Ultrasonic-based highway spill detection method, equipment and medium

Abstract

The embodiment of the present invention discloses a method, device and medium for detecting spilled objects on a highway based on ultrasonic waves, and relates to the field of road traffic technology. The method comprises: using ultrasonic equipment on a highway to detect obstacles; judging whether the detected obstacle is a moving vehicle; if not, judging whether the obstacle is a spilled object by a camera. This embodiment can realize accurate detection of spilled objects on a highway in insufficient light or in bad weather.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of road traffic technology, and in particular to an ultrasonic-based highway spilled object detection method, device and medium. Background Art

[0002] Highway spillage refers to cargo or naturally fallen vehicle parts left on the road during normal driving on the highway. Spillage left on the road will have a great impact on traffic safety, especially when driving at high speed.

[0003] In the existing technology, spilled objects on highways can be detected through video or radar, but these methods cannot accurately identify spilled objects in insufficient light or bad weather. Summary of the invention

[0004] The embodiments of the present invention provide a method, device and medium for detecting spilled objects on a highway based on ultrasound to solve the above technical problems.

[0005] In a first aspect, an embodiment of the present invention provides a method for detecting spilled objects on a highway based on ultrasound, comprising:

[0006] Obstacle detection using highway ultrasonic equipment;

[0007] Determine whether the detected obstacle is a moving vehicle;

[0008] If not, determine through the camera whether the obstacle is a spilled object.

[0009] In a second aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising:

[0010] one or more processors;

[0011] a memory for storing one or more programs,

[0012] When the one or more programs are executed by the one or more processors, the one or more processors implement the ultrasonic-based highway spilled object detection method described in any embodiment.

[0013] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the ultrasonic-based highway spilled object detection method described in any embodiment.

[0014] The embodiment of the present invention provides an ultrasonic-based method for detecting spilled objects on highways. The method uses roadside ultrasonic equipment to continuously emit ultrasonic waves to detect spilled objects. The method is not affected by light, shadow, lighting, rain, snow, fog and other weather conditions. At the same time, the interference of moving vehicles is eliminated by calculating the phase angle of the reflected wave. This solves the problem in the prior art that video detection of spilled objects is greatly affected by light, shadow, lighting, and radar detectors are greatly affected by driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 is a flow chart of a method for detecting spilled objects on a highway based on ultrasound provided by an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of the coverage range of an ultrasonic device provided by an embodiment of the present invention;

[0018] Figure 3 It is a schematic diagram of the whole process of detecting and early warning processing by cooperating with the monitoring system provided by the embodiment of the present invention;

[0019] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described clearly and completely below. 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 ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0021] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0022] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] The embodiment of the present invention provides a method for detecting spilled objects on a highway based on ultrasound. In order to explain the method, the method for detecting spilled objects on a highway using video or radar, which is improved in the background technology, is first explained. In the method for detecting spilled objects using video technology, a highway spilled object detection network model can be constructed, and the highway spilled object detection network model includes a potential candidate frame extraction module, a non-spilled object suppression module integrating scene semantic information, and an adaptive candidate frame screening module. However, the method has the following problems in practical application: on the one hand, the existing highway spilled object detection means generally use high-definition cameras installed on both sides of the road, with a resolution of 1024*968, the camera installation height outside the tunnel is 12 meters to 15 meters, and the camera installation height inside the tunnel is 8 meters. For most spilled objects, the target size area is less than 96x96 pixels, and some are even less than 32x32 pixels, which are typical small targets or even tiny targets. On the other hand, there are many types of spilled objects on highways, with different materials, shapes, sizes, etc. At the same time, due to the complexity of the road scene, it is easily affected by light, shadows, and lighting, and does not have universal features in the sense of images, which brings great challenges to the spilled object detection model. (3) Spilled objects composed of automobile parts, such as tires and vehicle reflectors, have structures, shapes, and textures that are easily integrated with road markings, traffic facilities, and components of normal driving vehicles in the scene. Such spilled object detection targets are often not clearly distinguishable from the background edge gradient, especially in harsh environments, which is more prone to ambiguity.

