ETC Interactive Control Method and Device

Abstract

This application discloses an ETC (Electronic Toll Collection) interactive control method and device, relating to the field of vehicle technology. The method includes: acquiring lane-forward data of the target lane where the target vehicle is located while the interaction between the target vehicle and the ETC roadside unit is in progress; the lane-forward data indicating the road conditions ahead of the target vehicle in the target lane; identifying the vehicle state of the preceding vehicle based on the lane-forward data to determine the corresponding vehicle behavior; and interrupting the interaction if the preceding vehicle's behavior indicates intrusion. This method can prevent losses caused by intruding vehicles stealing ETC interaction results during the ETC interaction process.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to an ETC interactive control method and device. Background Technology

[0002] Electronic Toll Collection (ETC) is an automated toll collection technology used in traffic environments such as highways, bridges, and tunnels. It allows vehicles to pass through toll booths without stopping, thereby improving traffic efficiency and reducing congestion.

[0003] When a vehicle passes through a toll station, the on-board unit (OBU) installed on the windshield inside the vehicle establishes short-range wireless communication with the roadside unit (RSU) at the toll station, enabling the toll station to record vehicle information in order to charge fees and control the raising and lowering of the barriers based on the vehicle information.

[0004] However, in order to ensure the communication effect between the on-board unit and the roadside unit during the transaction through ETC, the vehicle needs to pass through the ETC identification area at a lower speed. Therefore, there may be cases of malicious lane occupation to steal other people's ETC payment information, resulting in economic losses for car owners. Summary of the Invention

[0005] This application provides an ETC interactive control method, device, equipment, medium, and product. The technical solution is as follows:

[0006] On the one hand, an ETC interactive control method is provided, the method comprising:

[0007] When the interaction between the target vehicle and the ETC roadside unit is in progress, the forward lane data of the target lane where the target vehicle is located is obtained. The forward lane data is used to indicate the road conditions in front of the target vehicle in the target lane.

[0008] Based on the lane forward data, the vehicle status of the vehicle in front is identified, and the corresponding vehicle behavior of the vehicle in front is determined.

[0009] If the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion, a stop command is sent to the ETC roadside unit. The stop command is used to instruct the current interactive behavior to be stopped.

[0010] On the other hand, an ETC interactive control device is provided, the device comprising:

[0011] The acquisition module is used to acquire lane forward data of the target lane where the target vehicle is located when the interaction between the target vehicle and the ETC roadside unit is in progress. The lane forward data is used to indicate the road conditions in front of the target vehicle in the target lane.

[0012] The identification module is used to identify the vehicle status of the vehicle in front based on the lane forward data and determine the vehicle behavior corresponding to the vehicle in front.

[0013] The control module is used to send a stop command to the ETC roadside unit when the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion behavior. The stop command is used to instruct the current interactive behavior to be stopped.

[0014] On the other hand, an in-vehicle device is provided, the in-vehicle device including a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or instruction set being loaded and executed by the processor to implement the ETC interactive control method as described in any of the embodiments of this application above.

[0015] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, code set, or instruction set is stored therein, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the ETC interactive control method as described in any of the embodiments of this application above.

[0016] On the other hand, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the ETC interactive control methods described in the above embodiments.

[0017] The technical solution provided in this application includes at least the following beneficial effects:

[0018] During the ETC interaction process of the target vehicle, the system continuously determines whether there is a vehicle in front of the target vehicle based on the forward data of the lane ahead. If there is a vehicle in front, the system identifies the vehicle's behavior. If the vehicle's behavior indicates that the vehicle in front is intruding into the lane to steal the target vehicle's ETC interaction result, the system interrupts the interaction between the target vehicle and the ETC roadside unit when the intruding vehicle tries to pass through the barrier using the target vehicle's ETC interaction result. This prevents the loss caused by the intruding vehicle stealing the ETC interaction result. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a structural block diagram of a control system provided in an exemplary embodiment of this application;

[0021] Figure 2 This is a flowchart of an exemplary embodiment of the ETC interactive control method provided in this application;

[0022] Figure 3 This is a flowchart of an exemplary embodiment of the ETC interactive control method provided in this application;

[0023] Figure 4 This is a schematic diagram of a toll station dataset provided in an exemplary embodiment of this application;

[0024] Figure 5 This is a schematic diagram of an ETC lane dataset provided in an exemplary embodiment of this application;

[0025] Figure 6 This is a structural block diagram of an ETC interactive control device provided in an exemplary embodiment of this application;

[0026] Figure 7 This is a structural block diagram of an in-vehicle device provided in an exemplary embodiment of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0028] First, a brief introduction to the terms used in the embodiments of this application will be given.

[0029] ETC (Electronic Toll Collection) is an important component of intelligent transportation systems, particularly suitable for use on highways or in busy bridge and tunnel environments. The ETC system allows vehicles to pass through toll booths automatically, completing the toll collection process without stopping, significantly improving traffic efficiency and reducing traffic congestion and environmental pollution. The main steps of the ETC system are as follows: Step 1: When a vehicle passes through a toll booth, it wirelessly communicates with the roadside unit (RSU) at the toll booth via the onboard unit (OBU) installed on the vehicle; Step 2: The OBU stores the vehicle's identification information. When the vehicle approaches the toll booth, the RSU sends an inquiry signal, and the OBU responds, engaging in two-way communication and data exchange; Step 3: The toll booth's central management system stores registered vehicle and user information in a large database. After obtaining the vehicle identification information, it compares it with the information in the database; Step 4: Based on the comparison result, the central management system controls the toll collection process, deducting the corresponding toll from the prepayment account or issuing instructions to other auxiliary facilities, such as automatic barriers.

