle of BC relative to DE, i.e., ∠BCD. Figure 2 θ1 is calculated using the following formula:

[0109] θ1 = arctan(dis1 / x)

[0110] Step 2102: Based on the third distance and the perpendicular distance, determine the second angle of the two ends of the road surface line relative to the projected position.

[0111] In this embodiment, as Figure 2 As shown, the third distance is the distance l1 between B and C, the perpendicular distance is the distance l2 between C and O, and the second angle θ2 between the two ends of the road line AB relative to the projected position C is ∠ACB. The second angle θ2 can be calculated using the following formula:

[0112] θ2=arctan(l2 / l1)

[0113] Step 2103: Based on the first angle and the second angle, determine the third angle of the line connecting the second end of the road surface line and the projection position relative to the cross arm.

[0114] In this embodiment, the second end of the road surface line is point A, the projection position is C, the projection of the crossarm on the road surface is DE, and the third angle is the angle of AC relative to CE, i.e., ∠ACE, denoted as θ3. After determining the first angle θ1 and the second angle θ2, the third angle θ3 can be calculated using the following formula:

[0115] θ3 = 180° - θ1 - θ2

[0116] Step 2104: Based on the third angle, determine the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole.

[0117] In this embodiment, based on the third angle, the following steps are taken to determine the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole:

[0118] First, obtain the road width information, i.e., the road width, which can be represented by road_width; it can be obtained by measurement or by consulting relevant road data.

[0119] Secondly, based on the road width information (road_width), the horizontal arm installation distance (x), and the third angle (θ3), the blind zone distance of the camera on the opposite side of the monitoring pole is determined. The blind zone distance, denoted as dis2, is the distance between EGs. Since the distance to CE can be determined based on the road width information and the horizontal arm installation distance, and further based on the third angle (θ3), the distance between EGs can be obtained using the following formula:

[0120] dis2 = (road_width - x) × tanθ3

[0121] Finally, based on the blind zone distance dis2 of the bullet camera on the opposite side of the monitoring pole and the first distance dis_fisheye from the maximum effective sensing position of the fisheye camera to the monitoring pole, the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole is determined. The second sensing overlap distance is denoted by overlap2, and overlap2 can be calculated using the following formula:

[0122] overlap2 = dis_fisheye - dis2

[0123] Step 211: In response to determining that the second sensing overlap distance is less than the first preset distance, adjust the physical focal length of the gun.

[0124] In this embodiment, the description of step 211 is the same as that of step 104, and will not be described in detail here.

[0125] In this embodiment, by adopting the above-mentioned scheme, the sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole can be accurately determined. By comparing the sensing overlap distance with the preset distance, it can be determined whether the physical focal length of the bullet camera needs to be adjusted, thereby guiding the reasonable installation and selection of the bullet camera, effectively improving the installation efficiency of the camera, and enabling the roadside sensing system including the bullet camera and the fisheye camera to work within the maximum sensing range.

[0126] Figure 10 A flowchart 300 illustrates a method for adjusting the focal length of a gun in a roadside sensing system according to another embodiment of this application. (Refer to...) Figure 10 The method includes the following steps:

[0127] Step 301: Acquire the original image captured by the fisheye camera, the imaging image captured by the gun, and the physical focal length of the gun.

[0128] In this embodiment, the description of step 301 is the same as that of step 101, and will not be described in detail here.

[0129] Step 302: Based on the original image, determine the first distance from the maximum effective sensing position of the fisheye camera to the monitoring pole.

[0130] In this embodiment, the description of step 302 is the same as that of step 102, and will not be described in detail here.

[0131] Step 303: Based on the physical focal length, the image, the first distance, and the first sensing overlap distance between the fisheye camera and the bullet camera on the side of the monitoring pole, determine the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole.

[0132] In this embodiment, the description of step 303 is the same as that of step 103, and will not be described in detail here.

[0133] Step 304: In response to determining that the second sensing overlap distance is less than the first preset distance, adjust the physical focal length of the gun.