[0024] Among the methods of using radar technology to detect spilled objects, there is a trajectory method, that is, the vehicle has the ability to avoid spilled objects. Based on radar technology, historical vehicle trajectory data and real-time vehicle trajectory distribution can be obtained to statistically determine and identify spilled objects, thereby achieving indirect judgment of spilled objects without relying on visual sensors. This method can make good judgments on larger spilled objects, but it has a large delay and cannot be discovered immediately after the spilled objects hit the ground.

[0025] There is also a point cloud method, which filters the initial point cloud data to obtain the point cloud data of road spills; fits the boundary points of road spills in the point cloud data of road spills as cross-sectional contour points to obtain the geometric contour of road spills; transforms the geometric contour of road spills into contour point cloud data, and performs feature modeling based on the contour point cloud data to obtain a three-dimensional model of road spills; obtains a two-dimensional RGB image of the road spills from a screenshot of the front view of the three-dimensional model of road spills; and inputs the two-dimensional RGB image into the pre-trained YOLOX recognition network to obtain the recognition result of road spills. However, this method does not consider the interference of vehicles in scanning and distinguishing static road surfaces, and the vehicles that are constantly moving affect the discrimination of objects.

[0026] Based on the technical problems in the background technology and other specific problems in the above-mentioned detection methods, Figure 1 The flowchart of a method for detecting spilled objects on a highway based on ultrasound provided by an embodiment of the present invention is applicable to the detection of static spilled objects on a highway, especially the detection of spilled objects in low visibility or bad weather, and is performed by an electronic device. Figure 1 As shown, the method specifically includes:

[0027] S110. Utilize highway ultrasonic equipment to detect obstacles.

[0028] This embodiment uses ultrasonic equipment deployed on the side of the highway to continuously send ultrasonic waves to the highway driving area. If the ultrasonic equipment receives ultrasonic echoes, it means that there are obstacles on the highway. If no echoes are received, it means that there are no obstacles at present, and ultrasonic waves continue to be sent.

[0029] S120: Determine whether the detected obstacle is a moving vehicle.

[0030] When an obstacle is detected, the object may be a spilled object or a moving vehicle, and moving vehicles need to be further excluded at this time. Optionally, the time when the ultrasonic echo of the obstacle is first received can be recorded; if the ultrasonic echo can no longer be received after exceeding the set time, the obstacle is judged to be a moving vehicle. The set time is determined based on the detection range of the ultrasonic device and the driving speed of the highway, representing the maximum time from the vehicle entering the detection range of the ultrasonic device to driving out of the range. This method can detect moving vehicles with a faster driving speed. If the obstacle has disappeared within a period of time, it means that its moving speed is faster and it may be a spilled object.

[0031] Furthermore, the set time duration can be used as a judgment threshold for a moving vehicle, which can be determined by the following steps:

[0032] Step 1: Calculate the detection range of the ultrasonic device according to the coverage angle of the ultrasonic device and the width of the highway. Figure 2 First, the coverage angle θ1 of the ultrasonic device on the upstream road and the coverage angle θ2 of the downstream road can be obtained respectively; then, the coverage length L1 of the ultrasonic device on the upstream road and the coverage length L2 of the downstream road can be calculated respectively using the following formula:

[0033] L1=tanθ1*W

[0034] L2=tanθ2*W

[0035] Where W represents the road width.

[0036] Then the road length covered by the total coverage of the ultrasonic equipment is L=L1+L2.

[0037] Step 2: Using the road length covered by the detection range and the driving speed V of the highway, the duration of the vehicle passing through the detection range is obtained as the set duration T:

[0038]

[0039] If the obstacle is a moving vehicle, it must have left the detection range of the ultrasonic device within this time. If the ultrasonic device does not receive an echo after this time, it is determined that the obstacle is a moving vehicle.

[0040] Furthermore, in order to improve the accuracy of the threshold, multiple actual vehicle speeds on the highway can be collected to form a speed data set V = {V1, V2, V3, V4, ... V100}; then multiple durations are calculated using formula (1) to form a data set of T {T1, T2, T3, T4, ... T100}; finally, the data set of T is processed using a 3 times standard deviation algorithm to obtain an average duration threshold Tp as the set duration.

[0041] S130: If not, determine through a camera whether the obstacle is a spilled object.

