A vehicle information processing method based on image acquisition equipment

Abstract

The present application relates to the field of traffic control systems, and in particular to a vehicle information processing method based on an image acquisition device. The method comprises: obtaining an intersection list A = (A1, A2, ..., A i ,…,A n ), A i is the i-th intersection obtained according to the road extension direction; obtain the intersection list B with image acquisition equipment installed = (B1, B2, ..., B j ,…,B m ), B j is the jth intersection in A where the image acquisition device is installed, obtained according to the road extension direction, B1 = A1, B m =A n , each B j All are A-intersections; get the target vehicle from A1 to A n The number of stops is N; N = N 1 +N 2 , N 1 is the number of stops of the target vehicle at the intersection B, N 2 is the number of stops of the target vehicle at the intersection where no image acquisition device is installed in A. The present invention realizes the determination of the number of stops of a vehicle during driving.

Description

Technical Field

[0001] The invention relates to the field of traffic control systems, and in particular to a vehicle information processing method based on an image acquisition device. Background Art

[0002] Drivers will stop when passing through an intersection with a red light. The number of times a vehicle stops during driving can reflect the efficiency of the road on which the vehicle is traveling. Studying the number of times a vehicle stops during driving is conducive to analyzing and improving the efficiency of the road on which the vehicle is traveling. Some intersections where vehicles travel are equipped with image acquisition devices, based on which it is possible to know whether the vehicle stops when passing through the intersection; however, some intersections where vehicles travel may not be equipped with image acquisition devices, making it impossible to know whether the vehicle stops when passing through the intersection based on the image acquisition devices; how to determine the number of times a vehicle stops during driving is an issue that needs to be resolved urgently. Summary of the invention

[0003] The object of the present invention is to provide a vehicle information processing method based on an image acquisition device to determine the number of stops of a vehicle during driving.

[0004] According to the present invention, a vehicle information processing method based on an image acquisition device is provided, comprising the following steps:

[0005] S100, obtain the intersection list A=(A1, A2, ..., A i ,…,A n ), A i is the i-th intersection obtained according to the road extension direction, the value unit of i is 1 to n, and n is the number of intersections in A.

[0006] S200, obtaining a list of intersections where image acquisition devices are installed B = (B1, B2, ..., B j ,…,B m ), B j is the jth intersection in A where the image acquisition device is installed, obtained according to the road extension direction, where the value of j ranges from 1 to m, and m is the number of intersections in A where the image acquisition device is installed; B1 = A1, B m =A n , each B j All are A intersections.

[0007] S300, obtaining the target vehicle driving from A1 to A n The number of stops is N; N = N 1 +N 2 , N 1 is the number of stops of the target vehicle at the intersection B, N 2 N is the number of stops of the target vehicle at the intersection in A where no image acquisition equipment is installed;2 The methods for obtaining include:

[0008] S301, obtain B j With B j+1 The average speed of vehicles passing without stopping V 1 j,j+1 .

[0009] S302, obtain B j and B j+1 There is no intersection D where image acquisition equipment is installed j,j+1 =(D 1 j,j+1 ,D 2 j,j+1 ,…,D f j,j+1 ,…,D q j,j+1 ), D f j,j+1 B is obtained according to the road extension direction j and B j+1 The fth intersection between the two has no image acquisition equipment installed, the value range of f is 1 to q, q is B j and B j+1 The number of intersections between which no image acquisition equipment is installed.

[0010] S303, obtain B j and B j+1 The signal control period T of the intersection where no image acquisition equipment is installed j,j+1 =(T 1 j,j+1 ,T 2 j,j+1 ,…,T f j,j+1 ,…,T q j,j+1 ),T f j,j+1 D f j,j+1 The signal control cycle is the total time required for the signal lights to display once.

[0011] S304, obtain B j and B j+1 Green light time at intersections without image acquisition equipment installed j,j+1 =(Green 1 j,j+1 ,Green 2 j,j+1 ,…,Green f j,j+1 ,…,Green qj,j+1 ),Green f j,j+1 D f j,j+1 The green light shows the time once.

[0012] S305, obtaining the average delay time TL of parking at a single intersection j,j+1 =(∑ q f＝1 (T f j,j+1 -Green f j,j+1 )) / q.

[0013] S306, obtaining the target vehicle at B j and B j+1 Number of stops between j,j+1 , N' j,j+1 =max(0,N' j,j+1 -N 1 j+1 ), when q≥1, N' j,j+1 =min(q,max(0,ceil(((t j+1 j,j+1 -t j j,j+1 )-(L j,j+1 / V 1 j,j+1 )) / TL j,j+1 ), t j+1 j,j+1 The target vehicle passes through B j+1 Time, t j j,j+1 The target vehicle passes through B j Time; N 1 j+1 The target vehicle is in B j+1 Number of stops; L j,j+1 For B j and B j+1 The distance between them; max() is the maximum value, min() is the minimum value, and ceil() is rounded up.

