Method and electronic device for determining vehicle trajectory

Abstract

An embodiment of the present application provides a method for determining a vehicle trajectory and an electronic device, the method comprising: acquiring a first fisheye image taken by a fisheye camera, the first fisheye image including a moving vehicle, and the first fisheye image including a target area; acquiring a second fisheye image taken by the fisheye camera, the second fisheye image including the moving vehicle, and the second fisheye image including the target area; determining first relative position information between the moving vehicle and the target area in the first fisheye image, and second relative position information between the moving vehicle and the target area in the second fisheye image; determining the vehicle trajectory of the moving vehicle based on the first relative position information and the second relative position information, thereby improving the monitoring effect of the vehicle.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of data processing, and more particularly to a method for determining a vehicle trajectory and an electronic device. Background Art

[0002] A surveillance system uses multiple sensors to monitor, observe, and record specific areas or objects. This system can be used to ensure regional security, improve management, and optimize resource allocation. These sensors can include geomagnetic sensors, ultrasonic sensors, and cameras.

[0003] For example, a monitoring system can be deployed in a parking lot. Multiple sensors in the monitoring system can be used to obtain real-time monitoring data from the parking lot. This data can then be used to implement various intelligent functions, such as indicating parking space status through geomagnetic and ultrasonic sensors, and identifying vehicles in parking spaces through cameras.

[0004] The current monitoring system is unable to accurately monitor the movement of vehicles in target scenarios such as parking lots, resulting in poor vehicle monitoring effects. Summary of the Invention

[0005] The embodiments of the present application provide a method and electronic device for determining a vehicle trajectory to address the defect in the prior art that the movement of vehicles in target scenarios such as parking lots cannot be accurately monitored, resulting in poor vehicle monitoring effects.

[0006] In a first aspect, the present application provides a method for determining a vehicle trajectory, the method comprising:

[0007] Acquire a first fisheye image captured by a fisheye camera, wherein the first fisheye image includes a moving vehicle and a target area;

[0008] Acquire a second fisheye image captured by the fisheye camera, where the second fisheye image includes the moving vehicle and the target area;

[0009] determining first relative position information between the moving vehicle and the target area in the first fisheye image, and second relative position information between the moving vehicle and the target area in the second fisheye image;

[0010] A vehicle trajectory of the moving vehicle is determined based on the first relative position information and the second relative position information.

[0011] In a possible implementation, determining the vehicle trajectory of the moving vehicle according to the first relative position information and the second relative position information includes:

[0012] determining, based on the first relative position information, whether the mobile vehicle is located in the target area;

[0013] If so, determining a first location area based on the first relative location information, and determining a vehicle trajectory of the moving vehicle based on the first location area and the second relative location information;

[0014] If not, when it is determined that the moving vehicle is located in the target area based on the second relative position information, the second position area is determined based on the second relative position information, and the vehicle trajectory of the moving vehicle is determined based on the first relative position information and the second position area.

[0015] In one possible implementation, determining the vehicle trajectory of the moving vehicle according to the first location area and the second relative position information includes:

[0016] determining, based on the second relative position information, whether the mobile vehicle is located in the target area;

[0017] If so, determining the second location area based on the second relative location information, and determining the vehicle trajectory of the moving vehicle based on the first location area and the second location area;

[0018] If not, determine the vehicle trajectory of the moving vehicle based on the first location area and the second relative position information.

[0019] In a possible implementation, determining the vehicle trajectory of the moving vehicle according to the first relative position information and the second position area includes:

[0020] determining a first vehicle trajectory direction based on the first relative position information and the second position area;

[0021] Taking the target point corresponding to the mobile vehicle in the first relative position information as a starting point, and along the first vehicle trajectory direction, determining a first intersection point intersecting with the boundary line corresponding to the target area;

[0022] Determining the first intersection point as a trajectory starting point of the vehicle trajectory and determining any point in the second position area as a trajectory ending point of the vehicle trajectory;

[0023] A line connecting the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

[0024] In a possible implementation, determining the vehicle trajectory of the moving vehicle according to the first location area and the second location area includes:

[0025] Determining any point of the first position area as a trajectory starting point of the vehicle trajectory;

[0026] determining an arbitrary point in the second position area as a trajectory end point of the vehicle trajectory;

[0027] A line connecting the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

[0028] In one possible implementation, determining the vehicle trajectory of the moving vehicle according to the first location area and the second relative position information includes:

[0029] determining a second vehicle trajectory direction based on the first position area and the second relative position information;

[0030] Taking any point in the first position area as a starting point and following the second vehicle trajectory direction, determining a second intersection point intersecting with a corresponding boundary line of the target area;

[0031] Determine an arbitrary point in the first position area as a trajectory starting point of the vehicle trajectory, and determine the second intersection point as a trajectory ending point of the vehicle trajectory;

[0032] A line connecting the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

[0033] In a possible implementation, the first relative position information includes a target point corresponding to the mobile vehicle and a two-dimensional area corresponding to the target area. Determining the first position area based on the first relative position information includes:

[0034] Acquire multiple grid areas corresponding to the two-dimensional area;

[0035] Determining positional relationships between the target point and a plurality of grid areas respectively by a ray method, wherein the positional relationships are used to indicate that the grid areas include the target point or that the grid areas do not include the target point;

[0036] A grid area including the target point is determined as a first location area.

[0037] In a possible implementation, for any grid area, determining the positional relationship between the target point and the grid area using a ray method includes:

[0038] Setting a plurality of rays on the target point;

[0039] For any ray, determine the number of intersections between the ray and the grid area;

[0040] If there is a ray among the multiple rays whose number of intersection points is even, determining that the grid area does not include the target point;

[0041] If there is a ray among the multiple rays and the number of intersection points corresponding to the ray is an odd number, it is determined that the grid area includes the target point.

[0042] In a second aspect, the present application provides a method for determining a vehicle trajectory, the method comprising:

[0043] receiving a plurality of identification information respectively sent by a plurality of fisheye cameras, wherein the identification information includes vehicle information and a vehicle trajectory of a moving vehicle;

[0044] determining at least one target mobile vehicle based on the vehicle information in the plurality of identification information;

[0045] For any target mobile vehicle, at least one vehicle trajectory corresponding to the target mobile vehicle is determined from the multiple identification information, and a target moving trajectory corresponding to the target mobile vehicle in the target scene is determined based on the at least one vehicle trajectory.

[0046] In one possible implementation, determining, based on the at least one vehicle trajectory, a target movement trajectory corresponding to the target mobile vehicle in the target scene includes:

[0047] Determining a scene position corresponding to each of the at least one vehicle track, wherein the scene position is a position of the vehicle track in the target scene;

[0048] splicing the at least one vehicle trajectory according to at least one scene position to obtain a current moving trajectory of the target mobile vehicle in the target scene;

[0049] Determine whether the target moving vehicle has a historical moving trajectory;

[0050] If so, determining the target movement trajectory according to the current movement trajectory and the historical movement trajectory;

[0051] If not, the current moving trajectory is determined as the target moving trajectory.

[0052] In a possible implementation, determining a scene position corresponding to any partial movement trajectory of the vehicle includes:

[0053] Determining a fisheye camera identifier corresponding to the vehicle trajectory;

[0054] A scene position corresponding to the vehicle trajectory is determined according to the fisheye camera identifier.