[0134] In this embodiment, the description of step 304 is the same as that of step 104, and will not be described in detail here.

[0135] Step 305: In response to determining that the second sensing overlap distance is greater than the second preset distance, adjust the physical focal length of the gun.

[0136] In this embodiment, if the second sensing overlap distance overlap2 is too large, it will lead to excessive overlap between the fisheye camera and the bullet camera within the sensing range, resulting in wasted space. Therefore, this application limits that when the second sensing overlap distance is greater than the second preset distance, it is still necessary to adjust the physical focal length of the bullet camera to optimize the roadside sensing system. The second preset distance can be set according to actual needs, such as 10m, and this application does not limit it.

[0137] Step 306: Based on the vertical distance and the second installation height, determine the fourth angle relative to the monitoring pole of the line connecting the foot of the vertical line to the gun bolt.

[0138] In this embodiment, as Figure 11 As shown, the fourth angle θ4 of the line connecting the foot of the perpendicular to the bolt with respect to the monitoring rod is ∠CC'O. Based on the perpendicular distance l2 of the perpendicular CO and the second installation height (i.e., CC'), θ4 can be calculated using the following formula:

[0139] θ4 = arctan(l2 / height_jk2)

[0140] Step 307: Based on the fourth angle and the longitudinal field of view, determine the fifth angle relative to the monitoring pole of the line connecting the position corresponding to the upper edge of the imaging image to the gun.

[0141] In this embodiment, see Figure 11 The position corresponding to the top edge of the image is point R. That is, the fifth angle θ5 relative to the monitoring rod from the position corresponding to the top edge of the image to the bolt is ∠RC'C. Figure 11 Therefore, ∠RC'C = θ4 + ∠RC'O. It should be understood that ∠RC'O is the longitudinal field of view angle fov_height of the bolt. Therefore, θ5 can be calculated using the following formula:

[0142] θ5=θ4+fov_height

[0143] Step 308: In response to determining that the fifth angle is less than the preset angle, adjust the physical focal length of the bolt.

[0144] Considering that in practical applications, the camera module cannot be tilted too far towards the ground during installation, otherwise the sensing range will be too small and it will not work effectively. Therefore, when deploying the detection system, the angle from the top edge of the camera module's image to the monitoring pole must be greater than or equal to 90° to ensure the maximum sensing range of the camera module. That is, in this embodiment, the preset angle is 90°. When the angle from the top edge of the image to the monitoring pole, i.e., θ5, is less than 90°, the physical focal length of the camera module needs to be adjusted so that θ5 is greater than or equal to 90°, thereby ensuring the maximum sensing range of the camera module.

[0145] It should be noted that the preset angle is exemplary, and those skilled in the art can also set the corresponding preset angle according to actual needs, which is not limited in this application.

[0146] In this embodiment, when the second sensing overlap distance is greater than the second preset distance, the physical focal length of the camera still needs to be adjusted to optimize the sensing range of the roadside sensing system; and when the angle from the position corresponding to the upper edge of the image to the monitoring pole is less than the preset angle, the physical focal length of the camera is adjusted to further ensure that the sensing range of the roadside sensing system is optimized.

[0147] Further reference Figure 12 As an implementation of the methods shown in the above figures, this disclosure provides an embodiment of a gun focus adjustment device in a roadside sensing system, which is similar to... Figure 1 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices.

[0148] like Figure 12 As shown, the gun focus adjustment device 500 in the roadside sensing system includes:

[0149] The acquisition module 510 is configured to acquire the raw image captured by the fisheye camera, the image captured by the bolt, and the physical focal length of the bolt.

[0150] The first distance determination module 520 is configured to determine the first distance from the maximum effective sensing position of the fisheye camera to the monitoring pole based on the original image;

[0151] The second sensing overlap distance determination module 530 is configured to determine the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole based on the physical focal length, the image, the first distance, and the first sensing overlap distance between the fisheye camera and the bullet camera on the monitoring pole side.

[0152] The first adjustment module 540 is configured to adjust the physical focal length of the bolt in response to determining that the second sensing overlap distance is less than the first preset distance.