[0030] Figure 1 A structural block diagram of a control system provided in an exemplary embodiment of this application is shown. The control system 100 includes: a vehicle 110, a toll station device 120, and a barrier control device 130.

[0031] Indicatively, when vehicle 110 approaches the ETC recognition area of ​​the toll station, the on-board unit on vehicle 110 establishes a wireless communication connection with the roadside unit in the toll station equipment 120, and performs interactive behavior through this wireless communication connection. During the interactive behavior, vehicle 110 continuously acquires and identifies lane-heading data of its lane to determine the behavior of the vehicle in front. If it is determined that the vehicle in front is engaging in intrusion behavior, vehicle 110 interrupts the interactive behavior between the on-board unit and the roadside unit. If it is determined that the vehicle in front is engaging in normal driving behavior, or if no vehicle in front is detected in the lane, vehicle 110 does not obstruct the interactive behavior between the on-board unit and the roadside unit via wireless communication. Upon completion of the interactive behavior, the toll station equipment 120, based on the interaction completion signal from the roadside unit, controls the barrier control device 130 to raise the barrier, allowing vehicle 110 to pass.

[0032] Based on the above-mentioned terminology and application scenarios, the ETC interactive control method provided in this application will be explained, taking the method executed by the on-board unit as an example. Figure 2 As shown, the method includes the following steps 210 to 230.

[0033] Step 210: While the interaction between the target vehicle and the ETC roadside unit is in progress, obtain the lane forward data of the target lane where the target vehicle is located.

[0034] Optionally, the target vehicle can be an internal combustion engine vehicle (ICEV), an electric vehicle (EV), a hybrid electric vehicle, a plug-in hybrid electric vehicle (PHEV), a range-extended electric vehicle (REEV), a fuel cell electric vehicle (FCEV), a mild hybrid electric vehicle (MHV), etc., and is not limited here.

[0035] In this embodiment, the target vehicle is equipped with an on-board device, which includes a processor and a memory. The memory stores at least one program, which is loaded and executed by the processor to implement the ETC interactive control method provided in this embodiment. In one example, the on-board device stores a target application that can implement ETC lane identification functionality. Optionally, the on-board device can be implemented as an on-board terminal, an ETC on-board unit, or other devices or apparatus in the target vehicle.

[0036] In this embodiment of the application, the method is applied to the ETC interaction scenario. Schematic, the target vehicle is equipped with an on-board unit that provides ETC interaction function. When the target vehicle drives into the ETC recognition area of ​​the toll station, the on-board unit can establish a wireless communication connection with the roadside unit in the toll station.

[0037] Optionally, the aforementioned toll stations include highway toll stations, parking lot toll stations, bridge toll stations, tunnel toll stations, etc.

[0038] In some embodiments, after the vehicle-mounted unit and the roadside unit establish a wireless communication connection, the roadside unit sends an information acquisition request to the vehicle-mounted unit. The vehicle-mounted unit responds to the information acquisition request by sending the vehicle information of the target vehicle to the roadside unit. The roadside unit then feeds back relevant information to the vehicle-mounted unit and the guardrail based on the comparison results of the vehicle information in the database.

[0039] Optionally, vehicle information includes at least one of the following: license plate number, vehicle type, vehicle account information, vehicle identification number (VIN), vehicle owner information, vehicle historical traffic records, and on-board unit identifier.

[0040] Optionally, the interaction between the on-board unit of the target vehicle and the ETC roadside unit includes at least one of the following: target vehicle information registration behavior and transaction behavior. The target vehicle information registration behavior is the ETC roadside unit recording the information of the target vehicle for subsequent fee calculation, and the transaction behavior is used to instruct the roadside unit to deduct the fee based on the recorded target vehicle information.

[0041] In one example, taking a target vehicle entering the highway via ETC as an example, the on-board unit responds to the information acquisition request by sending the license plate number to the roadside unit. The roadside unit records the license plate number, vehicle account, and corresponding highway passage start time in the database. After the data recording is completed, the roadside unit sends a passage permission confirmation message to the on-board unit of the target vehicle. For example, the above data interaction process between the roadside unit and the on-board unit can be regarded as an interactive behavior.

[0042] In another example, taking a target vehicle exiting the highway via ETC as an example, the on-board unit responds to the information acquisition request by sending the license plate number to the roadside unit. The roadside unit queries the database based on the license plate number to obtain the start time of the target vehicle's highway passage, takes the current time as the end time of the highway passage, determines the highway toll for the target vehicle based on the time difference between the start and end times of the highway passage, generates a toll collection instruction based on the highway toll, and sends the toll collection instruction to the on-board unit. The on-board unit responds to the toll collection instruction by sending the vehicle account information to the roadside unit. The roadside unit deducts the highway toll from the vehicle account corresponding to the target vehicle based on the vehicle account information to achieve automated payment. For example, the above data interaction process between the roadside unit and the on-board unit can be regarded as an interactive behavior.

[0043] Optionally, when a wireless communication connection is established between the on-board unit and the roadside unit, it is determined that the interaction between the target vehicle and the ETC roadside unit is in progress; alternatively, when an interaction data between the on-board unit and the roadside unit indicates that a toll order corresponding to the target vehicle has been created, it is determined that the interaction between the target vehicle and the ETC roadside unit is in progress.

[0044] In this embodiment of the application, the lane forward data is used to indicate the road conditions in front of the target vehicle in the target lane. That is, the lane forward data is the data collected by the target vehicle on the road conditions in front.