[0055] In a possible implementation, after determining the target movement trajectory corresponding to the target mobile vehicle in the target scene, the method further includes:

[0056] According to the target moving trajectory, the terminal position of the target moving vehicle is determined.

[0057] In a third aspect, the present application provides a vehicle trajectory determination device, the device comprising:

[0058] A first acquisition module is configured to acquire a first fisheye image captured by a fisheye camera, wherein the first fisheye image includes a moving vehicle and a target area;

[0059] a second acquisition module, configured to acquire a second fisheye image captured by the fisheye camera, wherein the second fisheye image includes the moving vehicle and the target area;

[0060] a first determining module, configured to determine first relative position information between the moving vehicle and the target area in the first fisheye image, and second relative position information between the moving vehicle and the target area in the second fisheye image;

[0061] The second determining module is configured to determine the vehicle trajectory of the moving vehicle based on the first relative position information and the second relative position information.

[0062] In a possible implementation, the second determining module is specifically configured to:

[0063] determining, based on the first relative position information, whether the mobile vehicle is located in the target area;

[0064] If so, determining a first location area based on the first relative location information, and determining a vehicle trajectory of the moving vehicle based on the first location area and the second relative location information;

[0065] If not, when it is determined that the moving vehicle is located in the target area based on the second relative position information, the second position area is determined based on the second relative position information, and the vehicle trajectory of the moving vehicle is determined based on the first relative position information and the second position area.

[0066] In a possible implementation, the second determining module is specifically configured to:

[0067] determining, based on the second relative position information, whether the mobile vehicle is located in the target area;

[0068] If so, determining the second location area based on the second relative location information, and determining the vehicle trajectory of the moving vehicle based on the first location area and the second location area;

[0069] If not, determine the vehicle trajectory of the moving vehicle based on the first location area and the second relative position information.

[0070] In a possible implementation, the second determining module is specifically configured to:

[0071] determining a first vehicle trajectory direction based on the first relative position information and the second position area;

[0072] Taking the target point corresponding to the mobile vehicle in the first relative position information as a starting point, and along the first vehicle trajectory direction, determining a first intersection point intersecting with the boundary line corresponding to the target area;

[0073] Determining the first intersection point as a trajectory starting point of the vehicle trajectory and determining any point in the second position area as a trajectory ending point of the vehicle trajectory;

[0074] A line connecting the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

[0075] In a possible implementation, the second determining module is specifically configured to:

[0076] Determining an arbitrary point in the first position area as a trajectory starting point of the vehicle trajectory;

[0077] determining an arbitrary point in the second position area as a trajectory end point of the vehicle trajectory;

[0078] A line connecting the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

[0079] In a possible implementation, the second determining module is specifically configured to:

[0080] determining a second vehicle track direction based on the first position area and the second relative position information;

[0081] Taking any point in the first position area as a starting point and following the second vehicle trajectory direction, determining a second intersection point intersecting with a corresponding boundary line of the target area;

[0082] Determine an arbitrary point in the first position area as a trajectory starting point of the vehicle trajectory, and determine the second intersection point as a trajectory ending point of the vehicle trajectory;

[0083] A line connecting the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

[0084] In a possible implementation, the first relative position information includes a target point corresponding to the mobile vehicle and a two-dimensional area corresponding to the target area, and the second determination module is specifically configured to:

[0085] Acquire multiple grid areas corresponding to the two-dimensional area;

[0086] Determining positional relationships between the target point and a plurality of grid areas respectively by a ray method, wherein the positional relationships are used to indicate that the grid areas include the target point or that the grid areas do not include the target point;

[0087] A grid area including the target point is determined as a first location area.

[0088] In a possible implementation, for any grid area, the second determining module is specifically configured to:

[0089] Setting a plurality of rays on the target point;

[0090] For any ray, determine the number of intersections between the ray and the grid area;

[0091] If there is a ray among the multiple rays whose number of intersection points is even, determining that the grid area does not include the target point;

[0092] If there is a ray among the multiple rays and the number of intersection points corresponding to the ray is an odd number, it is determined that the grid area includes the target point.

[0093] In a fourth aspect, the present application provides a vehicle trajectory determination device, the device comprising:

[0094] a receiving module, configured to receive a plurality of identification information respectively transmitted by the plurality of fisheye cameras, wherein the identification information includes vehicle information and vehicle tracks of the moving vehicle;

[0095] an identification module, configured to determine at least one target mobile vehicle based on vehicle information in the plurality of identification information;

[0096] The processing module is used to determine, for any target mobile vehicle, at least one vehicle trajectory corresponding to the target mobile vehicle from the multiple identification information, and determine, based on the at least one vehicle trajectory, a target movement trajectory corresponding to the target mobile vehicle in a target scene.

[0097] In a possible implementation, the processing module is specifically configured to:

[0098] Determining a scene position corresponding to each of the at least one vehicle track, wherein the scene position is a position of the vehicle track in the target scene;

[0099] splicing the at least one vehicle trajectory according to at least one scene position to obtain a current moving trajectory of the target mobile vehicle in the target scene;

[0100] Determine whether the target moving vehicle has a historical moving trajectory;

[0101] If so, determining the target movement trajectory according to the current movement trajectory and the historical movement trajectory;

[0102] If not, the current moving trajectory is determined as the target moving trajectory.

[0103] In a possible implementation, for any partial movement trajectory, the processing module is specifically configured to:

[0104] Determining a fisheye camera identifier corresponding to the vehicle trajectory;

[0105] A scene position corresponding to the vehicle trajectory is determined according to the fisheye camera identifier.

[0106] In a possible implementation, the processing module further includes:

[0107] According to the target moving trajectory, the terminal position of the target moving vehicle is determined.

[0108] In a fifth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0109] The memory stores computer-executable instructions;

[0110] The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of the first aspects.

[0111] In a sixth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0112] The memory stores computer-executable instructions;

[0113] The processor executes the computer-executable instructions stored in the memory to implement the method described in any one of the second aspects.

[0114] In a seventh aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first aspects.

[0115] In an eighth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the second aspects.

[0116] In a ninth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a computer, implements the method as described in any one of the first aspects.

[0117] In a tenth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a computer, implements the method as described in any one of the second aspects.

[0118] The embodiments of the present application provide a method and electronic device for determining a vehicle trajectory. The method comprises: obtaining a first fisheye image taken by a fisheye camera, the first fisheye image including a moving vehicle and a target area; obtaining a second fisheye image taken by the fisheye camera, the second fisheye image including a moving vehicle and a target area; determining first relative position information between the moving vehicle and the target area in the first fisheye image, and second relative position information between the moving vehicle and the target area in the second fisheye image; and determining the vehicle trajectory of the moving vehicle based on the first relative position information and the second relative position information. In this way, the corresponding vehicle trajectory between the two fisheye images can be determined based on the relative position information, eliminating the need to determine the vehicle trajectory based on the precise coordinate position of the moving vehicle in the target area, thereby reducing the amount of calculation and improving data processing efficiency, thereby enhancing the monitoring effect of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0119] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to 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 any creative labor.