[0153] In some optional embodiments of this example, the first distance determination module is further configured to:

[0154] The original image is subjected to distortion correction processing to obtain a distortion-corrected image;

[0155] Obtain the first installation height of the fisheye camera on the monitoring pole, the equivalent bullet focal length of the distorted image, and the image size of the distorted image;

[0156] Based on the first installation height, equivalent bullet focal length, and image size, determine the first distance from the fisheye camera's maximum effective sensing position to the monitoring pole.

[0157] In some optional embodiments of this example, the second sensing overlap distance determination module includes:

[0158] The field of view determination unit is configured to determine the lateral and longitudinal field of view of the bolt based on the physical focal length;

[0159] The road surface line determination unit is configured to determine the road surface line corresponding to the lower edge of the imaging image, wherein the first end of the road surface line is the roadside position, and the roadside position is on the same side of the road as the monitoring pole.

[0160] The second distance determination unit is configured to determine a second distance from the roadside location to the monitoring pole based on the first distance and the first sensing overlap distance;

[0161] The perpendicularity determining unit is configured to determine the perpendicular line from the projected position of the bolt on the road surface to the road surface line;

[0162] The perpendicular distance determination unit is configured to determine the perpendicular distance of the perpendicular line based on the second distance and the lateral field of view.

[0163] The second sensing overlap distance determination unit is configured to determine the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole based on the vertical distance.

[0164] In some optional embodiments of this example, the field of view determination unit is further configured as follows:

[0165] Acquire the resolution of the image and the imaging sensor parameters of the gun;

[0166] The pixel focal length of the gun is determined based on the physical focal length, imaging sensor parameters, and the resolution of the imaging image.

[0167] Based on the pixel focal length and the resolution of the image, the lateral and longitudinal field of view of the bolt are determined.

[0168] In some optional embodiments of this example, the perpendicular distance determination unit is further configured as follows:

[0169] Obtain the second mounting height of the bolt carrier on the monitoring pole and the mounting distance of the crossarm;

[0170] Based on the crossarm installation distance and the second distance, determine the third distance from the projection position to the roadside position;

[0171] Based on the second installation height and the third distance, determine the fourth distance from the bolt carrier to the roadside position;

[0172] Based on the fourth distance and the lateral field of view, determine the fifth distance from the foot of the vertical line to the bolt.

[0173] The perpendicular distance of the perpendicular line is determined based on the fifth distance and the second installation height.

[0174] In some optional embodiments of this example, the second sensing overlap distance determination unit is further configured as follows:

[0175] Based on the horizontal arm installation distance and the second distance, determine the first angle of the line connecting the roadside position and the projected position relative to the horizontal arm of the monitoring pole;

[0176] Based on the third distance and the perpendicular distance, determine the second angle of the two ends of the road line relative to the projected position;

[0177] Based on the first and second angles, determine the third angle of the line connecting the second end of the road surface line and the projected position relative to the cross arm.

[0178] Based on the third angle, the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole is determined.

[0179] In some optional embodiments of this example, determining the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole based on a third angle includes:

[0180] Obtain road width information;

[0181] Based on road width information, crossarm installation distance, and third angle, determine the blind zone distance of the bullet camera on the opposite side of the monitoring pole;

[0182] Based on the blind zone distance and the first distance, the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole is determined.

[0183] In some optional embodiments of this example, the following are also included:

[0184] The fourth angle determination module is configured to determine the fourth angle relative to the monitoring pole based on the vertical distance and the second installation height, using the line connecting the foot of the vertical to the gun bolt.

[0185] The fifth angle determination module is configured to determine the fifth angle relative to the monitoring pole of the line connecting the position corresponding to the upper edge of the imaging image to the gun bolt based on the fourth angle and the longitudinal field of view.

[0186] The second adjustment module is configured to adjust the physical focal length of the bolt in response to determining that the fifth angle is less than a preset angle.

[0187] In some optional embodiments of this example, the following are also included:

[0188] The third adjustment module is configured to adjust the physical focal length of the bolt in response to determining that the second sensing overlap distance is greater than the second preset distance.

