Vehicle displacement determination method, device, equipment and storage medium

Abstract

The present invention provides a method, device, equipment and storage medium for determining vehicle displacement, which relates to the field of image processing technology. The method comprises: respectively obtaining a first distance between a collection device and the vehicle when the vehicle is at a first position, and a second distance between the collection device and the vehicle when the vehicle travels to a second position; obtaining a first license plate image of the vehicle collected at the first position and a second license plate image of the vehicle collected at the second position; determining a first length of the license plate in the first license plate image and a second length of the license plate in the second license plate image; and determining the displacement of the vehicle based on the first distance, the second distance, the first length and the second length. The embodiments of the present invention can improve the accuracy of determining vehicle displacement.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to a vehicle displacement determination method, device, equipment and storage medium. Background Art

[0002] With the increasing development of intelligent transportation systems, accurate and efficient determination of vehicle displacement has become a key link in improving traffic management efficiency, optimizing route planning and enhancing road safety.

[0003] In intelligent transportation systems, millimeter-wave radars in integrated radar and vision devices are usually used to determine vehicle displacement. However, when using integrated radar and vision devices to determine displacement using millimeter-wave radars, the error of a single radar is large, resulting in low accuracy in the determined vehicle displacement. Summary of the invention

[0004] The present invention provides a vehicle displacement determination method, device, equipment and storage medium, which are used to solve the defect of low accuracy of vehicle displacement determined in the prior art and achieve the purpose of improving the accuracy of vehicle displacement determination.

[0005] The present invention provides a method for determining vehicle displacement, comprising:

[0006] Respectively acquiring a first distance between the acquisition device and the vehicle when the vehicle is at a first position, and a second distance between the acquisition device and the vehicle when the vehicle travels to a second position;

[0007] Acquire a first license plate image of the vehicle captured at the first position and a second license plate image of the vehicle captured at the second position;

[0008] Determining a first length of the license plate in the first license plate image and a second length of the license plate in the second license plate image;

[0009] Based on the first distance, the second distance, the first length, and the second length, a displacement of the vehicle is determined.

[0010] According to a method for determining vehicle displacement provided by the present invention, determining the displacement of the vehicle based on the first distance, the second distance, the first length, and the second length includes:

[0011] Based on the first length, determine a first angle, where the first angle is the angle between a line connecting the position of the acquisition device and the first position and a first line segment, where the first line segment passes through the position of the acquisition device and an extension direction of the first line segment is parallel to an extension direction of the road;

[0012] Based on the second length, determining a second angle, where the second angle is an angle between a line connecting the position of the acquisition device and the second position and the first line segment;

[0013] A displacement of the vehicle is determined based on the first distance, the second distance, the first angle, and the second angle.

[0014] According to a vehicle displacement determination method provided by the present invention, determining a first angle based on the first length includes:

[0015] Projecting the first license plate image onto a first plane to obtain a first projected license plate image, wherein the first plane is perpendicular to the first line segment;

[0016] The first angle is determined based on the length of the license plate in the first projected license plate image and the first length.

[0017] According to a vehicle displacement determination method provided by the present invention, determining a first angle based on the first length includes:

[0018] Based on the correspondence between the angle and the length of the photographed license plate, determine a third angle corresponding to the first length, the third angle being the angle between a line connecting the position of the acquisition device and the first position and a second line segment, the second line segment passing through the first position and being perpendicular to the first line segment;

[0019] Based on the third angle, the first angle is determined.

[0020] According to a vehicle displacement determination method provided by the present invention, determining the second angle based on the second length includes:

[0021] Projecting the second license plate image onto a second plane to obtain a second projected license plate image, wherein the second plane is perpendicular to the first line segment;

[0022] The second angle is determined based on the length of the license plate in the second projected license plate image and the second length.

