Road sign change detection method and system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of road detection, and particularly discloses a road sign change detection method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining images which are collected at different moments and contain a target road region; and judging whether the road mark in each preset local area of the target road area in any two images is changed or not by using a road mark detection model. According to the invention, the change condition of the road sign can be detected in real time, the potential safety hazard caused by inconformity between the vehicle navigation and the actual route is avoided, and the vehicle passing efficiency is improved.

Description

Background Art

[0002] Usually in residential areas or park scenes, property management companies will hold events regularly, so it is necessary to adjust the driving routes of vehicles on the road. Construction workers change the route directions by refreshing the road signs. In this case, the navigation map is often not updated in a timely manner. At this time, private vehicles will drive normally through navigation, and there will be situations that are inconsistent with the actual route, which will cause certain safety hazards.

[0003] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a road sign change detection method, system, electronic device and storage medium.

[0005] In a first aspect, the present invention provides a method for detecting road sign changes, the technical solution of the method is as follows:

[0006] S1, acquiring images containing the target road area collected at different times;

[0007] S2. Using a road sign detection model, determine whether a road sign in each preset local area of ​​the target road area in any two images has changed.

[0008] The beneficial effects of a road sign change detection method of the present invention are as follows:

[0009] The method of the present invention can detect the change of road signs in real time, avoid the potential safety hazard caused by the inconsistency between vehicle navigation and actual route, and improve the vehicle traffic efficiency.

[0010] Based on the above solution, the road sign change detection method of the present invention can also be improved as follows.

[0011] In an optional manner, the method further includes:

[0012] S3. When the road signs in any preset local area of ​​the target road area in any two images change, an alarm event is generated and sent to the target platform, so that the target platform sends prompt information to vehicles around the target road area according to the alarm event.

[0013] In an optional manner, the prompt information is: broadcast prompt information, text prompt information or light prompt information.

[0014] In an optional manner, the method further includes:

[0015] Determine whether the area distribution of the preset local area of ​​the target road area in the any two images changes;

[0016] When the area distribution of the preset local area of ​​the target road area does not change, S2 is executed.

[0017] In an optional manner, the method further includes:

[0018] When the area distribution of the preset local area of ​​the target road area changes, it is determined that the road sign of the target road area changes.

[0019] In an optional manner, the road marking includes: road marking lines and road signs.

[0020] In a second aspect, the present invention provides a road sign change detection system, the technical solution of the system is as follows:

[0021] Including: acquisition module and detection module;

[0022] The acquisition module is used to: acquire images containing the target road area acquired at different times;

[0023] The detection module is used to use a road sign detection model to determine whether the road sign in each preset local area of ​​the target road area in any two images has changed.

[0024] The beneficial effects of a road sign change detection system of the present invention are as follows:

[0025] The system of the present invention can detect the changes of road signs in real time, avoid the potential safety hazard caused by the inconsistency between vehicle navigation and actual route, and improve the traffic efficiency of vehicles.

[0026] Based on the above solution, the road sign change detection system of the present invention can also be improved as follows.

[0027] In an optional manner, the system further includes: a prompt module; the prompt module is used to:

[0028] When the road signs in any preset local area of ​​the target road area in any two images change, an alarm event is generated and sent to the target platform, so that the target platform sends prompt information to vehicles around the target road area according to the alarm event.

[0029] In a third aspect, a technical solution of an electronic device of the present invention is as follows:

[0030] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the road sign change detection method of the present invention are implemented.

[0031] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0032] The computer-readable storage medium stores instructions, and when the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the road sign change detection method of the present invention.

[0033] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0035] Figure 1 It is a flowchart of a first embodiment of a road sign change detection method of the present invention;

[0036] Figure 2 This is a schematic diagram of the straight line marking line;

[0037] Figure 3 This is a schematic diagram of the left turn sign;

[0038] Figure 4 It is a schematic diagram of the dotted line identification line;

[0039] Figure 5 It is a schematic diagram of the solid line identification line;

[0040] Figure 6 It is a flowchart of a second embodiment of a road sign change detection method of the present invention;

[0041] Figure 7 A schematic diagram of the structure of an embodiment of a road sign change detection system of the present invention;

[0042] Figure 8 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0043] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0044] Figure 1 The flowchart of the first embodiment of a road sign change detection method provided by the present invention is shown. The road sign change detection method can be executed by an electronic device such as a terminal device or a server. The terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the road sign change detection method by calling computer-readable instructions stored in a memory through a processor. Figure 1 As shown, the following steps are included:

[0045] S1. Acquire images containing target road areas collected at different times.