[0045] Optionally, the forward lane data can be in the form of an image, numerical data, video, signal data, etc., and there is no limitation here.

[0046] Optionally, the lane forward data can be data collected by devices such as Global Positioning System (GPS), cameras, and sensors.

[0047] In some embodiments, taking lane-forward data including lane-forward images as an example, the lane-forward image is obtained by calling a camera to capture images of the area in front of the target vehicle. In one example, the camera continuously captures images of the area in front of the target vehicle at a preset shooting frequency; in another example, the camera continuously captures video of the area in front of the target vehicle, and video frames are extracted from the video to obtain the lane-forward image.

[0048] Optionally, the aforementioned camera can be a forward-facing camera, a panoramic camera, a digital video recorder (DVR), or the like, located on the target vehicle.

[0049] Step 220: Identify the vehicle status of the vehicle in front based on the lane forward data, and determine the corresponding vehicle behavior of the vehicle in front.

[0050] In some embodiments, the on-board device determines whether there is a preceding vehicle in the target lane where the target vehicle is located using lane forward data. If a preceding vehicle exists, the device further identifies the vehicle state of the preceding vehicle to determine its behavior. Illustratively, based on lane forward data, it determines whether there is a preceding vehicle in front of the target vehicle in the target lane. If a preceding vehicle is identified in front of the target vehicle in the target lane, the device identifies the vehicle state of the preceding vehicle and determines its corresponding behavior.

[0051] In some embodiments, when the lane forward data is implemented as a lane forward image, the presence of a preceding vehicle can be determined by identifying whether a vehicle exists in the lane forward image. In some embodiments, vehicle identification is achieved through a pre-trained vehicle recognition model. Schematic, the lane forward image is input into the pre-trained vehicle recognition model, the vehicle recognition model identifies whether a preceding vehicle exists in the lane forward image, obtains the image recognition result, and determines whether a preceding vehicle exists in the target lane based on the image recognition result.

[0052] Optionally, the above vehicle recognition model can be implemented using neural network models such as Convolutional Neural Networks (CNN), Feedforward Neural Network (FNN), Residual Network (ResNet), and Transformer, without specific limitations.

[0053] In some embodiments, before inputting the lane forward image into the vehicle recognition model, the lane forward image is further preprocessed, and the preprocessed lane forward image is input into the vehicle recognition model for recognition of the vehicle in front. Optionally, the above image preprocessing includes at least one of grayscale processing, noise reduction processing, contrast enhancement processing, histogram equalization processing, size correction processing, deblurring processing, scaling processing, etc.

[0054] In some embodiments, lane forward data can also be signal data detected by a radar sensor. Optionally, the radar sensor can be a lidar sensor, a millimeter-wave radar sensor, a corner radar sensor, etc., and is not limited thereto.

[0055] Indicatively, the signal data detected by the radar sensor is analyzed to determine the relative direction and relative distance between the obstacle ahead and the target vehicle. Based on the relative direction and relative distance, it is determined whether the detected obstacle is in the target lane. If so, it is determined that there is a vehicle ahead.

[0056] In some embodiments, when a vehicle is detected in front of a target vehicle in the target lane, the vehicle behavior of the vehicle in front is identified. Illustratively, when a vehicle is detected in front of a target vehicle in the target lane, the position of the vehicle corresponding to the vehicle in front is detected to obtain vehicle position information; the lane line corresponding to the target lane is detected to obtain lane line position information; and the vehicle behavior corresponding to the vehicle in front is determined based on the matching relationship between the vehicle position information and the lane line position information.

[0057] For illustrative purposes, the aforementioned vehicle position information includes at least one of the following: distance information between the preceding vehicle and the target vehicle, the proportion of the preceding vehicle's body within the target lane, and the direction in which the preceding vehicle is pointing.

[0058] In some embodiments, taking vehicle location information including distance information as an example, illustratively, when the distance information indicates that the distance between the target vehicle and the vehicle in front is less than a preset distance threshold, the vehicle behavior of the vehicle in front is determined as vehicle intrusion behavior; when the distance information indicates that the distance between the target vehicle and the vehicle in front is greater than or equal to the preset distance threshold, the vehicle behavior of the vehicle in front is determined as normal driving behavior.

[0059] In other embodiments, taking vehicle location information including vehicle body proportion information as an example, illustratively, when the proportion of the current vehicle body in the target lane is greater than a preset proportion threshold, the vehicle behavior of the preceding vehicle is determined as vehicle intrusion behavior; when the proportion of the current vehicle body in the target lane is less than or equal to the preset proportion threshold, the vehicle behavior of the preceding vehicle is determined as normal driving behavior.

[0060] In other embodiments, taking the vehicle location information including the direction information of the vehicle in front as an example, illustratively, when the direction of the vehicle in front is detected to indicate that the vehicle in front will use the target lane as its driving lane, the vehicle behavior of the vehicle in front is determined to be vehicle intrusion behavior; when the direction of the vehicle in front is detected to indicate that the vehicle in front will use a lane other than the target lane as its driving lane, the vehicle behavior of the vehicle in front is determined to be normal driving behavior.

[0061] In some embodiments, to improve the accuracy of vehicle behavior judgment, vehicle behavior is judged based on the area range of the ETC recognition zone. Illustratively, the ETC recognition zone corresponding to the target lane is obtained, where the ETC recognition zone is the area on the target lane used for vehicle entry and exit control via ETC. Based on the ETC recognition zone and lane line position information, the target recognition zone in front of the target vehicle is determined. When the vehicle position information indicates that the preceding vehicle is within the target recognition zone, the vehicle behavior of the preceding vehicle is determined to be vehicle intrusion behavior. When the vehicle position information indicates that the preceding vehicle is outside the target recognition zone, the vehicle behavior of the preceding vehicle is determined to be normal driving behavior, where normal driving behavior indicates that interactive behavior is allowed to proceed normally.

