Intelligent network detection method suitable for digitization

Abstract

The invention provides an intelligent network detection method suitable for digitization, which relates to a traffic transportation technology, and comprises the following steps: marking an abnormal target according to speed identification data of a detection device, sending speed abnormal information to a time period analysis module to carry out speed timing analysis, determining a detection target, and determining the abnormal speed of the detection target based on the abnormal speed of the detection target. Determining an intersection point of the control device and the detection target, determining a hovering parameter of the control device at the intersection point according to the occupied channel of the detection target, controlling the control device to go to the intersection point based on the hovering parameter, and positioning the control device to a position above the detection target according to the real-time shooting data of the control device. The method comprises the following steps: detecting a detected target, determining a proofreading speed of the detected target based on a real-time speed of a management and control device, generating pressure speed reminding information according to a comparison result of the proofreading speed and a lowest standard speed of an occupied lane, and transmitting the pressure speed reminding information based on the management and control device, so that pressure speed vehicles on a high-speed lane can be continuously monitored and timely warned; the road safety is improved.

Description

Technical Field

[0001] The invention relates to transportation technology, and in particular to an intelligent network detection method suitable for digitization. Background Art

[0002] With the acceleration of urbanization and the continuous growth of traffic demand, urban traffic problems have become increasingly prominent. Among them, speeding on highways is one of the problems. Speeding behavior not only causes traffic congestion and reduces road traffic efficiency, but also may increase the risk of traffic accidents.

[0003] In the prior art, when monitoring the driving speed of vehicles on the highway, it mainly relies on speed cameras, but speed cameras are usually installed at specific locations on the highway and cannot continuously monitor vehicles suspected of speeding. When the speed camera detects that a vehicle may be speeding, it usually first captures the vehicle information, including license plate number, speed data, etc., and sends it to the control center of the traffic control department. Subsequently, the traffic control department will dispatch traffic control personnel to the scene. The whole process may take a long time, resulting in the failure to warn the speeding vehicle in time, which may affect road safety.

[0004] Therefore, how to continuously monitor speeding vehicles on high-speed lanes and issue timely warnings to improve road safety has become an urgent problem that needs to be solved. Summary of the invention

[0005] The present invention provides a digital intelligent network detection method, which can continuously monitor speeding vehicles on high-speed lanes and issue timely warnings, thereby improving road safety.

[0006] A first aspect of the present invention provides a digital intelligent network detection method, comprising: Mark abnormal targets according to the speed recognition data of the detection device, and send the speed abnormality information to the time period analysis module for speed timing analysis, and determine the abnormal targets that meet the speed pressure conditions as detection targets; Based on the abnormal speed of the detection target, determine the intersection point of the control device and the detection target, and determine the hovering parameters of the control device at the intersection point according to the occupied lane of the detection target; Controlling the control device to go to the intersection point based on the hovering parameters, positioning the control device above the detection target according to the real-time shooting data of the control device, and determining the calibration speed of the detection target based on the real-time speed of the control device; According to the comparison result between the proofreading speed and the minimum standard speed of the occupied lane, speed reduction reminder information is generated, and the speed reduction reminder information is communicated based on the control device.

[0007] Optionally, in a possible implementation of the first aspect, marking an abnormal target according to speed recognition data of the detection device, and sending speed abnormality information to a time period analysis module for speed timing analysis, and determining an abnormal target that meets the speed reduction condition as a detection target, includes: Based on the detection device obtaining the driving speed of the vehicle in each lane, marking the vehicle whose driving speed is less than the minimum standard speed of the corresponding lane as an abnormal target, the speed identification data includes the driving speed of each vehicle in each lane; Acquire the abnormal identification time of the abnormal target, obtain the speed abnormality information according to the abnormal identification time and send it to the time period analysis module; Taking the speed abnormality information as the starting time, the preset detection time is extended to obtain the abnormal analysis period, determining the lane where the abnormal target is located as the identification lane, and obtaining the driving speed of each vehicle in the identification lane identified by the period analysis module during the abnormal analysis period; Vehicles whose driving speed is less than the minimum standard speed of the identified lane are determined to be blocked vehicles. When the number of blocked vehicles is greater than or equal to the number of abnormal speed reductions, it is determined that the abnormal targets meet the speed reduction conditions and are determined to be detection targets.

[0008] Optionally, in a possible implementation manner of the first aspect, determining an intersection point between a control device and the detection target based on the abnormal speed of the detection target, and determining a hovering parameter of the control device at the intersection point according to an occupied lane of the detection target includes: Determine, according to the abnormal speed, a predicted travel distance of the detection target corresponding to a preset intersection time, wherein the preset intersection time is greater than a preset detection time corresponding to a time period analysis module; Retrieving a traffic layout map, determining a position point corresponding to the detection device marking the detection target in the traffic layout map as a starting position point, and determining a road line where the starting position point in the traffic layout map is located as a detection road line; Acquire the driving direction of the detection target on the detection road line, determine a position point at a predicted driving distance from the starting position point in the driving direction as a prediction point, and the prediction point is located at the center of the detection road line; Taking the predicted point as a starting point, determining a route segment of the detection road line in the driving direction as a verification road segment corresponding to the detection target, and acquiring a detection device located on the verification road segment and closest to the predicted point as a control device; Acquire multiple lane layout points corresponding to the occupied road at the predicted point, determine the center point of the lane layout points as the intersection point, acquire the lane width corresponding to the occupied road, determine the hovering height according to the lane width, and the hovering parameters include the hovering height.