[0046] In this embodiment, a camera is used to collect images containing a target road area. The camera collects one frame of image every preset time period, which can be determined according to camera parameters and is not limited here. The target road area is the road area where road sign change detection is required in this implementation.

[0047] S2. Using a road sign detection model, determine whether a road sign in each preset local area of ​​the target road area in any two images has changed.

[0048] Among them, road signs include: road marking lines and road signs. Road marking lines include: driving direction marking lines (left turn marking lines, straight marking lines and right turn marking lines, etc.) and road dividing marking lines (dashed marking lines and solid marking lines, etc.). Road signs include: no parking signs and speed limit signs, etc. The road sign detection model includes: a target detection model for detecting driving direction marking lines and road signs, and a target segmentation model for detecting road dividing marking lines. The target road area contains at least one preset local area, and the preset local area can be divided by lane lines, or according to actual needs, and there is no restriction here. For example, if the target road area contains three lanes, each lane is a preset local area.

[0049] It should be noted that any two images can be two consecutive images in the frame-by-frame images, or two images separated by a preset number of frames, and there is no restriction here. Usually, the distribution and number of the preset local areas are determined based on the image at the earlier moment of any two images, and then the road signs in each preset local area are judged whether they have changed based on the image at the later moment. In this embodiment, the target detection model uses the yolov5 model by default, and the target segmentation model uses the full convolutional network (FCN) by default. The target detection model and the target segmentation model can also be adjusted according to the actual situation.

[0050] In an optional manner, the method further includes:

[0051] S3. When the road signs in any preset local area of ​​the target road area in any two images change, an alarm event is generated and sent to the target platform, so that the target platform sends prompt information to vehicles around the target road area according to the alarm event.

[0052] The prompt information includes: broadcast prompt information, text prompt information or light prompt information, and there is no limitation here. The situations where the road signs change include but are not limited to: straight line sign ( Figure 2 ) changes to a left turn sign ( Figure 3 )、Dashed line identification line( Figure 4 ) becomes a solid line ( Figure 5 ), no parking sign is missing (there is a no parking sign in the image at the previous moment, but it is missing in the image at the next moment). The content of the alarm event includes: the road signs in the target road area have changed and the specific circumstances of the road signs changing. The target platform can be a map service platform (such as a navigation map) or a regional management platform (a park management platform), and there is no restriction here. When the road signs in any preset local area of ​​the target road area change, the target platform sends a prompt message to the vehicles within a preset range (such as 1KM around) around the target road area according to the alarm event.

[0053] It should be noted that the target platform sends prompt information to vehicles around the target road area. After receiving the prompt information, the vehicle terminal plans a new driving route in a timely manner, thereby improving traffic efficiency and reducing human intervention.

[0054] The technical solution of this embodiment can detect changes in road signs in real time, avoid potential safety hazards caused by the inconsistency between vehicle navigation and actual routes, and improve vehicle traffic efficiency.

[0055] Figure 6 FIG. 4 is a flow chart showing a second embodiment of a road sign change detection method provided by the present invention. Figure 6As shown, the method comprises the following steps:

[0056] S10, acquiring images containing the target road area collected at different times.

[0057] S20: Determine whether the area distribution of the preset local area of ​​the target road area in the any two images changes.

[0058] Among them, the situations in which the area distribution of the preset local areas of the target road area changes include but are not limited to: three lanes become two lanes (that is, the number of preset local areas changes from three to two) and two lanes become three lanes (that is, the number of preset local areas changes from two to three).

[0059] S30: When the area distribution of the preset local areas of the target road area has not changed, using a road sign detection model, determine whether the road signs in each preset local area of ​​the target road area in any two images have changed.

[0060] In an optional manner, the method further includes:

[0061] When the area distribution of the preset local area of ​​the target road area changes, it is determined that the road sign of the target road area changes.

[0062] Among them, when the area distribution of the preset local areas of the target road area changes, since the area distribution has changed (such as the number of preset local areas changes from three to two), it can be explained that the road signs of the target road area have changed, and there is no need to perform the step of using the road sign detection model to determine whether the road signs in each preset local area of ​​the target road area in any two images have changed.

