Vehicle-based line pressing detection method and device, medium and product

Abstract

The embodiment of the invention relates to the technical field of traffic, and discloses a vehicle-based line pressing detection method and device, a medium and a product. The method comprises the following steps: determining a region of interest according to a target lane; wherein the target lane is used for representing a lane in which the target vehicle is forbidden to run by pressing the line; the region of interest is used for representing a region for prohibiting line pressing; determining vertex information of the target vehicle based on the target lane; and determining whether the target vehicle presses the line or not according to the region of interest and the vertex information. The technical problem that in the prior art, the accuracy of line pressing detection is low can be at least solved.

Description

Technical Field

[0001] The present application relates to the field of traffic technology, and in particular to a vehicle-based wire crossing detection method, equipment, medium and product. Background Art

[0002] In the field of transportation, roadside traffic incident detection is a key task, especially the monitoring of vehicle crossing the line. Crossing line event detection relies on sensors and monitoring equipment on both sides of the road to monitor road conditions in real time. In order to accurately detect and locate crossing line events, a reasonable and efficient judgment method must be adopted, which is crucial for subsequent event processing and response.

[0003] However, the inventors have discovered that the related art has at least the following technical problems: in the related art, the accuracy of line pressure detection is low. Summary of the invention

[0004] One purpose of the present application is to provide a vehicle-based wire-crossing detection method, device, medium and product, at least to solve the technical problem of low accuracy of wire-crossing detection in the related art.

[0005] To achieve the above objectives, some embodiments of the present application provide the following aspects:

[0006] In the first aspect, some embodiments of the present application also provide a vehicle-based line-crossing detection method, the method comprising: determining an area of ​​interest based on a target lane; wherein the target lane is used to characterize a lane where the target vehicle is prohibited from crossing the line; the area of ​​interest is used to characterize an area where crossing the line is prohibited; determining the vertex information of the target vehicle based on the target lane; and determining whether the target vehicle crosses the line based on the area of ​​interest and the vertex information.

[0007] In a second aspect, some embodiments of the present application further provide an electronic device, comprising: one or more processors; and a memory storing computer program instructions, wherein the computer program instructions, when executed, cause the processor to perform the steps of the method described above.

[0008] In a third aspect, some embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the method as described above.

[0009] In a fourth aspect, some embodiments of the present application further provide a computer program product, comprising a computer program / instruction, which implements the steps of the method described above when executed by a processor.

[0010] Compared with the related art, in the solution provided by the embodiment of the present application, the region of interest is determined according to the target lane; wherein the target lane is used to characterize the lane where the target vehicle is prohibited from driving on the line; the region of interest is used to characterize the area where driving on the line is prohibited; the vertex information of the target vehicle based on the target lane is determined; and whether the target vehicle is driving on the line is determined according to the region of interest and the vertex information. Through the method provided by the embodiment of the present application, since fixed-point analysis can be implemented according to the region of interest and the vertex information, the accuracy of judgment can be effectively improved and the false alarm rate can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0012] Figure 1 An exemplary flow chart of a vehicle-based wire crossing detection method provided according to some embodiments of the present application;

[0013] Figure 2 This is an exemplary schematic diagram of an area of ​​interest in a vehicle-based wire crossing detection method according to some embodiments of the present application;

[0014] Figure 3 An exemplary schematic diagram of the target lane in a vehicle-based lane crossing detection method provided according to some embodiments of the present application;

[0015] Figure 4 A schematic diagram of line-crossing judgment regarding the vertex information in a line-crossing detection method based on a vehicle provided according to some embodiments of the present application;

[0016] Figure 5 A schematic diagram of another line-crossing judgment about the vertex information in a line-crossing detection method based on a vehicle provided according to some embodiments of the present application;

[0017] Figure 6 This is an exemplary schematic diagram of step S103232 in a vehicle-based wire crossing detection method according to some embodiments of the present application;

[0018] Figure 7 This is an exemplary schematic diagram of an application example in a vehicle-based wire crossing detection method provided according to some embodiments of the present application;

[0019] Figure 8 This is an exemplary structural diagram of an electronic device provided according to some embodiments of the present application. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0021] The following terms are used in this article.

