Reverse driving detection method, vehicle, device, electronic equipment and readable storage medium

Abstract

The embodiment of the invention provides a converse driving detection method, a vehicle, a device, electronic equipment and a readable storage medium, and relates to the technical field of computers. After the user authorizes to start the converse driving detection function, the target road section on which the target vehicle runs can be determined based on the position information corresponding to the target vehicle. When the target road section is the two-way lane road section, the lane direction corresponding to the lane where the target vehicle runs can be quickly determined according to the end point coordinates and the position information corresponding to the two ends of the target road section, and retrograde driving detection is performed on the target vehicle based on the lane direction and the driving direction information. In the process, whether the target vehicle has the retrograde motion behavior or not can be rapidly detected only through the position information corresponding to the target vehicle and the corresponding road network data, additional equipment such as camera equipment does not need to be arranged, and retrograde motion detection is simply, rapidly and effectively carried out.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a wrong-way detection method, vehicle, device, electronic device and readable storage medium. Background Art

[0002] In the existing traffic system, vehicle driving in the opposite direction is a very dangerous and illegal behavior. When a vehicle drives into the traffic flow in the opposite direction, it not only increases the risk of accidents, but also brings trouble and danger to vehicles on other roads.

[0003] In the related technologies, image recognition technology can generally be used to determine whether a vehicle is driving against traffic. However, this method requires the installation of a large number of cameras on roads or vehicles to ensure the coverage of image recognition technology on each road. Moreover, camera equipment often has problems such as high cost, difficult maintenance, unclear shooting in harsh environments such as night and rainy days, easy interference when scene information is dense, and reduced recognition rate when the camera is contaminated. Therefore, the related technologies still have certain limitations when detecting vehicles driving against traffic. Summary of the invention

[0004] In view of this, embodiments of the present application provide a wrong-way detection method, a vehicle, an apparatus, an electronic device, and a readable storage medium to achieve simple, fast, and effective wrong-way detection.

[0005] In a first aspect, a retrograde detection method is provided, the method comprising:

[0006] Determine the location information and driving direction information corresponding to the target vehicle.

[0007] The target road section on which the target vehicle travels is determined according to the position information.

[0008] In response to the target road segment being a two-way road segment, the endpoint coordinates corresponding to both ends of the target road segment are determined.

[0009] The lane direction corresponding to the lane in which the target vehicle is traveling is determined according to the endpoint coordinates and the position information.

[0010] Based on the lane direction and the driving direction information, a reverse detection is performed on the target vehicle to determine a detection result.

[0011] In some embodiments, the endpoint coordinates include a first coordinate corresponding to one end of the target road segment and a second coordinate corresponding to the other end.

[0012] Determining the lane direction corresponding to the lane in which the target vehicle is traveling according to the endpoint coordinates and the position information includes:

[0013] A first vector composed of the first coordinate and the second coordinate in a predetermined coordinate system is determined, and a second vector composed of the first coordinate and the position information in a predetermined coordinate system is determined.

[0014] A lane direction corresponding to the lane in which the target vehicle is traveling is determined according to a vector product result of the first vector and the second vector.

[0015] In some embodiments, the direction of the first vector is from the first coordinate to the second coordinate, and the direction of the second vector is from the first coordinate to the position information.

[0016] Determining the lane direction corresponding to the lane in which the target vehicle is traveling according to the vector product result of the first vector and the second vector includes:

[0017] In response to the vector product result of the first vector and the second vector being positive, it is determined that the lane direction corresponding to the lane in which the target vehicle is traveling is that the second coordinate points to the first coordinate.

[0018] In response to the vector product result of the first vector and the second vector being negative, it is determined that the lane direction corresponding to the lane in which the target vehicle is traveling is that the first coordinate points to the second coordinate.

[0019] In some embodiments, the method further comprises:

[0020] In response to the target road segment being a one-way road segment, the prescribed driving direction of the one-way road segment is determined as the lane direction corresponding to the target road segment.

[0021] Based on the lane direction and the driving direction information, a reverse detection is performed on the target vehicle to determine a detection result.

[0022] In some embodiments, performing reverse driving detection on the target vehicle based on the lane direction and the driving direction information, and determining the detection result includes:

[0023] A target angle between the lane direction and the driving direction information is determined.

[0024] In response to the target angle being less than a predetermined angle threshold, the detection result is determined to be not retrograde.

[0025] In response to the target angle being greater than or equal to the predetermined angle threshold, the detection result is determined to be retrograde.

[0026] In some embodiments, determining the target road section traveled by the target vehicle according to the position information includes:

[0027] Taking the location information as the center of the circle and a predetermined radius as the search radius, a target area corresponding to the location information is determined.

[0028] The target road section on which the target vehicle travels is determined according to the road section intersecting with the target area.

[0029] In some embodiments, the method further comprises:

[0030] In response to the detection result of retrograde driving, an alarm prompt and / or an emergency response action is executed.

[0031] In some embodiments, the location information is the longitude and latitude coordinates corresponding to the target vehicle, and the driving direction information is the heading angle information corresponding to the target vehicle.

[0032] In a second aspect, a vehicle is provided, the vehicle comprising a wrong-traffic detection unit, the wrong-traffic detection unit comprising at least a positioning unit and a processing unit.

[0033] Wherein, the positioning unit is configured to determine the position information and driving direction information of the vehicle.

[0034] The processing unit is configured to execute the wrong-way detection method as described in the first aspect above to determine a detection result corresponding to the vehicle.

[0035] In some embodiments, the wrong-traffic detection unit further includes a communication unit, wherein the communication unit is configured to send location information and driving direction information of the vehicle to a server, and receive a detection result corresponding to the vehicle returned by the server.

[0036] In some embodiments, the retrograde detection unit further includes an execution unit, wherein the execution unit is configured to execute an alarm prompt and / or an emergency response action.

[0037] In a third aspect, a retrograde detection device is provided, the device comprising:

[0038] The vehicle information determination module is configured to determine the location information and driving direction information corresponding to the target vehicle.

[0039] The road section information determination module is configured to determine the target road section on which the target vehicle travels according to the position information.

[0040] The endpoint coordinate determination module is configured to determine the endpoint coordinates corresponding to the two ends of the target road segment in response to the target road segment being a two-way road segment.

