Radar alarm-based abnormal parking license plate snapshot method and system, and medium

Abstract

The invention discloses an abnormal parking license plate snapshot method and system based on radar alarm, and a medium, and belongs to the technical field of abnormal vehicle detection. The method comprises the following steps: a configuration preparation stage: establishing a corresponding relation between radar equipment and each scene of a dome camera, and establishing a mapping relation between map longitude and latitude and pixel coordinates of a dome camera scene based on high-precision map data; in the radar abnormal parking warning stage, the radar equipment performs abnormal parking event detection on the high-speed scene in real time, and if the target vehicle has an abnormal parking event, abnormal parking warning information of the target vehicle is output to the data storage center; and a dome camera linkage license plate capturing stage: capturing license plate information of the target vehicle, obtaining final abnormal parking alarm information, and outputting the abnormal parking alarm information to a data storage center. On the basis of radar alarm information, a linkage ball machine pull frame is amplified, complete snapshot of abnormal parking is achieved, the license plate of a vehicle can be automatically and accurately recognized, and a complete and clear evidence chain is formed.

Description

Technical Field

[0001] The present invention relates to the technical field of abnormal vehicle detection, and in particular to a method, system and medium for capturing license plates of abnormally parked vehicles based on radar warning. Background Art

[0002] With the development of highway informatization, millimeter-wave radars are widely used on highways to detect and warn of emergencies such as radar speed measurement and abnormal parking.

[0003] Millimeter wave radar uses the reflection or scattering of electromagnetic waves by the target to detect, locate and track the target. The radar equipment installed on the side of the highway can obtain information such as the latitude and longitude of the vehicle, the type of vehicle, the speed of movement, the straight-line distance and azimuth of the vehicle relative to the radar. Based on this information, the radar can monitor the status of the vehicle and provide warnings for sudden and abnormal events, such as vehicles exceeding high speed, vehicles exceeding low speed, illegal parking in the emergency lane (abnormal parking), and reverse driving in the emergency lane. However, since radar alone cannot provide accurate license plate information of the warning vehicle, law enforcement officers are limited in recording and punishing illegal vehicles. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a method, system and medium for capturing license plates of abnormally parked vehicles based on radar warnings.

[0005] The objective of the present invention is achieved through the following technical solutions: The first aspect of the present invention provides: a method for capturing license plates of abnormally parked vehicles based on radar warning, comprising the following steps: Configuration preparation stage: establish the corresponding relationship between the radar equipment and each scene of the ball camera, and establish the mapping relationship between the longitude and latitude of the map and the pixel coordinates of the ball camera scene map based on the high-precision map data; Radar abnormal parking alarm stage: The radar equipment detects abnormal parking events in high-speed scenes in real time. If the target vehicle has an abnormal parking event, the abnormal parking alarm information of the target vehicle is output to the data storage center; The stage of capturing license plates in linkage with ball cameras: the license plate information of the target vehicle is captured according to the abnormal parking alarm information, and then the license plate information is integrated into the abnormal parking alarm information to obtain the final abnormal parking alarm information and output it to the data storage center.

[0006] Preferably, the configuration preparation stage further includes the following steps: Mark the corresponding multiple sets of key points in the dome camera scene image and the high-precision map tile image, calculate the homography matrix of the dome camera scene image and the high-precision map tile image based on the multiple sets of key points, complete the alignment of the dome camera scene image and the high-precision map tile image, and establish the mapping relationship between the map longitude and latitude and the pixel coordinates of the dome camera scene image.

[0007] Preferably, the abnormal parking warning information includes the latitude and longitude of the target vehicle, the vehicle type, the time when the abnormal parking occurred, and the equipment number.

[0008] Preferably, the stage of grabbing the license plate by the ball camera linkage also includes the following steps: The ball camera linkage program monitors the data storage center in real time. If an abnormal parking alarm is received, the abnormal parking alarm is analyzed. According to the mapping relationship between the longitude and latitude of the map and the pixel coordinates of the ball camera scene map, the longitude and latitude of the target vehicle are converted into the pixel coordinates in the corresponding ball camera scene map, and a ball camera linkage command is generated. Execute the ball camera linkage command, mobilize the ball camera to adjust the focal length, and lock the target vehicle; Then the vehicle license plate detection and recognition is performed on the ball camera scene to obtain the license plate information.

[0009] Preferably, before the configuration preparation stage, multiple outfield devices are set up; the outfield devices include an outfield pole, on which are provided a high-definition spherical camera, a first millimeter-wave radar, and a second millimeter-wave radar; the first millimeter-wave radar detects vehicles behind the outfield pole, and the second millimeter-wave radar detects vehicles in front of the outfield pole, and cooperates with the high-definition spherical camera to cover abnormal parking capture within a preset range before and after the outfield pole as the center. Preferably, the preset range is 400 meters.