[0022] The cross product of vectors, also known as the outer product, is a vector operation defined in two and three dimensions. In two dimensions, the result of the cross product is a scalar that can be used to determine the signed area of ​​the parallelogram formed by the two vectors, as well as to determine the position of one vector relative to another.

[0023] First embodiment

[0024] The first embodiment of the present application relates to a vehicle-based wire crossing detection method. Figure 1 As shown, the method may include the following steps:

[0025] Step S101, determining an area of ​​interest according to a target lane; wherein the target lane is used to represent a lane where the target vehicle is prohibited from driving on the lane line; and the area of ​​interest is used to represent an area where driving on the lane line is prohibited;

[0026] Step S102, determining vertex information of the target vehicle based on the target lane;

[0027] Step S103: determining whether the target vehicle crosses the line according to the region of interest and the vertex information.

[0028] The above steps are described in detail below. The vehicle-based wire-crossing detection method can be applied to, but not limited to, a vehicle-based wire-crossing detection system, and the vehicle-based wire-crossing detection system can be loaded on an electronic device, which is not specifically limited in the present embodiment of the application.

[0029] Regarding step S101, specifically, in some examples, the target lane may be a solid lane, which refers to a lane defined in traffic rules, in which the target vehicle should drive, and it is explicitly prohibited for the target vehicle to cross the lane. The region of interest, also known as Region of Interest, or ROI for short, refers to an area that the system pays special attention to. In the embodiment of the present application, it refers to an area formed by lane lines that the target vehicle should not cross. In this step, by determining the region of interest, the system can concentrate resources to monitor the region of interest, which is conducive to timely detection and handling of cross-line behavior.

[0030] For step S102, specifically, in some examples, the target vehicle can be any type of vehicle, such as an unmanned vehicle, a manually driven vehicle, etc., and the embodiments of the present application do not specifically limit this. Exemplarily, when the target vehicle enters the target lane, the vertex information of the target vehicle can be obtained. Among them, the vertex information of the target vehicle can be vertex coordinate information determined based on the vehicle origin as a reference. The vehicle origin is used to define the geometric center of the target vehicle or the center of mass of the target vehicle. It can be understood that the vertex information can include the coordinate information of four vertices corresponding to the four corners of the target vehicle, and these four vertices can be the left front vertex, right front vertex, left rear vertex and right rear vertex of the target vehicle, respectively.

[0031] Regarding step S103, specifically, in some examples, it can be determined whether the target vehicle crosses the line based on the positional relationship between the vertex information and the region of interest.

[0032] It is not difficult to find that, compared with the related art, in the solution provided by the embodiment of the present application, the region of interest is determined according to the target lane; wherein the target lane is used to characterize the lane where the target vehicle is prohibited from driving on the line; the region of interest is used to characterize the area where driving on the line is prohibited; the vertex information of the target vehicle based on the target lane is determined; and whether the target vehicle is driving on the line is determined according to the region of interest and the vertex information. Through the method provided by the embodiment of the present application, since fixed-point analysis can be implemented according to the region of interest and the vertex information, the accuracy of judgment can be effectively improved and the false alarm rate can be reduced.

[0033] Second embodiment

[0034] The second embodiment of the present application relates to a vehicle-based line crossing detection method. The second embodiment is an improvement on the first embodiment, and the specific improvement is: in the second embodiment of the present application, a specific implementation method for determining an area of ​​interest according to a target lane is provided.

[0035] Specifically, in some embodiments, the determining of the region of interest according to the target lane, i.e., step S101, may further include the following steps:

[0036] Step S1011, obtaining the three-dimensional space coordinates based on the target lane in the actual scene;

[0037] Step S1012, determining two-dimensional pixel coordinates based on the bird's-eye view according to the three-dimensional space coordinates;

[0038] Step S1013: Draw lanes in the bird's-eye view according to the two-dimensional pixel coordinates to determine an area of ​​interest.