[0120] Figure 1 A schematic diagram of an application scenario provided in an embodiment of the present application;

[0121] Figure 2 A schematic flow chart of a method for determining a vehicle trajectory provided in an embodiment of the present application;

[0122] Figure 3 A schematic diagram of a target area provided in an embodiment of the present application;

[0123] Figure 4 A flowchart of another method for determining a vehicle trajectory provided in an embodiment of the present application;

[0124] Figure 5 A flowchart of another method for determining a vehicle trajectory provided in an embodiment of the present application;

[0125] Figure 6 A schematic diagram of a grid area provided in an embodiment of the present application;

[0126] Figure 7 A schematic diagram of a method for determining positional relationship by ray method provided in an embodiment of the present application;

[0127] Figure 8 A flowchart of another method for determining a vehicle trajectory provided in an embodiment of the present application;

[0128] Figure 9 A flowchart of another method for determining a vehicle trajectory provided in an embodiment of the present application;

[0129] Figure 10 A schematic diagram of a scene movement trajectory provided in an embodiment of the present application;

[0130] Figure 11 A schematic diagram of a current movement trajectory provided in an embodiment of the present application;

[0131] Figure 12 A schematic diagram of the structure of a vehicle trajectory determination device provided in an embodiment of the present application;

[0132] Figure 13 A schematic diagram of the structure of another vehicle trajectory determination device provided in an embodiment of the present application;

[0133] Figure 14 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0134] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0135] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0136] It should be noted that although the terms "first" and "second" are used in the embodiments of this application to describe various information, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from each other. Alternatively, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information.

[0137] It should be understood that the terms "comprise" and "include" indicate the presence of the previously mentioned features, steps, or operations, but do not exclude the presence, occurrence, or addition of one or at least one other feature, step, or operation. The terms "and / or" and the like used in this application may be interpreted as inclusive, or may mean any one or any combination. Alternatively, "A and / or B" means "any of the following: A; B; A and B." In addition, the character " / " in this document generally indicates that the preceding and following objects are in an "or" relationship.

[0138] A surveillance system uses multiple sensors to monitor, observe, and record specific areas or objects. This system can be used to ensure regional security, improve management, and optimize resource allocation. These sensors can include geomagnetic sensors, ultrasonic sensors, and cameras.

[0139] For example, a monitoring system can be deployed in a parking lot. Multiple sensors in the monitoring system can be used to obtain real-time monitoring data from the parking lot. This data can then be used to implement various intelligent functions, such as indicating parking space status through geomagnetic and ultrasonic sensors, and identifying vehicles in parking spaces through cameras.

[0140] Next, combine Figure 1 , an example is given to illustrate the monitoring system in a parking lot.

[0141] Figure 1 This is a schematic diagram of an application scenario provided by the embodiment of this application. Figure 1 , Figure 1 The system may include a monitoring system 100 , which may include a plurality of sensors 101 , a control and management platform 102 , and a display terminal 103 .

[0142] The multiple sensors 101 may include a camera, a geomagnetic sensor, an ultrasonic sensor, etc.

[0143] Cameras can be installed at parking lot entrances, exits, aisles, and parking spaces. They can capture both images and video. They can be fixed or tilt-tilt cameras with adjustable angles.

[0144] Geomagnetic sensors can determine whether a vehicle is parked in a parking space by detecting changes in the Earth's magnetic field. When a vehicle enters a parking space, the magnetic field changes, and the sensor converts this change into an electrical signal, thereby determining the occupancy status of the parking space.

[0145] Ultrasonic sensors can emit ultrasonic waves and receive the reflected waves, and measure the distance between the vehicle and the sensor by calculating the time difference.

[0146] The control and management platform 102 may include servers, storage devices, management software, and the like.

[0147] The server can run the management software of the monitoring system and is responsible for device management, user rights management, data processing and analysis, etc.

[0148] The storage device can be a local storage device that can store surveillance data for a specific period of time. For example, a local storage device can be a hard disk recorder or a network video recorder. The storage device can also be a cloud storage device that can store data on a cloud server for remote access and backup.

[0149] The management software can provide a graphical interface for configuring monitoring parameters, viewing real-time video, playing back historical records, generating reports, etc.

[0150] The display terminal 103 can display the monitoring image of the parking lot in real time.

[0151] The current monitoring system is unable to accurately monitor the movement of vehicles in target scenarios such as parking lots, resulting in poor vehicle monitoring effects.

[0152] To solve the above technical problems, an embodiment of the present application provides a method for determining a vehicle trajectory. By respectively acquiring a first fisheye image and a second fisheye image taken by a fisheye camera, first relative position information between a moving vehicle and a target area in the first fisheye image and second relative position information between the moving vehicle and the target area in the second fisheye image are determined. Based on the first relative position information and the second relative position information, the vehicle trajectory of the moving vehicle is determined. In this way, the corresponding vehicle trajectory between the two fisheye images can be determined by the relative position information, eliminating the need to determine the vehicle trajectory based on the precise coordinate position of the moving vehicle in the target area. This reduces the amount of calculation and improves data processing efficiency, thereby improving the monitoring effect of the vehicle.

[0153] The technical solutions shown in this application are described in detail below through specific embodiments. It should be noted that the following embodiments can exist independently or in combination with each other, and the same or similar contents will not be repeated in different embodiments.

[0154] Figure 2This is a flow chart of a method for determining a vehicle trajectory provided by an embodiment of the present application. The execution subject of the embodiment of the present application may be a fisheye camera. Figure 2 , the method comprising:

[0155] S201: Acquire a first fisheye image captured by a fisheye camera.

[0156] A fisheye camera can be set up in the target scene.

[0157] The target scene can be a parking lot, a driving school training ground, etc., which is not limited here.

[0158] The first fisheye image includes a moving vehicle.

[0159] The moving vehicle may be a vehicle that is moving within a preset shooting range of the fisheye camera.

[0160] The first fisheye image includes the target area.

[0161] The target area may be an area monitored in real time by a fisheye camera.

[0162] The target area can be a rectangle or a polygon, which is not limited here.

[0163] Next, combine Figure 3 , give an example of the target area.

[0164] Figure 3 This is a schematic diagram of a target area provided in an embodiment of the present application. Figure 3 , Figure 3 The parking lot scene may include a plurality of parking areas 301 , a plurality of pillars 302 , a passage area 303 and a fisheye camera 304 .

[0165] For any fisheye camera, the fisheye camera 304 can be set above the channel area 303. The target area can be a rectangular area centered on the fisheye camera 304 (e.g. Figure 3 The rectangular area may include the parking area 301, the pillar 302, and the passage area 303. The shooting range of the fisheye camera 304 is larger than the target area.

[0166] Fisheye images taken by the fisheye camera can be obtained at preset time intervals, and the fisheye images can be identified and processed to determine whether there is a moving vehicle in the fisheye image. If so, the fisheye image is determined as the first fisheye image.

[0167] The preset duration may be a pre-set duration and is not limited here.

[0168] S202: Acquire a second fisheye image captured by a fisheye camera.

[0169] The second fisheye image includes the moving vehicle.

[0170] The second fisheye image includes the target area.

[0171] After obtaining the first fisheye image, a fisheye image taken by a fisheye camera may be obtained, and recognition processing may be performed on the fisheye image to determine whether there is a moving vehicle in the fisheye image. If so, the fisheye image may be determined as the second fisheye image.

[0172] There is no limitation on the length of the interval between the shooting time corresponding to the first fisheye image and the shooting time corresponding to the second fisheye image.

[0173] S203: Determine first relative position information between the moving vehicle and the target area in the first fisheye image, and second relative position information between the moving vehicle and the target area in the second fisheye image.

[0174] The first relative position information may be used to indicate the relative position relationship between the moving vehicle and the target area.