[0009] Optionally, in a possible implementation manner of the first aspect, acquiring a plurality of lane layout points corresponding to the occupied road at the prediction point, determining a center point of the lane layout points as an intersection point, acquiring a lane width corresponding to the occupied road, and determining a hovering height according to the lane width, includes: Retrieving a lane layout diagram corresponding to the detected road line, taking the position point corresponding to the predicted point in the lane layout diagram as the coordinate origin, the driving direction as the first coordinate direction, and the direction perpendicular to the driving direction as the second coordinate direction, to construct a coordinate system; Determine the coordinate axis corresponding to the second coordinate direction as a target axis, obtain a position point on the target axis in the occupied lane as a lane layout point, and determine a center point of multiple lane layout points as an intersection point; The lane width of the occupied lane in the second coordinate direction is obtained, and a plurality of preset width intervals are traversed based on the lane width, and a preset height corresponding to the preset width interval where the lane width is located is determined as the hovering height.

[0010] Optionally, in a possible implementation manner of the first aspect, controlling the control device to move to the intersection point based on the hovering parameter, positioning the control device above the detection target according to real-time shooting data of the control device, and determining the calibration speed of the detection target based on the real-time speed of the control device, includes: Acquire first photographing data of the control device at the intersection, and identify the vehicle outline in the first photographing data; Determine the feature similarity between the detection contour of the detection target and each of the vehicle contours, and obtain the vehicle contour whose feature similarity is greater than a similarity threshold as the tracking contour; Acquire second shooting data of the tracking contour by the control device, determine the real-time position point of the detection target based on the second shooting data, and position the control device above the detection target according to the real-time position point, wherein the real-time shooting data includes the first shooting data and the second shooting data; Identify the relative position relationship between the tracking profile and other vehicle profiles within a preset range. When the relative position relationship is a parallel relationship, update the tracking height of the control device, and determine the calibration speed of the detection target according to the real-time speed of the control device within the calibration time period.

[0011] Optionally, in a possible implementation manner of the first aspect, obtaining second photographing data of the tracking contour by the control device, determining a real-time position point of the detection target based on the second photographing data, and positioning the control device above the detection target according to the real-time position point includes: Determine the angle change rate corresponding to the abnormal speed of the detection target, and when the tracking profile is identified, adjust the shooting angle of the control device according to the angle adjustment direction and the angle change rate; When the shooting angle of the control device is adjusted to a bird's-eye view angle, the adjustment of the shooting angle is stopped, and the center point of the tracking contour in the second shooting data corresponding to the bird's-eye view angle is obtained as the positioning point; The center point of the second shooting data corresponds to the actual position point of the control device, and the real-time shooting data is processed in coordinates with the center point as the coordinate origin; The positioning coordinates of the positioning point in the second shooting data are obtained, the positioning coordinates are actually converted into a real-time position point, and the control device is controlled to move based on the real-time position point and the tracking height.

[0012] Optionally, in a possible implementation manner of the first aspect, identifying a relative positional relationship between the tracking profile and other vehicle profiles within a preset range, when the relative positional relationship is a parallel relationship, updating the tracking height of the control device, and determining a calibration speed of the detection target according to a real-time speed of the control device within a calibration time period, includes: Determine a direction in the second shooting data that is perpendicular to the moving direction of the tracking contour as a parallel identification direction, and obtain target pixel points having the same coordinate values ​​as the tracking contour and other vehicle contours in the parallel identification direction; Counting the number of target pixels of the target pixel point, and when the number of target pixels is greater than or equal to a pixel number threshold, determining that the relative position relationship between the tracking contour and the corresponding vehicle contour is a parallel relationship, and determining that the corresponding vehicle contour is a parallel contour; Obtaining contour proportions of the tracking contour and the parallel contour in the shooting frame of the control device, and adjusting the tracking height of the control device according to the contour proportions until the adjustment of the tracking height is stopped when the contour proportions are within an optimal proportion interval; If the tracking profile and the parallel profile are both in a parallel relationship within the calibration time period, generating parallel warning information, and broadcasting the parallel warning information based on the control device; If the target pixel number of the tracking contour and the parallel contour is less than the pixel number threshold within the calibration time period, the control device is controlled to move again above the detection target, and the tracking height is adjusted to the initial value, and the real-time speed of the control device within the calibration time period is determined as the calibration speed of the detection target.

[0013] Optionally, in a possible implementation manner of the first aspect, obtaining contour proportions of the tracking contour and the parallel contour in the shooting frame of the control device, and adjusting the tracking height of the control device according to the contour proportions until the adjustment of the tracking height is stopped when the contour proportion is within an optimal proportion interval, includes: Respectively obtaining a first extreme point and a second extreme point of the tracking contour and the corresponding vehicle contour in a parallel identification direction and a moving direction, determining the central coordinate of the first extreme point as a first coordinate, and determining the central coordinate of the second extreme point as a second coordinate; Determine a position point corresponding to the first coordinate and the second coordinate as an adjustment position point, and move the control device to the adjustment position point; Acquire a shooting interface of the control device when adjusting the position point, and when the tracking contour and the parallel contour are completely located in the shooting frame of the shooting interface, acquire contour proportions of the tracking contour and the parallel contour; If the contour ratio is less than the minimum value of the optimal ratio interval, the tracking height is lowered and adjusted until the contour ratio is within the optimal ratio interval and the tracking height is stopped from being adjusted; If the contour ratio is greater than the maximum value of the optimal ratio interval, the tracking height is adjusted upward until the contour ratio is within the optimal ratio interval, at which time the tracking height is stopped from being adjusted.

[0014] Optionally, in a possible implementation manner of the first aspect, after generating pressure speed reminder information according to the comparison result of the proofreading speed and the standard speed, and transmitting the pressure speed reminder information based on the control device, the method further includes: If the proofreading speed of the detection target is less than the minimum standard speed during the warning time period, the violation information corresponding to the detection target is generated and sent to the terminal corresponding to the traffic control personnel; Acquire a first position point of the control device when responding to the end information of the warning time period, determine an initial position point of the control device, and acquire a first distance between the first position point and the initial position point; Determine a first cruising distance corresponding to the remaining power of the control device, and if the first cruising distance is greater than the first distance, control the control device to return to the initial position point; If the first cruising range is less than the first spacing, obtaining the second position points of the remaining detection devices, obtaining the second spacings between the first position point and each of the second position points, and determining the detection device that meets the position exchange condition of the control device as the target device according to the second spacing and the first cruising range; The target device is controlled to move to an initial position point of the control device, and the control device is controlled to move to a second position point of the target device.