[0039] Exemplarily, the three-dimensional spatial coordinates of the target lane can be represented by (x, y, z). The three-dimensional spatial coordinates (x, y, z) of each target lane can be projected into the bird's-eye view. Specifically, the two-dimensional pixel coordinates in the bird's-eye view can be determined according to the three-dimensional spatial coordinates (x, y, z) of each target lane. Then, the lane can be drawn in the bird's-eye view using the converted two-dimensional pixel coordinates, and the region of interest can be determined.

[0040] Optionally, in some embodiments, determining the two-dimensional pixel coordinates based on the bird's-eye view according to the three-dimensional space coordinates, that is, step S1012, may further include the following steps:

[0041] Step S10121, obtaining a conversion coefficient for characterizing conversion between pixels and distances, the height of the bird's-eye view, the minimum coordinate value of the region of interest on the x-axis, and the minimum coordinate value of the region of interest on the y-axis;

[0042] Step S10122, determining the two-dimensional pixel coordinates in the bird's-eye view according to the conversion coefficient, the height of the bird's-eye view, the minimum coordinate value of the region of interest on the x-axis, the minimum coordinate value of the region of interest on the y-axis, and a floor function.

[0043] Exemplarily, determining the two-dimensional pixel coordinates in the bird's-eye view according to the conversion coefficient, the height of the bird's-eye view, the minimum coordinate value of the region of interest on the x-axis, the minimum coordinate value of the region of interest on the y-axis, and a floor function, that is, step S10122, can be specifically implemented by the following formula:

[0044] pix x =floor((xx min )*pix2dist); Formula 1

[0045] pix y =height-floor((yy min )*pix2dist); Formula 2

[0046] Wherein, floor() represents the floor rounding function, which is used to round the calculation result down to the nearest integer; pix2dist represents the conversion coefficient, that is, the number of pixels corresponding to each meter distance on the bird's-eye view; (pix x ,pix y ) represents the two-dimensional pixel coordinates in the bird's-eye view obtained by converting the three-dimensional space coordinates (x, y, z); the x min represents the minimum coordinate value of the region of interest on the x-axis; min represents the minimum coordinate value of the region of interest on the y-axis; and the height represents the height of the bird's-eye view.

[0047] For example, the value of pix2dist may be 10, that is, 10 pixels correspond to each meter of distance. By setting the conversion coefficient, it is helpful to accurately map the target lane in the actual scene onto a two-dimensional plane, thereby facilitating subsequent analysis and processing.

[0048] Exemplarily, the height of the bird's-eye view may be determined by the following formula:

[0049] height = floor (y max -y min )*pix2dist;

[0050] Among them, the y max Indicates the maximum coordinate value of the region of interest on the y-axis.

[0051] Optionally, in some embodiments, the drawing of lanes in the bird's-eye view according to the two-dimensional pixel coordinates to determine the region of interest, that is, step S1013, may further include the following steps:

[0052] Step S10131, determining the size of the bird's-eye view according to the two-dimensional pixel coordinates in the bird's-eye view;

[0053] Step S10132, determining a target zero matrix according to the size of the bird's-eye view; wherein the number of rows of the target zero matrix is ​​equal to the height of the bird's-eye view, and the number of columns of the target zero matrix is ​​equal to the width of the bird's-eye view;

[0054] Step S10133: determine the region of interest according to the target zero matrix.

[0055] For example, in some embodiments, a white area can be set as the region of interest in the bird's-eye view. Figure 2As shown. In this embodiment, for ease of processing, a target zero matrix with the same size as the bird's-eye view can be created. The number of rows of the target zero matrix is ​​equal to the height height of the bird's-eye view, and the number of columns of the target zero matrix is ​​equal to the width width of the bird's-eye view. In this way, each pixel position of the bird's-eye view can establish a one-to-one correspondence with each pixel position of the target zero matrix.

[0056] Exemplarily, the width of the bird's-eye view may be determined by the following formula:

[0057] width = floor (x max -x min )*pix2dist;

[0058] Among them, the x max Indicates the maximum coordinate value of the region of interest on the x-axis.

[0059] Exemplarily, the target zero matrix may be referred to as flagMatrix.