[0010] The second aspect of the present invention provides: a system for capturing license plates of abnormally parked vehicles based on radar warning, which is used to implement any of the above-mentioned methods for capturing license plates of abnormally parked vehicles based on radar warning, comprising: Configuration preparation module: used to establish the corresponding relationship between the radar equipment and each scene of the ball camera, and to establish the mapping relationship between the longitude and latitude of the map and the pixel coordinates of the ball camera scene map based on the high-precision map data; Radar abnormal parking alarm module: used for radar equipment to detect abnormal parking events in high-speed scenes in real time. If the target vehicle has an abnormal parking event, the abnormal parking alarm information of the target vehicle is output to the data storage center; The module for capturing license plates by ball camera linkage is used to capture the license plate information of the target vehicle according to the abnormal parking alarm information, and then integrate the license plate information into the abnormal parking alarm information to obtain the final abnormal parking alarm information and output it to the data storage center.

[0011] The third aspect of the present invention provides: a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are loaded and executed by a processor, any of the above-mentioned abnormal parking license plate capture methods based on radar warning is implemented.

[0012] The beneficial effects of the present invention are: 1) For abnormal parking incidents warned by radar, based on the radar warning information, the ball camera is linked to detect and identify the license plate of the abnormal vehicle, so that the warning has accurate license plate information, improving the work efficiency of law enforcement personnel, and thus improving the timeliness of highway traffic management, diversion and rescue.

[0013] 2) Based on radar warning information and the zoom function of the dome camera, complete capture of abnormal parking can be achieved, and the vehicle license plate can be automatically and accurately identified to form a complete and clear chain of evidence.

[0014] 3) The association between the radar and the dome camera is achieved by establishing a mapping relationship between the dome camera scene graph and the map image (latitude and longitude). Each dome camera scene only needs to be calibrated once to obtain the longitude and latitude of any target at any position in the scene graph. The alignment process is simple, the alignment effect is stable, and the alignment accuracy is high.

[0015] 4) A single pole with one ball camera and two radars can cover the abnormal parking capture within a range of 800 meters, and the radar and ball camera can be used for other purposes at the same time. For example, the radar can also be integrated with other gun cameras for radar and vision, and the ball camera can be used for video surveillance.

[0016] 5) Low cost, equipment reuse, and strong portability. Due to the low probability of abnormal parking events, the radar abnormal parking alarm is less, the module for capturing license plates with the ball camera is in monitoring state most of the time, and the complete capture process takes less than 50 seconds, so the overall required computing resources are relatively small. The various modules in the solution work together, with low coupling and strong portability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The flowchart of the abnormal parking license plate capture method based on radar warning; Figure 2 Establish a schematic diagram for the mapping relationship between the longitude and latitude of the map and the pixel coordinates of the ball camera scene graph; Figure 3 This is a schematic diagram of the field equipment installation. DETAILED DESCRIPTION

[0018] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0019] First, some professional terms of the present invention are explained: 1. Computer Vision: Computer vision is a science that studies how to make machines "see". To put it more specifically, it refers to the use of cameras and computers to replace human eyes to identify, track and measure targets, and further process images, using computers to process them into images that are more suitable for human observation or transmission to instruments for detection. As a scientific discipline, computer vision studies related theories and technologies, and attempts to establish an artificial intelligence system that can obtain information from images or multidimensional data.

[0020] 2. Radar: Radar is the phonetic translation of the abbreviation of Radio Detection and Ranging, which is "radio detection and ranging". It uses the reflection or scattering of electromagnetic waves by the target to detect, locate and track the target. Radar is a high-tech system that integrates various achievements of modern electronic science and technology. It has been successfully applied to ground (including vehicle-borne), ship-borne, airborne, satellite-borne and other aspects.

[0021] 3. Abnormal parking: You are not allowed to park at random in the emergency parking strip of the highway. You are allowed to park only when the vehicle has mechanical failure or other emergency situations, including sudden tire explosion, steering loss of control, brake failure, fire or explosion during driving, etc. Illegal parking is common on highways and is extremely harmful. Many drivers stop at random on highways to get on and off passengers, urinate, or check vehicles.

[0022] 4. Dome camera: The full name of dome camera is ball camera, which is the representative of the development of modern television surveillance. It integrates color integrated camera, pan / tilt head, decoder, protective cover and other functions in one. It is easy to install and simple to use but powerful. It is widely used in monitoring open areas and is commonly called "fast ball" or "dome camera".

[0023] 5. Longitude and latitude: Longitude and latitude are the combination of longitude and latitude to form a coordinate system called the geographic coordinate system. It is a spherical coordinate system that uses a three-dimensional sphere to define the space on the earth and can mark any location on the earth.