[0023] According to a method for determining vehicle displacement provided by the present invention, determining the displacement of the vehicle based on the first distance, the second distance, the first angle, and the second angle includes:

[0024] Based on the first angle and the second angle, determine a fourth angle, where the fourth angle is the angle between a line connecting the location of the acquisition device and the first location and a line connecting the location of the acquisition device and the second location;

[0025] Based on the first distance, the second distance, and the fourth angle, a displacement of the vehicle is determined.

[0026] According to a vehicle displacement determination method provided by the present invention, the method further includes:

[0027] Obtaining a target time for the vehicle to travel from the first position to the second position;

[0028] Based on the displacement and the target duration, a travel speed of the vehicle is determined.

[0029] The present invention also provides a vehicle displacement determination device, comprising:

[0030] an acquisition module, used to respectively acquire a first distance between the acquisition device and the vehicle when the vehicle is at a first position, and a second distance between the acquisition device and the vehicle when the vehicle travels to a second position;

[0031] The acquisition module is further used to acquire a first license plate image of the vehicle acquired at the first position and a second license plate image of the vehicle acquired at the second position;

[0032] a determination module, configured to determine a first length of the license plate in the first license plate image and a second length of the license plate in the second license plate image;

[0033] The determination module is further used to determine the displacement of the vehicle based on the first distance, the second distance, the first length and the second length.

[0034] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any of the above-mentioned vehicle displacement determination methods is implemented.

[0035] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle displacement determination method described in any one of the above is implemented.

[0036] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the vehicle displacement determination method described in any one of the above is implemented.

[0037] The vehicle displacement determination method, device, equipment and storage medium provided by the present invention obtains a first distance between a collection device and the vehicle when the vehicle is at a first position, and a second distance between the collection device and the vehicle when the vehicle travels to a second position, and obtains a first license plate image of the vehicle collected at the first position and a second license plate image of the vehicle collected at the second position, and after determining a first length of the license plate in the first license plate image and a second length of the license plate in the second license plate image, the displacement of the vehicle is determined based on the first distance, the second distance, the first length and the second length. Since the first length and the second length of the license plate collected by the image collection device can be combined with the first distance and the second distance collected by the radar to jointly determine the displacement of the vehicle, the error of the vehicle displacement determined by the low-specification millimeter-wave radar in the roadside installation scenario can be compensated based on the first length and the second length, thereby improving the accuracy of the determined vehicle displacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 This is a flow chart of a method for determining vehicle displacement provided in an embodiment of the present invention.

[0040] Figure 2 A schematic diagram of vehicle driving provided by an embodiment of the present invention.

[0041] Figure 3 The second flowchart of the vehicle displacement determination method provided in the embodiment of the present invention.

[0042] Figure 4 A schematic diagram of a first license plate image provided by an embodiment of the present invention.

[0043] Figure 5 A schematic diagram of determining vehicle displacement according to an embodiment of the present invention.

[0044] Figure 6 A schematic diagram of the structure of a vehicle displacement determination device provided in an embodiment of the present invention.

[0045] Figure 7 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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 are within the scope of protection of the present invention.

[0047] The radar-vision integrated machine is an intelligent roadside perception device that integrates millimeter-wave radar and intelligent visual camera. When determining vehicle displacement through the millimeter-wave radar in the radar-vision integrated machine, the millimeter-wave radar has lower positioning accuracy and larger errors compared with other high-precision positioning technologies such as the Global Positioning System (GPS) and LiDAR, resulting in inaccurate determination of vehicle displacement. However, if the above-mentioned high-precision positioning technology is adopted, other hardware equipment must be added. Therefore, how to improve the determined vehicle displacement without adding other hardware equipment is a technical problem that needs to be solved urgently.

[0048] In response to the above problems, an embodiment of the present invention provides a method for determining vehicle displacement. In this method, a radar and an image acquisition device are combined, and the image acquired by the image acquisition device is used as auxiliary information for radar positioning to calculate the vehicle displacement. In addition, since the radar and image acquisition device are included in the radar-vision integrated machine, there is no need to install additional equipment. Therefore, the accuracy of calculating the driving displacement of a moving vehicle by a low-specification radar in a roadside installation scenario can be improved without adding other hardware equipment.