[0060] Exemplarily, the value of the position of the target zero matrix corresponding to the white area in the bird's-eye view may be set to 1 to identify the corresponding area as a prohibited line pressing area.

[0061] Furthermore, the coordinate information of the target lane can be determined based on the region of interest. Figure 3 As shown, it is a schematic diagram showing the determined target lane provided by an embodiment of the present application. Figure 3 In the figure, the area formed by the yellow solid line represents the target lane, and the target lanes are numbered from left to right as lane1, lane2, lane3, lane4 and lane5. Further, the coordinate information of the target lane can be obtained, and the coordinate information can include the starting point coordinates and the end point coordinates of the target lane. The coordinate information of the target lane can be determined based on the region of interest.

[0062] It is not difficult to find that in an embodiment of the present application, by obtaining the three-dimensional spatial coordinates based on the target lane in the actual scene, determining the two-dimensional pixel coordinates based on the bird's-eye view according to the three-dimensional spatial coordinates; and drawing the lane in the bird's-eye view according to the two-dimensional pixel coordinates to determine the area of ​​interest, a specific implementation method for determining the area of ​​interest based on the target lane is provided.

[0063] Third embodiment

[0064] The third embodiment of the present application relates to a vehicle-based lane crossing detection method. The third embodiment is an improvement on the first embodiment, and the specific improvement is: in the third embodiment of the present application, a specific implementation method for determining the vertex information of the target vehicle based on the target lane is provided.

[0065] Specifically, in some embodiments, the determining of the target vehicle based on the vertex information of the target lane, that is, step S102, may further include the following steps:

[0066] Step S1021, obtaining the current heading angle information and original vertex information of the target vehicle;

[0067] Step S1022: Determine the vertex information of the target vehicle based on the target lane according to the current heading angle information and the original vertex information.

[0068] Exemplarily, the location information of the target vehicle and the current heading angle information of the target vehicle can be obtained through a perception system arranged on the roadside, such as a sensor, etc. In some examples, the size information of the target vehicle, the category information and identifier information of the target vehicle, etc. can also be obtained, which is not specifically limited in the embodiments of the present application. Among them, the size information can include the length information l, width information w and height information h of the target vehicle.

[0069] Optionally, in some embodiments, the vertex information of the target vehicle based on the target lane is determined according to the current heading angle information and the original vertex information, that is, step S1022 can be implemented by the following formula:

[0070]

[0071] Among them, (x o ,y o ) represents the original vertex information, (x', y') represents the calculated vertex information. The θ represents the heading angle.

[0072] Exemplarily, the original vertex information is determined based on the origin of the target vehicle. For example, the original vertex information may correspond to the left front vertex information (0.5*1, 0.5*w), the right front vertex information (0.5*1, -0.5*w), the left rear vertex information (-0.5*1, 0.5*w) and the right rear vertex information (-0.5*1, -0.5*w) of the target vehicle, respectively. Wherein, w represents the width information of the target vehicle.

[0073] For example, the number of vertices corresponding to the vertex information is generally four, which can be represented by p1, p2, p3, and p4 respectively. Figure 4 shown.

[0074] Exemplarily, the unit of the heading angle is radian.

[0075] It should be noted that the third embodiment of the present application may also be an improvement based on the second embodiment.

[0076] It is not difficult to find that in an embodiment of the present application, by obtaining the current heading angle information and the original vertex information of the target vehicle, and determining the vertex information of the target vehicle based on the target lane according to the current heading angle information and the original vertex information, a specific implementation method for determining the vertex information of the target vehicle based on the target lane is provided.

[0077] Fourth embodiment

[0078] The fourth embodiment of the present application relates to a vehicle-based line-crossing detection method. The fourth embodiment is an improvement on the first embodiment, and the specific improvement is: in the fourth embodiment of the present application, a specific implementation method for determining whether the target vehicle crosses the line based on the region of interest and the vertex information is provided.

[0079] Specifically, in some embodiments, determining whether the target vehicle crosses the line based on the region of interest and the vertex information, that is, step S103, may further include the following steps:

[0080] Step S1031, if at least one of the four vertices represented by the vertex information is located in the region of interest, determining a cross product result and a projection length according to the vertex information and lane information determined based on the region of interest;

[0081] Step S1032, determining whether the target vehicle crosses the line according to the cross product result and the projection length.

