A road sign change detection method, system, electronic device and storage medium

Abstract

The application relates to the technical field of road detection, and particularly discloses a road sign change detection method and system, an electronic device and a storage medium, the method comprising the following steps: acquiring images containing a target road region collected at different time points; and determining whether the road sign in each preset local region of the target road region in any two images changes by using a road sign detection model. The application can detect the change of the road sign in real time, avoids the safety hazards caused by the inconsistency between the vehicle navigation and the actual route, and improves the vehicle passing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of road detection, and in particular to a road sign change detection method and system, an electronic device and a storage medium. BACKGROUND

[0002] In a small community or park scene, the property will regularly hold activities, so the driving route of the vehicle on the road needs to be adjusted, and the construction personnel changes the route guide by refreshing the road signs. In this case, the navigation map is often not updated in time, and at this time, the social vehicle will not be consistent with the actual route when driving normally through navigation, which may cause certain safety hazards.

[0003] Therefore, there is an urgent need to provide a technical solution to solve the above problems. SUMMARY

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

[0005] In a first aspect, the present application provides a road sign change detection method, and the technical scheme of the method is as follows:

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

[0007] S2, using 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 changes.

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

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

[0010] On the basis of the above-mentioned scheme, the road sign change detection method of the present application can also be improved as follows.

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

[0012] S3, when the road sign in any preset local area of the target road area in any two images changes, generating an alarm event and sending it to a 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 mode, further comprising:

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

[0016] When the area distribution of the preset local area of the target road region does not change, performing S2.

[0017] In an optional mode, further comprising:

[0018] When the area distribution of the preset local area of the target road region changes, determining that the road identification of the target road region changes.

[0019] In an optional mode, the road identification includes road marking lines and road signs.

[0020] In a second aspect, the present application provides a road identification change detection system, and the technical scheme of the system is as follows:

[0021] comprising a collection module and a detection module;

[0022] The collection module is configured to acquire images containing a target road region collected at different times.

[0023] The detection module is configured to determine whether the road identification in each preset local area of the target road region changes in any two images by using a road identification detection model.

[0024] The road identification change detection system of the present application has the following advantages:

[0025] The system of the present application can detect the change of road identification in real time, avoid the safety hazards caused by the inconsistency between vehicle navigation and actual route, and improve the vehicle passing efficiency.

[0026] On the basis of the above-mentioned scheme, the road identification change detection system of the present application can be further improved as follows.

[0027] In an optional mode, further comprising a prompt module, wherein the prompt module is configured to:

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

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

[0030] comprising a memory, a processor, and a program stored in the memory and running on the processor, the processor implementing the steps of the road sign change detection method of the present application when running the program.

[0031] In a fourth aspect, the technical solution of the present application provides a computer readable storage medium, and the technical solution is as follows:

[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 application.

[0033] The above description is only a summary of the technical solutions of the present application. In order to enable one skilled in the art to better understand the technical means of the present application and implement the same according to the contents of the specification, and in order to enable the above and other purposes, characteristics and advantages of the present application to be more apparent and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings are only used to show the embodiments and are not considered as limiting the present application. Moreover, the same reference signs are used to represent the same components throughout the drawings. In the drawings:

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

[0036] Figure 2 a schematic diagram of a straight sign line;

[0037] Figure 3 a schematic diagram of a left-turn sign line;

[0038] Figure 4 a schematic diagram of a dashed sign line;

[0039] Figure 5 a schematic diagram of a solid sign line;

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

[0041] Figure 7 a structural schematic diagram of an embodiment of a road sign change detection system of the present application;

[0042] Figure 8 a structural schematic diagram of an embodiment of an electronic device of the present application. DETAILED DESCRIPTION

[0043] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be embodied in various forms and should not be limited by the embodiments set forth herein.

[0044] Figure 1 A flowchart of a first embodiment of a road sign change detection method provided by the present application is shown, which can be executed by electronic devices such as terminal devices or servers. 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 the memory through the processor. As shown in Figure 1 The method includes the following steps:

[0045] S1, acquiring images containing a target road region collected at different time points.

[0046] In this embodiment, the camera is used to collect images containing the target road region, and the camera collects one frame of image every preset time period, which can be determined according to the camera parameters and is not limited herein. The target road region is the road region that needs to be detected for road sign change in this embodiment.

[0047] S2, using a road sign detection model to determine whether the road sign in each preset local region of the target road region in any two images changes.