[0049] Combine the following Figure 1-Figure 5 The vehicle displacement determination method provided by an embodiment of the present invention is described. The embodiment of the present invention can be applied to any scenario where the vehicle displacement needs to be determined, such as positioning or measuring the speed of the vehicle. The execution subject of the method can be an electronic device such as a radar-visual integrated machine, a computer, a server, a server cluster, or a specially designed vehicle displacement determination device, or a vehicle displacement determination device set in the electronic device, and the vehicle displacement determination device can be implemented by software, hardware, or a combination of the two.

[0050] Figure 1 One of the flow charts of the vehicle displacement determination method provided by the embodiment of the present invention is as follows: Figure 1 As shown, the method includes:

[0051] Step 101: respectively obtaining a first distance between a collection device and the vehicle when the vehicle is at a first position, and a second distance between the collection device and the vehicle when the vehicle travels to a second position.

[0052] in, Figure 2 A schematic diagram of vehicle driving provided by an embodiment of the present invention, such as Figure 2 As shown, the vehicle is currently in motion, and it travels from the first position to the second position after the target time has passed. The above-mentioned acquisition device can be a radar separately set on the roadside, or a millimeter-wave radar in a radar-vision integrated machine.

[0053] Through the ranging principle, the radar can obtain a first distance between the radar and the vehicle when the vehicle is at a first position, and a second distance between the radar and the vehicle after the vehicle travels to a second position.

[0054] Step 102: Acquire a first license plate image of a vehicle captured at a first position and a second license plate image of a vehicle captured at a second position.

[0055] In this step, the first license plate image of the vehicle at the first position and the second license plate image of the vehicle at the second position can be obtained by the image acquisition device, wherein the first license plate image and the second license plate image both include the license plate of the vehicle. The image acquisition device can be a camera in the radar-vision integrated machine, or a camera separately set on the roadside, wherein if the image acquisition device is a camera separately set on the roadside, it should be set at the same position as the above-mentioned radar separately set on the roadside.

[0056] Step 103: Determine a first length of the license plate in the first license plate image and a second length of the license plate in the second license plate image.

[0057] In this step, it should be understood that since the image acquisition device is set on the roadside, there will be a non-90° angle between the image acquisition device and the license plate of the vehicle. Therefore, the license plate photographed by the image acquisition device will be deformed, resulting in the length of the photographed license plate being inconsistent with the actual length of the license plate. In addition, the angle when the image acquisition device captures the first license plate image at the first position and the angle when the image acquisition device captures the second license plate image at the second position may be different. Therefore, the first length of the license plate captured in the first license plate image and the second length of the license plate captured in the second license plate image may also be different.

[0058] For example, the first length may be determined based on the number of pixels occupied by the license plate in the first license plate image, and similarly, the second length may be determined based on the number of pixels occupied by the license plate in the second license plate image.

[0059] Step 104: Determine the displacement of the vehicle based on the first distance, the second distance, the first length, and the second length.

[0060] In this step, the displacement of the vehicle can be determined based on the first distance and the second distance collected by the radar in combination with the first length and the second length of the license plate collected by the image acquisition device.

[0061] The vehicle displacement determination method provided by the embodiment of the present invention determines the displacement of the vehicle based on the first distance, the second distance, the first length, and the second length of the license plate in the first license plate image by acquiring the first distance between the acquisition device and the vehicle when the vehicle is at the first position and the second distance between the acquisition device and the vehicle when the vehicle travels to the second position, and acquiring the first license plate image of the vehicle acquired at the first position and the second license plate image of the vehicle acquired at the second position, and determining the first length of the license plate in the first license plate image and the second length of the license plate in the second license plate image. Since the first length and the second length of the license plate acquired by the image acquisition device can be combined with the first distance and the second distance acquired by the radar to jointly determine the displacement of the vehicle, the error of the vehicle displacement determined by the low-specification millimeter-wave radar in the roadside installation scenario can be compensated based on the first length and the second length, thereby improving the accuracy of the determined vehicle displacement.