[0014] S307, obtain N 2 =∑ m-1 j＝1 N j,j+1 .

[0015] Compared with the prior art, the present invention has at least the following beneficial effects:

[0016] For the case where there is an intersection without image acquisition equipment between two intersections with image acquisition equipment installed, the present invention first obtains the image acquisition equipment of the vehicle from B without stopping. j Drive to B j+1 The average speed of B j With B j+1 The signal control cycle and green light time of the intersection without image acquisition equipment installed between B and C are obtained. j and B j+1 The present invention will target vehicle passing B j With B j+1 The time difference is the same as the time when the vehicle passes B without stopping. j With B j+1 The time difference between the vehicle and B is further obtained by subtracting the time difference between the vehicle and B. j and B j+1 The parking time ratio of the target vehicle at B is obtained based on the ratio. j and B j+1 Based on this method, the present invention obtains the number of stops between any two adjacent intersections in B where image acquisition devices are installed, and sums these numbers with the number of stops of the target vehicle at each intersection in B to obtain the number of stops of the target vehicle from A1 to A. n The number of stops of the target vehicle during driving is determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 The present invention provides a flowchart of a vehicle information processing method based on an image acquisition device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0020] Embodiment 1

[0021] According to the present invention, Figure 1 As shown, a vehicle information processing method based on an image acquisition device is provided, comprising the following steps:

[0022] S100, obtain the intersection list A=(A1, A2, ..., A i ,…,A n ), A i is the i-th intersection obtained according to the road extension direction, the value unit of i is 1 to n, and n is the number of intersections in A.

[0023] S200, obtaining a list of intersections where image acquisition devices are installed B = (B1, B2, ..., B j ,…,B m ), B j is the jth intersection in A where the image acquisition device is installed, obtained according to the road extension direction, where the value of j ranges from 1 to m, and m is the number of intersections in A where the image acquisition device is installed; B1 = A1, B m =A n , each B j All are A intersections.

[0024] According to the present invention, there are two types of intersections in A: one is an intersection with an image acquisition device installed, i.e., an intersection in B; the other is an intersection without an image acquisition device installed, i.e., an intersection in A but not in B; A1 and A n All of them are intersections equipped with image acquisition equipment.

[0025] Optionally, the image acquisition device is a bayonet device.

[0026] S300, obtaining the target vehicle driving from A1 to A n The number of stops is N; N = N 1 +N 2 , N 1 is the number of stops of the target vehicle at the intersection B, N 2 N is the number of stops of the target vehicle at the intersection in A where no image acquisition equipment is installed; 2 The methods for obtaining include:

[0027] S301, obtain B j With B j+1 The average speed of vehicles passing without stopping V 1 j,j+1 .

[0028] According to the present invention, V 1 j,j+1 It can be an empirical value or obtained by using a method disclosed in the prior art. However, this embodiment also provides a V 1 j,j+1 The method for obtaining comprises the following steps:

[0029] S31, obtain the number of B j and B j+1 Vehicle C j,j+1 =(C 1 j,j+1 ,C 2 j,j+1 ,…,C e j,j+1 ,…,C E j,j+1 ), C e j,j+1 The data obtained in chronological order are the data that pass through B during the monitoring period. j and B j+1 The value of e ranges from 1 to E, and E is the number of vehicles that pass through B during the monitoring period. j and B j+1 The number of vehicles.

[0030] Optionally, the monitoring time period is a historical time period, and the duration of the monitoring time period is multiple B j The duration of the signal control cycle, for example, 1 hour.

[0031] S32, obtain the number of B j and B j+1 The passing time of the vehicle t j,j+1 =((t 1,j j,j+1 ,t 1 ,j+1 j,j+1 ),(t 2,j j,j+1 ,t 2,j+1 j,j+1 ),…,(t e,j j,j+1 ,t e,j+1 j,j+1 ),…,(t E,j j,j+1 ,t E,j+1 j,j+1 )), t e,j j,j+1 C e j,j+1 Passing B j Time, t e,j+1 j,j+1 C e j,j+1 Passing B j+1 time.

[0032] According to this embodiment, the vehicle passes through B j The time of the stop line is as the vehicle passes B jtime, the vehicle passes B j+1 The time of the stop line is as the vehicle passes B j+1 time.