[0062] As an illustration, when determining the target recognition area based on the ETC recognition area and lane line position information, the ETC recognition area can be cropped according to the forward lane line position that the target vehicle can capture at its current position to obtain the target recognition area.

[0063] In some embodiments, the ETC identification area is the area within which the on-board unit and the roadside unit can establish a wireless communication connection to perform interactive behavior. Optionally, the ETC identification area can be identified in real time or preset by the system.

[0064] In some embodiments, when the ETC recognition area is identified in real time, the ETC recognition area is determined by identifying key elements in the environment surrounding the toll station. Optionally, the key elements may include column delineators, barriers, lane lines, toll station roof, etc.

[0065] In one example, the first position of the post delineator around the target vehicle, the second position of the guardrail, and the third position of the lane line of the target lane are identified, and the ETC recognition area is determined based on the first, second, and third positions.

[0066] Step 230: If the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion behavior, send a stop command to the ETC roadside unit.

[0067] Schematic illustration: When vehicle intrusion is detected in the behavior of the vehicle ahead, the on-board device interrupts the interaction between the on-board unit and the roadside unit. In some embodiments, the on-board device controls the on-board unit to send a stop command to the roadside unit, which instructs the cessation of the interaction between the on-board unit and the roadside unit.

[0068] In some embodiments, when the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion, the license plate information of the preceding vehicle is identified, and the aforementioned license plate information is carried in the stop command sent by the on-board unit to the roadside unit, so that the roadside unit records the vehicle with vehicle intrusion behavior.

[0069] In some embodiments, the roadside unit uploads the license plate information of vehicles engaging in intrusion behavior to a cloud server. The cloud server records the vehicles engaging in intrusion behavior. When the number of times the cloud server records intrusion behavior of a target license plate reaches a preset threshold, the cloud server can mark the target license plate and send the marked target license plate to the roadside unit. If the roadside unit detects an ETC interaction request sent by a vehicle with the target license plate, the roadside unit rejects the ETC interaction request. In one example, taking ETC application at a parking lot toll station as an example, after the target license plate is marked, the cloud server sends the marked target license plate to the toll collection equipment at the parking lot toll station. When it detects that a vehicle with the target license plate needs to enter the parking lot, it refuses the vehicle entry.

[0070] In some embodiments, when the behavior of the preceding vehicle indicates that the preceding vehicle's behavior is normal driving behavior, no intervention is made in the interaction between the on-board unit and the roadside unit.

[0071] In some embodiments, the ETC lane recognition function is turned off when a target vehicle is detected passing through the barrier.

[0072] In summary, during the ETC interaction process of the target vehicle, the presence of a preceding vehicle is continuously determined based on the forward lane data in front of the target vehicle. If a preceding vehicle is present, its behavior is identified. If the preceding vehicle's behavior indicates that it is attempting to steal the target vehicle's ETC interaction results by intruding into the lane, the interaction between the target vehicle and the ETC roadside unit is interrupted when the intruding vehicle attempts to pass through the barrier using the target vehicle's ETC interaction results. This prevents losses caused by the intruding vehicle's theft of the ETC interaction results.

[0073] Please refer to Figure 3 This document illustrates a flowchart of an exemplary embodiment of the ETC interactive control method provided in this application. In this embodiment, the ETC lane identification function is implemented based on multiple sensors. The method includes the following steps:

[0074] Step 301: Obtain the location data of the target vehicle via GPS.

[0075] In this embodiment of the application, the target vehicle obtains its location data during driving by calling GPS, wherein the location data is used to indicate the target vehicle's position on the map during driving.

[0076] Step 302: If the positioning data indicates that there is a toll station within the first area of ​​the target vehicle, the front view image of the target vehicle is captured by the camera.

[0077] In some embodiments, after the target vehicle obtains its current location data via GPS, it determines its current position on the map and queries the map to see if a toll station exists within a first area centered on that location. If so, a toll station identification algorithm is activated. In one example, the aforementioned first area can be defined as a circular area with a radius of 1 km and the target vehicle's current position as its center.

[0078] In other embodiments, the target vehicle acquires positioning data via GPS and current navigation information via a navigation system, wherein the navigation information includes the current travel route of the target vehicle. Illustratively, the navigation information of the target vehicle is acquired, including the current travel route; if the navigation information determines that the target vehicle passes through a toll station on the travel route, the positional relationship between the target vehicle's location and the toll station is determined based on the positioning data; when the positional relationship indicates that the vehicle's location is within a second area of ​​the toll station, a front view image of the target vehicle is acquired. That is, based on the travel route indicated by the navigation information, it is determined whether a toll station exists on the travel route; if so, when the target vehicle's positioning data indicates that the target vehicle is within the second area of ​​the toll station on the travel route, a toll station identification algorithm is activated.

[0079] Optionally, the above navigation system can be implemented as an in-vehicle navigation system, or as a navigation application on a mobile device (e.g., a smartphone) that establishes a communication connection with an in-vehicle device.

[0080] To illustrate, when the toll station recognition algorithm is activated, the camera captures a front view image of the target vehicle, which is an image taken from the perspective of the target vehicle's direction of travel.

[0081] Optionally, the aforementioned camera can be a forward-facing camera, a panoramic camera, a digital video recorder (DVR), or the like, located on the target vehicle.