[0062] Figure 3 The second flow chart of the vehicle displacement determination method provided by the embodiment of the present invention is as follows. Figure 1 The specific implementation process of how to determine the displacement of the vehicle based on the first distance, the second distance, the first length and the second length in step 104 of the illustrated embodiment is described in detail. Figure 3 As shown, the method includes:

[0063] Step 301: Based on the first length, determine a first angle, which is the angle between a line connecting the location of the acquisition device and the first location and a first line segment, the first line segment passes through the location of the acquisition device, and an extension direction of the first line segment is parallel to an extension direction of the road.

[0064] Figure 4 A schematic diagram of a first license plate image provided by an embodiment of the present invention, wherein: Figure 4 It can be understood as a bird's-eye view when taking a license plate capture. Figure 4 As shown, A represents the first position, E represents the position where the acquisition device is installed, and the first length is the length of the license plate in the first license plate image acquired when the vehicle is at position A. The first angle is the angle θ1 between the line segment EA and the line segment EF, wherein the line segment EA represents the line between the position where the acquisition device is located and the first position, and the line segment EF is a line segment passing through the position where the acquisition device is located, and the extension direction is parallel to the extension direction of the road. For example, one of the endpoints of the line segment EF can be the position where the acquisition device is located, and the extension direction is the same as the extension direction of the road. The line segment EF is also the first line segment mentioned above.

[0065] In one possible implementation, when determining the first angle based on the first length, it can be done as follows: project the first license plate image onto a first plane to obtain a first projected license plate image, the first plane and the first line segment are perpendicular, and determine the first angle based on the length of the license plate in the first projected license plate image and the first length.

[0066] Specifically, continue to refer to Figure 4 As shown, when capturing an image of a vehicle at a first position A, a first license plate image containing a deformed license plate can be obtained in a zoomed-in scene, wherein the length of the license plate in the first license plate image is different from the actual length. By projecting the captured first license plate image onto a first plane, a first projected license plate image can be obtained. It should be understood that the length of the license plate in the first projected license plate image obtained after the projection is the same as the actual length of the license plate. The first plane is the plane where the line segment AF is located, which is perpendicular to the line segment EF.

[0067] After projecting the first license plate image, a right triangle CBD can be formed. Since the line segment CB is parallel to the line segment AE, the angles θ4 and θ6 are equal. Therefore, it can be seen that the right triangle CBD is similar to the right triangle AFE, so it can be determined that θ1 and θ3 are equal.

[0068] Furthermore, when determining θ3, since the actual length of the vehicle license plate is fixed, the actual length of the license plate in the first license plate image can be determined by identifying the color of the license plate in the first license plate image and based on the pre-stored correspondence between the color and the actual length of the license plate. The actual length is also the length of the license plate in the first projected license plate image. For example, the size of the blue license plate of a motor vehicle is In the right triangle CBD, based on the first length BD, the length CD of the license plate in the first projected license plate image and the arccosine function, the angle θ3 can be determined. Since θ1 and θ3 are equal, the value of the angle θ3 is the value of the first angle θ1.

[0069] In this embodiment, after obtaining the first projected license plate image by projecting the first license plate image onto the first plane, the first angle is determined based on the length of the license plate in the first projected license plate image and the first length. Since the positional relationship between the acquisition device and the vehicle can be abstracted as geometric figures, the first angle can be determined simply and quickly through the relationship between these geometric figures.

[0070] In another possible implementation, when determining the first angle based on the first length, it can also be done based on the following method: based on the correspondence between the angle and the length of the photographed license plate, determine the third angle corresponding to the first length, the third angle is the angle between the line connecting the position of the acquisition device and the first position and the second line segment, the second line segment passes through the first position and is perpendicular to the first line segment; based on the third angle, determine the first angle.