[0082] Exemplarily, in the process of executing step S1031, the vertex information can be first converted into the three-dimensional spatial coordinates of the target vehicle into the two-dimensional pixel coordinates on the bird's-eye view by using Formula 1 and Formula 2 provided in the second embodiment, that is, the two-dimensional pixel coordinates of the vertex information of the target vehicle on the bird's-eye view are obtained. Then, the position corresponding to the two-dimensional pixel coordinates can be searched in the target zero matrix to determine whether the target vehicle is in the region of interest.

[0083] For example, each target lane in the region of interest may be traversed in order, and the coordinate information of the target lane may be used for subsequent judgment and processing. Figure 4 The schematic diagram of line pressure judgment shown in the figure is as follows: startrepresents the starting point of the target road, l end Indicates the end point of the target road. p1, p2, p3, p4 represent the four vertices corresponding to the vertex information. If none of the four vertices represented by the vertex information are within the region of interest, there is no need to perform line crossing detection on the target vehicle. Otherwise, if at least one of the four vertices represented by the vertex information is within the region of interest, the cross product result and the projection length can be determined based on the vertex information and the lane information determined based on the region of interest, and based on the cross product result and the projection length, it can be determined whether the target vehicle crosses the line.

[0084] Optionally, in some embodiments, the determining of the cross product result and the projection length according to the vertex information and the lane information determined based on the region of interest, that is, step S1031, may further include the following steps:

[0085] Step S10311, obtaining the coordinate information of the target lane;

[0086] Step S10312, determining vertex coordinates of two adjacent vertices according to the vertex information of the target vehicle;

[0087] Step S10313, determining the cross product result and the projection length according to the coordinate information and the vertex coordinates.

[0088] For example, see Figure 5 As shown in FIG. 1 , the coordinate information of the target lane may include the starting point coordinates and the end point coordinates of the target lane. Assume that the starting point coordinates are represented by A and the end point coordinates are represented by B. And the vertex coordinates of the two adjacent vertices are represented by C and D respectively, then the input vector can be

[0089] Calculating vectors and The cross product result of dir a ,dir b ;

[0090] Calculating vectors and The cross product result of dir1, dir2;

[0091] Calculating vectors exist The projection length on a , length b ;

[0092] Calculating vectors exist The projection lengths on are length1, length2;

[0093] Exemplarily, the input vector Can be determined by the following formula:

[0094] vec=(x vec ,y vec ) = (x2-x1, y2-y1);

[0095] Wherein, (x1, y1) represents the starting coordinates of the vector; (x2, y2) represents the ending coordinates of the vector. Represents the vector formed by point a and point b, where a is the starting point of the vector and b is the end point of the vector.

[0096] For example, the cross product of a vector is calculated, such as and The cross product result of dir a ,dir b ; Calculate vector and The cross product results dir1 and dir2 can be determined by the following formula:

[0097] vector With vector The calculation method of the cross product is:

[0098] dir=x a *y b -y a *x b ;

[0099] Among them, (x a ,y a ) represents a vector (x b ,y b ) represents a vector dir represents the cross product result.

[0100] The value of dir can be positive or negative. If the value of dir is positive, it means that the vector In vector If the value of dir is negative, it means that the vector In vector If the value of dir is zero, it means that the vector In vector in the direction of.

[0101] For example, the projection length of a vector is calculated, such as calculating the vector exist The projection length on a, length b ; Calculate vector exist The projection lengths length1 and length2 on the image can be determined by the following formula:

[0102] Calculating vectors In vector Projection length on :

[0103]

[0104] Among them, (x a ,y a ) represents a vector (x b ,y b ) represents a vector length represents the projection length.

[0105] The value of the length can be positive or negative. When the value of the length is positive, it indicates that the vector is in the positive direction. Otherwise, when the value of the length is negative, it indicates that the vector is in the negative direction.

[0106] It should be noted that the fourth embodiment of the present application may also be an improvement based on the second embodiment and / or the third embodiment.