[0033] S33, obtain the number of B j and B j+1 The speed of the vehicle V j,j+1 =(V 1 j,j+1 ,V 2 j,j+1 ,…,V e j,j+1 ,…,V E j,j+1 ), V e j,j+1 C e j,j+1 Passing B j and B j+1 The average speed of the vehicle, V e j,j+1 =L j,j+1 / (t e,j+1 j,j+1 -t e ,j j,j+1 ).

[0034] In this embodiment, L j,j+1 For B j and B j+1 The distance between.

[0035] S34, V j,j+1 The average speed of the first F vehicles with the largest speed is taken as B j With B j+1 The average speed of vehicles passing without stopping V 1 j,j+1 , F is the preset number of vehicles.

[0036] According to this embodiment, C j,j+1 Some of the vehicles in B pass by without stopping. j and B j+1 The vehicles that pass through B j and B j+1 The speed is faster; some are in B j or B j+1 Parked vehicles, these vehicles correspond to passing B j and B j+1 The speed is slower.

[0037] In this embodiment, V j,j+1 The average speed of the first F vehicles with the largest speed, preferably, F = 0.1 × E, that is, C j,j+1Through B j and B j+1 The average speed of the first 10% of the faster vehicles is B j With B j+1 The average speed of vehicles passing without stopping V 1 j,j+1 , the V obtained from this 1 j,j+1 More accurate.

[0038] S302, obtain B j and B j+1 There is no intersection D where image acquisition equipment is installed j,j+1 =(D 1 j,j+1 ,D 2 j,j+1 ,…,D f j,j+1 ,…,D q j,j+1 ), D f j,j+1 B is obtained according to the road extension direction j and B j+1 The fth intersection between the two has no image acquisition equipment installed, the value range of f is 1 to q, q is B j and B j+1 The number of intersections between which no image acquisition equipment is installed.

[0039] According to the present invention, if B j and B j+1 There is no intersection with image acquisition equipment installed, that is, B j and B j+1 When it is an adjacent intersection, q = 0, and there is no need to execute S303-306. j,j+1 =0.

[0040] S303, obtain B j and B j+1 The signal control period T of the intersection where no image acquisition equipment is installed j,j+1 =(T 1 j,j+1 ,T 2 j,j+1 ,…,T f j,j+1 ,…,T q j,j+1 ),T f j,j+1 D f j,j+1 The signal control cycle is the total time required for the signal lights to display once.

[0041] S304, obtain Bj and B j+1 Green light time at intersections without image acquisition equipment installed j,j+1 =(Green 1 j,j+1 ,Green 2 j,j+1 ,…,Green f j,j+1 ,…,Green q j,j+1 ),Green f j,j+1 D f j,j+1 The green light shows the time once.

[0042] S305, obtaining the average delay time TL of parking at a single intersection j,j+1 =(∑ q f＝1 (T f j,j+1 -Green f j,j+1 )) / q.

[0043] According to the present invention, T f j,j+1 -Green f j,j+1 D f j,j+1 The time that the traffic light is non-green in a signal control cycle.

[0044] S306, obtaining the target vehicle at B j and B j+1 Number of stops between j,j+1 , N' j,j+1 =max(0,N' j,j+1 -N 1 j+1 ), when q≥1, N' j,j+1 =min(q,max(0,ceil(((t j+1 j,j+1 -t j j,j+1 )-(L j,j+1 / V 1 j,j+1 )) / TL j,j+1 ), t j+1 j,j+1 The target vehicle passes through B j+1 Time, t j j,j+1 The target vehicle passes through B j Time; N 1j+1 The target vehicle is in B j+1 Number of stops; L j,j+1 For B j and B j+1 The distance between them; max() is the maximum value, min() is the minimum value, and ceil() is rounded up.

[0045] According to the present invention, if there is an intersection without an image acquisition device between two intersections with image acquisition devices installed, the target vehicle passes through B j With B j+1 The time difference is the same as the time when the vehicle passes B without stopping. j With B j+1 The time difference is calculated by subtracting the time required for the vehicle to reach B. j and B j+1 The ratio of the parking time of the target vehicle at B j and B j+1 Number of stops between j,j+1 .

[0046] S307, obtain N 2 =∑ m -1 j＝1 N j,j+1 .

[0047] According to the present invention, the number of stops between any two adjacent intersections in B where image acquisition devices are installed can be obtained by following the method of S301-S306. The number of stops N of the target vehicle at the intersection in A where no image acquisition device is installed can be obtained by summing these numbers. 2 .