[0015] Optionally, in a possible implementation manner of the first aspect, if the first cruising range is less than the first spacing, obtaining a second position point of each remaining detection device, obtaining a second spacing between the first position point and each of the second position points, and determining, according to the second spacing and the first cruising range, a detection device that meets a position exchange condition of a control device as a target device, includes: Determine the detection device whose second distance is smaller than the first endurance distance as the first device to be screened, and determine the third distance from the second position point to the initial position point of each of the first devices to be screened; Obtain a second cruising distance corresponding to the remaining power of each first device to be screened, and determine that the first device to be screened whose second cruising distance is greater than the third distance is the second device to be screened; It is determined that the second device to be screened that is closest to the control device meets the position exchange condition of the control device, and the corresponding second device to be screened is determined as the target device.

[0016] A second aspect of the present invention provides an intelligent network detection system suitable for digitalization, comprising: A marking module is used to mark abnormal targets according to the speed recognition data of the detection device, and send the speed abnormality information to the time period analysis module for speed timing analysis, and determine the abnormal targets that meet the speed pressure conditions as detection targets; A determination module, configured to determine an intersection point between a control device and the detection target based on the abnormal speed of the detection target, and determine a hovering parameter of the control device at the intersection point according to the occupied lane of the detection target; A control module, used to control the control device to go to the intersection point based on the hovering parameters, locate the control device above the detection target according to the real-time shooting data of the control device, and determine the calibration speed of the detection target based on the real-time speed of the control device; A generation module is used to generate speed reduction reminder information based on the comparison result between the calibration speed and the minimum standard speed of the occupied lane, and to convey the speed reduction reminder information based on the control device.

[0017] The beneficial effects of the present invention are as follows: 1. When the speed monitoring device on the highway of the present invention identifies an abnormal target suspected of speeding, a drone can be immediately dispatched to conduct real-time and continuous monitoring of the driving speed of the abnormal target, so that speeding vehicles on the highway lanes can be timely and accurately identified and warned to leave the corresponding lanes, thereby improving road traffic efficiency, reducing traffic hazards caused by speeding, and improving road safety.

[0018] 2. After identifying an abnormal target whose driving speed is lower than the minimum standard speed corresponding to the lane, the present invention can analyze the speed of the vehicle after the abnormal target through the time period analysis module. By analyzing whether the abnormal target affects the driving speed of subsequent vehicles and judging whether the abnormal target actually has speed reduction behavior, the accuracy of identifying speed reduction vehicles can be improved, and speed reduction vehicles can be warned in time, thereby improving road safety.

[0019] 3. When the present invention dispatches a drone to review the speed of the detection target, the driving distance and location of the detection target after a period of time can be predicted according to the abnormal speed corresponding to the detection target, so that the drone can be dispatched to the corresponding position in advance to hover and wait, ensuring that it can immediately follow the detection target when it arrives, and performing real-time and continuous speed monitoring of the detection target, which can improve the timeliness and accuracy of monitoring the driving speed of the detection target.

[0020] 4. When the control device is controlled to identify the detection target at the intersection, the present invention can dynamically adjust the shooting angle of the control device in real time according to the speed of the detection target, ensuring that the control device can capture and record the detection target in real time and accurately during the movement.

[0021] 5. In the present invention, when the detection target arrives directly below the control device, the control device can immediately follow the detection target and can take a real-time photo of the detection target to obtain real-time shooting data. By coordinate processing of the real-time shooting data, the pixel coordinates in the image can be converted into position coordinates in the actual environment, so that the real-time position point of the detection target in the actual environment can be obtained. The control device can be more accurately positioned above the detection target through the real-time position point, so that the detection target can be tracked more accurately in real time, thereby achieving a more accurate review of the driving speed of the detection target.

[0022] 6. After the control device, i.e., the drone, completes the warning task, the present invention can obtain the cruising distance corresponding to the remaining power of the control device, and judge whether it can return based on the distance between the current position and the initial position. When the remaining power of the control device is not enough to return, other detection devices can be found to exchange positions. By comparing the second distance between the control device and the remaining detection devices, the first cruising distance corresponding to the control device, and the second cruising distance corresponding to the remaining detection devices, the optimal target device can be determined for position exchange, thereby reducing the power consumption of the control device, so that the control device can maintain continuous speed monitoring of the remaining subsequent vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1It is a flow chart of a method for detecting a digital intelligent network provided by an embodiment of the present invention; Figure 2 is a schematic diagram of determining a road section for verification provided by an embodiment of the present invention; Figure 3 is a schematic diagram of a parallel profile provided by an embodiment of the present invention; Figure 4 It is a structural diagram of an intelligent network detection system suitable for digitization provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0026] See also Figure 1 , is a schematic diagram of an intelligent network detection method applicable to digitization provided by an embodiment of the present invention, Figure 1 The execution subject of the method shown may be a software and / or hardware device. The execution subject of the present application may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, user equipment may include but is not limited to computers, smart phones, personal digital assistants (PDA) and the electronic devices mentioned above. Network equipment may include but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers, wherein cloud computing is a type of distributed computing, a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. It includes steps S1 to S4, as follows: S1, mark abnormal targets according to the speed recognition data of the detection device, and send the speed abnormality information to the time period analysis module for speed timing analysis, and determine the abnormal targets that meet the speed pressure conditions as detection targets.