[0175] The relative position relationship may include whether the mobile vehicle is located in the target area or outside the target area. The relative position relationship may also include the azimuth and distance of the mobile vehicle to the target area, and the relative position relationship is not limited here.

[0176] The first relative position information may include a target point corresponding to the mobile vehicle, a two-dimensional area corresponding to the target area, and a positional relationship between the target point and the two-dimensional area.

[0177] The second relative position information is similar to the first relative position information and will not be described in detail here.

[0178] The first fisheye image can be corrected to obtain a first image, and based on the first image, the first relative position information of the moving vehicle and the target area in the first fisheye image can be determined. The second fisheye image can be corrected to obtain a second image, and based on the second image, the second relative position information of the moving vehicle and the target area in the second fisheye image can be determined.

[0179] S204: Determine a vehicle trajectory of the moving vehicle according to the first relative position information and the second relative position information.

[0180] The vehicle trajectory may be a fuzzy trajectory estimated by using the first relative position information and the second relative position information.

[0181] The vehicle track type of the moving vehicle may be determined based on the first relative position information and the second relative position information, and the vehicle track of the moving vehicle may be determined based on the vehicle track type, the first relative position information, and the second relative position information.

[0182] The vehicle trajectory type may include an entering target area type, a being in the target area type, and a leaving target area type, etc., which are not limited here.

[0183] Optionally, the vehicle trajectory of the moving vehicle can be determined according to the vehicle trajectory type, the first relative position information and the second relative position information in the following manner: if the vehicle trajectory type is an entering target area type, then the second position area is determined according to the second relative position information, and the vehicle trajectory of the moving vehicle is determined according to the first relative position information and the second position area; if the vehicle trajectory type is an in-target area type, then the first position area is determined according to the first relative position information, and the second position area is determined according to the second relative position information, and the vehicle trajectory of the moving vehicle is determined according to the first position area and the second position area; if the vehicle trajectory type is a leaving target area type, then the first position area is determined according to the first relative position information, and the vehicle trajectory of the moving vehicle is determined according to the first position area and the second relative position information.

[0184] Optionally, the vehicle trajectory type of the moving vehicle can be determined according to the first relative position information and the second relative position information in the following manner: according to the first relative position information, determine whether the moving vehicle is located in the target area in the first fisheye image; according to the second relative position information, determine whether the moving vehicle is located in the target area in the second fisheye image; if the moving vehicle is located in the target area in the first fisheye image and outside the target area in the second fisheye image, then determine that the vehicle trajectory type is a leaving target area type; if the moving vehicle is located in the target area in the first fisheye image and in the second fisheye image, then determine that the vehicle trajectory type is a in target area type; if the moving vehicle is outside the target area in the first fisheye image and in the target area in the second fisheye image, then determine that the vehicle trajectory type is a entering target area type.

[0185] Optionally, the vehicle trajectory of the moving vehicle can be determined based on the first relative position information and the second relative position information in the following manner: based on the first relative position information, determine whether the moving vehicle is located in the target area; if so, determine the first position area based on the first relative position information, and determine the vehicle trajectory of the moving vehicle based on the first position area and the second relative position information; if not, in the case where it is determined that the moving vehicle is located in the target area based on the second relative position information, determine the second position area based on the second relative position information, and determine the vehicle trajectory of the moving vehicle based on the first relative position information and the second position area.

[0186] Optionally, the method further includes sending identification information to a server, the identification information including vehicle information of the mobile vehicle and the corresponding vehicle trajectory; wherein the server is used to determine the target moving trajectory of the mobile vehicle in the target scene based on the identification information sent by multiple fisheye cameras.

[0187] The method for determining a vehicle trajectory provided in this embodiment comprises obtaining a first fisheye image captured by a fisheye camera, the first fisheye image including a moving vehicle and a target area; obtaining a second fisheye image captured by the fisheye camera, the second fisheye image including the moving vehicle and the target area; determining first relative position information between the moving vehicle and the target area in the first fisheye image, and second relative position information between the moving vehicle and the target area in the second fisheye image; and determining the vehicle trajectory of the moving vehicle based on the first relative position information and the second relative position information. In this way, the corresponding vehicle trajectory between the two fisheye images can be determined using the relative position information, eliminating the need to determine the vehicle trajectory based on the precise coordinate position of the moving vehicle in the target area. This reduces the amount of computation required, improves data processing efficiency, and thereby enhances vehicle monitoring effectiveness.

[0188] Next, combine Figure 4 , a process (S204) of determining a vehicle trajectory of a moving vehicle based on the first relative position information and the second relative position information is explained.

[0189] Figure 4 A flow chart of another method for determining a vehicle trajectory provided in an embodiment of the present application. Based on the above embodiment, please refer to Figure 4 , the method is described in detail. The method includes:

[0190] S401: Determine whether the moving vehicle is located in a target area based on first relative position information.

[0191] If yes, execute S402;

[0192] If not, execute S407.

[0193] The first relative position information may include a target point corresponding to the mobile vehicle, a two-dimensional area corresponding to the target area, and a positional relationship between the target point and the two-dimensional area.

[0194] The positional relationship between the target point and the two-dimensional area may include the target point being located within the two-dimensional area and the target point being located outside the two-dimensional area.

[0195] The positional relationship between the target point and the two-dimensional area can be determined based on the target point and the two-dimensional area by using the ray method.

[0196] Optionally, the positional relationship between the target pad and the two-dimensional area can be determined in the following manner: multiple rays are set on the target point, and for any ray, the number of intersections between the ray and the two-dimensional area is determined; if there is a ray among the multiple rays whose corresponding number of intersections is an even number, then the target point is determined to be outside the two-dimensional area; if there is a ray among the multiple rays whose corresponding number of intersections is an odd number, then the target point is determined to be inside the two-dimensional area.

[0197] The positional relationship between the target point corresponding to the mobile vehicle and the two-dimensional area corresponding to the target area can be determined based on the first relative position information, and whether the mobile vehicle is located in the target area can be determined based on the positional relationship.

[0198] S402: Determine a first location area according to the first relative location information.

[0199] The first location area may be a sub-area located within the target area.

[0200] The two-dimensional area corresponding to the target area may include multiple grid areas.

[0201] The first location area may also be any one of the multiple grid areas.

[0202] A plurality of grid areas may be determined based on a two-dimensional area corresponding to the target area, and a first position area may be determined based on a target point corresponding to the moving vehicle and the plurality of grid areas.

[0203] Optionally, the first position area can be determined based on the first relative position information in the following manner: obtain multiple grid areas corresponding to the two-dimensional area; determine the positional relationship between the target point and the multiple grid areas respectively by the ray method; and determine the grid area including the target point as the first position area.

[0204] The positional relationship is used to indicate whether the grid area includes the target point or the grid area does not include the target point.

[0205] S403: Determine whether the moving vehicle is located in the target area based on the second relative position information.

[0206] If yes, execute S404;

[0207] If not, execute S406.

[0208] The second relative position information may include a target point corresponding to the mobile vehicle, a two-dimensional area corresponding to the target area, and a positional relationship between the target point and the two-dimensional area.

[0209] The positional relationship between the target point and the two-dimensional area may include the target point being located within the two-dimensional area and the target point being located outside the two-dimensional area.

[0210] The positional relationship between the target point and the two-dimensional area can be determined based on the target point and the two-dimensional area by using the ray method.