[0071] Specifically, the length of the license plate captured by the image acquisition device is related to the shooting angle. When the image acquisition device is facing the license plate, that is, the shooting direction of the image acquisition device is perpendicular to the front of the license plate, the length of the license plate captured is the same as the actual length of the license plate. The larger the angle between the shooting direction and the front of the license plate, the greater the deformation of the captured license plate. Therefore, there is a corresponding relationship between the angle between the shooting direction and the front of the license plate and the length of the captured license plate. The corresponding relationship can be obtained by pre-shooting at different angles, recording the angle and the length of the captured license plate, and then fitting.

[0072] By querying the above correspondence, the third angle corresponding to the first length can be determined, such as Figure 4 As shown, the third angle is θ6, which is the angle between the line segment EA and the line segment AF, which represents the angle between the shooting direction of the image acquisition device and the front of the license plate of the vehicle at the first position. Wherein, the line segment EA represents the line between the position where the acquisition device is located and the first position, and the line segment AF is a line segment passing through the first position and perpendicular to the first line segment EF. For example, one of the endpoints of the line segment AF can be the first position, and the extension direction is perpendicular to the first line segment EF. The line segment AF is also the second line segment mentioned above.

[0073] After the value of the third angle θ6 is determined, the first angle θ1 can be calculated in the triangle AFE.

[0074] In this embodiment, by querying the correspondence between the angle and the length of the photographed license plate, after determining the third angle corresponding to the first length, the first angle can be quickly determined based on the third angle. The method of determining the first angle in this way is relatively simple and can greatly save computing resources.

[0075] Step 302: Based on the second length, determine a second angle, where the second angle is the angle between the first line segment and a line connecting the position of the acquisition device and the second position.

[0076] In one possible implementation, when determining the second angle based on the second length, it can be done as follows: project the second license plate image onto a second plane to obtain a second projected license plate image, the second plane is perpendicular to the first line segment, and based on the length of the license plate in the second projected license plate image and the second length, determine the second angle, wherein the second length is the length of the license plate captured in the second license plate image.

[0077] It should be understood that the method of determining the second angle is similar to the method of projecting the first license plate image onto the first plane and determining the first angle based on the length of the license plate in the first projected license plate image and the first length in the aforementioned embodiment. Figure 4 The A in the figure is replaced with the second position, the first license plate image obtained at the first position is replaced with the second license plate image obtained at the second position, and the second license plate image is projected to obtain a second projected license plate image. Other geometric figures constructed based on the second position, the position of the acquisition device, the second license plate image and the second projected license plate image are similar to the above embodiments and will not be repeated here.

[0078] In this embodiment, after obtaining the second projected license plate image by projecting the second license plate image onto the second plane, the second angle is determined based on the length of the license plate in the second projected license plate image and the second length. Since the positional relationship between the acquisition device and the vehicle can be abstracted as geometric figures, the second angle can be determined simply and quickly through the relationship between these geometric figures.

[0079] In another possible implementation, when determining the second angle based on the second length, it can also be done based on the following method: based on the correspondence between the angle and the length of the photographed license plate, determine the fifth angle corresponding to the second length, the fifth angle being the angle between the line connecting the position of the acquisition device and the second position and the third line segment, the third line segment passes through the second position and is perpendicular to the first line segment; based on the fifth angle, determine the second angle.

[0080] Specifically, similar to the aforementioned method of determining the first angle, it is necessary to predetermine the correspondence between the angle and the length of the photographed license plate. By querying the correspondence, the fifth angle corresponding to the second length can be obtained. The fifth angle represents the angle between the shooting direction of the image acquisition device and the front of the license plate of the vehicle at the second position.

[0081] After the fifth angle is determined, the second angle can be calculated based on the constructed geometric image. The specific determination method is similar to that for determining the first angle, and will not be repeated here.

[0082] In this embodiment, by querying the correspondence between the angle and the length of the photographed license plate, after determining the fifth angle corresponding to the second length, the second angle can be quickly determined based on the fifth angle. The method of determining the second angle in this way is relatively simple and can greatly save computing resources.