[0024] 6. Homography: Homography is a concept in projective geometry, also known as projective transformation. It maps points (three-dimensional homogeneous vectors) on a projective plane to another projective plane, and maps straight lines to straight lines. In general, homography is a linear transformation of three-dimensional homogeneous vectors, which can be represented by a 3×3 non-singular matrix 𝐻.

[0025] 7. Object Detection: The task of object detection is to find all the targets (objects) of interest in the image, determine their categories and locations, and is one of the core issues in the field of computer vision.

[0026] See also Figure 1-Figure 3 The first aspect of the present invention provides: a method for capturing license plates of abnormally parked vehicles based on radar warning, comprising the following steps: Configuration preparation stage: establish the corresponding relationship between the radar equipment and each scene of the ball camera, and establish the mapping relationship between the longitude and latitude of the map and the pixel coordinates of the ball camera scene map based on the high-precision map data; Radar abnormal parking alarm stage: The radar equipment detects abnormal parking events in high-speed scenes in real time. If the target vehicle has an abnormal parking event, the abnormal parking alarm information of the target vehicle is output to the data storage center; The stage of capturing license plates in linkage with ball cameras: the license plate information of the target vehicle is captured according to the abnormal parking alarm information, and then the license plate information is integrated into the abnormal parking alarm information to obtain the final abnormal parking alarm information and output it to the data storage center.

[0027] In some embodiments, the configuration preparation stage further includes the following steps: Mark the corresponding multiple sets of key points in the dome camera scene image and the high-precision map tile image, calculate the homography matrix of the dome camera scene image and the high-precision map tile image based on the multiple sets of key points, complete the alignment of the dome camera scene image and the high-precision map tile image, and establish the mapping relationship between the map longitude and latitude and the pixel coordinates of the dome camera scene image.

[0028] In some embodiments, the abnormal parking warning information includes the latitude and longitude of the target vehicle, the vehicle type, the time when the abnormal parking occurred, and the device number.

[0029] In some embodiments, the stage of grabbing license plates by ball camera linkage also includes the following steps: The ball camera linkage program monitors the data storage center in real time. If an abnormal parking alarm is received, the abnormal parking alarm is analyzed. According to the mapping relationship between the longitude and latitude of the map and the pixel coordinates of the ball camera scene map, the longitude and latitude of the target vehicle are converted into the pixel coordinates in the corresponding ball camera scene map, and a ball camera linkage command is generated. Execute the ball camera linkage command, mobilize the ball camera to adjust the focal length, and lock the target vehicle; Then the vehicle license plate detection and recognition is performed on the ball camera scene to obtain the license plate information.

[0030] In some embodiments, before the configuration preparation stage, multiple outfield devices are set up; the outfield devices include an outfield pole, on which are disposed a high-definition spherical camera, a first millimeter-wave radar, and a second millimeter-wave radar; the first millimeter-wave radar detects vehicles behind the outfield pole, and the second millimeter-wave radar detects vehicles in front of the outfield pole, and cooperates with the high-definition spherical camera to capture abnormal parking within a preset range before and after the outfield pole. In some embodiments, the preset range is 400 meters.

[0031] The present invention realizes complete capture of abnormal parking based on millimeter wave radar alarm linkage ball camera, provides accurate license plate information, requires less computing resources, is efficient and has low cost. The longitude and latitude are used as the information to associate the radar and the ball camera, and the radar and the ball camera are associated by calibrating the mapping relationship between the camera scene graph and the high-precision map (longitude and latitude), which has high efficiency and stable effect. At present, the abnormal parking alarm information of this scheme comes from the radar, and the longitude and latitude are used as the associated information. During the application process, the alarm source (such as the gun machine device) can be replaced according to the actual situation of the project. As long as the abnormal parking alarm information with longitude and latitude can be provided, the license plate capture can be realized. A single pole, a ball machine, and two radars are used to cover the abnormal parking capture within 400 meters (800 meters in total) around the pole. And the radar and the ball machine can serve other purposes at the same time. For example, the radar can also be integrated with other gun machines for radar vision, and the ball machine can be used for video monitoring, making full use of equipment resources and achieving the effect of equipment reuse. The present invention uses Python language to write relevant script programs to realize the alignment process of radar longitude and latitude with the ball camera scene graph, uses C / C++ language for coding, and realizes the positioning function when the project is implemented.