[0048] According to the present invention, the method disclosed in the prior art can be used to obtain the number of stops of the target vehicle at the intersection B. However, this embodiment also provides a method N 1 The method for obtaining comprises the following steps:

[0049] S310, obtain the number of Bs that pass through the target time period j Vehicle C j =(C 1 j ,C 2 j ,…,C a j ,…,C M j ), C a j The data obtained in chronological order are the data that pass through B within the target time period. jThe ath vehicle of B is the number of vehicles that pass through B within the target time period. The value of a ranges from 1 to M. M is the number of vehicles that pass through B within the target time period. j The target time period is the time period including the time when the target vehicles pass through each intersection in B.

[0050] In this embodiment, by installing in B j Get C from the mount device j .

[0051] Optionally, the target time period is 1 hour long.

[0052] S320, obtain the number of Bs that pass through the target time period j Vehicles passing through B j Time t j =(t 1 j ,t 2 j ,…,t a j ,…,t M j ), t a j C a j Passing B j time.

[0053] In this embodiment, the vehicle passes through B j The time of the stop line is as the vehicle passes B j time.

[0054] S330, for j Grouping is performed to obtain the grouping result G=(G1,G2,…,G k ,…,G P ), G k is the kth group, the value range of k is 1 to P, P is the number of groups obtained by grouping; G k =(C k,1 ,C k,2 ,…,C k,r ,…,C k,R ), C k,r G is obtained in chronological order k The rth vehicle in the , r ranges from 1 to R, R is G k The number of vehicles included.

[0055] Optionally, based on the density clustering algorithm in the prior art, t j For example, based on the DBSCAN algorithm, j Grouping, where t j Each time in is regarded as a point, and tj The time difference between any two times in G is taken as the distance between the points corresponding to the two times, and the grouping result G can be obtained after executing the process of DBSCAN algorithm. It should be understood that each G in G k t j The time difference is relatively small in the set of time, different G k The time difference between the times included in the G is relatively large; in this embodiment, each G k Included is the B in one signal control cycle j Vehicles passing through B j time.

[0056] S340, traverse G, if G k The target vehicle passes through B j time, and G k If the preset conditions are met, it is determined that the target vehicle is in B j Number of stops N 1 j is 1; otherwise, it is determined that the target vehicle is in B j Number of stops N 1 j is 0; the preset condition is: G k The headway time of the first Q vehicles is greater than or equal to the first preset time period T1 and less than or equal to the second preset time period T2, G k The headways of the remaining vehicles except the first Q vehicles are all greater than or equal to the third preset time period T3 and less than or equal to the fourth preset time period T4, T3≤T4≤T1≤T2, Q is the preset number of vehicles; C k,r The headway distance is C k,r The front of the car passes B j The time of the stop line is related to C k,r-1 The front of the car passes B j The time interval of the stop line.

[0057] According to this embodiment, from the time when vehicles encounter a red light and start waiting to the time when the green light comes on and they queue up to pass the intersection, the headway of the vehicles in front of the stop line will be relatively large, generally around 5 seconds; while the vehicles behind will evenly pass the stop line, with a corresponding headway of around 2 seconds, until all the queued vehicles pass the stop line. In this embodiment, preferably, T3=1s, T4=3s, T1=4s, T2=8s. Preferably, Q=6.

[0058] According to this embodiment, if G k The target vehicle passes through B j time, but G k If the preset conditions are not met, it means that G kThe vehicle corresponding to the time in B does not meet the above situation where the vehicle starts waiting when encountering a red light and queues to pass the intersection when the green light comes on. This embodiment determines that the target vehicle is at B j Number of stops N 1 j is 0.

[0059] S350, Get N 1 =∑ m j＝1 N 1 j .

[0060] According to S310-S340, this embodiment can obtain the number of stops of the target vehicle at each intersection in B, and sum these stop times to obtain the number of stops N of the target vehicle at the intersection in B. 1 .

[0061] After obtaining the number of stops N of the target vehicle at the intersection B 1 The number of times the target vehicle stops at the intersection in A where no image acquisition equipment is installed is N 2 After that, N 1 and N 2 By summing, we get the target vehicle traveling from A1 to A n The number of stops of the target vehicle during driving is determined.

[0062] Embodiment 2

[0063] According to the present invention, Figure 1 As shown, a vehicle information processing method based on an image acquisition device is provided, comprising the following steps:

[0064] S100, obtain the intersection list A=(A1, A2, ..., A i ,…,A n ), A i is the i-th intersection obtained according to the road extension direction, the value unit of i is 1 to n, and n is the number of intersections in A.