[0083] Step 303: Determine the displacement of the vehicle based on the first distance, the second distance, the first angle, and the second angle.

[0084] Specifically, after the first angle and the second angle are determined based on the license plate image captured by the image acquisition device, the displacement of the vehicle can be determined in combination with the first distance and the second distance captured by the radar.

[0085] Exemplarily, when determining the displacement of the vehicle based on the first distance, the second distance, the first angle and the second angle, a fourth angle can be determined based on the first angle and the second angle, where the fourth angle is the angle between a line connecting the location of the acquisition device and the first location and a line connecting the location of the acquisition device and the second location, and then the displacement of the vehicle is determined based on the first distance, the second distance and the fourth angle.

[0086] Specifically, Figure 5 A schematic diagram of determining the vehicle displacement provided by an embodiment of the present invention is shown in FIG. Figure 5 As shown, according to the method described in the aforementioned embodiments, the values ​​of the first angle θ1 and the second angle θ5 can be determined, and the fourth angle θ2 can be obtained by subtracting the first angle θ1 from the second angle θ5. The fourth angle θ2 is the angle between the line EA between the position of the acquisition device and the first position, and the line EG between the position of the acquisition device and the second position.

[0087] Continue to refer to Figure 5 As shown, in the triangle AGE, the cosine theorem can be used based on the first distance L1, the second distance L2 and the fourth angle θ2. , the length of ΔR can be determined, that is, the displacement of the vehicle from the first position to the second position. By simplifying the relationship between the first position of the vehicle, the second position and the position of the acquisition device into a geometric figure, the method of determining the displacement of the vehicle can be simplified, which can improve the efficiency of displacement determination and the accuracy.

[0088] In this embodiment, the first length and the second length of the license plate captured by the image acquisition device are combined with the first distance and the second distance captured by the radar to jointly determine the displacement of the vehicle. Based on the first length and the second length, the deviation in the radar measurement data can be corrected, thereby compensating for the error in the vehicle displacement determined by the low-specification millimeter-wave radar in the roadside installation scenario, and improving the accuracy of the determined vehicle displacement.

[0089] The error correction algorithm in video mode is combined with the radar algorithm to compensate for the error in the speed accuracy of moving targets in low-specification millimeter-wave radars installed on the roadside, improving the accuracy of the indicators of the side-mounted radar-vision integrated solution.

[0090] Exemplarily, based on the above embodiments, after determining the displacement of the vehicle, the target time for the vehicle to travel from the first position to the second position can be further obtained, and the vehicle's travel speed can be determined based on the displacement and the target time, thereby achieving the purpose of accurately measuring the vehicle's speed.

[0091] The vehicle displacement determination device provided by the present invention is described below. The vehicle displacement determination device described below and the vehicle displacement determination method described above can be referred to each other.

[0092] Figure 6 A schematic diagram of the structure of a vehicle displacement determination device provided by an embodiment of the present invention, referring to Figure 6 As shown, the vehicle displacement determination device 600 includes:

[0093] An acquisition module 11 is used to respectively acquire a first distance between the acquisition device and the vehicle when the vehicle is at a first position, and a second distance between the acquisition device and the vehicle when the vehicle travels to a second position;

[0094] The acquisition module 11 is further used to acquire a first license plate image of the vehicle acquired at the first position and a second license plate image of the vehicle acquired at the second position;

[0095] A determination module 12, configured to determine a first length of the license plate in the first license plate image and a second length of the license plate in the second license plate image;

[0096] The determination module 12 is further configured to determine the displacement of the vehicle based on the first distance, the second distance, the first length, and the second length.