[0041] The lane direction determination module is configured to determine the lane direction corresponding to the lane in which the target vehicle is traveling based on the endpoint coordinates and the position information.

[0042] The detection result determination module is configured to perform a reverse detection on the target vehicle based on the lane direction and the driving direction information to determine the detection result.

[0043] In some embodiments, the endpoint coordinates include a first coordinate corresponding to one end of the target road segment and a second coordinate corresponding to the other end.

[0044] The lane direction determination module is specifically configured to execute:

[0045] A first vector composed of the first coordinate and the second coordinate in a predetermined coordinate system is determined, and a second vector composed of the first coordinate and the position information in a predetermined coordinate system is determined.

[0046] A lane direction corresponding to the lane in which the target vehicle is traveling is determined according to a vector product result of the first vector and the second vector.

[0047] In some embodiments, the direction of the first vector is from the first coordinate to the second coordinate, and the direction of the second vector is from the first coordinate to the position information.

[0048] The lane direction determination module is specifically configured to execute:

[0049] In response to the vector product result of the first vector and the second vector being positive, it is determined that the lane direction corresponding to the lane in which the target vehicle is traveling is that the second coordinate points to the first coordinate.

[0050] In response to the vector product result of the first vector and the second vector being negative, it is determined that the lane direction corresponding to the lane in which the target vehicle is traveling is that the first coordinate points to the second coordinate.

[0051] In some embodiments,

[0052] The lane direction determination module is further configured to, in response to the target road segment being a one-way road segment, determine the prescribed driving direction of the one-way road segment as the lane direction corresponding to the target road segment.

[0053] The detection result determination module is further configured to perform a reverse driving detection on the target vehicle based on the lane direction and the driving direction information to determine a detection result.

[0054] In some embodiments, the detection result determination module is specifically configured to execute:

[0055] A target angle between the lane direction and the driving direction information is determined.

[0056] In response to the target angle being less than a predetermined angle threshold, the detection result is determined to be not retrograde.

[0057] In response to the target angle being greater than or equal to the predetermined angle threshold, the detection result is determined to be retrograde.

[0058] In some embodiments, the road segment information determination module is specifically configured to execute:

[0059] Taking the location information as the center of the circle and a predetermined radius as the search radius, a target area corresponding to the location information is determined.

[0060] The target road section on which the target vehicle travels is determined according to the road section intersecting with the target area.

[0061] In some embodiments, the apparatus further comprises:

[0062] The alarm module is configured to execute an alarm prompt and / or an emergency response action in response to the detection result that the vehicle is traveling in the wrong direction.

[0063] In some embodiments, the location information is the longitude and latitude coordinates corresponding to the target vehicle, and the driving direction information is the heading angle information corresponding to the target vehicle.

[0064] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor, wherein the memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method described in the first aspect.

[0065] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method described in the first aspect is implemented.

[0066] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the method described in the first aspect.

[0067] The embodiment of the present application can first determine the target road section where the target vehicle is traveling based on the position information corresponding to the target vehicle. When the target road section is a two-way road section, the embodiment of the present application can quickly determine the lane direction corresponding to the lane where the target vehicle is traveling based on the endpoint coordinates and position information corresponding to both ends of the target road section, and perform a reverse detection on the target vehicle based on the lane direction and driving direction information. In this process, the embodiment of the present application only needs the position information corresponding to the target vehicle and the corresponding road network data to quickly detect whether the target vehicle has reverse behavior, without the need to set up additional equipment such as camera equipment, thereby achieving simple, fast and effective reverse detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The above and other purposes, features and advantages of the embodiments of the present application will become more apparent through the following description of the embodiments of the present application with reference to the accompanying drawings, in which:

[0069] Figure 1 A schematic diagram of a vehicle according to an embodiment of the present application;

[0070] Figure 2 A flowchart of a retrograde detection method according to an embodiment of the present application;

[0071] Figure 3 A schematic diagram of another vehicle according to an embodiment of the present application;

[0072] Figure 4 A flow chart for determining a target road section for an embodiment of the present application;

[0073] Figure 5 A flow chart for determining lane direction for an embodiment of the present application;

[0074] Figure 6 A schematic diagram of a first vector and a second vector in a predetermined coordinate system according to an embodiment of the present application;

[0075] Figure 7 This is another flow chart for determining lane direction according to an embodiment of the present application;

[0076] Figure 8 A schematic diagram of determining the lane direction in an embodiment of the present application;

[0077] Fig. 9 This is another schematic diagram of determining the lane direction according to an embodiment of the present application;

[0078] Fig.10 A flowchart of another retrograde detection method according to an embodiment of the present application;

[0079] Fig.11 A schematic diagram of retrograde detection in an embodiment of the present application;

[0080] Fig.12 A flow chart for determining the test results for an embodiment of the present application;

[0081] Fig.13 A schematic diagram of another vehicle according to an embodiment of the present application;

[0082] Fig.14 A schematic diagram of the structure of a retrograde detection device according to an embodiment of the present application;

[0083] Fig.15 A schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0084] The present application is described below based on embodiments, but the present application is not limited to these embodiments. In the detailed description of the present application below, some specific details are described in detail. It is possible for those skilled in the art to fully understand the present application without the description of these details. In order to avoid confusing the essence of the present application, known methods, processes, flows, components and circuits are not described in detail.

[0085] In addition, persons of ordinary skill in the art will appreciate that the drawings provided herein are for illustration purposes and are not necessarily drawn to scale.

[0086] Unless the context clearly requires otherwise, the words "include", "comprising" and the like throughout this application should be interpreted as including rather than exclusive or exhaustive; that is, as meaning "including but not limited to".

[0087] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, "multiple" means two or more. In addition, the schemes described in this specification and the embodiments, if involving the processing of personal information, will be processed on the premise of having a legal basis (for example, with the consent of the subject of personal information, or necessary for the performance of a contract, etc.), and will only be processed within the prescribed or agreed scope. The user's refusal to process personal information other than the necessary information required for basic functions will not affect the user's use of basic functions.

[0088] In the existing traffic system, the reverse driving behavior of vehicles is a very dangerous and illegal behavior. Due to a series of reasons such as driver negligence, lack of driving experience, cognitive errors, etc., the reverse driving incidents of vehicles occur from time to time. Furthermore, when a vehicle enters the traffic flow in the opposite direction, it not only increases the risk of accidents, but also brings troubles and dangers to vehicles on other roads. Therefore, automatic detection of whether a vehicle is driving in the opposite direction is an important part of the current traffic system.