[0027] Among them, the detection device refers to a device for monitoring the speed of vehicles on the highway, for example, it can be a laser speed meter with an image acquisition function. The speed recognition data refers to the data obtained by identifying the driving speed of the vehicle on the corresponding lane through the detection device, including the driving speed corresponding to the vehicles on each lane. The abnormal target refers to the vehicle whose driving speed is lower than the minimum speed limit corresponding to the lane. The speed abnormality information refers to the time information when the speed of the abnormal target is identified. The time period analysis module refers to a module that can analyze the speed of the remaining vehicles within a period of time after the abnormal target is found. The speed timing analysis refers to the process of analyzing the speed of the remaining vehicles in the same lane as the abnormal target and located behind the abnormal target. The speed reduction condition refers to the multiple vehicles in the same lane as the abnormal target and located behind the abnormal target. The speed is low for a period of time. The detection target refers to the abnormal target that meets the speed reduction condition.

[0028] In practical applications, speeding behavior is one of the important reasons for highway traffic congestion. Speeding behavior not only reduces road traffic efficiency, but also increases the risk of traffic accidents. When the speed monitoring device on the highway identifies an abnormal target suspected of speeding, this solution can immediately dispatch a drone to further verify the speed of the abnormal target. It can timely and accurately identify speeding vehicles on the highway lanes and warn them to leave the corresponding lanes. It can effectively reduce traffic congestion caused by speeding vehicles, thereby improving road traffic efficiency and reducing traffic hazards caused by speeding.

[0029] Specifically, there will be multiple lanes on a highway, and each lane may have a different minimum speed limit based on its design function and safety considerations. For example, the innermost lane is usually called the fast lane, and its corresponding minimum speed limit may be higher than that of the outer lane. Therefore, the minimum speed limits of different lanes may be different. Each lane is equipped with multiple speed identification devices, i.e., detection devices, such as laser speed meters. The detection devices on the corresponding lanes can detect and record the speed of vehicles traveling on the lane, obtain corresponding speed identification data, and analyze the speed identification data. When it is found that the driving speed of a vehicle in its lane is lower than the corresponding minimum speed limit of the lane, it can be considered that the corresponding vehicle may be suspected of speeding, and the corresponding vehicle can be marked as an abnormal target.

[0030] After the abnormal target is acquired, the time information of the speed when the abnormal target is identified, that is, the speed abnormality information, can be acquired. The speed abnormality information is sent to a time period analysis module that can analyze the speed information of other vehicles. The time period analysis module analyzes the speeds of other vehicles that are in the same lane as the abnormal target and are located behind the abnormal target, that is, speed timing analysis is performed. It can be judged whether the abnormal target really has speed reduction behavior. If it is detected that the speeds of other vehicles behind the abnormal target are all low, it can be considered that the abnormal target may be the leading vehicle. Since the speed of the leading vehicle usually directly affects the speed of the vehicles behind it, especially on highways, the speed difference between vehicles is usually not too large. If the abnormal target is the leading vehicle and the speeds of other vehicles behind it are continuously found to be very low, it can be considered that the low speeds of these vehicles are very likely due to the speed reduction of the abnormal target as the leading vehicle. Therefore, it can be considered that the abnormal target as the leading vehicle is very likely to have speed reduction behavior. It can be considered that the abnormal target meets the speed reduction condition, so it can be determined as a detection target.

[0031] Based on the above embodiment, the specific implementation of step S1 may be: S11, based on the detection device obtaining the driving speed of the vehicles in each lane, marking the vehicles whose driving speed is less than the minimum standard speed of the corresponding lane as abnormal targets, and the speed identification data includes the driving speed of each vehicle in each lane.

[0032] Specifically, the corresponding driving speed of vehicles in each lane can be obtained through the detection device on the lane, and the corresponding minimum speed limit of each lane, that is, the minimum standard speed, can be obtained. If the driving speed of the vehicle is lower than the corresponding minimum standard speed of the lane, the corresponding vehicle can be marked as an abnormal target.

[0033] The driving speed refers to the speed of the vehicle when it reaches the detection device, and the minimum standard speed refers to the minimum speed limit corresponding to the lane.

[0034] S12, acquiring the abnormal identification time of the abnormal target, obtaining the speed abnormality information according to the abnormal identification time and sending it to the time period analysis module.

[0035] In practical applications, when the detection device identifies the speed of an abnormal target, it will record the time when the speed is identified, that is, the abnormal identification time. According to the abnormal identification time, the speed abnormality information corresponding to the abnormal target can be obtained, and the speed abnormality information can be sent to the time period analysis module, so that the subsequent time period analysis module can analyze the speed of other vehicles. Among them, the abnormal identification time refers to the time when the speed of the abnormal target is identified.

[0036] S13, taking the speed anomaly information as the starting time, and delaying the preset detection time to obtain the abnormal analysis period, determining the lane where the abnormal target is located as the identification lane, and obtaining the driving speed of each vehicle in the identification lane identified by the time period analysis module during the abnormal analysis period.

[0037] Specifically, the abnormal recognition time corresponding to the speed abnormality information can be taken as the starting time. From the starting time, the pre-configured detection time, that is, the preset detection time, can be postponed to obtain the corresponding abnormal analysis time period. For example, when the starting time is 9:20:14 in the morning and the preset detection time is 30 seconds, the corresponding abnormal analysis time period is the time period between 9:20:14 and 9:20:44. Since there are multiple lanes on the highway, the lane where the abnormal target is located can be determined as the recognition lane. During the abnormal analysis time period, the driving speeds of the remaining vehicles located on the recognition lane and behind the abnormal target identified by the time period analysis module can be obtained. According to the driving speeds of the remaining vehicles, it can be judged whether the abnormal target meets the speed reduction conditions.

[0038] S14, determining that the vehicles whose driving speed is less than the minimum standard speed of the identified lane are blocked vehicles, when the number of the blocked vehicles is greater than or equal to the number of abnormal speed reductions, determining that the abnormal targets meet the speed reduction conditions, and determining the abnormal targets as detection targets.