[0097] In an exemplary embodiment, the determining module 12 is specifically configured to:

[0098] Based on the first length, determine a first angle, where the first angle is the angle between a line connecting the position of the acquisition device and the first position and a first line segment, where the first line segment passes through the position of the acquisition device and an extension direction of the first line segment is parallel to an extension direction of the road;

[0099] Based on the second length, determining a second angle, where the second angle is an angle between a line connecting the position of the acquisition device and the second position and the first line segment;

[0100] A displacement of the vehicle is determined based on the first distance, the second distance, the first angle, and the second angle.

[0101] In an exemplary embodiment, the determining module 12 is specifically configured to:

[0102] Projecting the first license plate image onto a first plane to obtain a first projected license plate image, wherein the first plane is perpendicular to the first line segment;

[0103] The first angle is determined based on the length of the license plate in the first projected license plate image and the first length.

[0104] In an exemplary embodiment, the determining module 12 is specifically configured to:

[0105] Based on the correspondence between the angle and the length of the photographed license plate, determine a third angle corresponding to the first length, the third angle being the angle between a line connecting the position of the acquisition device and the first position and a second line segment, the second line segment passing through the first position and being perpendicular to the first line segment;

[0106] Based on the third angle, the first angle is determined.

[0107] In an exemplary embodiment, the determining module 12 is specifically configured to:

[0108] Projecting the second license plate image onto a second plane to obtain a second projected license plate image, wherein the second plane is perpendicular to the first line segment;

[0109] The second angle is determined based on the length of the license plate in the second projected license plate image and the second length.

[0110] In an exemplary embodiment, the determining module 12 is specifically configured to:

[0111] Based on the first angle and the second angle, determine a fourth angle, where the fourth angle is the angle between a line connecting the location of the acquisition device and the first location and a line connecting the location of the acquisition device and the second location;

[0112] Based on the first distance, the second distance, and the fourth angle, a displacement of the vehicle is determined.

[0113] In an exemplary embodiment, the acquisition module 11 is further used to acquire a target time duration for the vehicle to travel from the first position to the second position;

[0114] The determination module 12 is further configured to determine the driving speed of the vehicle based on the displacement and the target duration.

[0115] The device of this embodiment can be used to execute the method of any embodiment in the embodiment of the vehicle displacement determination method side. Its specific implementation process and technical effects are similar to those in the embodiment of the vehicle displacement determination method side. For details, please refer to the detailed description in the embodiment of the vehicle displacement determination method side, which will not be repeated here.

[0116] Figure 7 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention, such as Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the vehicle displacement determination method, which includes: respectively acquiring a first distance between the acquisition device and the vehicle when the vehicle is at a first position, and a second distance between the acquisition device and the vehicle when the vehicle travels to a second position; acquiring a first license plate image of the vehicle acquired at the first position and a second license plate image of the vehicle acquired at the second position; determining a first length of the license plate in the first license plate image and a second length of the license plate in the second license plate image; and determining the displacement of the vehicle based on the first distance, the second distance, the first length and the second length.

[0117] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0118] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the vehicle displacement determination method provided by the above-mentioned methods, which includes: respectively obtaining a first distance between a collection device and the vehicle when the vehicle is at a first position, and a second distance between the collection device and the vehicle when the vehicle travels to a second position; obtaining a first license plate image of the vehicle collected at the first position and a second license plate image of the vehicle collected at the second position; determining a first length of the license plate in the first license plate image and a second length of the license plate in the second license plate image; and determining the displacement of the vehicle based on the first distance, the second distance, the first length and the second length.

[0119] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the vehicle displacement determination method provided by the above-mentioned methods, the method comprising: respectively acquiring a first distance between a collection device and the vehicle when the vehicle is at a first position, and a second distance between the collection device and the vehicle when the vehicle travels to a second position; acquiring a first license plate image of the vehicle collected at the first position and a second license plate image of the vehicle collected at the second position; determining a first length of the license plate in the first license plate image and a second length of the license plate in the second license plate image; and determining the displacement of the vehicle based on the first distance, the second distance, the first length and the second length.