[0089] In the related art, image recognition technology can generally be used to determine whether a vehicle is driving in the wrong direction. For example, the related art can use a camera to collect images of vehicles on the road, and perform image recognition and other processing on the image to determine whether the vehicle in the image is driving in the wrong direction. However, this method requires the installation of a large number of cameras on the road or on the vehicle to ensure the coverage of image recognition technology on each road. Moreover, the camera equipment often has problems such as high cost, difficult maintenance, unclear shooting in harsh environments such as night and rainy days, easy interference when the scene information is dense, and reduced recognition rate when the camera is contaminated. Therefore, how to simply and effectively perform reverse detection is a problem that urgently needs to be solved.

[0090] In order to solve the above problems, the embodiments of the present application provide a reverse detection method and a vehicle, which can realize simple and effective reverse detection without relying on camera equipment. Specifically, the reverse detection method of the embodiments of the present application can be applied to electronic devices or vehicles of the embodiments of the present application. The electronic device can be a terminal or a server. The terminal can be a smart phone, a tablet computer, a vehicle control terminal (i.e., a car computer) or a personal computer (Personal Computer, PC), etc. The server can be a single server, a server cluster configured in a distributed manner, or a cloud server. The vehicle of the embodiments of the present application can be an electric car, a fuel car, a two-wheeled vehicle, a three-wheeled vehicle, etc. with a positioning function.

[0091] like Figure 1 As shown, the vehicle 1 of the embodiment of the present application may include a wrong-traffic detection unit 11 , and the wrong-traffic detection unit 11 may include at least a processing unit 111 and a positioning unit 112 .

[0092] The processing unit 111 and the positioning unit 112 may perform data transmission via a bus 12 , and the bus 12 may be a serial port bus, a serial peripheral interface (SPI) or a controller area network bus (CAN).

[0093] The positioning unit 112 may be configured to determine the location information and the driving direction information of the vehicle 1. The processing unit 111 may be configured to execute the wrong-way detection method of the embodiment of the present application to determine the detection result corresponding to the vehicle.

[0094] Specifically, Figure 2 As shown, the retrograde detection method of the embodiment of the present application may include the following steps:

[0095] In step S100, the location information and driving direction information corresponding to the target vehicle are determined.

[0096] The target vehicle can be Figure 1 The position information of the vehicle 1 shown can be used to characterize the position of the target vehicle, which can be represented by latitude and longitude coordinates, etc. The driving direction information can be used to characterize the current driving direction of the target vehicle, which can be represented by a heading angle, etc. Specifically, the heading angle of the vehicle can be used to characterize the angle between the driving direction of the vehicle and the east or north, etc. Further, through the angle, the embodiment of the present application can determine the accurate driving direction of the target vehicle.

[0097] In an optional implementation, the location information of the embodiment of the present application may be the longitude and latitude coordinates corresponding to the target vehicle, and the driving direction information may be the heading angle information corresponding to the target vehicle.

[0098] The target vehicle can determine its own latitude and longitude coordinates and heading angle information based on its own positioning unit. Figure 1 For example, the positioning unit 112 of the target vehicle (i.e., vehicle 1) can determine the latitude and longitude coordinates and heading angle information of vehicle 1 based on a real-time kinematic (RTK) algorithm. The RTK algorithm is a real-time dynamic relative positioning algorithm that can achieve centimeter-level high-precision positioning in an open environment, thereby improving the accuracy of the reverse detection of the embodiment of the present application.

[0099] Optionally, if the target vehicle cannot directly determine the heading angle information, the embodiment of the present application can determine the heading angle information based on the position information of the target vehicle at two moments. Specifically, the embodiment of the present application can determine the position information of the target vehicle at two adjacent moments, and then determine the heading angle of the target vehicle based on the angle between the line connecting the position information at these two moments and the direction such as due east or due north, thereby determining the driving direction information of the target vehicle.

[0100] It should be noted that in one case, if the wrong-way detection method of an embodiment of the present application is applied to a server (for example, the server may be a server of a network service platform, an Internet of Things platform, or a wrong-way detection platform), the server may receive the location information and driving direction information periodically reported by the target vehicle.

[0101] For example, in an optional embodiment, Figure 3 As shown, the wrong-way detection unit 11 of the embodiment of the present application may further include a communication unit 113, wherein the communication unit 113 may perform data transmission with the processing unit 111 via the bus 12. The communication unit 113 may be configured to send the location information and driving direction information of the vehicle 1 to the server, and receive the detection result corresponding to the vehicle 1 returned by the server.

[0102] That is to say, when the wrong-traffic detection method is applied to the server (for example, when the computing power of the wrong-traffic detection unit 11 itself is insufficient to support the wrong-traffic detection, the embodiment of the present application can apply the wrong-traffic detection method to the server), the communication unit 113 in the wrong-traffic detection unit 11 can periodically report the position information and driving direction information of the vehicle 1 to the server. Accordingly, the server can receive the position information and driving direction information periodically reported by the communication unit 113, and return the detection result of the wrong-traffic detection to the communication unit 113.

[0103] For another example, the vehicle control terminal of the target vehicle or a device such as a smart phone installed in the target vehicle can periodically report a heartbeat data packet to the server. After receiving the heartbeat data packet, the server can parse the heartbeat data packet to obtain the corresponding location information and driving direction information of the target vehicle.

[0104] By executing the wrong-traffic detection method of the embodiment of the present application on the server, the computing pressure on the target vehicle side (for example, the wrong-traffic detection unit set in the target vehicle, the vehicle control terminal of the target vehicle, or devices or units such as a smart phone set in the target vehicle) can be effectively reduced, thereby improving the operating stability of the target vehicle side.

[0105] In another case, if the wrong-traffic detection method of the embodiment of the present application is applied to a terminal (for example, the terminal may be a vehicle control terminal of the target vehicle or a device such as a smart phone installed in the target vehicle) or a wrong-traffic detection unit installed in the target vehicle, the terminal or the wrong-traffic detection unit may determine the location information and driving direction information by itself, and complete the corresponding wrong-traffic detection locally without sending data to other devices, thereby effectively reducing the data transmission link, improving the detection frequency and the response speed of the wrong-traffic detection.