[0048] The road sign includes road marking lines and road signs. The road marking lines include driving direction marking lines (left turn marking lines, straight marking lines, right turn marking lines, etc.) and road division marking lines (dashed marking lines and solid marking lines, etc.). The 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 division marking lines. The target road region contains at least one preset local region, which can be divided by lane lines or according to actual needs and is not limited herein. For example, if the target road region contains three lanes, each lane is a preset local region.

[0049] It should be noted that any two images can be two consecutive images in a frame-by-frame sequence, or two images with a preset frame interval; there are no restrictions here. Typically, the distribution and quantity of preset local regions are determined based on the earlier image of any two images, and then the road markings within each preset local region are determined based on the later image. In this embodiment, the object detection model defaults to the YOLOv5 model, and the object segmentation model defaults to a fully convolutional network (FCN). The object detection model and object segmentation model can also be adjusted according to actual conditions.

[0050] In one alternative approach, it also includes:

[0051] S3. When the road sign changes in any preset local area of ​​the target road area in any two images, an alarm event is generated and sent to the target platform, so that the target platform sends a prompt message to vehicles around the target road area based on the alarm event.

[0052] The information provided includes, but is not limited to, broadcast announcements, text messages, or light-based warnings. Changes to road signs include, but are not limited to, changes to straight-ahead lane markings. Figure 2 ) becomes a left turn sign ( Figure 3 ), dashed line markings ( Figure 4 ) becomes a solid line ( Figure 5 The alarm event includes: 1) Missing no-parking signs (a no-parking sign is present in an earlier image but missing in a later image). 2) The alarm event content includes: changes in road signs within the target road area and the specific circumstances of the changes. The target platform can be a map service platform (such as a navigation map) or a regional management platform (such as a park management platform); there are no restrictions. When a road sign changes within any preset local area of ​​the target road area, the target platform sends a notification message to vehicles within a preset range (e.g., within 1 km) around the target road area based on the alarm event.

[0053] It should be noted that the target platform sends alerts to vehicles around the target road area. After receiving the alerts, the vehicle terminals promptly plan new routes, thereby improving traffic efficiency and reducing human intervention.

[0054] The technical solution of this embodiment can detect changes in road signs in real time, avoiding safety hazards caused by discrepancies between vehicle navigation and actual routes, and improving vehicle traffic efficiency.

[0055] Figure 6 A flowchart illustrating a second embodiment of a road sign change detection method provided by the present invention is shown, as follows: Figure 6As shown, the method comprises the following steps:

[0056] S10, acquiring images containing a target road region collected at different time points.

[0057] S20, judging whether the area distribution of a preset local region of the target road region in any two images changes.

[0058] The case where the area distribution of the preset local region of the target road region changes includes but is not limited to: three lanes changing into two lanes (i.e., the number of preset local regions changing from three to two) and two lanes changing into three lanes (i.e., the number of preset local regions changing from two to three).

[0059] S30, when the area distribution of the preset local region of the target road region does not change, using a road sign detection model to judge whether the road sign in each preset local region of the target road region in any two images changes.

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

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

[0062] When the area distribution of the preset local region of the target road region changes, since the area distribution has changed (for example, the number of preset local regions changes from three to two), it can be determined that the road sign of the target road region changes at this time, and there is no need to perform the step of using the road sign detection model to judge whether the road sign in each preset local region of the target road region in any two images changes.

[0063] The technical scheme of the embodiment further determines the change of the road sign in real time according to the change of the area distribution of the target road region, avoids the safety hazard caused by the inconsistency between the vehicle navigation and the actual route, and improves the vehicle passing efficiency.

[0064] Figure 7 An embodiment of a road sign change detection system 200 provided by the application is shown in a structural schematic diagram. As shown in the figure, Figure 7 The system 200 comprises an acquisition module 210 and a detection module 220.

[0065] The acquisition module 210 is configured to acquire images containing a target road region collected at different time points.

[0066] The detection module 220 is configured to determine, by using a road mark detection model, whether the road mark in each preset local region of the target road region changes in any two images.

[0067] In an optional manner, the system further comprises a prompting module, which is configured to:

[0068] When the road mark in any preset local region of the target road region changes in any two images, an alarm event is generated and sent to a target platform, so that the target platform sends prompt information to vehicles around the target road region 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 system further comprises a judgment module, which is configured to:

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

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

[0073] In an optional manner, the system further comprises a determination module, which is configured to:

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

[0075] In an optional manner, the road mark comprises road marking lines and road signs.