[0042] If the ultrasonic device can still receive ultrasonic echoes after exceeding the set time, the obstacle may be a static spilled object or other slow-moving objects. At this time, the message can be reported to the monitoring system, and the camera can determine whether it is a spilled object through the preset position. If the spilled object does not affect traffic, it will be reported to the maintenance department for cleaning. If it affects traffic, the traffic police and road administration will be notified.

[0043] At the same time, the variable information sign closes the lane where the spilled object is located, the tweeter starts playing messages, and the induction lights start flashing. After the spilled object is dealt with, normal traffic is restored and the video data of the whole process is stored. The above whole process is as follows Figure 3 shown.

[0044] In summary, this embodiment provides a method for detecting spilled objects on highways based on ultrasound. It uses roadside ultrasonic equipment to continuously emit ultrasound to detect spilled objects. It is not affected by light, shadow, lighting, rain, snow, fog and other weather conditions. At the same time, the phase angle of the reflected wave is calculated to eliminate the interference of moving vehicles, solving the problem that video spilled object detection is greatly affected by light, shadow, and lighting, and radar detectors are greatly affected by driving in the prior art. In addition, the stationary ultrasound of the spilled objects can detect in the shortest time, which is faster than the trajectory method; compared with the radar point cloud method, the ultrasonic method adds relevant judgments on moving vehicles, has higher detection accuracy, and has a smaller investment, which is suitable for full-line promotion and application.

[0045] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the device includes a processor 60, a memory 61, an input device 62 and an output device 63; the number of processors 60 in the device can be one or more. Figure 4 A processor 60 is taken as an example; the processor 60, the memory 61, the input device 62 and the output device 63 in the device can be connected by a bus or other means. Figure 4 The example of connecting through bus is taken in the following.

[0046] The memory 61 is a computer-readable storage medium that can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the ultrasonic-based highway spilled object detection method in the embodiment of the present invention. The processor 60 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 61, that is, realizing the above-mentioned ultrasonic-based highway spilled object detection method.

[0047] The memory 61 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 61 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 61 may further include a memory remotely arranged relative to the processor 60, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0048] The input device 62 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 63 may include a display device such as a display screen.

[0049] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the ultrasonic-based highway spilled object detection method of any embodiment.

[0050] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0051] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0052] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0053] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting spilled objects on highways based on ultrasound, characterized in that: include: Continuously transmitting ultrasonic waves to the highway through ultrasonic equipment on the roadside of the highway; when the ultrasonic equipment receives ultrasonic echoes, determining that there are obstacles on the highway; Record the time when the ultrasonic echo of the obstacle is first received; if the ultrasonic echo can no longer be received after the set time, it is determined that the obstacle is a moving vehicle; If the obstacle is not a moving vehicle, determine whether the obstacle is a spilled object through a camera; The set duration is determined by: According to the coverage angle of the ultrasonic device and the width of the highway, the detection range of the ultrasonic device is calculated; specifically, the coverage angles of the ultrasonic device on the upstream road and the downstream road are obtained respectively; using the formula , respectively calculate the coverage length of the ultrasonic device on the upstream road and the downstream road, where, Indicates the road coverage length, Indicates the coverage angle of the ultrasonic device, Indicates the width of the road; The length of the road covered by the detection range and the driving speed of the highway are used to obtain the time duration for the driving vehicle to pass through the detection range as the set time duration.

2. The method according to claim 1, characterized in that The method of using the road length covered by the detection range and the driving speed of the highway to obtain the duration of the vehicle passing through the detection range as the set duration includes: Collecting a plurality of actual vehicle travel speeds on the expressway; The length of the road covered by the detection range is divided by each driving speed to obtain the time duration for each actual vehicle to pass through the detection range; Each duration is calculated using a 3-times standard deviation algorithm, and the calculation result is used as the set duration.

3. The method according to claim 1, characterized in that After determining whether the obstacle is a scattered object by using a camera if the obstacle is not a moving vehicle, the method further includes: If the obstacle is a spilled object, the lane is blocked by a variable message sign, and vehicles are induced to avoid the blocked lane by an acoustic and optical system.

4. The method according to claim 1, characterized in that: Applicable when light intensity is below a set threshold and / or in rain, snow, or fog.

5. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the ultrasonic-based highway spilled object detection method as described in any one of claims 1-4.

6. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the method for detecting spilled objects on a highway based on ultrasonic waves as described in any one of claims 1-4 is implemented.

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