[0107] It is not difficult to find that in an embodiment of the present application, if at least one vertex among the four vertices represented by the vertex information is located in the area of ​​interest, the fork product result and the projection length are determined according to the vertex information and the lane information determined based on the area of ​​interest, and based on the fork product result and the projection length, it is determined whether the target vehicle crosses the line, thereby providing a specific implementation method for determining whether the target vehicle crosses the line based on the area of ​​interest and the vertex information.

[0108] Fifth embodiment

[0109] The fifth embodiment of the present application relates to a vehicle-based line crossing detection method. The fifth embodiment is an improvement on the fourth embodiment, and the specific improvement is: in the fifth embodiment of the present application, a specific implementation method is provided to determine whether the target vehicle crosses the line based on the cross product result and the projection length.

[0110] Specifically, in some embodiments, determining whether the target vehicle crosses the line based on the cross product result and the projection length, that is, step S1032 may further include the following steps:

[0111] Step S10321, determining the positional relationship between the two vertices and the target lane according to the cross product result; wherein the positional relationship includes: the two vertices are located on different sides of the target lane, the two vertices and the target lane are on the same straight line, and the two vertices are located on the same side of the target lane;

[0112] Step S10322, determining the direction relationship between the target vertex and the target lane according to the projection length; wherein the target vertex is any one of the two vertices; the direction relationship includes: the target vertex is in the reverse direction of the target lane, the target vertex is projected in the positive direction of the target lane and exceeds the end point coordinates corresponding to the coordinate information of the target lane; the target vertex is projected between the target lanes;

[0113] Step S10323, determining whether the target vehicle crosses the line based on the position relationship and the direction relationship.

[0114] Continue with Figure 5 As shown. For step 10321, the following three judgment steps may be included:

[0115] Judgment 1: If dir a *dir b <0; it can be considered that the two vertices C and D are located on different sides of the target lane AB, that is, on both sides of the target lane AB;

[0116] Judgment 2: If dir a *dir b =0; it can be considered that the two vertices C and D and the target lane AB are on the same straight line;

[0117] Judgment 3: If dir a *dir b >0; it can be considered that the two vertices C and D are located on the same side of the target lane AB, that is, on the same side of the target lane AB.

[0118] It should be noted that the judgment steps for dir1 and dir2 can be roughly the same as the above judgment process, and will not be repeated here to avoid repetition.

[0119] Further, in some examples, step 10322 may include the following three determination steps, where it is assumed that the target vertex is vertex C:

[0120] Judgment 4: If length a <0, it can be determined that the target vertex C is in the opposite direction of the target lane AB;

[0121] Judgment 5: If length a >dis AB , it can be determined that the target vertex C is projected in the positive direction of the target lane AB and exceeds point B;

[0122] Judgment 6: If 0≤length a ≤dis AB , it can be determined that the target vertex C is projected between the target lanes AB.

[0123] It should be noted that for length b The steps for determining length1 and length2 may be substantially the same as steps 4-6 above, and will not be described again here to avoid repetition.

[0124] Optionally, in some embodiments, determining whether the target vehicle crosses the line based on the position relationship and the direction relationship, that is, S10323 may further include the following steps:

[0125] S103231, judging at least one of the following based on the position relationship and the direction relationship: a spanning relationship between adjacent vertices and the target lane, a relationship between a vertex connection line and a projection of a start point or an end point of the target lane, and a collinear relationship of whether a vertex and the target lane are collinear;

[0126] S103232: Determine whether the target vehicle crosses the line based on the judgment result.

[0127] For example, see Figure 6 As shown, the following situations will be judged as the target vehicle crossing the line:

[0128] Specifically, the spanning relationship between the adjacent vertices and the target lane may be: the two adjacent vertices are respectively located on both sides of the target lane, and the starting point and the end point of the target lane are also respectively located on both sides of the two vertices;

[0129] Specifically, the relationship between the vertex connection line and the projection of the starting point or the end point of the target lane may be: two adjacent vertices are located on both sides of the target lane, and the starting point or the end point of the target lane is projected on the connection line of the two vertices;

[0130] Specifically, the collinear relationship of whether a vertex is collinear with the target lane may be: at least one vertex is in the same straight line as the target lane, and the projection of the vertex is located between the start point and the end point of the target lane.