[0065] S200, obtaining a list of intersections captured by an image acquisition device B = (B1, B2, ..., B j ,…,B m ), B j is the jth intersection in A captured by the image acquisition device, obtained according to the road extension direction, where j ranges from 1 to m, and m is the number of intersections in A captured by the image acquisition device; B1 = A1, B m =A n , each B j All are A intersections.

[0066] According to the present invention, there are two types of intersections in A: one is an intersection photographed by an image acquisition device, i.e., an intersection in B; the other is an intersection not photographed by an image acquisition device, i.e., an intersection in A but not in B; A1 and A n All of them are intersections photographed by image acquisition equipment.

[0067] Optionally, the image acquisition device is a drone.

[0068] S300, obtaining the target vehicle driving from A1 to A n The number of stops is N; N = N 1 +N 2 , N 1 is the number of stops of the target vehicle at the intersection B, N 2 N is the number of stops of the target vehicle at the intersection in A that is not photographed by the image acquisition device; 2 The methods for obtaining include:

[0069] S301, obtain B j With B j+1 The average speed of vehicles passing without stopping V 1 j,j+1 .

[0070] According to the present invention, V 1 j,j+1 It can be an empirical value or obtained by using a method disclosed in the prior art. However, this embodiment also provides a V 1 j,j+1 The method for obtaining comprises the following steps:

[0071] S31, obtain the number of B j and B j+1 Vehicle C j,j+1 =(C 1 j,j+1 ,C 2 j,j+1 ,…,C e j,j+1 ,…,C E j,j+1 ), C e j,j+1 The data obtained in chronological order are the data that pass through B during the monitoring period. j and B j+1 The value of e ranges from 1 to E, and E is the number of vehicles that pass through B during the monitoring period. j and B j+1 The number of vehicles.

[0072] Optionally, the monitoring time period is a historical time period, and the duration of the monitoring time period is multiple B j The duration of the signal control cycle, for example, 1 hour.

[0073] S32, obtain the number of B j and B j+1 The passing time of the vehicle t j,j+1 =((t 1,j j,j+1 ,t 1 ,j+1 j,j+1 ),(t 2,j j,j+1 ,t 2,j+1 j,j+1 ),…,(t e,j j,j+1 ,t e,j+1 j,j+1 ),…,(t E,j j,j+1 ,t E,j+1 j,j+1 )), t e,j j,j+1 C e j,j+1 Passing B j Time, t e,j+1 j,j+1 C e j,j+1 Passing B j+1 time.

[0074] According to this embodiment, the vehicle passes through B j The time of the stop line is as the vehicle passes B j time, the vehicle passes B j+1 The time of the stop line is as the vehicle passes B j+1 time.

[0075] S33, obtain the number of B j and B j+1 The speed of the vehicle V j,j+1 =(V 1 j,j+1 ,V 2 j,j+1 ,…,V e j,j+1 ,…,V E j,j+1 ), V e j,j+1 C e j,j+1 Passing B j and B j+1 The average speed of the vehicle, V e j,j+1 =L j,j+1 / (t e,j+1 j,j+1 -te ,j j,j+1 ).

[0076] In this embodiment, L j,j+1 For B j and B j+1 The distance between.

[0077] S34, V j,j+1 The average speed of the first F vehicles with the largest speed is taken as B j With B j+1 The average speed of vehicles passing without stopping V 1 j,j+1 , F is the preset number of vehicles.

[0078] According to this embodiment, C j,j+1 Some of the vehicles in B pass by without stopping. j and B j+1 The vehicles that pass through B j and B j+1 The speed is faster; some are in B j or B j+1 Parked vehicles, these vehicles correspond to passing B j and B j+1 The speed is slower.

[0079] In this embodiment, V j,j+1 The average speed of the first F vehicles with the largest speed, preferably, F = 0.1 × E, that is, C j,j+1 Through B j and B j+1 The average speed of the first 10% of the faster vehicles is B j With B j+1 The average speed of vehicles passing without stopping V 1 j,j+1 , the V obtained from this 1 j,j+1 More accurate.

[0080] S302, obtain B j and B j+1 There is no intersection D captured by the image acquisition device j,j+1 =(D 1 j,j+1 ,D 2 j,j+1 ,…,D f j,j+1 ,…,D q j,j+1 ), D f j,j+1 B is obtained according to the road extension direction j and Bj+1 The fth intersection that is not captured by an image acquisition device, the value range of f is 1 to q, q is B j and B j+1 The number of intersections that were not captured by the image acquisition device.

[0081] According to the present invention, if B j and B j+1 There is no intersection captured by the image acquisition device, that is, B j and B j+1 When it is an adjacent intersection, q = 0, and there is no need to execute S303-306. j,j+1 =0.