[0106] In step S200, the target road section on which the target vehicle is traveling is determined according to the position information.

[0107] Wherein, the target road section can be the road section obtained by pre-segmenting the road network data according to the embodiment of the present application. In practical applications, the road network data can generally include straight road sections and curved road sections, and the straight road sections and curved road sections can include one or more lanes. On the one hand, the embodiment of the present application can segment the straight road sections to determine a plurality of straight sub-sections after segmentation. On the other hand, the embodiment of the present application can also segment the curved road sections with a finer granularity according to the curvature and length of the curved road sections, so that the curved road sections are segmented into a plurality of straight sub-sections, thereby facilitating the reverse detection of the target vehicle. In other words, for various roads in the road network data, the embodiment of the present application can segment each road based on different segmentation granularities, so that each road is segmented into a plurality of straight sub-sections, so as to facilitate the reverse detection of the target vehicle.

[0108] Furthermore, the embodiment of the present application can determine the target road section where the target vehicle is traveling based on the coordinate points shown in the position information. The target road section can be a one-way road section or a two-way road section. Among them, the one-way road section indicates that the target road section only includes one specified driving direction, that is, the target road section in this case is a one-way road. The two-way road section indicates that the target road section includes two relative specified driving directions, that is, the target road section in this case is a two-way lane.

[0109] In an optional embodiment, if Figure 4 As shown, the process of determining the target road segment in the embodiment of the present application may include the following steps:

[0110] In step S210, the target area corresponding to the location information is determined with the location information as the center and a predetermined radius as the search radius.

[0111] Among them, the predetermined radius can be a value set according to actual conditions such as 5 meters, 10 meters, 20 meters, etc. The embodiment of the present application can use the coordinate point shown in the location information as the center of the circle, and use the above-mentioned predetermined radius as the search radius to determine a circular area as the target area, and determine the target section within this area.

[0112] In step S220, a target road section on which the target vehicle is traveling is determined based on the road section intersecting with the target area.

[0113] In one case, if there is only 1 road section intersecting with the target area, then the embodiment of the present application can determine the road section as the target section. In another case, if there are multiple road sections intersecting with the target area, then the embodiment of the present application can redefine the target area based on a predetermined radius on the one hand, and according to the road section intersecting with the target area, determine the target section traveled by the target vehicle. On the other hand, the embodiment of the present application can also redefine the target area after shortening the predetermined radius (for example, shortening to 15 meters from 20 meters) radius, and according to the road section intersecting with the target area, determine the target section traveled by the target vehicle. By determining the mode of the target area, the embodiment of the present application can quickly determine the target section traveled by the target vehicle, to improve the efficiency of reverse detection.

[0114] In another optional implementation, the embodiment of the present application may first determine n road sections near the coordinate point shown in the location information (where n is a natural number greater than or equal to 1), and respectively determine the shortest distances between the coordinate point shown in the location information and the n road sections, so as to determine the road section closest to the coordinate point shown in the location information as the target road section according to each shortest distance. In this way, the embodiment of the present application can quickly determine the target road section traveled by the target vehicle to improve the efficiency of reverse detection.

[0115] In step S300, in response to the target road segment being a two-way road segment, the endpoint coordinates corresponding to both ends of the target road segment are determined.

[0116] The endpoint coordinates may be the coordinates of the two endpoints of the lane line used to distinguish the two-way lane, or may be coordinate points within an appropriate distance (e.g., 1 meter, 0.5 meter, or 1.5 meter) near the two endpoints of the lane line. In other words, when the target road section is a two-way lane section, the line connecting the two endpoint coordinates of the target road section may be used to represent the lane line distinguishing the two-way lane.

[0117] In step S400, the lane direction corresponding to the lane in which the target vehicle is traveling is determined based on the coordinates and position information of each endpoint.

[0118] Specifically, the embodiment of the present application can pre-or temporarily create a coordinate system parallel to the road surface, and determine the lane direction corresponding to the lane in which the target vehicle is traveling based on the vector formed by the coordinate points in the coordinate system indicated by the coordinates of each endpoint and the position information.

[0119] In an optional implementation, the endpoint coordinates of the embodiment of the present application may include a first coordinate corresponding to one end of the target road section and a second coordinate corresponding to the other end, that is, the first coordinate and the second coordinate may respectively represent the coordinates corresponding to the two ends of the target road section. It should be noted that the first coordinate and the second coordinate may be the coordinates of the two endpoints of the target road section, or may be coordinate points within an appropriate distance near the two endpoints of the target road section.

[0120] Further, such as Figure 5 As shown, the above step S400 may include the following steps:

[0121] In step S410, a first vector composed of the first coordinate and the second coordinate in a predetermined coordinate system is determined, and a second vector composed of the first coordinate and the position information in the predetermined coordinate system is determined.

[0122] Specifically, Figure 6 As shown, Figure 6 is a schematic diagram of a first vector and a second vector in a predetermined coordinate system. Coordinate A is used to represent the first coordinate, coordinate B is used to represent the second coordinate, and coordinate C is used to represent the position information. Further, as Figure 6 As shown, vector AB can be used to represent the first vector (i.e., the vector composed of the first coordinate A and the second coordinate B in a predetermined coordinate system), and vector AC can be used to represent the second vector (i.e., the vector composed of the first coordinate A and the position information C in a predetermined coordinate system). Furthermore, the embodiment of the present application can determine the lane direction corresponding to the lane in which the target vehicle is traveling by the vector product result of vector AB and vector AC.

[0123] Need to explain, Figure 6 This is only an example of an embodiment of the present application. In actual applications, the directions of the first vector and the second vector can be set according to actual conditions. That is, the direction of the first vector can also be coordinate B pointing to coordinate A, and the direction of the second vector can also be coordinate C pointing to coordinate A.

[0124] In step S420, the lane direction corresponding to the lane in which the target vehicle is traveling is determined according to the vector product result of the first vector and the second vector.

[0125] The vector product is a binary operation of vectors in a vector space. The vector product of two vectors is a vector perpendicular to the two vectors. That is, the vector product of the embodiment of the present application is a vector perpendicular to the first vector and the second vector. Specifically, if the first vector is recorded as Let the second vector be The process of vector product operation can be expressed as the following formula:

[0126]

[0127] in, Used to represent the vector product result of the first vector and the second vector, It is used to characterize the modulus of the first vector (that is, the length of the first vector), It is used to represent the modulus of the second vector (that is, the length of the second vector), and sinθ is used to represent the sine value of the angle between the first vector and the second vector.