[0189] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, a computer program product, a roadside device, and a cloud control platform.

[0190] An electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the adjustment method of the foregoing embodiments.

[0191] A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the adjustment method of the foregoing embodiments.

[0192] A computer program product includes a computer program that, when executed by a processor, implements the adjustment method of the foregoing embodiments.

[0193] A roadside device includes the electronic equipment described in the foregoing embodiments.

[0194] A cloud control platform includes the electronic devices described in the foregoing embodiments.

[0195] Figure 13 A schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0196] like Figure 13As shown, the electronic device 600 includes a computing unit 601, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 602 or a computer program loaded from a storage unit 608 into a random access memory (RAM) 603. The RAM 603 may also store various programs and data required for the operation of the device 600. The computing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0197] Multiple components in electronic device 600 are connected to I / O interface 605, including: input unit 606, such as keyboard, mouse, etc.; output unit 607, such as various types of displays, speakers, etc.; storage unit 608, such as disk, optical disk, etc.; and communication unit 609, such as network card, modem, wireless transceiver, etc. Communication unit 609 allows device 600 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0198] The computing unit 601 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the various methods and processes described above, such as the camera range determination method in vehicle-to-everything (V2X) communication. For example, in some embodiments, the camera range determination method in V2X communication can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed on device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of the camera range determination method in V2X communication described above can be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform a camera range determination method in vehicle-to-everything (V2X) by any other suitable means (e.g., by means of firmware).

[0199] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0200] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0201] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0202] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0203] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0204] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0205] Optionally, roadside equipment may include not only electronic devices but also communication components. The electronic devices and communication components can be integrated or separate. The electronic devices can acquire data from sensing devices (such as roadside cameras), including images and videos, for image and video processing and data computation. Alternatively, the electronic devices themselves may also possess sensing data acquisition and communication capabilities; for example, if they are AI cameras, the electronic devices can directly perform image and video processing and data computation based on the acquired sensing data.

[0206] Optionally, the cloud control platform performs processing in the cloud. The electronic devices included in the cloud control platform can acquire data from sensing devices (such as roadside cameras), such as images and videos, and then perform image and video processing and data calculation. The cloud control platform can also be called a vehicle-road cooperative management platform, edge computing platform, cloud computing platform, central system, cloud server, etc.

[0207] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0208] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for adjusting the focal length of a gun in a roadside sensing system, wherein, The roadside sensing system includes a fisheye camera and a bullet camera mounted on a monitoring pole, comprising: Acquire the raw image captured by the fisheye camera, the image captured by the gun, and the physical focal length of the gun; Based on the original image, determine the first distance from the maximum effective sensing position of the fisheye camera to the monitoring pole; Based on the physical focal length, the image, the first distance, and the first sensing overlap distance between the fisheye camera and the gun on the side of the monitoring pole, the second sensing overlap distance between the fisheye camera and the gun on the opposite side of the monitoring pole is determined. In response to determining that the second sensing overlap distance is less than a first preset distance, the physical focal length of the gun is adjusted.

2. The method according to claim 1, wherein, Determining the first distance from the maximum effective sensing position of the fisheye camera to the monitoring pole based on the original image includes: The original image is subjected to distortion correction processing to obtain a distortion-corrected image; Obtain the first installation height of the fisheye camera on the monitoring pole, the equivalent bullet focal length of the distortion-reduced image, and the image size of the distortion-reduced image; Based on the first installation height, the equivalent bullet focal length, and the image size, the first distance from the maximum effective sensing position of the fisheye camera to the monitoring pole is determined.