[0082] S303, obtain B j and B j+1 The signal control period T of the intersection without image acquisition equipment j,j+1 =(T 1 j,j+1 ,T 2 j,j+1 ,…,T f j,j+1 ,…,T q j,j+1 ),T f j,j+1 D f j,j+1 The signal control cycle is the total time required for the signal lights to display once.

[0083] S304, obtain B j and B j+1 The green light time of the intersection without image acquisition equipment j,j+1 =(Green 1 j,j+1 ,Green 2 j,j+1 ,…,Green f j,j+1 ,…,Green q j,j+1 ),Green f j,j+1 D f j,j+1 The green light shows the time once.

[0084] S305, obtaining the average delay time TL of parking at a single intersection j,j+1 =(∑ q f＝1 (T f j,j+1 -Green f j,j+1 )) / q.

[0085] According to the present invention, T f j,j+1 -Green f j,j+1 D f j,j+1 The time that the traffic light is non-green in a signal control cycle.

[0086] S306, obtaining the target vehicle at B j and B j+1 Number of stops between j,j+1 , N' j,j+1 =max(0,N' j,j+1 -N 1 j+1 ), when q≥1, N' j,j+1 =min(q,max(0,ceil(((t j+1 j,j+1 -t j j,j+1 )-(L j,j+1 / V 1 j,j+1 )) / TL j,j+1 ), t j+1 j,j+1 The target vehicle passes through B j+1 Time, t j j,j+1 The target vehicle passes through B j Time; N 1 j+1 The target vehicle is in B j+1 Number of stops; L j,j+1 For B j and B j+1 The distance between them; max() is the maximum value, min() is the minimum value, and ceil() is rounded up.

[0087] According to the present invention, if there is an intersection without an image acquisition device between two intersections captured by an image acquisition device, the target vehicle passes through B j With B j+1 The time difference is the same as the time when the vehicle passes B without stopping. j With B j+1 The time difference is calculated by subtracting the time required for the vehicle to reach B. j and B j+1 The ratio of the parking time of the target vehicle at B j and B j+1 Number of stops between j,j+1 .

[0088] S307, obtain N 2 =∑ m -1 j＝1 N j,j+1 .

[0089] According to the present invention, the number of stops between any two adjacent intersections in B that are photographed by an image acquisition device can be obtained by following the method of S301-S306. The number of stops N of the target vehicle at the intersections in A that are not photographed by an image acquisition device can be obtained by summing these numbers. 2 .

[0090] According to the present invention, the method disclosed in the prior art can be used to obtain the number of stops of the target vehicle at the intersection B. However, this embodiment also provides a method N 1 The method for obtaining comprises the following steps:

[0091] S310, obtain the number of Bs that pass through the target time period j Vehicle C j =(C 1 j ,C 2 j ,…,C a j ,…,C M j ), C a j The data obtained in chronological order are the data that pass through B within the target time period. j The ath vehicle of B, a ranges from 1 to M, M is the number of vehicles that pass B within the target time period. j The target time period is the time period including the time when the target vehicles pass through each intersection in B.

[0092] In this embodiment, the UAV is used to obtain C j .

[0093] Optionally, the target time period is 1 hour long.

[0094] S320, obtain the number of Bs that pass through the target time period j Vehicles passing through B j Time t j =(t 1 j ,t 2 j ,…,t a j ,…,t M j ), t a j C a j Passing Bj time.

[0095] In this embodiment, the vehicle passes through B j The time of the stop line is as the vehicle passes B j time.

[0096] S330, for j Grouping is performed to obtain the grouping result G=(G1,G2,…,G k ,…,G P ), G k is the kth group, the value range of k is 1 to P, P is the number of groups obtained by grouping; G k =(C k,1 ,C k,2 ,…,C k,r ,…,C k,R ), C k,r G is obtained in chronological order k The rth vehicle in the , r ranges from 1 to R, R is G k The number of vehicles included.

[0097] Optionally, based on the density clustering algorithm in the prior art, t j For example, based on the DBSCAN algorithm, j Grouping, where t j Each time in is regarded as a point, and t j The time difference between any two times in G is taken as the distance between the points corresponding to the two times, and the grouping result G can be obtained after executing the process of DBSCAN algorithm. It should be understood that each G in G k t j The time difference is relatively small in the set of time, different G k The time difference between the times included in the G is relatively large; in this embodiment, each G k Included is the B in one signal control cycle j Vehicles passing through B j time.