[0082] In some embodiments, after acquiring a vehicle front view image, the vehicle is identified using a pre-trained toll station recognition model. Schematic, the vehicle front view image is input into the pre-trained toll station recognition model, which identifies whether a toll station exists in the vehicle front view image and obtains a toll station recognition result. This toll station recognition result is used to indicate whether a toll station exists ahead of the road.

[0083] Optionally, the toll station recognition model described above can be implemented using neural network models such as Convolutional Neural Networks (CNN), Feedforward Neural Network (FNN), Residual Network (ResNet), and Transformer, without any specific limitations.

[0084] In some embodiments, the training dataset for the toll display recognition model described above can be a dataset of toll stations within a specified area obtained through big data analysis, such as... Figure 4 As shown, it illustrates a schematic diagram of a toll station dataset 400 provided in an exemplary embodiment of this application. The toll station dataset 400 includes toll station images within a specified area.

[0085] Optionally, the specified area may be an area determined based on the target vehicle's permanent residence; or, the specified area may be a system-preset area; or, the specified area may be a user-defined area.

[0086] Step 303: If the toll station is detected from the vehicle's forward view image, activate the ETC lane recognition function.

[0087] Among them, the ETC lane recognition function is used to determine whether the interactive behavior implemented through ETC needs to be interrupted based on the vehicle behavior of the vehicle in front.

[0088] In some embodiments, the method can be applied to ETC interaction in multiple scenarios. When identifying toll stations through the vehicle's forward-view image, the type of toll station is identified simultaneously. That is, the toll station identification result output by the toll station identification model includes the toll station type identified, and different ETC lane identification functions are enabled based on the identified toll station type.

[0089] Optionally, the above-mentioned toll station types may include underpass type, highway type, parking lot type, etc.

[0090] Optionally, the ETC lane recognition function for different toll station types can correspond to different recognition accuracy, recognition area size, and function activation conditions.

[0091] In one example, when the toll station type is identified as a parking lot, the ETC lane recognition function is not activated when the target vehicle's current journey is entering the parking lot, and the ETC lane recognition function is activated when the target vehicle's current journey is leaving the parking lot.

[0092] In this embodiment, executing the toll station identification algorithm first has the following effects: First, since the image information of toll stations is unique and the feature parameters are obvious, the identification accuracy is high. However, the features of toll entrances between different toll stations are not unique, and the interference of some negative samples is obvious, such as tunnel entrances and bridge entrances. Therefore, using the toll station identification algorithm to identify toll stations can avoid the false triggering of the ETC lane identification function. Second, it ensures that the ETC lane identification algorithm corresponding to the ETC lane identification function can be started in advance, avoiding the long algorithm start time and missed detection.

[0093] In some embodiments, when a toll station is identified from the vehicle's front view image, the pixel ratio of the image pixels corresponding to the toll station to all pixels in the vehicle's front view image is determined, and the ETC lane recognition function is activated when the pixel ratio reaches a preset ratio threshold, that is, the ETC lane recognition function is not activated prematurely.

[0094] Step 304: Obtain lane forward data of the target lane where the target vehicle is located using radar sensors.

[0095] Optionally, the aforementioned radar sensor can be implemented as a lidar sensor, millimeter-wave radar sensor, corner radar sensor, etc., and is not limited here.

[0096] In some embodiments, the target vehicle obtains lane forward data through the 3D point cloud imaging technology of the radar module where the radar sensor is located. The lane forward data includes a three-dimensional graphic of the object and distance information. The three-dimensional graphic of the object is a graphic formed by a 3D point cloud generated by the signal detected by the radar sensor, and the distance information is the distance between each point cloud and the target vehicle.

[0097] In some embodiments, when the ETC lane identification function is enabled, the ETC identification area is obtained. The ETC identification area is the area within which the on-board unit and the roadside unit can establish a wireless communication connection to perform interactive behavior. Optionally, the ETC identification area can be obtained in real time or it can be preset by the system.

[0098] In some embodiments, when the ETC recognition area is identified in real time, the ETC recognition area is determined by identifying key elements in the environment surrounding the toll station. Optionally, the key elements may include column delineators, barriers, lane lines, toll station roof, etc.

[0099] In one example, the first position of the post delineator around the target vehicle, the second position of the guardrail, and the third position of the lane line of the target lane are identified, and the ETC recognition area is determined based on the first, second, and third positions.

[0100] In some embodiments, vehicle identification is achieved through a pre-trained ETC lane identification model. Schematic, a vehicle front view image is input into the pre-trained ETC lane identification model, which identifies the ETC identification area in the vehicle front view image to obtain an area identification result. This area identification result is used to indicate the ETC identification area in the target lane where the target vehicle is located.

[0101] Optionally, the above-mentioned ETC lane recognition model can be implemented using neural network models such as Convolutional Neural Networks (CNN), Feedforward Neural Network (FNN), Residual Network (ResNet), and Transformer, without specific limitations.

[0102] In some embodiments, the training dataset for the above-mentioned ETC lane identification model can be implemented as a dataset of ETC lanes in toll stations obtained through big data, such as... Figure 5 As shown, it illustrates a schematic diagram of an ETC lane dataset 500 provided in an exemplary embodiment of this application. The ETC lane dataset 500 includes scene images of ETC lanes in toll stations.

[0103] Step 305: Determine whether there is a vehicle in front of the target vehicle in the target lane based on the lane forward data.

[0104] In a schematic way, the 3D object graphic formed by 3D point cloud is compared with the preset vehicle image. When the 3D object graphic and the preset vehicle image match, it is determined that there is a vehicle in front of the target vehicle.