[0211] Optionally, the positional relationship between the target pad and the two-dimensional area can be determined in the following manner: multiple rays are set on the target point, and for any ray, the number of intersections between the ray and the two-dimensional area is determined; if there is a ray among the multiple rays whose corresponding number of intersections is an even number, then the target point is determined to be outside the two-dimensional area; if there is a ray among the multiple rays whose corresponding number of intersections is an odd number, then the target point is determined to be inside the two-dimensional area.

[0212] The positional relationship between the target point corresponding to the mobile vehicle and the two-dimensional area corresponding to the target area can be determined based on the second relative position information, and whether the mobile vehicle is located in the target area can be determined based on the positional relationship.

[0213] S404: Determine a second location area according to the second relative position information.

[0214] The second location area may be a sub-area located within the target area.

[0215] The two-dimensional area corresponding to the target area may include multiple grid areas.

[0216] The second location area may also be any one of the multiple grid areas.

[0217] A plurality of grid areas may be determined based on the two-dimensional area corresponding to the target area, and a second location area may be determined based on the target point corresponding to the moving vehicle and the plurality of grid areas.

[0218] Optionally, the second position area can be determined based on the second relative position information in the following manner: obtain multiple grid areas corresponding to the two-dimensional area; determine the positional relationship between the target point and the multiple grid areas respectively by the ray method; and determine the grid area including the target point as the second position area.

[0219] The positional relationship is used to indicate whether the grid area includes the target point or the grid area does not include the target point.

[0220] S405: Determine a vehicle trajectory of the moving vehicle according to the first location area and the second location area.

[0221] The vehicle trajectory may be determined by moving from a first location area to a second location area within the target area.

[0222] The moving direction of the vehicle track can be determined based on the first position area and the second position area, and the vehicle track of the moving vehicle can be determined based on the moving direction.

[0223] Optionally, the vehicle trajectory of the moving vehicle can be determined based on the first position area and the second position area in the following manner: any point in the first position area is determined as the trajectory starting point of the vehicle trajectory; any point in the second position area is determined as the trajectory end point of the vehicle trajectory; and the line between the trajectory starting point and the trajectory end point is determined as the vehicle trajectory.

[0224] The moving direction of the vehicle trajectory is from the starting point of the trajectory to the end point of the trajectory.

[0225] S406: Determine a vehicle trajectory of the moving vehicle according to the first position area and the second relative position information.

[0226] The vehicle trajectory can be moving from within the target area to outside the target area.

[0227] The trajectory direction can be determined based on the first position area and the second relative position information. Taking any point in the first position area as the starting point, a target line segment is determined in the target area along the trajectory direction, and the target line segment is determined as the vehicle trajectory of the moving vehicle.

[0228] Optionally, the vehicle trajectory of the moving vehicle can be determined based on the first position area and the second relative position information in the following manner: determine the direction of the second vehicle trajectory based on the first position area and the second relative position information; take an arbitrary point in the first position area as the starting point, and determine a second intersection point that intersects with the corresponding boundary line of the target area along the direction of the second vehicle trajectory; determine the arbitrary point in the first position area as the trajectory starting point of the vehicle trajectory, and determine the second intersection point as the trajectory end point of the vehicle trajectory; and determine the line between the trajectory starting point and the trajectory end point as the vehicle trajectory.

[0229] The second vehicle trajectory direction may be a direction from any point in the first position area to a target point corresponding to the moving vehicle in the second relative position information.

[0230] Any point in the first position area is any point in the first position area.

[0231] For example, any point in the first location area is the midpoint of the first location area.

[0232] S407: When it is determined according to the second relative position information that the moving vehicle is located in the target area, determine a second position area according to the second relative position information.

[0233] Based on the second relative position information, it can be determined whether the mobile vehicle is located in the target area. If so, multiple grid areas are determined based on the two-dimensional area corresponding to the target area in the second relative position information, and the second position area is determined based on the target point corresponding to the mobile vehicle and the multiple grid areas.

[0234] S408: Determine a vehicle trajectory of the moving vehicle according to the first relative position information and the second position area.

[0235] The vehicle trajectory can be moving from outside the target area to inside the target area.

[0236] The trajectory direction can be determined based on the first relative position information and the second position area. The target point corresponding to the moving vehicle in the first relative position information is used as the starting point. Along the trajectory direction, with any point in the second position area as the end point, a target line segment is determined in the target area, and the target line segment is determined as the vehicle trajectory of the moving vehicle.

[0237] Optionally, the vehicle trajectory of the moving vehicle can be determined based on the first relative position information and the second position area in the following manner: determine the direction of the first vehicle trajectory based on the first relative position information and the second position area; take the target point corresponding to the moving vehicle in the first relative position information as the starting point, and determine the first intersection point with the boundary line corresponding to the target area along the direction of the first vehicle trajectory; determine the first intersection point as the trajectory starting point of the vehicle trajectory, and determine any point in the second position area as the trajectory end point of the vehicle trajectory; and determine the line between the trajectory starting point and the trajectory end point as the vehicle trajectory.

[0238] The first vehicle trajectory direction may be a direction pointing from a target point corresponding to the moving vehicle in the first relative position information to any point in the second position area.

[0239] Any point in the second position area is any point in the second position area.

[0240] For example, any point in the second location area is the midpoint of the second location area.

[0241] The implementation content of each step in the embodiment of the present application can refer to the description of the corresponding steps or operations in the above method embodiment, and repeated content will not be repeated.

[0242] This embodiment provides a method for determining a vehicle trajectory, which determines whether a moving vehicle is located in a target area based on first relative position information; if so, determines a first position area based on the first relative position information, and determines whether the moving vehicle is located in the target area based on second relative position information; if so, determines a second position area based on the second relative position information, and determines the vehicle trajectory of the moving vehicle based on the first position area and the second position area; if not, determines the vehicle trajectory of the moving vehicle based on the first position area and the second relative position information; if not, if it is determined that the moving vehicle is located in the target area based on the second relative position information, determines the second position area based on the second relative position information, and determines the vehicle trajectory of the moving vehicle based on the first relative position information and the second position area. In this way, the corresponding vehicle trajectory between two fisheye images can be determined based on the relative position information, without having to determine the vehicle trajectory based on the precise coordinate position of the moving vehicle in the target area, thereby reducing the amount of calculation, improving data processing efficiency, and improving the monitoring effect of the vehicle.

[0243] Next, combine Figure 5 , the process of determining the first location area according to the first relative location information (S402) is explained.

[0244] Figure 5 A flow chart of another method for determining a vehicle trajectory provided in an embodiment of the present application. Based on the above embodiment, see Figure 5 , the method is described in detail. The method includes:

[0245] S501: Acquire multiple grid areas corresponding to a two-dimensional area.

[0246] The multiple grid areas may be determined based on a preset shooting range or may be pre-set areas, which is not limited here.

[0247] The grid area can be a polygon and is not limited here.

[0248] Next, combine Figure 6 , an example is given for the grid area.

[0249] Figure 6 This is a schematic diagram of a grid area provided in an embodiment of the present application. Figure 6 , Figure 6 It may include multiple grid areas, and each grid area may be numbered in advance to divide the multiple grid areas into area 1, area 2, ..., area 9.

[0250] Optionally, a plurality of grid areas corresponding to the two-dimensional area may be acquired in response to an input operation of the user on the setting operation interface.

[0251] Optionally, the two-dimensional area may be divided into a plurality of areas according to a preset number to obtain a plurality of grid areas corresponding to the two-dimensional area.