[0039] Specifically, after obtaining the driving speeds of the remaining vehicles on the identified lane during the abnormal analysis period, since the remaining vehicles are located behind the abnormal target, when the abnormal target is the leading vehicle, if the abnormal target keeps driving at a low speed, it may cause a chain reaction on the subsequent vehicles, causing the speeds of multiple vehicles to decrease. When the driving speeds of the remaining vehicles are less than the minimum standard speed corresponding to the identified lane, the vehicle with a driving speed less than the minimum standard speed corresponding to the identified lane can be determined as an obstructed vehicle. When the number of obstructed vehicles reaches a certain scale, it can be explained that the low-speed driving behavior of the abnormal target as the leading vehicle has caused obvious interference to the traffic. It can be considered that the abnormal target as the leading vehicle has a great possibility of speed reduction behavior. Therefore, a threshold value of the number of obstructed vehicles, that is, the number of abnormal speed reductions, can be pre-configured. If the number of obstructed vehicles is greater than or equal to the number of abnormal speed reductions, it can be considered that the abnormal target as the leading vehicle meets the speed reduction condition, and the abnormal target as the leading vehicle can be determined as a detection target, thereby ensuring that only abnormal targets that truly affect traffic flow will be subject to further continuous real-time speed monitoring, and the accuracy of speed reduction detection can be improved.

[0040] Among them, an obstructed vehicle refers to a vehicle whose driving speed is lower than the minimum standard speed corresponding to the identified lane during the abnormal analysis period. The speed reduction of the obstructed vehicle may be caused by the low speed of the abnormal target in front. The number of abnormal speed reductions refers to the number threshold of obstructed vehicles that can be used to determine whether the abnormal target meets the speed reduction conditions. The detection target refers to the abnormal target that requires further speed detection.

[0041] Through the above implementation, the accuracy of identifying speeding vehicles can be improved.

[0042] S2, based on the abnormal speed of the detection target, determining the intersection point of the control device and the detection target, and determining the hovering parameters of the control device at the intersection point according to the occupied lane of the detection target.

[0043] Among them, abnormal speed refers to the driving speed of the detection target identified by the detection device, the control equipment refers to the equipment that can verify the speed of the detection target, such as a drone. The subsequent control equipment can warn the detection target that has speed reduction behavior, the intersection point refers to the position point when the control equipment follows the detection target on the lane where the detection target is located, and the corresponding position point when it starts to follow the detection target, the occupied lane refers to the lane where the detection target is located, and the hovering parameters refer to parameters such as the flight altitude of the control equipment when it hovers at the intersection.

[0044] After acquiring the detection target, in order to further verify whether the detection target does have speeding behavior, this solution can dispatch a drone, i.e., a control device, to track the detection target, so that the real-time driving speed of the detection target can be acquired, and the driving speed of the detection target can be reviewed, which can improve the accuracy of speeding detection. Specifically, the driving speed of the detection target identified by the detection device, i.e., the abnormal speed, can be acquired. According to the abnormal speed, it can be determined that the detection target can reach a position point after a period of time, and the corresponding position point can be determined as the position point corresponding to the intersection of the control device and the detection target, i.e., the intersection point. After acquiring the intersection point After that, the control device closest to the detection target can be dispatched to the intersection to hover and wait for the detection target. When the detection target arrives at the intersection, the control device can immediately follow the detection target, so as to review the driving speed of the detection target and determine whether it really has speed reduction behavior. When the control device is hovering at the intersection, there may be multiple lanes on the highway. In order to ensure that the control device can hover above the lane where the detection target is located, the detection target can be clearly photographed and the occupied lane where the detection target is located can be obtained. The hovering parameters such as the hovering height of the control device are determined according to the width of the occupied lane where the detection target is located.

[0045] In some embodiments, the specific implementation of step S2 may be: S21, determining a predicted driving distance of the detection target corresponding to a preset intersection time according to the abnormal speed, wherein the preset intersection time is greater than a preset detection time corresponding to a time period analysis module.

[0046] Among them, the preset intersection time refers to the pre-configured time from the detection device identifying the detection target to the expected intersection of the control equipment and the detection target, and the predicted driving distance refers to the distance that the detection target may travel within the preset intersection time.

[0047] After obtaining the abnormal speed corresponding to the detection target, in order to more accurately determine the position point when the control device follows the detection target, after the detection device recognizes the detection target, the position point that the detection target may reach after a period of time can be predicted, so that the control device can be dispatched to the corresponding position point to wait for the detection target, so that when the detection target intersects with the control device, the control device can immediately follow the detection target. Specifically, a preset intersection time can be set in advance, that is, starting from the moment the detection device recognizes the detection target, after the preset intersection time, the control device The control device may intersect with the detection target. By multiplying the abnormal speed of the detection target and the pre-configured preset intersection time, the distance that the detection target can travel within the preset intersection time after the detection device identifies the detection target can be determined, that is, the predicted driving distance. For example, when the abnormal speed is 60 kilometers per hour, that is, 16.67 meters per second, and the preset intersection time is 60 seconds, through calculation, it can be obtained that the predicted driving distance is approximately 1000 meters. Subsequently, based on the predicted driving distance, the position point that the detection target can reach after the preset intersection time, that is, the intersection point, can be determined.

[0048] After obtaining the intersection point, the optimal flight route can be planned for the control device based on the current location of the control device and the intersection point, combined with the path optimization algorithm, so that the control device can reach the intersection point in the shortest time, and the flight speed of the control device is adjusted in real time during the flight to ensure that the time taken by the control device to reach the intersection point is shorter than the preset intersection time, which can ensure that the control device can arrive at the intersection point in advance to wait for the detection target to arrive, thereby avoiding the control device missing the detection target and improving the accuracy of subsequent speed pressure behavior detection.

[0049] In actual applications, only after the detection target suspected of speeding and being the lead vehicle is determined within the preset detection time, the control equipment will be dispatched to conduct continuous and real-time monitoring of the driving speed of the detection target. Therefore, the preset intersection time will be greater than the preset detection time. For example, when the preset detection time is 30 seconds, the preset intersection time can be 60 seconds. The distance that the detection target may travel after 60 seconds from the time the detection device identifies the detection target can be calculated, that is, the preset driving distance. According to the preset driving distance of the detection target, the position point that the detection target may reach after 60 seconds can be determined, so that the control equipment can be dispatched to the corresponding position point to wait for the detection target.