3. The method according to claim 1, wherein, The determination of the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole, based on the physical focal length, the image, the first distance, and the first sensing overlap distance between the fisheye camera and the bullet camera on the monitoring pole side, includes: Based on the physical focal length, the lateral and longitudinal field of view of the bolt are determined; The road surface line corresponding to the lower edge of the image is determined, wherein the first end of the road surface line is the roadside position, and the roadside position is on the same side of the road as the monitoring pole; Based on the first distance and the first sensing overlap distance, a second distance from the roadside location to the monitoring pole is determined; Determine the perpendicular line from the projected position of the gun bolt on the road surface to the road surface line; Based on the second distance and the lateral field of view, determine the perpendicular distance of the perpendicular line; Based on the vertical distance, the second sensing overlap distance between the fisheye camera and the gun on the opposite side of the monitoring pole is determined.

4. The method according to claim 3, wherein, The determination of the lateral and longitudinal field of view of the bolt based on the physical focal length includes: Obtain the resolution of the image and the imaging sensor parameters of the gun bolt; The pixel focal length of the gun is determined based on the physical focal length, the imaging sensor parameters, and the resolution of the imaging image; Based on the pixel focal length and the resolution of the image, the lateral and longitudinal field of view of the gun are determined.

5. The method according to claim 3, wherein, Determining the perpendicular distance of the perpendicular line based on the second distance and the lateral field of view includes: Obtain the second mounting height of the bolt carrier on the monitoring pole and the mounting distance of the crossarm; Based on the crossarm installation distance and the second distance, a third distance from the projection position to the roadside position is determined; Based on the second installation height and the third distance, a fourth distance from the bolt carrier to the roadside position is determined; Based on the fourth distance and the lateral field of view, determine the fifth distance from the foot of the vertical line to the bolt. The perpendicular distance of the perpendicular line is determined based on the fifth distance and the second installation height.

6. The method according to claim 5, wherein, Determining the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole based on the vertical distance includes: Based on the crossarm installation distance and the second distance, a first angle is determined relative to the crossarm of the monitoring pole by the line connecting the roadside position and the projected position. Based on the third distance and the perpendicular distance, determine the second angles of the two ends of the road surface line relative to the projected position; Based on the first angle and the second angle, determine the third angle of the line connecting the second end of the road surface line and the projection position relative to the cross arm; Based on the third angle, the second sensing overlap distance between the fisheye camera and the gun on the opposite side of the monitoring pole is determined.

7. The method according to claim 6, wherein, Determining the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole based on the third angle includes: Obtain road width information; Based on the road width information, the horizontal arm installation distance, and the third angle, the blind zone distance of the gun on the opposite side of the monitoring pole is determined; Based on the blind zone distance and the first distance, a second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole is determined.

8. The method according to any one of claims 5-7, further comprising: Based on the vertical distance and the second installation height, determine the fourth angle relative to the monitoring pole of the line connecting the foot of the vertical line to the gun bolt. Based on the fourth angle and the longitudinal field of view, the fifth angle of the line connecting the position corresponding to the upper edge of the imaging image to the gun bolt is determined relative to the monitoring rod. In response to determining that the fifth angle is less than a preset angle, the physical focal length of the bolt is adjusted.

9. The method according to any one of claims 1-8, further comprising: In response to determining that the second sensing overlap distance is greater than a second preset distance, the physical focal length of the gun is adjusted.

10. A device for adjusting the focal length of a gun in a roadside sensing system, wherein, The roadside sensing system includes a fisheye camera and a bullet camera mounted on a monitoring pole, comprising: The acquisition module is configured to acquire the raw image captured by the fisheye camera, the image captured by the gun, and the physical focal length of the gun. The first distance determination module is configured to determine the first distance from the maximum effective sensing position of the fisheye camera to the monitoring pole based on the original image. The second sensing overlap distance determination module is configured to determine the second sensing overlap distance between the fisheye camera and the gun on the opposite side of the monitoring pole based on the physical focal length, the image, the first distance, and the first sensing overlap distance between the fisheye camera and the gun on the monitoring pole side. The first adjustment module is configured to adjust the physical focal length of the gun in response to determining that the second sensing overlap distance is less than a first preset distance.

11. The apparatus according to claim 10, wherein, The first distance determination module is further configured to: The original image is subjected to distortion correction processing to obtain a distortion-corrected image; Obtain the first installation height of the fisheye camera on the monitoring pole, the equivalent bullet focal length of the distortion-reduced image, and the image size of the distortion-reduced image; Based on the first installation height, the equivalent bullet focal length, and the image size, the first distance from the maximum effective sensing position of the fisheye camera to the monitoring pole is determined.