[0098] S340, traverse G, if G k The target vehicle passes through B j time, and G k If the preset conditions are met, it is determined that the target vehicle is in B j Number of stops N 1 j is 1; otherwise, it is determined that the target vehicle is in B j Number of stops N 1 j is 0; the preset condition is: G kThe headway time of the first Q vehicles is greater than or equal to the first preset time period T1 and less than or equal to the second preset time period T2, G k The headways of the remaining vehicles except the first Q vehicles are all greater than or equal to the third preset time period T3 and less than or equal to the fourth preset time period T4, T3≤T4≤T1≤T2, Q is the preset number of vehicles; C k,r The headway distance is C k,r The front of the car passes B j The time of the stop line is related to C k,r-1 The front of the car passes B j The time interval of the stop line.

[0099] According to this embodiment, from the time when vehicles encounter a red light and start waiting to the time when the green light comes on and they queue up to pass the intersection, the headway of the vehicles in front of the stop line will be relatively large, generally around 5 seconds; while the vehicles behind will evenly pass the stop line, with a corresponding headway of around 2 seconds, until all the queued vehicles pass the stop line. In this embodiment, preferably, T3=1s, T4=3s, T1=4s, T2=8s. Preferably, Q=6.

[0100] According to this embodiment, if G k The target vehicle passes through B j time, but G k If the preset conditions are not met, it means that G k The vehicle corresponding to the time in B does not meet the above situation where the vehicle starts waiting when encountering a red light and queues to pass the intersection when the green light comes on. This embodiment determines that the target vehicle is at B j Number of stops N 1 j is 0.

[0101] S350, Get N 1 =∑ m j＝1 N 1 j .

[0102] According to S310-S340, this embodiment can obtain the number of stops of the target vehicle at each intersection in B, and sum these stop times to obtain the number of stops N of the target vehicle at the intersection in B. 1 .

[0103] After obtaining the number of stops N of the target vehicle at the intersection B 1 The number of times the target vehicle stops at the intersection in A without the image acquisition device N 2 After that, N 1 and N 2 By summing, we get the target vehicle traveling from A1 to A nThe number of stops of the target vehicle during driving is determined.

[0104] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will also be appreciated by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A vehicle information processing method based on an image acquisition device, characterized in that: The following steps are involved: S100, obtain the intersection list A=(A1, A2, ..., A i ,…,A n ), A i is the i-th intersection obtained according to the extension direction of the road, where the value of i ranges from 1 to n, and n is the number of intersections in A; S200, obtaining a list of intersections where image acquisition devices are installed B = (B1, B2, ..., B j ,…,B m ), B j is the jth intersection in A where the image acquisition device is installed, obtained according to the road extension direction, where the value of j ranges from 1 to m, and m is the number of intersections in A where the image acquisition device is installed; B1 = A1, B m =A n , each B j All are A-middle intersections; S300, obtaining the target vehicle driving from A1 to A n The number of stops is N; N = N 1 +N 2 , N 1 is the number of stops of the target vehicle at the intersection B, N 2 is the number of stops of the target vehicle at the intersection in A where no image acquisition equipment is installed; N 2 The methods for obtaining include: S301, obtain B j With B j+1 The average speed of vehicles passing without stopping V 1 j,j+1 ; S302, obtain B j and B j+1 There is no intersection D where image acquisition equipment is installed j,j+1 =(D 1 j,j+1 ,D 2 j,j+1 ,…,D f j,j+1 ,…,D q j,j+1 ), D f j,j+1 B is obtained according to the road extension direction j and B j+1 The fth intersection between the two has no image acquisition equipment installed, the value range of f is 1 to q, q is B j and B j+1 The number of intersections where no image acquisition equipment is installed; S303, obtain B j and B j+1 The signal control period T of the intersection where no image acquisition equipment is installed j,j+1 =(T 1 j,j+1 ,T 2 j,j+1 ,…,T f j,j+1 ,…,T q j,j+1 ), T f j,j+1 D f j,j+1 The signal control cycle is the total time required for the signal lights to display once in turn; S304, obtain B j and B j+1 Green light time at intersections without image acquisition equipment installed j,j+1 =(Green 1 j,j+1 ,Green 2 j,j+1 ,…,Green f j,j+1 ,…,Green q j,j+1 ), Green f j,j+1 D f j,j+1 The green light shows the time once; S305, obtaining the average delay time TL of parking at a single intersection j,j+1 =(∑ q f＝1 (T f j,j+1 -Green f j,j+1 )) / q; S306, obtaining the target vehicle at B j and B j+1 Number of stops between j,j+1 , N' j,j+1 =max(0,N' j,j+1 -N 1 j+1 ), when q≥1, N' j,j+1 =min(q,max(0,ceil(((t j+1 j,j+1 -t j j,j+1 )-(L j,j+1 / V 1 j,j+1 )) / TL j,j+1 ), t j+1 j,j+1 The target vehicle passes through B j+1 Time, t j j,j+1 The target vehicle passes through B j Time; N 1 j+1 The target vehicle is in B j+1 Number of stops; L j,j+1 For B j and B j+1 The distance between them; max() is the maximum value, min() is the minimum value, and ceil() is rounded up; S307, obtain N 2 =∑ m-1 j＝1 N j,j+1 .