[0252] It should be noted that multiple grid areas corresponding to a two-dimensional area can be obtained according to any feasible implementation method, and the embodiments of the present application are not limited to this.

[0253] S502: Determine the positional relationships between the target point and multiple grid areas respectively by using a ray method.

[0254] The positional relationship is used to indicate whether the grid area includes the target point or the grid area does not include the target point.

[0255] The ray method can determine whether a point is inside or outside a polygon by drawing a ray with the target point as the endpoint and calculating the number of intersections between this ray and all edges of the polygon. If the number of intersections is odd, the point is inside the polygon; if the number of intersections is odd, the point is outside the polygon. The ray method is applicable to all types of polygons.

[0256] The positional relationship between the target point and the plurality of grid areas may be determined in sequence according to the ray method until a grid area including the positional relationship is determined.

[0257] The positional relationship between an object point and multiple two-dimensional regions can be determined by the ray method, which is relatively simple to implement and fast.

[0258] Optionally, for any two-dimensional area, the positional relationship between the target point and multiple grid areas can be determined separately by the ray method in the following manner: multiple rays are set on the target point; for any ray, the number of intersections between the ray and the grid area is determined; if there is a ray among the multiple rays whose corresponding number of intersections is an even number, it is determined that the grid area does not include the target point; if there is a ray among the multiple rays whose corresponding number of intersections is an odd number, it is determined that the grid area includes the target point.

[0259] Next, combine Figure 7 , explaining how to determine the positional relationship between a target point and multiple grid areas respectively by using the ray method.

[0260] Figure 7 This is a schematic diagram of a method for determining positional relationships using a ray method provided in an embodiment of the present application. Figure 7 , Figure 7 There are two cases: case 1 is that the grid area includes the target point, and case 2 is that the grid area does not include the target point.

[0261] You can draw a ray from the target point P as its endpoint and calculate the number of intersections between this ray and all edges of the grid area. Based on the number of intersections, you can determine whether the grid area contains the target point. If the number of intersections is odd, the grid area contains the target point. If the number of intersections is even, the grid area does not contain the target point.

[0262] S503: Determine a grid area including the target point as a first location area.

[0263] For example, assuming that the two-dimensional area included in the positional relationship is area 2, area 2 is determined as the target two-dimensional area.

[0264] The implementation content of each step in the embodiment of the present application can refer to the description of the corresponding steps or operations in the above method embodiment, and repeated content will not be repeated.

[0265] This embodiment provides a method for determining a vehicle trajectory. This method obtains multiple grid regions corresponding to a two-dimensional area; uses a ray method to determine the positional relationship between a target point and each of the grid regions, where the positional relationship indicates whether the grid region includes or excludes the target point; and then determines the grid region including the target point as a first position region. This eliminates the need to determine the vehicle trajectory based on the precise coordinate position of the moving vehicle within the target region, reducing computational complexity and improving data processing efficiency, thereby enhancing vehicle monitoring effectiveness.

[0266] Next, combine Figure 8 , the method for determining the vehicle trajectory on the server side is explained.

[0267] Figure 8 A flow chart of another method for determining vehicle trajectory provided in an embodiment of the present application. Based on the above embodiment, it is applied to the server, see Figure 8 , the method comprising:

[0268] S801: Receive multiple pieces of identification information respectively sent by multiple fisheye cameras.

[0269] The identification information includes vehicle information and vehicle trajectory of a moving vehicle.

[0270] Multiple fisheye cameras are set up in the target scene.

[0271] A plurality of identification information respectively sent by a plurality of fisheye cameras may be received at intervals of a preset period.

[0272] The preset period can be determined according to actual needs and is not limited here.

[0273] S802: Determine at least one target mobile vehicle based on vehicle information in the plurality of identification information.

[0274] The multiple identification information can be classified according to the vehicle information in the multiple identification information to obtain at least one vehicle set, which includes at least one identical vehicle information. At least one target mobile vehicle can be determined based on the at least one vehicle set.

[0275] In the following, any one of the at least one target moving vehicle is taken as an example.

[0276] S803: Determine at least one vehicle trajectory corresponding to the target mobile vehicle from the plurality of identification information, and determine a target moving trajectory corresponding to the target mobile vehicle in the target scene based on the at least one vehicle trajectory.

[0277] Optionally, a vehicle set of the target mobile vehicle may be determined, and at least one vehicle trajectory may be determined based on at least one identification information in the vehicle set. Based on the at least one vehicle trajectory, a target mobile trajectory corresponding to the target mobile vehicle in the target scene may be determined.

[0278] Optionally, at least one vehicle trajectory corresponding to the target mobile vehicle can be determined from multiple identification information, and the scene positions corresponding to the at least one vehicle trajectory can be determined. According to the at least one scene position, the at least one vehicle trajectory is spliced ​​to obtain the target mobile trajectory corresponding to the target mobile vehicle in the target scene.

[0279] It should be noted that the target moving trajectory corresponding to the target moving vehicle in the target scene can be determined according to any feasible implementation method, and the embodiments of the present application are not limited to this.

[0280] Optionally, after determining the target moving trajectory corresponding to the target mobile vehicle in the target scene, it also includes determining the terminal position of the target mobile vehicle. The terminal position of the target mobile vehicle can be determined in the following manner: according to the target moving trajectory, the terminal position of the target mobile vehicle is determined.

[0281] The end point location may be the location corresponding to the grid area where the target mobile vehicle is located, or the longitude and latitude where the target mobile vehicle is located, which is not limited here.

[0282] The implementation content of each step in the embodiment of the present application can refer to the description of the corresponding steps or operations in the above method embodiment, and repeated content will not be repeated.

[0283] The vehicle trajectory determination method provided in this embodiment receives multiple identification information sent by multiple fisheye cameras, the identification information including vehicle information and vehicle trajectory of each mobile vehicle; determines at least one target mobile vehicle based on the vehicle information in the multiple identification information; and for any target mobile vehicle, determines at least one vehicle trajectory corresponding to the target mobile vehicle from the multiple identification information, and determines the target mobile vehicle's corresponding target movement trajectory in the target scene based on the at least one vehicle trajectory. In this way, the movement trajectory of the target mobile vehicle in the target scene can be determined based on multiple fisheye cameras set up in the target scene, enabling linked analysis of monitoring data and improving vehicle monitoring effectiveness.

[0284] Next, combine Figure 9 , the process (S803) of determining the target moving trajectory corresponding to the target moving vehicle in the target scene according to at least one vehicle trajectory is explained.

[0285] Figure 9 A flow chart of another method for determining a vehicle trajectory provided in an embodiment of the present application. Based on the above embodiment, see Figure 9 , the method comprising:

[0286] In the following, any one of the at least one vehicle trajectory is taken as an example.

[0287] S901: Determine a fisheye camera identifier corresponding to a vehicle track.

[0288] The fisheye camera logo can be used to indicate the identity information of the fisheye camera.

[0289] The identification information corresponding to the vehicle trajectory can be determined, and the fisheye camera identification can be determined based on the identification information.

[0290] The identification information may include a fisheye camera identifier.

[0291] S902: Determine the scene position corresponding to the vehicle trajectory according to the fisheye camera identification.

[0292] The mapping relationship can be obtained, and the scene position corresponding to the vehicle trajectory can be determined based on the mapping relationship and the fisheye camera identification.