[0063] The technical solution of this embodiment further determines the changes in road signs in real time according to the changes in the regional distribution of the target road area, avoiding the safety hazards caused by the inconsistency between the vehicle navigation and the actual route, and improving the vehicle traffic efficiency.

[0064] Figure 7 FIG. 2 is a schematic diagram showing a structure of an embodiment of a road sign change detection system 200 provided by the present invention. Figure 7 As shown, the system 200 includes: a collection module 210 and a detection module 220;

[0065] The acquisition module 210 is used to: acquire images containing the target road area acquired at different times;

[0066] The detection module 220 is used to use a road sign detection model to determine whether the road sign in each preset local area of ​​the target road area in any two images has changed.

[0067] In an optional manner, the system further includes: a prompt module; the prompt module is used to:

[0068] When the road signs in any preset local area of ​​the target road area in any two images change, an alarm event is generated and sent to the target platform, so that the target platform sends prompt information to vehicles around the target road area according to the alarm event.

[0069] In an optional manner, the prompt information is: broadcast prompt information, text prompt information or light prompt information.

[0070] In an optional manner, the method further includes: a judgment module; the judgment module is used to:

[0071] Determine whether the area distribution of the preset local area of ​​the target road area in the any two images changes;

[0072] When the area distribution of the preset local area of ​​the target road area does not change, the detection module is called.

[0073] In an optional manner, the method further includes: a determination module; the determination module is used to:

[0074] When the area distribution of the preset local area of ​​the target road area changes, it is determined that the road sign of the target road area changes.

[0075] In an optional manner, the road marking includes: road marking lines and road signs.

[0076] The technical solution of this embodiment can detect changes in road signs in real time, avoid potential safety hazards caused by the inconsistency between vehicle navigation and actual routes, and improve vehicle traffic efficiency.

[0077] The above parameters and steps for each module to implement corresponding functions in the road sign change detection system 200 of this embodiment can refer to the parameters and steps in the embodiment of the road sign change detection method above, and will not be repeated here.

[0078] like Figure 8As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any of the above-mentioned road sign change detection methods, specifically:

[0079] The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements any of the road sign change detection methods provided in the above embodiments. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the electronic device 300 may also include other components for implementing device functions, which will not be described in detail here.

[0080] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any of the above-mentioned road sign change detection methods.

[0081] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0082] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs any of the above-mentioned road sign change detection methods.

[0083] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0084] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0085] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0086] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A road sign change detection method, characterized in that: include: S1, acquiring images containing the target road area collected at different times; S2. Using a road sign detection model, determine whether a road sign in each preset local area of ​​the target road area in any two images has changed.

2. The road sign change detection method according to claim 1, characterized in that: Also includes: S3. When the road signs in any preset local area of ​​the target road area in any two images change, an alarm event is generated and sent to the target platform, so that the target platform sends prompt information to vehicles around the target road area according to the alarm event.

3. The road sign change detection method according to claim 2, characterized in that: The prompt information includes: broadcast prompt information, text prompt information or light prompt information.

4. The road sign change detection method according to claim 1, characterized in that: Prior to S2, this also included: Determine whether the area distribution of the preset local area of ​​the target road area in the any two images changes; When the area distribution of the preset local area of ​​the target road area does not change, S2 is executed.

5. The road sign change detection method according to claim 4, characterized in that: Also includes: When the area distribution of the preset local area of ​​the target road area changes, it is determined that the road sign of the target road area changes.

6. The road sign change detection method according to any one of claims 1 to 5, characterized in that: The road markings include: road marking lines and road signs.

7. A road sign change detection system, characterized in that: include: Acquisition module and detection module; The acquisition module is used to: acquire images containing the target road area acquired at different times; The detection module is used to use a road sign detection model to determine whether the road sign in each preset local area of ​​the target road area in any two images has changed.

8. The road sign change detection system according to claim 7, characterized in that: Also includes: Prompt module; the prompt module is used to: When the road signs in any preset local area of ​​the target road area in any two images change, an alarm event is generated and sent to the target platform, so that the target platform sends prompt information to vehicles around the target road area according to the alarm event.

9. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the road sign change detection method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the computer-readable storage medium implements the road sign change detection method as described in any one of claims 1 to 6.

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