[0128] Furthermore, the vector product result is perpendicular to the first vector and the second vector, and the direction of the vector product result complies with the right-hand rule. The right-hand rule is as follows: If the coordinate system satisfies the right-hand rule, then when the four fingers of the right hand are moved from Turn at an angle not exceeding 180 degrees , the thumbs-up point is the direction of the vector product result.

[0129] That is to say, according to the above formula and the right-hand rule, if the angle of the first vector turning counterclockwise to the second vector does not exceed 180 degrees, the vector product result of the first vector and the second vector is positive. If the angle of the first vector turning counterclockwise to the second vector exceeds 180 degrees, the vector product result of the first vector and the second vector is negative. Further, the embodiment of the present application can determine the lane direction corresponding to the lane in which the target vehicle is traveling according to the positive or negative of the vector product result.

[0130] In an optional implementation, the direction of the first vector is that the first coordinate points to the second coordinate, and the direction of the second vector is that the first coordinate points to the position information. That is, in the embodiment of the present application, the directions of the first vector and the second vector can be as follows: Figure 6 direction shown.

[0131] Further, such as Figure 7 As shown, the above step S420 may include the following steps:

[0132] In step S421, in response to the vector product result of the first vector and the second vector being positive, it is determined that the lane direction corresponding to the lane in which the target vehicle is traveling is that the second coordinate points to the first coordinate.

[0133] For example, Figure 8 As shown, coordinate A is used to represent the first coordinate, coordinate B is used to represent the second coordinate, and coordinate C is used to represent the position information. Vector AB is used to represent the first vector, and its direction is from the first coordinate A to the second coordinate B. Vector AC is used to represent the second vector, and its direction is from the first coordinate A to the position information C. Angle θ1 is used to represent the angle between the first vector AB and the second vector AC.

[0134] According to the formula of the above-mentioned vector product operation, the vector product result of the first vector and the second vector in the embodiment of the present application can be represented by the following formula:

[0135]

[0136] in, It is used to represent the vector product result of the first vector AB and the second vector AC. It is used to characterize the modulus of the first vector AB (that is, the length of the first vector AB). It is used to characterize the modulus of the second vector AC (that is, the length of the second vector AC), and sinθ1 is used to characterize the sine value of the angle between the first vector AB and the second vector AC.

[0137] Further, by Figure 8 It can be seen that when the coordinate C corresponding to the position information is located above the first vector AB, the angle θ1 between the first vector AB and the second vector AC is an angle value less than 180 degrees. At this time, according to the above formula and the right-hand rule, the vector product result of the first vector AB and the second vector AC is The direction is positive. Furthermore, in the embodiment of the present application, when the vector product result is positive, it can be determined that the lane direction corresponding to the lane in which the target vehicle is traveling is that the second coordinate B points to the first coordinate A.

[0138] In step S422, in response to the vector product result of the first vector and the second vector being negative, it is determined that the lane direction corresponding to the lane in which the target vehicle is traveling is from the first coordinate to the second coordinate.

[0139] For example, Fig. 9 As shown, coordinate A is used to represent the first coordinate, coordinate B is used to represent the second coordinate, and coordinate C is used to represent the position information. Vector AB is used to represent the first vector, and its direction is from the first coordinate A to the second coordinate B. Vector AC is used to represent the second vector, and its direction is from the first coordinate A to the position information C. Angle θ2 is used to represent the angle between the first vector AB and the second vector AC.

[0140] According to the formula of the above-mentioned vector product operation, the vector product result of the first vector and the second vector in the embodiment of the present application can be represented by the following formula:

[0141]

[0142] in, It is used to represent the vector product result of the first vector AB and the second vector AC. It is used to characterize the modulus of the first vector AB (that is, the length of the first vector AB). It is used to characterize the modulus of the second vector AC (that is, the length of the second vector AC), and sinθ2 is used to characterize the sine value of the angle between the first vector AB and the second vector AC.

[0143] Further, by Fig. 9 It can be seen that when the coordinate C corresponding to the position information is below the first vector AB, the angle θ1 between the first vector AB and the second vector AC is an angle value greater than 180 degrees. At this time, according to the above formula and the right-hand rule, the vector product of the first vector AB and the second vector AC is The direction is negative. Furthermore, in the embodiment of the present application, when the vector product result is negative, it can be determined that the lane direction corresponding to the lane in which the target vehicle is traveling is that the first coordinate A points to the second coordinate B.

[0144] The embodiment of the present application can quickly determine the lane direction corresponding to the lane in which the target vehicle is traveling by the positive or negative result of the vector product of the first vector and the second vector, and perform reverse detection based on the lane direction. This process does not require reliance on camera equipment, thereby achieving simple and effective reverse detection.

[0145] Optionally, in one case, if the vector product of the first vector and the second vector is 0, then the first vector (eg Figure 8 or Fig. 9 The first vector AB shown) and the second vector (eg Figure 8 or Fig. 9 The first vector AC shown in FIG. 1 is on the same straight line, that is, the first coordinate, the second coordinate and the coordinate shown in the position information are collinear. Further, the embodiment of the present application can determine that the target vehicle is traveling on the lane line of a two-way lane (that is, the line connecting the first coordinate and the second coordinate).

[0146] It should be noted that the steps S421 to S422 of the embodiment of the present application Figure 8 and Fig. 9This is an optional implementation. In practical applications, since the directions of the first vector and the second vector can be set according to actual conditions (for example, the direction of the first vector can also be coordinate B pointing to coordinate A, and the direction of the second vector can also be coordinate C pointing to coordinate A), when the directions of the first vector and the second vector change, the embodiment of the present application can set the corresponding lane direction detection step according to the directions of the first vector and the second vector to determine the lane direction corresponding to the lane in which the target vehicle is traveling.

[0147] For example, if the direction of the first vector is from coordinate B to coordinate A, and the direction of the second vector is from coordinate A to coordinate C, then in response to the result of the vector product of the first vector and the second vector being positive, the embodiment of the present application can determine that the lane direction corresponding to the lane where the target vehicle is traveling is from the first coordinate to the second coordinate. In response to the result of the vector product of the first vector and the second vector being negative, the embodiment of the present application can determine that the lane direction corresponding to the lane where the target vehicle is traveling is from the second coordinate to the first coordinate.