[0293] The mapping relationship includes multiple fisheye camera identifiers and a scene position corresponding to each fisheye camera identifier.

[0294] S903: Perform splicing processing on at least one vehicle trajectory according to at least one scene position to obtain a current moving trajectory of the target mobile vehicle in the target scene.

[0295] For any scene position, the shooting time period of at least one vehicle trajectory can be determined, and the at least one vehicle trajectory can be spliced ​​in the order of the shooting time periods from far to near to obtain a scene movement trajectory. According to at least one scene position, at least one scene movement trajectory can be spliced ​​in sequence to obtain the current movement trajectory of the target mobile vehicle in the target scene.

[0296] Next, combine Figure 10 , an example is given to illustrate the scene movement trajectory.

[0297] Figure 10 This is a schematic diagram of a scene movement trajectory provided by an embodiment of the present application. Figure 10 , Figure 10 Multiple grid areas can be included. Assuming that there are multiple vehicle tracks in a scene location, in descending order of shooting time, the multiple vehicle tracks include a first vehicle track corresponding to the transition from area 1 to area 2, a second vehicle track corresponding to the transition from area 2 to area 5, and a third vehicle track corresponding to the transition from area 5 to area 6.

[0298] According to the multiple vehicle trajectories, an initial movement trajectory is determined in the order of area 1, area 2, area 5 and area 6, and the initial movement trajectory is smoothed to obtain a scene movement trajectory.

[0299] Next, combine Figure 11 , an example is given to illustrate the current moving trajectory of the target mobile vehicle in the target scene.

[0300] Figure 11 This is a schematic diagram of a current movement trajectory provided by an embodiment of the present application. Figure 11 , Figure 11 The target scene may include scene positions corresponding to multiple fisheye cameras. Assume that the scene positions corresponding to the partial movement trajectory are scene position 1, scene position 3, scene position 4, scene position 5, and scene position 6.

[0301] At least one scene movement trajectory may be sequentially spliced ​​according to at least one scene position to obtain a current movement trajectory of the target moving vehicle in the target scene.

[0302] S904: Determine whether the target moving vehicle has a historical moving trajectory.

[0303] If yes, execute S905;

[0304] If not, execute S906.

[0305] The historical movement trajectory may be a movement trajectory corresponding to the target moving vehicle within a preset historical time period.

[0306] It is possible to determine whether the target moving vehicle has a historical moving trajectory based on the storage space.

[0307] Since the multiple identification information received may only include the movement trajectory of a part of the target mobile vehicle, and not the complete movement trajectory within the target scene, it is necessary to determine whether the target mobile vehicle has a historical movement trajectory in order to obtain the complete movement trajectory from the target mobile vehicle into the target scene.

[0308] S905: Determine the target movement trajectory according to the current movement trajectory and the historical movement trajectory.

[0309] The target movement trajectory may be a complete movement trajectory from the target moving vehicle into the target scene.

[0310] The current movement trajectory and the historical movement trajectory can be spliced ​​together to obtain the target movement trajectory.

[0311] S906: Determine the current moving trajectory as the target moving trajectory.

[0312] If there is no historical movement trajectory, the current movement trajectory is determined as the target movement trajectory.

[0313] The vehicle trajectory determination method provided in this embodiment determines the fisheye camera identifier corresponding to the vehicle trajectory; determines the scene position corresponding to the vehicle trajectory based on the fisheye camera identifier; and splices at least one vehicle trajectory based on at least one scene position to obtain the current movement trajectory of the target mobile vehicle in the target scene; determines whether the target mobile vehicle has a historical movement trajectory; if so, determines the target movement trajectory based on the current movement trajectory and the historical movement trajectory; if not, determines the current movement trajectory as the target movement trajectory. In this way, the movement trajectory of the target mobile vehicle in the target scene can be determined based on multiple fisheye cameras set up in the target scene, realizing linked analysis between monitoring data and improving vehicle monitoring effectiveness.

[0314] Figure 12 This is a schematic diagram of the structure of a vehicle trajectory determination device provided in an embodiment of the present application. Figure 12 The vehicle trajectory determination device 1200 includes a first acquisition module 1201, a second acquisition module 1202, a first determination module 1203 and a second determination module 1204, wherein:

[0315] A first acquisition module 1201 is configured to acquire a first fisheye image captured by a fisheye camera, wherein the first fisheye image includes a moving vehicle and a target area;

[0316] A second acquisition module 1202 is configured to acquire a second fisheye image captured by the fisheye camera, wherein the second fisheye image includes the moving vehicle and the target area;

[0317] A first determining module 1203 is configured to determine first relative position information between the moving vehicle and the target area in the first fisheye image, and second relative position information between the moving vehicle and the target area in the second fisheye image;

[0318] The second determining module 1204 is configured to determine the vehicle trajectory of the moving vehicle according to the first relative position information and the second relative position information.

[0319] In a possible implementation, the second determining module 1204 is specifically configured to:

[0320] determining, based on the first relative position information, whether the mobile vehicle is located in the target area;

[0321] If so, determining a first location area based on the first relative location information, and determining a vehicle trajectory of the moving vehicle based on the first location area and the second relative location information;

[0322] If not, when it is determined that the moving vehicle is located in the target area based on the second relative position information, the second position area is determined based on the second relative position information, and the vehicle trajectory of the moving vehicle is determined based on the first relative position information and the second position area.

[0323] In a possible implementation, the second determining module 1204 is specifically configured to:

[0324] determining, based on the second relative position information, whether the mobile vehicle is located in the target area;

[0325] If so, determining the second location area based on the second relative location information, and determining the vehicle trajectory of the moving vehicle based on the first location area and the second location area;

[0326] If not, determine the vehicle trajectory of the moving vehicle based on the first location area and the second relative position information.

[0327] In a possible implementation, the second determining module 1204 is specifically configured to:

[0328] determining a first vehicle trajectory direction based on the first relative position information and the second position area;

[0329] Taking the target point corresponding to the mobile vehicle in the first relative position information as a starting point, and along the first vehicle trajectory direction, determining a first intersection point intersecting with the boundary line corresponding to the target area;

[0330] Determining the first intersection point as a trajectory starting point of the vehicle trajectory and determining any point in the second position area as a trajectory ending point of the vehicle trajectory;

[0331] A line connecting the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

[0332] In a possible implementation, the second determining module 1204 is specifically configured to:

[0333] Determining an arbitrary point in the first position area as a trajectory starting point of the vehicle trajectory;

[0334] determining an arbitrary point in the second position area as a trajectory end point of the vehicle trajectory;

[0335] A line connecting the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

[0336] In a possible implementation, the second determining module 1204 is specifically configured to:

[0337] determining a second vehicle track direction based on the first position area and the second relative position information;

[0338] Taking any point in the first position area as a starting point and following the second vehicle trajectory direction, determining a second intersection point intersecting with a corresponding boundary line of the target area;

[0339] Determine an arbitrary point in the first position area as a trajectory starting point of the vehicle trajectory, and determine the second intersection point as a trajectory ending point of the vehicle trajectory;

[0340] A line connecting the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

[0341] In a possible implementation, the first relative position information includes a target point corresponding to the mobile vehicle and a two-dimensional area corresponding to the target area, and the second determining module 1204 is specifically configured to:

[0342] Acquire multiple grid areas corresponding to the two-dimensional area;

[0343] Determining positional relationships between the target point and a plurality of grid areas respectively by a ray method, wherein the positional relationships are used to indicate that the grid areas include the target point or that the grid areas do not include the target point;

[0344] A grid area including the target point is determined as a first location area.