[0076] The technical solution of the embodiment can detect the change of the road mark in real time, avoid the safety hazard caused by the inconsistency between the vehicle navigation and the actual route, and improve the vehicle passing efficiency.

[0077] The steps of implementing the corresponding functions of each parameter and each module in the road mark change detection system 200 of the embodiment can refer to the parameters and steps in the embodiments of the road mark change detection method described above, and will not be repeated here.

[0078] As Figure 8As shown, an electronic device 300 according to an embodiment of the present application includes a processor 320 coupled to a memory 310, and the memory 310 stores at least one computer program 330. 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 road sign change detection methods described above. Specifically:

[0079] The electronic device 300 can have a large difference due to different configurations or performances, and can include one or more processors 320 (Central Processing Units, CPUs) and one or more memories 310. 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 by the above embodiments. Of course, the electronic device 300 can also have a wired or wireless network interface, a keyboard, an input and output interface, and other components for implementing device functions, and the like, so as to perform input and output. The electronic device 300 can also include other components for implementing device functions, which are not described herein.

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

[0081] Optionally, the computer readable storage medium can be a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a read-only compact disc (Compact Disc Read-Only Memory, CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

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

[0083] It should be noted that the terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and do not represent a specific order or sequential order. The order of use of similar objects can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described.

[0084] Those skilled in the art know that the present application can be implemented as a system, a method or a computer program product, therefore, the present disclosure can be embodied in the form of a complete hardware, a complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, which are generally referred to as "circuitry", "module" or "system" herein. In addition, in some embodiments, the present application can also be embodied in the form of a computer program product in one or more computer readable media, which contains computer readable program codes.

[0085] Any combination of one or more computer readable medium can be employed. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus or device.

[0086] Although the embodiments of the present application have been shown and described above, it should be understood that the above-described embodiments are exemplary, and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A method for detecting changes in road signs, characterized in that, include: S1. Acquire images containing the target road area collected at different times; S2. Using a road sign detection model, determine whether the road signs in each preset local area of ​​the target road region have changed in any two images; The road markings include: road marking lines and road signs; road marking lines include: driving direction marking lines and road dividing marking lines; road signs include: no parking signs and speed limit signs; the road marking 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; wherein, the distribution and quantity of preset local regions are determined based on the image at the earlier time step of any two images, and then it is determined whether the road markings in each preset local region have changed based on the image at the later time step; S3. When the road signage changes in any preset local area of ​​the target road area in any two images, an alarm event is generated and sent to the target platform, so that the target platform sends a prompt message to vehicles around the target road area based on the alarm event; the prompt message is: broadcast prompt message, text prompt message, or light prompt message; Before S2, it also includes: Determine whether the regional distribution of the preset local region of the target road area has changed in any two images; If the regional distribution of the preset local area of ​​the target road area does not change, execute S2; if the regional distribution of the preset local area of ​​the target road area changes, determine that the road signage of the target road area has changed.

2. A road sign change detection system, characterized in that, include: The module includes a data acquisition module, a detection module, and a notification module. The acquisition module is used to: acquire images containing the target road area collected at different times; The detection module is used to: use a road sign detection model to determine whether the road signs in each preset local area of ​​the target road area have changed in any two images; The road markings include: road marking lines and road signs; road marking lines include: driving direction marking lines and road dividing marking lines; road signs include: no parking signs and speed limit signs; the road marking 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; wherein, the distribution and quantity of preset local regions are determined based on the image at the earlier time step of any two images, and then it is determined whether the road markings in each preset local region have changed based on the image at the later time step; The prompting module is used to: generate an alarm event and send it to the target platform when the road sign changes in any preset local area of ​​the target road area in any two images, so that the target platform can send prompt information to vehicles around the target road area according to the alarm event; the prompt information is: broadcast prompt information, text prompt information, or light prompt information; It also includes: a judgment module; the judgment module is used for: Determine whether the regional distribution of the preset local region of the target road area has changed in any two images; When the regional distribution of the preset local area of ​​the target road area remains unchanged, the detection module is invoked. It also includes: a determination module; the determination module is used for: When the regional distribution of a preset local area of ​​the target road area changes, it is determined that the road signs of the target road area have changed.

3. An electronic device, characterized in that, The electronic device includes a processor coupled to a memory, the memory storing at least one computer program, which is loaded and executed by the processor to enable the electronic device to implement the road sign change detection method as described in claim 1.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer-readable storage medium to implement the road sign change detection method as described in claim 1.

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