[0148] In step S500, based on the lane direction and driving direction information, a reverse driving detection is performed on the target vehicle to determine a detection result.

[0149] Among them, the embodiment of the present application can detect whether the target vehicle is traveling in the wrong direction based on the angle between the lane direction and the driving direction information. That is to say, if the angle between the lane direction and the driving direction information is too large, it indicates that the direction of the target vehicle deviates too much from the direction specified by the lane. At this time, the embodiment of the present application can determine that the target vehicle has wrong-way behavior, that is, the detection result at this time is that wrong-way behavior exists.

[0150] Therefore, the embodiment of the present application can first determine the target road section where the target vehicle is traveling based on the position information corresponding to the target vehicle. When the target road section is a two-way road section, the embodiment of the present application can quickly determine the lane direction corresponding to the lane where the target vehicle is traveling based on the endpoint coordinates and position information corresponding to both ends of the target road section, and perform a reverse detection on the target vehicle based on the lane direction and driving direction information. In this process, the embodiment of the present application only needs the position information corresponding to the target vehicle and the corresponding road network data to quickly detect whether the target vehicle has reverse behavior, without the need to set up additional equipment such as camera equipment, thereby achieving simple, fast and effective reverse detection.

[0151] In an optional embodiment, if Fig.10 As shown, if the specified driving direction is a one-way driving direction, the embodiment of the present application may further perform the following steps:

[0152] In step S600, in response to the target road segment being a one-way road segment, the prescribed driving direction of the one-way road segment is determined as the lane direction corresponding to the target road segment.

[0153] In step S700, based on the lane direction and driving direction information, a reverse driving detection is performed on the target vehicle to determine a detection result.

[0154] For example, Fig.11 As shown, coordinate C is used to represent the position information of the target vehicle, arrow 1101 used to indicate the direction represents the lane direction, and arrow 1102 used to indicate the direction represents the driving direction information of the target vehicle. Further, the embodiment of the present application can directly perform reverse detection on the target vehicle according to the angle between the direction indicated by arrow 1101 and the direction indicated by arrow 1102 to determine the detection result.

[0155] That is to say, since the lane direction of a one-way lane is single and fixed, if the target road section is a one-way road section, the embodiment of the present application does not need to participate in the calculation based on the endpoint coordinates and position information, and the lane direction can be determined directly through the road network data, which simplifies the steps of reverse detection and further improves the efficiency of reverse detection.

[0156] In an optional embodiment, if Fig.12 As shown, the process of determining the detection result in the embodiment of the present application may include the following steps:

[0157] In step S510, a target angle between the lane direction and the driving direction information is determined.

[0158] In step S520, in response to the target angle being less than a predetermined angle threshold, it is determined that the detection result is not retrograde.

[0159] The predetermined angle threshold may be set according to actual conditions and traffic regulations. For example, the predetermined angle threshold may be an angle value such as 90 degrees or 60 degrees.

[0160] In step S530, in response to the target angle being greater than or equal to a predetermined angle threshold, it is determined that the detection result is retrograde.

[0161] by Fig.11 For example, after determining the lane direction corresponding to the lane in which the target vehicle is traveling (i.e., the direction shown by arrow 1101), the embodiment of the present application can determine the target angle between the lane direction and the driving direction information (i.e., the direction shown by arrow 1102). Further, if the target angle is less than a predetermined angle threshold, it indicates that the direction of travel of the target vehicle is substantially the same as the lane direction, that is, the detection result at this time is not reverse. If the target angle is greater than or equal to the predetermined angle threshold, it indicates that the direction of travel of the target vehicle is too different from the lane direction, that is, the detection result at this time is reverse.

[0162] It should be noted that in one case, if the embodiment of the present application determines that the target vehicle is traveling on the lane line of a two-way lane when determining the lane direction, then the embodiment of the present application can determine that the detection result in this case is "the target vehicle is traveling on the lane line of a two-way lane."

[0163] It should also be noted that regardless of whether the target road section is a one-way lane or a two-way lane, since the embodiments of the present application can perform reverse detection on the target vehicle through lane direction and driving direction information, the above steps S510-S530 are applicable to both the reverse detection process of step S500 and the reverse detection process of step S700.

[0164] In an optional implementation, the embodiment of the present application may also set multiple angle ranges to expand the categories of detection results. For example, if the target angle between the lane direction and the driving direction information is an angle within the range of 0 to 180 degrees, the embodiment of the present application may set four angle ranges of [0, 30), [30, 60), [60, 90), and [90, 180], and set different detection results for each of the four angle ranges. The units corresponding to the values ​​in the above four angle ranges are degrees.

[0165] Specifically, the detection result corresponding to the angle range [0, 30) may be "normal driving". The detection result corresponding to the angle range [30, 60) may be "dangerous driving", the detection result corresponding to the angle range [60, 90) may be "severely dangerous driving", and the detection result corresponding to the angle range [90, 180] may be "reverse driving". By setting multiple angle ranges, the embodiments of the present application can effectively expand the categories of detection results and improve the effect of vehicle driving detection.

[0166] In an optional implementation, in response to the detection result of the vehicle being in the wrong direction, the embodiment of the present application may also execute an alarm prompt and / or an emergency response action. Fig.13 As shown, the reverse traffic detection unit 11 of the embodiment of the present application may also include an execution unit 114, wherein the execution unit 114 may transmit data with the processing unit 111 via the bus 12. The execution unit 114 may be configured to execute an alarm prompt and / or an emergency response action. That is, the processing unit 111 may send corresponding instructions to the execution unit 114 via the bus 12, so that the execution unit 114 executes an alarm prompt and / or an emergency response action. It should be noted that Figure 1 , Figure 3 and Fig.13 The vehicle 1 shown is only an example of an embodiment of the present application. In actual applications, the wrong-traffic detection unit 11 of the vehicle 1 can also include a processing unit 111, a positioning unit 112, a communication unit 113 and an execution unit 114 to meet the needs of different scenarios.

[0167] The warning prompt may include one or more combinations of voice prompts (such as warning sound or voice prompts, etc.), video display prompts (such as displaying warning prompts on the display interface of the vehicle control terminal, etc.) and other prompting methods (such as vibration prompts, etc.). The emergency response action may include one or more combinations of deceleration control and braking control.