[0050] S22, retrieve the traffic layout map, determine that the position point corresponding to the detection device marking the detection target in the traffic layout map is the starting position point, and determine that the road line where the starting position point in the traffic layout map is located is the detection road line.

[0051] Specifically, a traffic layout map containing multiple traffic road lines can be retrieved. In the retrieved traffic layout map, the corresponding position points of each detection device in the traffic layout map are pre-configured, and the corresponding position points of the detection devices for marking the detection targets in the traffic layout map can be obtained, and the position point can be determined as the starting position point, and the road line where the starting position point is located can be determined as the detection road line.

[0052] Among them, the traffic layout map refers to a layout map containing multiple traffic road lines, the starting position point refers to the specific position of the detection device that marks the detection target in the traffic layout map, the road line refers to each expressway in the traffic layout map, and the detection road line refers to the road line where the starting position point is located.

[0053] S23, obtaining the driving direction of the detection target on the detection road line, determining a position point at a predicted driving distance from the starting position point in the driving direction as a prediction point, and the prediction point is located at the center of the detection road line.

[0054] In actual applications, each lane on the highway usually has a pre-configured driving direction. When obtaining the driving direction of the detection target on the detection road line, it can be determined according to the driving direction corresponding to the highway lane where the detection target is located. Under normal circumstances, the driving direction of the detection target is consistent with the driving direction of the lane where it is located. That is to say, if the detection target is located on a highway lane traveling north, then its driving direction on the corresponding detection road line should also be north. In the driving direction, the position point at the predicted driving distance from the starting position point can be determined as the prediction point, and the determined prediction point is located at the center of the detection road line. According to the prediction point, the position point where the control device should hover can be roughly determined, and then the intersection point where the control device hovers can be more accurately determined according to the prediction point.

[0055] Among them, the driving direction refers to the forward direction of the detection target during the driving process, the prediction point refers to the point where the control equipment should go to be roughly determined, and the center position refers to the middle position of the detection road line.

[0056] S24, taking the predicted point as the starting point, determining the route segment of the detection road line in the driving direction as the verification road segment corresponding to the detection target, and obtaining the detection equipment located on the verification road segment and closest to the predicted point as the control equipment.

[0057] For details, see Figure 2 , which is a schematic diagram of determining a road section for verification provided by an embodiment of the present invention, such as Figure 2 As shown in , in the traffic layout diagram, the road line where the starting point is located can be determined as the detection road line, that is, Figure 2 The road line in the middle of the detection road line can be determined as the starting point, such as Figure 2 As shown in , starting from the prediction point, the route segment on the detection road line in the driving direction can be determined as the verification road segment corresponding to the detection target, and the detection equipment located on the verification road segment and closest to the prediction point can be determined as the control equipment. Among them, the verification road segment refers to the road segment on the detection road line located after the prediction point, and the detection equipment refers to the equipment that can review the speed of the detection target.

[0058] S25, obtaining multiple lane layout points corresponding to the occupied road at the predicted point, determining the center point of the lane layout points as the intersection point, obtaining the lane width corresponding to the occupied road, and determining the hovering height according to the lane width, wherein the hovering parameters include the hovering height.

[0059] After obtaining the predicted point, multiple lane layout points corresponding to the occupied road where the detection target is located at the predicted point can be obtained, and the center point of the multiple lane layout points can be determined as the intersection point. After obtaining the intersection point, it is necessary to determine the hovering height of the control device when following the detection target. When determining the hovering height, in order to ensure that when tracking the detection target, the control device can capture the driving conditions of other vehicles within a certain range around the detection target, thereby obtaining more accurate data. The hovering height of the control device can be determined according to the lane width corresponding to the occupied road where the detection target is located.

[0060] The lane layout points refer to the multiple points corresponding to the occupied lane at the prediction point, and the lane width refers to the width corresponding to the occupied lane.

[0061] Through the above implementation, it can be ensured that when the detection target arrives, the control equipment can immediately follow up to conduct a speed review, thereby improving the timeliness and accuracy of the review of the driving speed of the detection target.

[0062] In some embodiments, the specific implementation of step S25 may be: S251, retrieve the lane layout diagram corresponding to the detected road line, take the position point corresponding to the predicted point in the lane layout diagram as the coordinate origin, the driving direction as the first coordinate direction, and the direction perpendicular to the driving direction as the second coordinate direction, to construct a coordinate system.

[0063] The lane layout diagram refers to a layout diagram corresponding to the detection road line where the detection target is located, the first coordinate direction refers to the driving direction, and the second coordinate direction refers to the direction perpendicular to the driving direction.

[0064] Specifically, when determining the intersection point, the lane layout map corresponding to the detected road line can be retrieved. The accuracy of the lane layout map is higher than that of the traffic layout map. After retrieving the lane layout map, the position point corresponding to the predicted point in the lane layout map can be determined as the coordinate origin, the driving direction can be determined as the first coordinate direction, and the direction perpendicular to the driving direction can be determined as the second coordinate direction to generate a two-dimensional coordinate system. For example, in the lane layout map, when the driving direction is consistent with the y-axis direction, the direction corresponding to the y-axis is the first coordinate direction, and the x-axis direction perpendicular to the y-axis direction is the second coordinate direction.

[0065] S252, determining the coordinate axis corresponding to the second coordinate direction as the target axis, obtaining the position point on the target axis in the occupied lane as the lane layout point, and determining the center point of multiple lane layout points as the intersection point.

[0066] Specifically, the coordinate axis corresponding to the second coordinate direction can be determined as the target axis, the occupied lane has multiple position points on the target axis, the corresponding multiple position points can be determined as lane layout points, the center points of the multiple lane layout points can be obtained, and can be determined as the intersection point. Among them, the target axis refers to the coordinate axis corresponding to the second coordinate direction.