[0105] Step 306: If it is detected that there is a vehicle in front of the target vehicle in the target lane, identify the vehicle status of the vehicle in front and determine the corresponding vehicle behavior.

[0106] In some embodiments, the first position of the preceding vehicle in the first coordinate system corresponding to the object's three-dimensional graphics is determined by the point cloud position corresponding to the 3D point cloud of the preceding vehicle in the object's three-dimensional graphics. The lane line corresponding to the target lane in the vehicle's front view image is identified, and the second position of the lane line in the second coordinate system corresponding to the vehicle's front view image is obtained. The first coordinate system and the second coordinate system are fitted so that the preceding vehicle position and the lane line position are in the same coordinate system. Based on the lane line position and the pre-acquired ETC recognition area, the target recognition area is determined. When the preceding vehicle position is within the target recognition area, the preceding vehicle's behavior is determined to be a vehicle intrusion behavior.

[0107] Step 307: If the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion behavior, the interaction behavior is interrupted.

[0108] Schematic illustration: When vehicle intrusion is detected in the behavior of the vehicle ahead, the on-board device interrupts the interaction between the on-board unit and the roadside unit. In some embodiments, the on-board device controls the on-board unit to send a stop command to the roadside unit, which instructs the cessation of the interaction between the on-board unit and the roadside unit.

[0109] In some embodiments, the ETC interactive control method provided in this application is executed by the on-board terminal in the target vehicle. When the on-board terminal generates a stop command, it sends the stop command to the on-board unit through the Controller Area Network (CAN) to stop the interaction between the on-board unit and the road sign unit.

[0110] In some embodiments, after receiving a stop instruction, if the vehicle unit does not send a payment command to the roadside unit, the vehicle unit sends a payment stop message to the roadside unit. The payment stop message indicates that a vehicle has entered the current lane to steal ETC payment, and the current payment is stopped.

[0111] In some embodiments, after receiving a stop instruction, if the vehicle unit has already sent a payment command to the roadside unit, the vehicle unit sends a payment withdrawal message to the roadside unit. The payment withdrawal message indicates that a vehicle has entered the current lane to steal ETC payment and that the payment command needs to be withdrawn. When the roadside unit receives the payment withdrawal message, it will no longer control the barrier to rise based on the previous payment command.

[0112] In some embodiments, when the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion, the license plate information of the preceding vehicle is identified, and the aforementioned license plate information is carried in the stop command sent by the on-board unit to the roadside unit, so that the roadside unit records the vehicle with vehicle intrusion behavior.

[0113] In some embodiments, the roadside unit uploads the license plate information of vehicles engaging in intrusion behavior to a cloud server. The cloud server records the vehicles engaging in intrusion behavior. When the number of times the cloud server records intrusion behavior of a target license plate reaches a preset threshold, the cloud server can mark the target license plate. In one example, taking ETC application at a parking lot toll station as an example, after the target license plate is marked, the cloud server sends the marked target license plate to the toll collection equipment at the parking lot toll station. When the system detects that a vehicle with the target license plate needs to enter the parking lot, it refuses the vehicle entry.

[0114] In some embodiments, when the behavior of the preceding vehicle indicates that the preceding vehicle's behavior is normal driving behavior, no intervention is made in the interaction between the on-board unit and the roadside unit.

[0115] In some embodiments, when a target vehicle is detected to have passed through the barrier, the ETC lane recognition function is turned off, that is, the vehicle behavior of the vehicle in front is continuously detected in a loop until the vehicle passes through the barrier.

[0116] In summary, during the ETC interaction process of the target vehicle, the presence of a preceding vehicle is continuously determined based on the forward lane data in front of the target vehicle. If a preceding vehicle is present, its behavior is identified. If the preceding vehicle's behavior indicates that it is attempting to steal the target vehicle's ETC interaction results by intruding into the lane, the interaction between the target vehicle and the ETC roadside unit is interrupted when the intruding vehicle attempts to pass through the barrier using the target vehicle's ETC interaction results. This prevents losses caused by the intruding vehicle's theft of the ETC interaction results.

[0117] It should be noted that this application may display prompt interfaces, pop-ups, or output voice prompts before and during the collection of user data. These prompt interfaces, pop-ups, or voice prompts are used to inform the user that their data is being collected. This ensures that the application only begins the steps for collecting user data after receiving confirmation from the user regarding the prompt interface or pop-up; otherwise (i.e., without user confirmation), the steps for collecting user data end, meaning no user data is collected. In other words, all user data collected in this application is collected with the user's consent and authorization, and the collection, use, and processing of related user data must comply with the relevant laws, regulations, and standards of the relevant countries and regions.

[0118] Please refer to Figure 6 The diagram illustrates a structural block diagram of an ETC interactive control device provided in an exemplary embodiment of this application. The device includes the following modules:

[0119] The acquisition module 610 is used to acquire lane forward data of the target lane where the target vehicle is located when the interaction between the target vehicle and the ETC roadside unit is in progress. The lane forward data is used to indicate the road conditions in front of the target vehicle in the target lane.

[0120] The identification module 620 is used to identify the vehicle status of the vehicle in front based on the lane forward data and determine the vehicle behavior corresponding to the vehicle in front.

[0121] The control module 630 is used to send a stop command to the ETC roadside unit when the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion behavior. The stop command is used to indicate the cessation of the currently executed interactive behavior.

[0122] In some optional embodiments, the identification module 620 is further configured to determine, based on the lane forward data, whether there is a vehicle in front of the target vehicle in the target lane;

[0123] The identification module 620 is further configured to identify the vehicle status of the vehicle in front and determine the vehicle behavior corresponding to the vehicle in front when it is detected that there is a vehicle in front of the target vehicle in the target lane.