12. The apparatus according to claim 10, wherein, The second sensing overlap distance determination module includes: The field of view determination unit is configured to determine the lateral and longitudinal field of view of the bolt based on the physical focal length; A road surface line determination unit is configured to determine the road surface line corresponding to the lower edge of the imaging image, wherein the first end of the road surface line is a roadside position, and the roadside position is on the same side of the road as the monitoring pole. The second distance determination unit is configured to determine a second distance from the roadside location to the monitoring pole based on the first distance and the first sensing overlap distance; A perpendicular line determination unit is configured to determine the perpendicular line from the projected position of the gun on the road surface to the road surface line; The perpendicular distance determination unit is configured to determine the perpendicular distance of the perpendicular line based on the second distance and the lateral field of view. The second sensing overlap distance determination unit is configured to determine the second sensing overlap distance between the fisheye camera and the gun on the opposite side of the monitoring pole based on the vertical distance.

13. The apparatus according to claim 12, wherein, The field of view determination unit is further configured as follows: Obtain the resolution of the image and the imaging sensor parameters of the gun bolt; The pixel focal length of the gun is determined based on the physical focal length, the imaging sensor parameters, and the resolution of the imaging image; Based on the pixel focal length and the resolution of the image, the lateral and longitudinal field of view of the gun are determined.

14. The apparatus according to claim 12, wherein, The perpendicular distance determination unit is further configured to: Obtain the second mounting height of the bolt carrier on the monitoring pole and the mounting distance of the crossarm; Based on the crossarm installation distance and the second distance, a third distance from the projection position to the roadside position is determined; Based on the second installation height and the third distance, a fourth distance from the bolt carrier to the roadside position is determined; Based on the fourth distance and the lateral field of view, determine the fifth distance from the foot of the vertical line to the bolt. The perpendicular distance of the perpendicular line is determined based on the fifth distance and the second installation height.

15. The apparatus according to claim 14, wherein, The second sensing overlap distance determination unit is further configured to: Based on the crossarm installation distance and the second distance, a first angle is determined relative to the crossarm of the monitoring pole by the line connecting the roadside position and the projected position. Based on the third distance and the perpendicular distance, determine the second angles of the two ends of the road surface line relative to the projected position; Based on the first angle and the second angle, determine the third angle of the line connecting the second end of the road surface line and the projection position relative to the cross arm; Based on the third angle, the second sensing overlap distance between the fisheye camera and the gun on the opposite side of the monitoring pole is determined.

16. The apparatus according to claim 15, wherein, Determining the second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole based on the third angle includes: Obtain road width information; Based on the road width information, the horizontal arm installation distance, and the third angle, the blind zone distance of the gun on the opposite side of the monitoring pole is determined; Based on the blind zone distance and the first distance, a second sensing overlap distance between the fisheye camera and the bullet camera on the opposite side of the monitoring pole is determined.

17. The apparatus according to any one of claims 14-16, further comprising: The fourth angle determination module is configured to determine, based on the vertical distance and the second installation height, a fourth angle relative to the monitoring pole for the line connecting the foot of the vertical line to the bolt. The fifth angle determination module is configured to determine, based on the fourth angle and the longitudinal field of view, the fifth angle relative to the monitoring rod of the line connecting the position corresponding to the upper edge of the imaging image to the gun bolt. The second adjustment module is configured to adjust the physical focal length of the bolt in response to determining that the fifth angle is less than a preset angle.

18. The apparatus according to any one of claims 10-17, further comprising: The third adjustment module is configured to adjust the physical focal length of the gun in response to determining that the second sensing overlap distance is greater than a second preset distance.

19. An electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

20. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-9.

21. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-9.

22. A roadside device comprising the electronic equipment as claimed in claim 19.

23. A cloud control platform, comprising the electronic device as described in claim 19.

Images