[0168] Specifically, if the reverse traffic detection method of the embodiment of the present application is applied to a server, when the server detects that the target vehicle (i.e., vehicle 1) is reverse traffic, it can send an alarm prompt instruction and / or an emergency response action instruction to the target vehicle, so that the target vehicle executes an alarm prompt and / or an emergency response action (for example, vehicle 1 executes an alarm prompt and / or an emergency response action through execution unit 114). If the reverse traffic detection method of the embodiment of the present application is applied to a terminal or a target vehicle, when the terminal or the target vehicle detects that the target vehicle is reverse traffic, it can directly execute an alarm prompt and / or an emergency response action.

[0169] Optionally, if the embodiment of the present application sets multiple angle ranges and sets different detection results for each angle range, the embodiment of the present application can set different warning prompt modes and / or emergency response actions for different detection results. For example, if the detection result is "dangerous driving", the embodiment of the present application can voice broadcast "You have driven dangerously, please pay attention to driving safety", and / or control the target vehicle to slow down or brake to prompt and / or help the driver to drive safely. If the detection result is "reverse driving", the embodiment of the present application can voice broadcast "You have driven in the opposite direction, please change direction", and / or control the target vehicle to slow down or brake to prompt and / or help the driver to drive safely.

[0170] Optionally, if the detection result determined by the embodiment of the present application is "the target vehicle is driving on the lane line of a two-way lane", the embodiment of the present application can set a corresponding warning prompt mode and / or emergency response action for this situation. For example, if the detection result is "the target vehicle is driving on the lane line of a two-way lane", the embodiment of the present application can voice broadcast "You have seriously deviated from the road, please pay attention to driving safety", and / or control the target vehicle to slow down, brake or return to the right direction to prompt and / or help the driver drive safely.

[0171] Therefore, the embodiments of the present application can effectively prompt and / or help the driver to drive safely and improve driving safety by executing warning prompts and / or emergency response actions through the target vehicle.

[0172] Based on the same technical concept, the present application also provides a retrograde detection device, such as Fig.14As shown, the device includes: a vehicle information determination module 141, a road section information determination module 142, an endpoint coordinate determination module 143, a lane direction determination module 144 and a detection result determination module 145.

[0173] The vehicle information determination module 141 is configured to determine the location information and driving direction information corresponding to the target vehicle.

[0174] The road section information determination module 142 is configured to determine the target road section on which the target vehicle is traveling according to the position information.

[0175] The endpoint coordinate determination module 143 is configured to determine the endpoint coordinates corresponding to both ends of the target road segment in response to the target road segment being a two-way road segment.

[0176] The lane direction determination module 144 is configured to determine the lane direction corresponding to the lane in which the target vehicle is traveling according to the endpoint coordinates and the position information.

[0177] The detection result determination module 145 is configured to perform a reverse driving detection on the target vehicle based on the lane direction and the driving direction information, and determine a detection result.

[0178] In some embodiments, the endpoint coordinates include a first coordinate corresponding to one end of the target road segment and a second coordinate corresponding to the other end.

[0179] The lane direction determination module 144 is specifically configured to execute:

[0180] A first vector composed of the first coordinate and the second coordinate in a predetermined coordinate system is determined, and a second vector composed of the first coordinate and the position information in a predetermined coordinate system is determined.

[0181] A lane direction corresponding to the lane in which the target vehicle is traveling is determined according to a vector product result of the first vector and the second vector.

[0182] In some embodiments, the direction of the first vector is from the first coordinate to the second coordinate, and the direction of the second vector is from the first coordinate to the position information.

[0183] The lane direction determination module 144 is specifically configured to execute:

[0184] In response to the vector product result of the first vector and the second vector being positive, it is determined that the lane direction corresponding to the lane in which the target vehicle is traveling is that the second coordinate points to the first coordinate.

[0185] In response to the vector product result of the first vector and the second vector being negative, it is determined that the lane direction corresponding to the lane in which the target vehicle is traveling is that the first coordinate points to the second coordinate.

[0186] In some embodiments,

[0187] The lane direction determination module 144 is further configured to, in response to the target road segment being a one-way road segment, determine the prescribed driving direction of the one-way road segment as the lane direction corresponding to the target road segment.

[0188] The detection result determination module 145 is further configured to perform a reverse driving detection on the target vehicle based on the lane direction and the driving direction information to determine a detection result.

[0189] In some embodiments, the detection result determination module 145 is specifically configured to perform:

[0190] A target angle between the lane direction and the driving direction information is determined.

[0191] In response to the target angle being less than a predetermined angle threshold, the detection result is determined to be not retrograde.

[0192] In response to the target angle being greater than or equal to the predetermined angle threshold, the detection result is determined to be retrograde.

[0193] In some embodiments, the road segment information determination module 142 is specifically configured to execute:

[0194] Taking the location information as the center of the circle and a predetermined radius as the search radius, a target area corresponding to the location information is determined.

[0195] The target road section on which the target vehicle travels is determined according to the road section intersecting with the target area.

[0196] In some embodiments, the apparatus further comprises:

[0197] The alarm module is configured to execute an alarm prompt and / or an emergency response action in response to the detection result that the vehicle is traveling in the wrong direction.

[0198] In some embodiments, the location information is the longitude and latitude coordinates corresponding to the target vehicle, and the driving direction information is the heading angle information corresponding to the target vehicle.

[0199] The embodiment of the present application can first determine the target road section where the target vehicle is traveling based on the position information corresponding to the target vehicle. When the target road section is a two-way road section, the embodiment of the present application can quickly determine the lane direction corresponding to the lane where the target vehicle is traveling based on the endpoint coordinates and position information corresponding to both ends of the target road section, and perform a reverse detection on the target vehicle based on the lane direction and driving direction information. In this process, the embodiment of the present application only needs the position information corresponding to the target vehicle and the corresponding road network data to quickly detect whether the target vehicle has reverse behavior, without the need to set up additional equipment such as camera equipment, thereby achieving simple, fast and effective reverse detection.