[0124] In some optional embodiments, the identification module 620 is further configured to detect the vehicle position corresponding to the vehicle in front and obtain vehicle position information when it is detected that there is a vehicle in front of the target vehicle in the target lane.

[0125] The identification module 620 is also used to detect the lane line corresponding to the target lane and obtain lane line position information;

[0126] The identification module 620 is further configured to determine the vehicle behavior corresponding to the preceding vehicle based on the matching relationship between the vehicle location information and the lane line location information.

[0127] In some optional embodiments, the acquisition module 610 is further configured to acquire the ETC identification area corresponding to the target lane, wherein the ETC identification area is the area on the target lane used for vehicle entry and exit control via ETC;

[0128] The identification module 620 is further configured to determine the target identification area in front of the target vehicle based on the ETC identification area and the lane line position information;

[0129] The identification module 620 is further configured to determine the vehicle behavior of the vehicle in front as the vehicle intrusion behavior when the vehicle location information indicates that the vehicle in front is located within the target identification area;

[0130] The identification module 620 is further configured to determine that the vehicle behavior of the preceding vehicle is normal driving behavior when the vehicle location information indicates that the preceding vehicle is outside the target identification area, and the normal driving behavior indicates that the interaction behavior is allowed to proceed normally.

[0131] In some optional embodiments, the identification module 620 is further configured to identify the first position of the post delineator around the target vehicle, the second position of the guardrail, and the third position of the lane line of the target lane;

[0132] The identification module 620 is further configured to determine the ETC identification area based on the first location, the second location, and the third location.

[0133] In some optional embodiments, the acquisition module 610 is further configured to acquire a front view image of the target vehicle, wherein the front view image is an image taken from the perspective of the direction of travel of the target vehicle.

[0134] The identification module 620 is also used to activate the ETC lane identification function when a toll station is identified from the vehicle's forward view image. The ETC lane identification function is used to determine whether the interactive behavior implemented through ETC needs to be interrupted based on the vehicle behavior of the vehicle in front.

[0135] In some optional embodiments, the acquisition module 610 is further configured to acquire the positioning data of the target vehicle, the positioning data being used to indicate the position of the target vehicle on the map during its driving process;

[0136] The acquisition module 610 is further configured to acquire a front view image of the target vehicle when the positioning data indicates that a toll station exists within the first area of ​​the target vehicle.

[0137] In some optional embodiments, the acquisition module 610 is further configured to acquire navigation information of the target vehicle, the navigation information including the current travel route of the target vehicle;

[0138] The identification module 620 is further configured to determine the positional relationship between the target vehicle and the toll station based on the positioning data when it is determined based on the navigation information that the target vehicle passes through the toll station on the travel route;

[0139] The acquisition module 610 is further configured to acquire a front view image of the target vehicle when the positional relationship indicates that the vehicle is located within the second area of ​​the toll station.

[0140] In some optional embodiments, the identification module 620 is further configured to identify the license plate information of the preceding vehicle when the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion behavior;

[0141] The control module is also used to send the stop command to the ETC roadside unit, the stop command including the license plate information of the vehicle in front;

[0142] The ETC roadside unit uploads the license plate information of the vehicle in front to a cloud server, which records the license plate information. When the number of times the cloud server records vehicle intrusion behavior of the target license plate reaches a preset threshold, the cloud server marks the target license plate and sends the marked target license plate to the ETC roadside unit. If the ETC roadside unit detects an ETC interaction request sent by the vehicle with the target license plate, the ETC roadside unit rejects the ETC interaction request.

[0143] In summary, during the ETC interaction process of the target vehicle, the presence of a preceding vehicle is continuously determined based on the forward lane data in front of the target vehicle. If a preceding vehicle is present, its behavior is identified. If the preceding vehicle's behavior indicates that it is attempting to steal the target vehicle's ETC interaction results by intruding into the lane, the interaction between the target vehicle and the ETC roadside unit is interrupted when the intruding vehicle attempts to pass through the barrier using the target vehicle's ETC interaction results. This prevents losses caused by the intruding vehicle's theft of the ETC interaction results.

[0144] It should be noted that the ETC interactive control device provided in the above embodiments is only an example of the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the ETC interactive control device and the ETC interactive control method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0145] Figure 7 A structural block diagram of an in-vehicle device 700 provided in an exemplary embodiment of this application is shown.

[0146] Typically, the vehicle-mounted device 700 includes a processor 701 and a memory 702.

[0147] Processor 701 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 701 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). Processor 701 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 701 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 701 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0148] The memory 702 may include one or more computer-readable storage media, which may be non-transitory. The memory 702 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 702 are used to store at least one instruction, which is executed by the processor 701 to implement the ETC interactive control method provided in the method embodiments of this application.

[0149] Indicatively, the on-board equipment 700 also includes other components 703, as those skilled in the art will understand. Figure 7 The structure shown does not constitute a limitation on the vehicle-mounted device 700, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0150] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. This program can be stored in a computer-readable storage medium, which may be a computer-readable storage medium included in the memory described in the above embodiments; or it may be a standalone computer-readable storage medium not assembled into the terminal. The computer-readable storage medium stores at least one instruction, at least one program segment, a code set, or an instruction set. The at least one instruction, the at least one program segment, the code set, or the instruction set is loaded and executed by the processor to implement any of the ETC interactive control methods described in the above embodiments.