[0032] The second aspect of the present invention provides: a system for capturing license plates of abnormally parked vehicles based on radar warning, which is used to implement any of the above-mentioned methods for capturing license plates of abnormally parked vehicles based on radar warning, comprising: Configuration preparation module: used to establish the corresponding relationship between the radar equipment and each scene of the ball camera, and to establish the mapping relationship between the longitude and latitude of the map and the pixel coordinates of the ball camera scene map based on the high-precision map data; Radar abnormal parking alarm module: used for radar equipment to detect abnormal parking events in high-speed scenes in real time. If the target vehicle has an abnormal parking event, the abnormal parking alarm information of the target vehicle is output to the data storage center; The module for capturing license plates by ball camera linkage is used to capture the license plate information of the target vehicle according to the abnormal parking alarm information, and then integrate the license plate information into the abnormal parking alarm information to obtain the final abnormal parking alarm information and output it to the data storage center.

[0033] The third aspect of the present invention provides: a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are loaded and executed by a processor, any of the above-mentioned abnormal parking license plate capture methods based on radar warning is implemented.

[0034] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A method for capturing license plates of abnormally parked vehicles based on radar warning, characterized in that: The following steps are involved: Configuration preparation stage: establish the corresponding relationship between the radar equipment and each scene of the ball camera, and establish the mapping relationship between the longitude and latitude of the map and the pixel coordinates of the ball camera scene map based on the high-precision map data; Radar abnormal parking alarm stage: The radar equipment detects abnormal parking events in high-speed scenes in real time. If the target vehicle has an abnormal parking event, the abnormal parking alarm information of the target vehicle is output to the data storage center; The stage of capturing license plates in linkage with ball cameras: the license plate information of the target vehicle is captured according to the abnormal parking alarm information, and then the license plate information is integrated into the abnormal parking alarm information to obtain the final abnormal parking alarm information and output it to the data storage center.

2. The method for capturing license plates of abnormally parked vehicles based on radar warning according to claim 1 is characterized in that: The configuration preparation phase further includes the following steps: Mark the corresponding multiple sets of key points in the dome camera scene image and the high-precision map tile image, calculate the homography matrix of the dome camera scene image and the high-precision map tile image based on the multiple sets of key points, complete the alignment of the dome camera scene image and the high-precision map tile image, and establish the mapping relationship between the map longitude and latitude and the pixel coordinates of the dome camera scene image.

3. The method for capturing license plates of abnormally parked vehicles based on radar warning according to claim 1 is characterized in that: The abnormal parking warning information includes the latitude and longitude of the target vehicle, the vehicle type, the time when the abnormal parking occurred, and the equipment number.

4. The method for capturing license plates of abnormally parked vehicles based on radar warning according to claim 1 is characterized in that: The stage of grabbing license plates by ball camera linkage also includes the following steps: The ball camera linkage program monitors the data storage center in real time. If an abnormal parking alarm is received, the abnormal parking alarm is analyzed. According to the mapping relationship between the longitude and latitude of the map and the pixel coordinates of the ball camera scene map, the longitude and latitude of the target vehicle are converted into the pixel coordinates in the corresponding ball camera scene map, and a ball camera linkage command is generated. Execute the ball camera linkage command, mobilize the ball camera to adjust the focal length, and lock the target vehicle; Then the vehicle license plate detection and recognition is performed on the ball camera scene to obtain the license plate information.

5. The method for capturing license plates of abnormally parked vehicles based on radar warning according to any one of claims 1 to 4, characterized in that: Before the configuration preparation stage, multiple outfield devices are set up; the outfield devices include an outfield pole, on which a high-definition spherical camera, a first millimeter-wave radar, and a second millimeter-wave radar are installed; the first millimeter-wave radar detects vehicles behind the outfield pole, and the second millimeter-wave radar detects vehicles in front of the outfield pole, and cooperates with the high-definition spherical camera to capture abnormal parking within a preset range before and after the outfield pole.

6. The method for capturing license plates of abnormally parked vehicles based on radar warning according to claim 5 is characterized in that: The preset range is 400 meters.

7. An abnormal parking license plate capture system based on radar warning, characterized by: The method for capturing license plates of abnormally parked vehicles based on radar warning according to any one of claims 1 to 6 comprises: Configuration preparation module: used to establish the corresponding relationship between the radar equipment and each scene of the ball camera, and to establish the mapping relationship between the longitude and latitude of the map and the pixel coordinates of the ball camera scene map based on the high-precision map data; Radar abnormal parking alarm module: used for radar equipment to detect abnormal parking events in high-speed scenes in real time. If the target vehicle has an abnormal parking event, the abnormal parking alarm information of the target vehicle is output to the data storage center; The module for capturing license plates by ball camera linkage is used to capture the license plate information of the target vehicle according to the abnormal parking alarm information, and then integrate the license plate information into the abnormal parking alarm information to obtain the final abnormal parking alarm information and output it to the data storage center.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are loaded and executed by the processor, the abnormal parking license plate capture method based on radar warning as described in any one of claims 1-6 is implemented.

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