[0131] It should be noted that the fourth embodiment of the present application may also be an improvement based on any one or more embodiments of the first to third embodiments.

[0132] It is not difficult to find that in an embodiment of the present application, a specific implementation method is provided for determining whether the target vehicle crosses the line based on the fork product result and the projection length.

[0133] Sixth embodiment

[0134] The sixth embodiment of the present application relates to a vehicle-based wire crossing detection method. In the embodiment of the present application, a specific application example is provided, such as Figure 7 shown.

[0135] Take the implementation of a target vehicle's crossing line judgment as an example:

[0136] Figure 7 The target information in is used to characterize the relevant driving information of the target vehicle, such as the current position information, current heading angle information and original vertex information of the target vehicle. Then, vertex calculation can be performed according to the target information to obtain the vertex information of the four vertices of the target vehicle. At the same time, the region of interest is configured, corresponding to the ROI configuration in the figure.

[0137] Further, it is determined whether the target vehicle is within the region of interest based on the vertex information. Wherein, as long as any vertex is within the region of interest, it can be determined that the target vehicle is within the region of interest.

[0138] Further, all target lanes (solid lanes) in the region of interest may be traversed. If all target lanes in the region of interest cannot be traversed, the process ends.

[0139] Furthermore, all combinations of adjacent vertices of the target vehicle may be traversed, such as: p1-p2, p2-p3, p3-p4, p4-p1. If all combinations of adjacent vertices of the target vehicle cannot be traversed, the process ends.

[0140] Furthermore, according to the combination of all adjacent vertices of the target vehicle obtained by traversal, the projection length is calculated, the position relationship is calculated, etc., so as to judge whether the target vehicle crosses the line according to these calculation results. If any combination of adjacent vertices meets the cross-line condition, it can be determined that the target vehicle crosses the line. At this time, the process ends, and the current program for judging the cross-line of the target vehicle can be exited to enter the next target vehicle cross-line judgment.

[0141] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0142] Seventh embodiment

[0143] In addition, some embodiments of the present application also provide an electronic device. The electronic device may be a digital computer in various forms, such as a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, etc. The electronic device may also be a mobile device in various forms, such as a personal digital processing, a cellular phone, a smart phone, a wearable device, and other similar computing devices.

[0144] The electronic device includes: one or more processors; and a memory storing computer program instructions, wherein when the computer program instructions are executed, the processor executes the steps of the method provided in any one or more of the above embodiments. Figure 8 An exemplary structural diagram of the electronic device is disclosed. Figure 8 As shown, the electronic device includes: one or more processors 1101, memory 1102, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some other embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Among them, the components shown in this article, their connections and relationships, and their functions are only used as examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0145] The electronic device may further include: an input device 1103 and an output device 1104. The processor 1101, the memory 1102, the input device 1103 and the output device 1104 may be connected via a bus or other means. Figure 8 The example of connecting through bus is taken in the following.

[0146] The input device 1103 can receive input digital or character information, and generate key signal input related to the user settings and function control of the electronic device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a track ball, a joystick and other input devices. The output device 1104 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0147] To provide interaction with a user, the electronic device may be a computer. The computer has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the computer. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0148] In the embodiments of the present application, a computer program / instruction is stored on a computer-readable medium, and when the computer program / instruction is executed by a processor, the steps of the method provided by any one or more of the above embodiments are implemented. The computer-readable medium may be included in the electronic device described in the above embodiments; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer-readable instructions.

[0149] The memory 1102 can be used as a non-transient computer-readable storage medium, which can be used to store non-transient software programs, non-transient computer executable programs and modules. The processor 1101 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 1102, so as to implement the program instructions / modules corresponding to the method provided by any one or more embodiments in the embodiments of the present application.