[0200] Fig.15 Schematic diagram of an electronic device according to an embodiment of the present application. Fig.15 As shown, Fig.15 The electronic device shown is a general address query device, which includes a general computer hardware structure, which at least includes a processor 151 and a memory 152. The processor 151 and the memory 152 are connected via a bus 153. The memory 152 is suitable for storing instructions or programs executable by the processor 151. The processor 151 can be an independent microprocessor or a collection of one or more microprocessors. Thus, the processor 151 executes the instructions stored in the memory 152, thereby executing the method flow of the embodiment of the present application as described above to realize the processing of data and the control of other devices. The bus 153 connects the above-mentioned multiple components together, and at the same time connects the above-mentioned components to the display controller 154 and the display device and the input / output (I / O) device 155. The input / output (I / O) device 155 can be a mouse, a keyboard, a modem, a network interface, a touch input device, a somatosensory input device, a printer, and other devices known in the art. Typically, the input / output device 155 is connected to the system through an input / output (I / O) controller 156.

[0201] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices (equipment) or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may adopt a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0202] The present application is described with reference to flowcharts of methods, apparatuses (devices) and computer program products according to embodiments of the present application. It should be understood that each process in the flowchart can be implemented by computer program instructions.

[0203] These computer program instructions may be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device that implements the process Figure 1 A function specified in a process or multiple processes.

[0204] These computer program instructions may also be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce the instructions for implementing the process Figure 1 A device that specifies functions in a process or multiple processes.

[0205] Another embodiment of the present application relates to a non-volatile storage medium for storing a computer-readable program, wherein the computer-readable program is used for a computer to execute part or all of the above method embodiments.

[0206] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by specifying relevant hardware through a program, and the program is stored in a storage medium, including several instructions for a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0207] Another embodiment of the present application relates to a computer program product, including a computer program / instruction, which can implement part or all of the above method embodiments when the computer program / instruction is executed by a processor.

[0208] That is, those skilled in the art can understand that the embodiments of the present application can specify relevant hardware (including the processor itself) through the processor executing a computer program product (computer program / instructions), thereby implementing all or part of the steps in the above-mentioned embodiment method.

[0209] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A retrograde detection method, characterized in that: The method comprises: Determine the location information and driving direction information corresponding to the target vehicle; Determining a target road section traveled by the target vehicle according to the position information; In response to the target road section being a two-way road section, determining the endpoint coordinates corresponding to both ends of the target road section; Determining the lane direction corresponding to the lane in which the target vehicle is traveling according to the endpoint coordinates and the position information; Based on the lane direction and the driving direction information, a reverse detection is performed on the target vehicle to determine a detection result.

2. The method according to claim 1, characterized in that The endpoint coordinates include a first coordinate corresponding to one end of the target road segment and a second coordinate corresponding to the other end; Determining the lane direction corresponding to the lane in which the target vehicle is traveling according to the endpoint coordinates and the position information includes: Determine a first vector composed of the first coordinate and the second coordinate in a predetermined coordinate system, and determine a second vector composed of the first coordinate and the position information in a predetermined coordinate system; A lane direction corresponding to the lane in which the target vehicle is traveling is determined according to a vector product result of the first vector and the second vector.

3. The method according to claim 2, characterized in that The direction of the first vector is from the first coordinate to the second coordinate, and the direction of the second vector is from the first coordinate to the position information; Determining the lane direction corresponding to the lane in which the target vehicle is traveling according to the vector product result of the first vector and the second vector includes: In response to a result of a vector product of the first vector and the second vector being positive, determining that a lane direction corresponding to the lane in which the target vehicle is traveling is that the second coordinate points to the first coordinate; In response to the vector product result of the first vector and the second vector being negative, it is determined that the lane direction corresponding to the lane in which the target vehicle is traveling is that the first coordinate points to the second coordinate.

4. The method according to claim 1, characterized in that: The method further comprises: In response to the target road segment being a one-way road segment, determining the prescribed driving direction of the one-way road segment as the lane direction corresponding to the target road segment; Based on the lane direction and the driving direction information, a reverse detection is performed on the target vehicle to determine a detection result.

5. The method according to any one of claims 1 to 4, characterized in that The performing reverse driving detection on the target vehicle based on the lane direction and the driving direction information, and determining the detection result includes: Determining a target angle between the lane direction and the driving direction information; In response to the target angle being less than a predetermined angle threshold, determining the detection result as not traveling in retrograde; In response to the target angle being greater than or equal to the predetermined angle threshold, the detection result is determined to be retrograde.

6. The method according to claim 1, characterized in that Determining the target road section traveled by the target vehicle according to the position information comprises: Taking the location information as the center of the circle and a predetermined radius as the search radius, determining the target area corresponding to the location information; The target road section on which the target vehicle travels is determined according to the road section intersecting with the target area.

7. The method according to claim 1, characterized in that The method further comprises: In response to the detection result of retrograde driving, an alarm prompt and / or an emergency response action is executed.

8. The method according to claim 1, characterized in that: The location information is the longitude and latitude coordinates corresponding to the target vehicle, and the driving direction information is the heading angle information corresponding to the target vehicle.

9. A vehicle, characterized in that: The vehicle comprises a wrong-way detection unit, and the wrong-way detection unit comprises at least a positioning unit and a processing unit; Wherein, the positioning unit is configured to determine the position information and driving direction information of the vehicle; The processing unit is configured to execute the method according to any one of claims 1 to 8 to determine a detection result corresponding to the vehicle.

10. The vehicle according to claim 9, characterized in that The wrong-traffic detection unit also includes a communication unit, wherein the communication unit is configured to send the location information and driving direction information of the vehicle to a server, and receive a detection result corresponding to the vehicle returned by the server.

11. The vehicle according to claim 9, characterized in that The retrograde detection unit further includes an execution unit, wherein the execution unit is configured to execute an alarm prompt and / or an emergency response action.

12. A retrograde detection device, characterized in that: The device comprises: A vehicle information determination module is configured to determine the location information and driving direction information corresponding to the target vehicle; A road section information determination module is configured to determine a target road section on which the target vehicle is traveling according to the position information; An endpoint coordinate determination module is configured to determine the endpoint coordinates corresponding to both ends of the target road segment in response to the target road segment being a two-way road segment; A lane direction determination module is configured to determine the lane direction corresponding to the lane in which the target vehicle is traveling according to the endpoint coordinates and the position information; The detection result determination module is configured to perform a reverse detection on the target vehicle based on the lane direction and the driving direction information to determine the detection result.

13. An electronic device comprising a memory and a processor, characterized in that: The memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method according to any one of claims 1 to 8.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

15. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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