[0151] Optionally, the computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), solid-state drives (SSDs), or optical discs, etc. The random access memory may include resistive random access memory (ReRAM) and dynamic random access memory (DRAM). The sequence numbers of the embodiments in this application are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0152] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0153] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An ETC interactive control method, characterized in that, The method includes: Acquire the location data of the target vehicle, which is used to indicate the location of the target vehicle on the map during its journey; acquire the navigation information of the target vehicle, which includes the current route of the target vehicle. If the navigation information determines that the target vehicle passes through a toll station on the travel route, the location relationship between the target vehicle and the toll station is determined based on the positioning data. When the positional relationship indicates that the vehicle is located within the second area of ​​the toll station, a front view image of the target vehicle is acquired, wherein the front view image is an image taken from the perspective of the direction of travel of the target vehicle; When a toll station is detected from the vehicle's forward view image, the ETC lane recognition function is activated. The ETC lane recognition function is used to determine whether the interactive behavior implemented through ETC needs to be interrupted based on the vehicle behavior of the vehicle in front. When the interaction between the target vehicle and the ETC roadside unit is in progress, the forward lane data of the target lane where the target vehicle is located is obtained. The forward lane data is used to indicate the road conditions in front of the target vehicle in the target lane. Based on the lane forward data, the vehicle status of the vehicle in front is identified, and the corresponding vehicle behavior of the vehicle in front is determined. If the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion, a stop command is sent to the ETC roadside unit. The stop command is used to instruct the current interactive behavior to be stopped.

2. The method according to claim 1, characterized in that, The step of identifying the vehicle state of the vehicle in front based on the lane forward data and determining the corresponding vehicle behavior includes: Based on the lane forward data, determine whether there is a vehicle in front of the target vehicle in the target lane; If a vehicle is detected in front of the target vehicle in the target lane, the vehicle status of the vehicle in front is identified, and the corresponding vehicle behavior is determined.

3. The method according to claim 2, characterized in that, When it is detected that there is a vehicle in front of the target vehicle in the target lane, the step of identifying the vehicle state of the vehicle in front and determining the corresponding vehicle behavior includes: If it is detected that there is a vehicle in front of the target vehicle in the target lane, the position of the vehicle corresponding to the vehicle in front is detected to obtain the vehicle position information; Detect the lane lines corresponding to the target lane to obtain lane line position information; Based on the matching relationship between the vehicle location information and the lane line location information, the vehicle behavior corresponding to the preceding vehicle is determined.

4. The method according to claim 3, characterized in that, The step of determining the vehicle behavior corresponding to the preceding vehicle based on the matching relationship between the vehicle location information and the lane line location information includes: Obtain the ETC identification area corresponding to the target lane, wherein the ETC identification area is the area on the target lane used for vehicle entry and exit control via ETC; Based on the ETC recognition area and the lane line position information, the target recognition area in front of the target vehicle is determined; When the vehicle location information indicates that the vehicle in front is located within the target identification area, the vehicle behavior of the vehicle in front is determined to be the vehicle intrusion behavior; When the vehicle location information indicates that the preceding vehicle is outside the target recognition area, the vehicle behavior of the preceding vehicle is determined to be normal driving behavior, and the normal driving behavior indicates that the interaction behavior is allowed to proceed normally.

5. The method according to claim 4, characterized in that, The step of obtaining the ETC recognition area corresponding to the target lane includes: Identify the first position of the post delineator around the target vehicle, the second position of the guardrail, and the third position of the lane line of the target lane; The ETC identification area is determined based on the first location, the second location, and the third location.

6. The method according to any one of claims 1 to 5, characterized in that, When the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion, sending a stop command to the ETC roadside unit includes: When the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion, the license plate information of the preceding vehicle is identified; Send the stop command to the ETC roadside unit, the stop command including the license plate information of the vehicle in front; The ETC roadside unit uploads the license plate information of the vehicle in front to a cloud server, which records the license plate information. When the number of times the cloud server records vehicle intrusion behavior of the target license plate reaches a preset threshold, the cloud server marks the target license plate and sends the marked target license plate to the ETC roadside unit. If the ETC roadside unit detects an ETC interaction request sent by the vehicle with the target license plate, the ETC roadside unit rejects the ETC interaction request.

7. An ETC interactive control device, characterized in that, The device includes: The acquisition module is used to acquire the positioning data of the target vehicle, which indicates the location of the target vehicle on the map during its journey; and to acquire the navigation information of the target vehicle, which includes the current route of the target vehicle. The identification module is used to determine the positional relationship between the target vehicle's location and the toll station based on the positioning data, when the navigation information determines that the target vehicle passes through a toll station on the travel route. The acquisition module is further configured to acquire a front view image of the target vehicle when the positional relationship indicates that the vehicle is located within the second area of ​​the toll station, wherein the front view image is an image taken from the perspective of the direction of travel of the target vehicle; The identification module is also used to activate the ETC lane identification function when a toll station is identified from the vehicle's forward view image. The ETC lane identification function is used to determine whether the interactive behavior implemented through ETC needs to be interrupted based on the vehicle behavior of the vehicle in front. The acquisition module is also used to acquire lane forward data of the target lane where the target vehicle is located when the interaction between the target vehicle and the ETC roadside unit is in progress. The lane forward data is used to indicate the road conditions in front of the target vehicle in the target lane. The identification module is also used to identify the vehicle status of the vehicle in front based on the lane forward data, and determine the vehicle behavior corresponding to the vehicle in front. The control module is used to send a stop command to the ETC roadside unit when the vehicle behavior of the preceding vehicle indicates that the preceding vehicle has engaged in vehicle intrusion behavior. The stop command is used to instruct the current interactive behavior to be stopped.

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