[0150] The memory 1102 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 1102 may optionally include a memory remotely arranged relative to the processor 1101, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0151] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0152] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0153] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0154] In the above-described embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. For example, it can be implemented by using an application specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware device. In certain embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including relevant data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented by hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0155] The computer program product provided in the embodiment of the present application includes one or more computer programs / instructions, and when the computer program / instructions are executed by the processor, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0156] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0157] The scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim may also be implemented by one unit or device through software or hardware. The words "first", "second", etc. are only used to distinguish the description, and do not indicate any particular order, nor can they be understood as indicating or implying relative importance.

[0158] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily mention changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims, and the above embodiments should be regarded as exemplary and non-restrictive.

Claims

1. A vehicle-based wire crossing detection method, characterized in that: The method comprises: Determine an area of ​​interest according to a target lane; wherein the target lane is used to represent a lane where the target vehicle is prohibited from driving on the lane; and the area of ​​interest is used to represent an area where driving on the lane is prohibited; Determining vertex information of the target vehicle based on the target lane; It is determined whether the target vehicle crosses the line according to the region of interest and the vertex information.

2. The method according to claim 1, characterized in that Determining the region of interest according to the target lane includes: Obtain the three-dimensional spatial coordinates based on the target lane in the actual scene; Determine, according to the three-dimensional spatial coordinates, two-dimensional pixel coordinates based on the bird's-eye view; Lanes are drawn in the bird's-eye view according to the two-dimensional pixel coordinates to determine an area of ​​interest.

3. The method according to claim 2, characterized in that Determining the two-dimensional pixel coordinates based on the bird's-eye view according to the three-dimensional space coordinates includes: Obtaining a conversion coefficient for characterizing the conversion between pixels and distances, the height of the bird's-eye view, the minimum coordinate value of the region of interest on the x-axis, and the minimum coordinate value of the region of interest on the y-axis; The two-dimensional pixel coordinates in the bird's-eye view are determined according to the conversion coefficient, the height of the bird's-eye view, the minimum coordinate value of the region of interest on the x-axis, the minimum coordinate value of the region of interest on the y-axis, and a floor function.

4. The method according to claim 2, characterized in that: Drawing the lane in the bird's-eye view according to the two-dimensional pixel coordinates and determining the region of interest comprises: Determining the size of the bird's-eye view according to the two-dimensional pixel coordinates in the bird's-eye view; Determine a target zero matrix according to the size of the bird's-eye view; wherein the number of rows of the target zero matrix is ​​equal to the height of the bird's-eye view, and the number of columns of the target zero matrix is ​​equal to the width of the bird's-eye view; According to the target zero matrix, a region of interest is determined.

5. The method according to claim 1, characterized in that: The determining of the target vehicle based on vertex information of the target lane includes: Obtaining current heading angle information and original vertex information of the target vehicle; The vertex information of the target vehicle based on the target lane is determined according to the current heading angle information and the original vertex information.

6. The method according to any one of claims 1 to 5, characterized in that The determining, according to the region of interest and the vertex information, whether the target vehicle crosses the line comprises: If at least one of the four vertices represented by the vertex information is located in the region of interest, determining a cross product result and a projection length according to the vertex information and lane information determined based on the region of interest; Whether the target vehicle crosses the line is determined according to the cross product result and the projection length.

7. The method according to claim 6, characterized in that Determining whether the target vehicle crosses the line according to the cross product result and the projection length includes: According to the cross product result, determining the positional relationship between the two vertices and the target lane; wherein the positional relationship includes: the two vertices are located on different sides of the target lane, the two vertices and the target lane are on the same straight line, and the two vertices are located on the same side of the target lane; According to the projection length, determine the direction relationship between the target vertex and the target lane; wherein the target vertex is any one of the two vertices; the direction relationship includes: the target vertex is in the opposite direction of the target lane, the target vertex is projected in the positive direction of the target lane and exceeds the end point coordinates corresponding to the coordinate information of the target lane; the target vertex is projected between the target lanes; According to the position relationship and the direction relationship, it is determined whether the target vehicle crosses the line.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; and A memory storing computer program instructions, which, when executed, cause the processor to perform the steps of the method as claimed in any one of claims 1 to 7.

9. A computer readable medium having a computer program / instructions stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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