[0067] S253, obtaining the lane width of the occupied lane in the second coordinate direction, traversing a plurality of preset width intervals based on the lane width, and determining a preset height corresponding to the preset width interval where the lane width is located as the hovering height.

[0068] Specifically, when obtaining the lane width of the occupied road in the second coordinate direction, the maximum coordinate value and the minimum coordinate value of the multiple lane layout points in the second coordinate direction can be obtained according to the coordinate values ​​corresponding to the multiple lane layout points of the occupied road. For example, when the second coordinate direction is consistent with the x-axis direction, the maximum coordinate value and the minimum coordinate value corresponding to the lane layout point in the second coordinate direction can be the maximum x-axis coordinate value and the minimum x-axis coordinate value. By calculating the difference between the maximum x-axis coordinate value and the minimum x-axis coordinate value, the lane width of the occupied road in the second coordinate direction can be obtained.

[0069] After obtaining the lane width corresponding to the occupied lane, a pre-configured height comparison table can be retrieved. In the height comparison table, there are multiple preset width intervals, each preset width interval has a corresponding preset height. By traversing multiple preset width intervals according to the lane width, the preset width interval where the lane width is located can be determined, and the preset height corresponding to the preset width interval can be determined as the hovering height. The hovering height can not only capture the lane where the detection target is located, but also the lane adjacent to the occupied lane where the detection lane is located, so as to determine whether there are vehicles traveling in parallel with the detection target. If so, the driving speeds of the remaining vehicles traveling in parallel can be monitored together to determine whether they also have speeding behavior. If so, they can also be warned.

[0070] Through the above implementation, it can be ensured that the control device can capture the detection target and other vehicles within a certain range around it when hovering, thereby providing more comprehensive data support for subsequent speed reduction behavior analysis.

[0071] S3, controlling the control device to go to the intersection point based on the hovering parameters, positioning the control device above the detection target according to the real-time shooting data of the control device, and determining the calibration speed of the detection target based on the real-time speed of the control device.

[0072] After obtaining the intersection point and the corresponding hovering parameters, the control device can be controlled to go to the intersection point and hover according to the corresponding hovering parameters. In order to be able to track the detection target in real time and determine whether the detection target does have speed pressure behavior, when the detection target also reaches the intersection point, the control device can be positioned above the detection target according to the real-time shooting data of the control device, and when the control device captures the detection target below, it can immediately move with the detection target. Since the control device tracks the detection target in real time, the speed of the control device can be equivalent to the speed of the detection target. Therefore, the calibration speed corresponding to the detection target can be determined according to the real-time speed of the control device.

[0073] Among them, real-time shooting data refers to the video data obtained by the control device through real-time video acquisition, real-time speed refers to the moving speed of the control device, and calibration speed refers to the moving speed of the detection target.

[0074] Based on the above embodiment, the specific implementation of step S3 may be: S31, obtaining first shooting data of the control device at the intersection, and identifying the vehicle outline in the first shooting data.

[0075] Specifically, when the control device reaches the intersection and hovers at a corresponding hovering height, the control device can perform real-time image acquisition of vehicles on the occupied lane at the corresponding hovering position, and the shooting angle during real-time image acquisition can be pre-configured, for example, the pre-configured optimal shooting angle can be 45 degrees diagonally downward, so that the control device can obtain multiple image data captured at the intersection, that is, the first shooting data, and identify the vehicle contour in the first shooting data, and the vehicle contour corresponding to the detection target can be identified. Among them, the first shooting data refers to image data that can be used to identify the detection target, and the vehicle contour refers to the contour corresponding to the vehicle in the first shooting data.

[0076] S32, determining the feature similarity between the detection contour of the detection target and each of the vehicle contours, and obtaining the vehicle contour whose feature similarity is greater than a similarity threshold as a tracking contour.

[0077] In actual applications, the detection device can capture images corresponding to the detection target, and can extract the detection contour corresponding to the detection target from the image. Since the shooting height and shooting angle corresponding to the detection device may be different from the hovering height and shooting angle of the control equipment, when the shooting height and shooting angle are different, directly comparing the contour similarity between the detection contour and the contours of each vehicle may lead to inaccurate recognition results. Since each vehicle has its own unique characteristics, for example, the license plate numbers and body decorations of different vehicles may be different, there are sufficient differences between different vehicles, so that the detection target can be identified by comparing the similarity between these features.

[0078] Specifically, features corresponding to the detection target can be extracted from the detection contour, such as features such as license plate number, shape and position of vehicle body decorations, etc. At the same time, corresponding features can be extracted from each vehicle contour. The extracted features should be consistent with the feature type extracted from the detection contour to facilitate subsequent comparison. The features of the detection target are compared with the features of each vehicle contour. The comparison method depends on the type of feature. For example, for license plate numbers, a string matching algorithm can be used. For shape features, a shape matching algorithm can be used for feature comparison to obtain the feature similarity between the detection contour of the detection target and each vehicle contour. If the feature similarity is greater than the similarity threshold, it can be considered that the corresponding vehicle contour is consistent with the detection contour of the detection target, and the corresponding vehicle contour can be determined as a tracking contour. The subsequent control equipment can perform real-time video acquisition of the tracking contour.

[0079] Among them, the detection contour refers to the contour corresponding to the detection target, the feature similarity refers to the similarity between the features of the detection contour and the features of the vehicle contour, the similarity threshold refers to the threshold used to determine whether the feature similarity between the detection contour of the detection target and each vehicle contour is too large. If the feature similarity is greater than the similarity threshold, it can be considered that the feature similarity between the detection contour of the detection target and each vehicle contour is too large, and may be the same contour. The tracking contour refers to the vehicle contour whose feature similarity is greater than the similarity threshold.

[0080] Through the above implementation, the accuracy of identifying the detection target can be improved.