[0345] In a possible implementation, for any grid area, the second determining module 1204 is specifically configured to:

[0346] Setting a plurality of rays on the target point;

[0347] For any ray, determine the number of intersections between the ray and the grid area;

[0348] If there is a ray among the multiple rays whose number of intersection points is even, determining that the grid area does not include the target point;

[0349] If there is a ray among the multiple rays and the number of intersection points corresponding to the ray is an odd number, it is determined that the grid area includes the target point.

[0350] Figure 13 This is a schematic diagram of another vehicle trajectory determination device provided in an embodiment of the present application. Figure 13 The vehicle trajectory determination device 1300 includes a receiving module 1301, an identification module 1302 and a processing module 1303, wherein:

[0351] A receiving module 1301 is configured to receive a plurality of identification information respectively sent by a plurality of fisheye cameras, wherein the identification information includes vehicle information and vehicle tracks of a moving vehicle;

[0352] an identification module 1302, configured to determine at least one target mobile vehicle based on vehicle information in the plurality of identification information;

[0353] The processing module 1303 is configured to determine, for any target mobile vehicle, at least one vehicle trajectory corresponding to the target mobile vehicle from the plurality of identification information, and determine, based on the at least one vehicle trajectory, a target movement trajectory corresponding to the target mobile vehicle in the target scene.

[0354] In a possible implementation, the processing module 1303 is specifically configured to:

[0355] Determining a scene position corresponding to each of the at least one vehicle track, wherein the scene position is a position of the vehicle track in the target scene;

[0356] splicing the at least one vehicle trajectory according to at least one scene position to obtain a current moving trajectory of the target mobile vehicle in the target scene;

[0357] Determine whether the target moving vehicle has a historical moving trajectory;

[0358] If so, determining the target movement trajectory according to the current movement trajectory and the historical movement trajectory;

[0359] If not, the current moving trajectory is determined as the target moving trajectory.

[0360] In a possible implementation, for any partial movement trajectory, the processing module 1303 is specifically configured to:

[0361] Determining a fisheye camera identifier corresponding to the vehicle trajectory;

[0362] A scene position corresponding to the vehicle trajectory is determined according to the fisheye camera identifier.

[0363] In a possible implementation, the processing module 1303 further includes:

[0364] According to the target moving trajectory, the terminal position of the target moving vehicle is determined.

[0365] Figure 14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 14 , the electronic device 1400 may include: a memory 1401 , a processor 1402 , and a transceiver 1403 .

[0366] The memory 1401 is used to store program instructions;

[0367] The processor 1402 is configured to execute the program instructions stored in the memory, so as to enable the electronic device 1400 to perform the above method.

[0368] The transceiver 1403 may include a transmitter and / or a receiver. The transmitter may also be referred to as a transmitter, a transmitter, a transmission port, a transmission interface, or similar descriptions, and the receiver may also be referred to as a receiver, a reception port, a reception interface, or similar descriptions. For example, the memory 1401, the processor 1402, and the transceiver 1403 are interconnected via a bus 1404.

[0369] An embodiment of the present application further provides a computer program product, which can be executed by a processor. When the computer program product is executed, the above method can be implemented.

[0370] The vehicle trajectory determination device, electronic device, computer-readable storage medium, and computer program product of the embodiments of the present application can implement the technical solutions shown in the above-mentioned vehicle trajectory determination method embodiments. Their implementation principles and beneficial effects are similar and will not be repeated here.

[0371] All or part of the steps in the above-mentioned method embodiments may be implemented by hardware associated with program instructions. The aforementioned program may be stored in a readable memory. When executed, the program performs the steps of the above-mentioned method embodiments. The aforementioned memory (storage medium) includes: read-only memory (ROM), random access memory (RAM), flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disc, and any combination thereof.

[0372] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processing unit of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0373] These computer-executable instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0374] These computer-executable instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are performed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0375] Obviously, those skilled in the art may make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations.

Claims

1. A method for determining a vehicle trajectory, characterized in that: The method comprises: Acquire a first fisheye image captured by a fisheye camera, wherein the first fisheye image includes a moving vehicle and a target area; Acquire a second fisheye image taken by the fisheye camera, wherein the second fisheye image includes the moving vehicle, and the second fisheye image includes the target area; Determine first relative position information between the moving vehicle and the target area in the first fisheye image, and second relative position information between the moving vehicle and the target area in the second fisheye image; determining, according to the first relative position information, whether the moving vehicle is located in the target area; If yes, determining a first position area according to the first relative position information, and determining a vehicle trajectory of the moving vehicle according to the first position area and the second relative position information; If not, in the case where it is determined according to the second relative position information that the moving vehicle is located in the target area, determining a second position area according to the second relative position information, and determining a first vehicle track direction according to the first relative position information and the second position area; Taking the target point corresponding to the moving vehicle in the first relative position information as a starting point, and along the first vehicle track direction, determining a first intersection point intersecting with a boundary line corresponding to the target area; Determine the first intersection point as the starting point of the vehicle trajectory, and determine any point in the second position area as the end point of the vehicle trajectory; A line between the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

2. The method according to claim 1, characterized in that Determining a vehicle trajectory of the mobile vehicle according to the first location area and the second relative location information includes: determining, according to the second relative position information, whether the moving vehicle is located in the target area; If yes, determining the second location area according to the second relative location information, and determining the vehicle trajectory of the moving vehicle according to the first location area and the second location area; If not, determine the vehicle trajectory of the moving vehicle based on the first location area and the second relative location information.

3. The method according to claim 2, characterized in that Determining a vehicle trajectory of the mobile vehicle according to the first location area and the second location area includes: Determine an arbitrary point of the first position area as a trajectory starting point of the vehicle trajectory; Determine an arbitrary point of the second position area as a trajectory end point of the vehicle trajectory; A line between the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

4. The method according to claim 2, characterized in that: Determining a vehicle trajectory of the mobile vehicle according to the first location area and the second relative location information includes: Determining a second vehicle track direction according to the first position area and the second relative position information; Taking any point in the first position area as a starting point and along the second vehicle track direction, determining a second intersection point that intersects with a boundary line corresponding to the target area; Determine an arbitrary point of the first position area as a trajectory starting point of the vehicle trajectory, and determine the second intersection point as a trajectory end point of the vehicle trajectory; A line between the trajectory start point and the trajectory end point is determined as the vehicle trajectory.

5. The method according to any one of claims 1 to 4, characterized in that: The first relative position information includes a target point corresponding to the moving vehicle and a two-dimensional area corresponding to the target area. Determining a first position area according to the first relative position information includes: Acquire multiple grid areas corresponding to the two-dimensional area; Determine respectively the positional relationship between the target point and a plurality of grid areas by using a ray method, wherein the positional relationship is used to indicate that the grid area includes the target point or the grid area does not include the target point; A grid area including the target point is determined as a first position area.

6. The method according to claim 5, characterized in that For any grid area, the positional relationship between the target point and the grid area is determined by the ray method, including: Setting a plurality of rays on the target point; For any ray, determine the number of intersections between the ray and the grid area; If there is a ray among the multiple rays whose number of intersection points is even, determining that the grid area does not include the target point; If there is a ray among the multiple rays whose number of intersection points is an odd number, it is determined that the grid area includes the target point.

7. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

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