[0120] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0121] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0122] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining vehicle displacement, characterized in that: include: Respectively acquiring a first distance between the acquisition device and the vehicle when the vehicle is at a first position, and a second distance between the acquisition device and the vehicle when the vehicle travels to a second position; Acquire a first license plate image of the vehicle captured at the first position and a second license plate image of the vehicle captured at the second position; Determining a first length of the license plate in the first license plate image and a second length of the license plate in the second license plate image; determining a displacement of the vehicle based on the first distance, the second distance, the first length, and the second length; The determining the displacement of the vehicle based on the first distance, the second distance, the first length, and the second length comprises: Based on the first length, determine a first angle, where the first angle is the angle between a line connecting the position of the acquisition device and the first position and a first line segment, where the first line segment passes through the position of the acquisition device and an extension direction of the first line segment is parallel to an extension direction of the road; Based on the second length, determining a second angle, where the second angle is an angle between a line connecting the position of the acquisition device and the second position and the first line segment; Determining a displacement of the vehicle based on the first distance, the second distance, the first angle, and the second angle; The determining the second angle based on the second length includes: Projecting the second license plate image onto a second plane to obtain a second projected license plate image, wherein the second plane is perpendicular to the first line segment; The second angle is determined based on the length of the license plate in the second projected license plate image and the second length.

2. The vehicle displacement determination method according to claim 1, characterized in that: The determining a first angle based on the first length includes: Projecting the first license plate image onto a first plane to obtain a first projected license plate image, wherein the first plane is perpendicular to the first line segment; The first angle is determined based on the length of the license plate in the first projected license plate image and the first length.

3. The vehicle displacement determination method according to claim 1, characterized in that: The determining a first angle based on the first length includes: Based on the correspondence between the angle and the length of the photographed license plate, determine a third angle corresponding to the first length, the third angle being the angle between a line connecting the position of the acquisition device and the first position and a second line segment, the second line segment passing through the first position and being perpendicular to the first line segment; Based on the third angle, the first angle is determined.

4. The vehicle displacement determination method according to claim 1, characterized in that: The determining the displacement of the vehicle based on the first distance, the second distance, the first angle, and the second angle includes: Based on the first angle and the second angle, determine a fourth angle, where the fourth angle is the angle between a line connecting the location of the acquisition device and the first location and a line connecting the location of the acquisition device and the second location; Based on the first distance, the second distance, and the fourth angle, a displacement of the vehicle is determined.

5. The vehicle displacement determination method according to any one of claims 1 to 4, characterized in that: The method further comprises: Obtaining a target time for the vehicle to travel from the first position to the second position; Based on the displacement and the target duration, a travel speed of the vehicle is determined.

6. A vehicle displacement determination device, characterized in that: include: an acquisition module, used to respectively acquire a first distance between the acquisition device and the vehicle when the vehicle is at a first position, and a second distance between the acquisition device and the vehicle when the vehicle travels to a second position; The acquisition module is further used to acquire a first license plate image of the vehicle acquired at the first position and a second license plate image of the vehicle acquired at the second position; a determination module, configured to determine a first length of the license plate in the first license plate image and a second length of the license plate in the second license plate image; The determination module is further configured to determine a displacement of the vehicle based on the first distance, the second distance, the first length, and the second length; The determination module is specifically used for: Based on the first length, determine a first angle, where the first angle is the angle between a line connecting the position of the acquisition device and the first position and a first line segment, where the first line segment passes through the position of the acquisition device and an extension direction of the first line segment is parallel to an extension direction of the road; Based on the second length, determining a second angle, where the second angle is an angle between a line connecting the position of the acquisition device and the second position and the first line segment; Determining a displacement of the vehicle based on the first distance, the second distance, the first angle, and the second angle; The determination module is specifically used for: Projecting the second license plate image onto a second plane to obtain a second projected license plate image, wherein the second plane is perpendicular to the first line segment; The second angle is determined based on the length of the license plate in the second projected license plate image and the second length.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the vehicle displacement determination method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle displacement determination method according to any one of claims 1 to 5 is implemented.

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