2. The vehicle information processing method based on the image acquisition device according to claim 1 is characterized in that: N 1 The methods for obtaining include: S310, obtain the number of Bs that pass through the target time period j Vehicle C j =(C 1 j ,C 2 j ,…,C a j ,…,C M j ), C a j The data obtained in chronological order are the data that pass through B within the target time period. j The ath vehicle of B, a ranges from 1 to M, M is the number of vehicles that pass B within the target time period. j The target time period is the time period including the time when the target vehicle passes through each intersection in B; S320, obtain the number of Bs that pass through the target time period j Vehicles passing through B j Time t j =(t 1 j ,t 2 j ,…,t a j ,…,t M j ), t a j C a j Passing B j time; S330, for j Grouping is performed to obtain the grouping result G=(G1,G2,…,G k ,…,G P ), G k is the kth group, the value range of k is 1 to P, P is the number of groups obtained by grouping; G k =(C k,1 ,C k,2 ,…,C k,r ,…,C k,R ), C k,r G is obtained in chronological order k The rth vehicle in the , r ranges from 1 to R, R is G k the number of vehicles included; S340, traverse G, if G k The target vehicle passes through B j time, and G k If the preset conditions are met, it is determined that the target vehicle is in B j Number of stops N 1 j is 1; otherwise, it is determined that the target vehicle is in B j Number of stops N 1 j is 0; the preset condition is: G k The headway time of the first Q vehicles is greater than or equal to the first preset time period T1 and less than or equal to the second preset time period T2, G k The headways of the remaining vehicles except the first Q vehicles are all greater than or equal to the third preset time period T3 and less than or equal to the fourth preset time period T4, T3≤T4≤T1≤T2, Q is the preset number of vehicles; C k,r The headway distance is C k,r The front of the car passes B j The time of the stop line is related to C k,r-1 The front of the car passes B j The time interval of the stop line; S350, Get N 1 =∑ m j＝1 N 1 j .

3. The vehicle information processing method based on the image acquisition device according to claim 1 is characterized in that: V 1 j,j+1 The methods for obtaining include: S31, obtain the number of B j and B j+1 Vehicle C j,j+1 =(C 1 j,j+1 ,C 2 j,j+1 ,…,C e j,j+1 ,…,C E j,j+1 ), C e j,j+1 The data obtained in chronological order are the data that pass through B during the monitoring period. j and B j+1 The value of e ranges from 1 to E, and E is the number of vehicles that pass through B during the monitoring period. j and B j+1 the number of vehicles; S32, obtain the number of B j and B j+1 The passing time of the vehicle t j,j+1 =((t 1,j j,j+1 ,t 1,j+1 j,j+1 ),(t 2,j j,j+1 ,t 2,j+1 j,j+1 ),…,(t e,j j,j+1 ,t e,j+1 j,j+1 ),…,(t E,j j,j+1 ,t E,j+1 j,j+1 )), t e,j j,j+1 C e j,j+1 Passing B j Time, t e,j+1 j,j+1 C e j,j+1 Passing B j+1 time; S33, obtain the number of B j and B j+1 The speed of the vehicle V j,j+1 =(V 1 j,j+1 ,V 2 j,j+1 ,…,V e j,j+1 ,…,V E j,j+1 ), V e j,j+1 C e j,j+1 Passing B j and B j+1 The average speed of the vehicle, V e j,j+1 =L j,j+1 / (t e,j+1 j,j+1 -t e ,j j,j+1 ); S34, V j,j+1 The average speed of the first F vehicles with the largest speed is taken as B j With B j+1 The average speed of vehicles passing without stopping V 1 j,j+1 , F is the preset number of vehicles.

4. The vehicle information processing method based on the image acquisition device according to claim 2 is characterized in that: T3=1s, T4=3s, T1=4s, T2=8s.

5. The vehicle information processing method based on the image acquisition device according to claim 4 is characterized in that: Q＝6。 6. The vehicle information processing method based on the image acquisition device according to claim 3 is characterized in that: F=0.1×E.

7. The vehicle information processing method based on the image acquisition device according to claim 1 is characterized in that: The image acquisition device is a bayonet device.

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