[0081] S33, obtaining second shooting data of the tracking contour by the control device, determining the real-time position point of the detection target based on the second shooting data, and positioning the control device above the detection target according to the real-time position point, the real-time shooting data including the first shooting data and the second shooting data.

[0082] Specifically, after obtaining the tracking contour, the control and management device can perform real-time video capture of the tracking contour, and the shooting angle during video capture can be adjusted in real time with the position of the tracking contour. When the tracking contour reaches the bottom of the control and management device, that is, when the shooting angle of the control and management device is looking down, the control and management device can immediately move with the detection target, and during the movement, real-time video capture of the detection target can also be performed from a top-down shooting angle to obtain corresponding second shooting data, and the real-time position of the detection target can be determined based on the second shooting data collected in real time. Based on the real-time position of the detection target, the control and management device can be positioned above the detection target to achieve real-time tracking of the detection target, so that the driving speed of the detection target can be more accurately reviewed.

[0083] Among them, the second shooting data refers to the data obtained by real-time video acquisition of the detection target when the control device follows the detection target, and the real-time position point refers to the point corresponding to the real-time position of the detection target.

[0084] In some embodiments, the step S33 of "obtaining second photographing data of the tracking contour by the control device, determining the real-time position point of the detection target based on the second photographing data, and positioning the control device above the detection target according to the real-time position point" includes the following steps: S331, determining the angle change rate corresponding to the abnormal speed of the detection target, and after identifying the tracking profile, adjusting the shooting angle of the control device according to the angle adjustment direction and the angle change rate.

[0085] After the tracking contour is identified, the tracking contour is in a state of continuous movement and is gradually approaching the control device. At this time, in order to ensure that the control device can capture and record the moving tracking contour in real time and accurately, the shooting angle of the control device can be dynamically adjusted in real time according to the speed of the detection target. Specifically, different vehicle speeds have pre-configured angle change rates. According to the abnormal speed corresponding to the detection target, the angle change rate corresponding to the abnormal speed can be obtained. The faster the abnormal speed, the greater the corresponding angle change rate can be. In the pre-configured angle adjustment direction, for example, it can be from top to bottom, according to the corresponding angle change rate, the shooting angle of the control device is dynamically adjusted in real time to ensure that the control device can capture the tracking contour in real time.

[0086] In the process of real-time dynamic adjustment of the shooting angle of the control device, it is necessary to ensure that the control device can identify the tracking contour in real time, and the tracking contour needs to be maintained in the central area of ​​the second shooting data. If the tracking contour is not identified, or the tracking contour is not located in the central area of ​​the second shooting data, it may mean that there is a problem with the adjustment rate of the shooting angle of the control device. Specifically, the angle change rate may be too fast or too slow. For example, if the angle change rate is too fast, the tracking contour may not have entered the new shooting angle range, and the shooting angle has changed again, resulting in the control device being unable to capture the tracking contour. If the angle change rate is too slow, the tracking contour may have moved to a new position, but the shooting angle has not kept up in time, which will also cause the tracking contour to be lost. At this time, the angle change rate of the control device can be adjusted accordingly.

[0087] When the angle change rate is adjusted, it may be determined according to the position of the tracking contour in the plurality of image frames corresponding to the second shooting data.

[0088] Specifically, in some embodiments, the angle change rate can be adjusted in the following manner: A plurality of image frames corresponding to the second shooting data are acquired, and an image frame having a tracking contour is determined as a target image frame.

[0089] Specifically, since the second shooting data is composed of multiple image frames, multiple image frames corresponding to the second shooting data can be obtained, and if there is a tracking contour in the image frame, the corresponding image frame can be determined as a target image frame. The image frame refers to multiple video frames constituting the second shooting data, and the target image frame refers to an image frame with a tracking contour.

[0090] The center point of each target image frame is obtained, and an area within a preset range of the center point is determined as the center area.

[0091] Specifically, the center point corresponding to each target image frame can be obtained, and the area within the preset range of the center point can be determined as the central area with the center point as the reference point. The preset range refers to a pre-configured range, and the central area refers to the area within the preset range of the center point.

[0092] Get the center point of the tracked contour. If the center point of the contour is within the central area, the angle change rate is not adjusted.

[0093] Specifically, the center point of the tracking contour may be obtained. If the center point of the tracking contour is located in the central area, the angle change rate does not need to be adjusted.

[0094] If the center point of the contour is not within the central area, a preset division direction is determined, a division line passing through the center point of the target image frame is generated according to the preset division direction, and the target image frame is divided into an upper half and a lower half based on the division line.

[0095] Specifically, if the center point of the tracked contour is not within the central area, the direction of dividing the target image frame can be determined, that is, the preset division direction. In the preset division direction, a straight line passing through the center point of the target image frame can be generated, that is, the division line. The target image frame can be divided into two equal parts, namely, the upper half and the lower half, through the division line. The preset division direction refers to a pre-configured direction for dividing the target image frame, for example, it can be a horizontal direction, the upper half refers to the part above the division line, and the lower half refers to the part below the division line.

[0096] If the center point of the contour is located in the upper half of the target image frame, the angle change rate is reduced and adjusted until the center point of the contour is located in the central area, and the reduction adjustment of the angle change rate is stopped.

[0097] If the center point of the tracking contour is located in the upper half of the target image frame, it can be considered that the angle change rate is too fast, and the angle change rate can be reduced until the center point of the tracking contour is located in the central area, and then the angle change rate can be stopped from being reduced.

[0098] If the center point of the contour is located in the lower half of the target image frame, the angle change rate is increased and adjusted until the center point of the contour is located in the central area, and the increase and adjustment of the angle change rate is stopped.

[0099] If the center point of the tracking contour is located in the lower half of the target image frame, it can be considered that the angle change rate is too slow, and the angle change rate can be increased until the center point of the tracking contour is located in the central area, and then the increase in the angle change rate can be stopped.

[0100] Among them, the angle change rate can indicate how fast the shooting angle of the camera lens of the control device changes in order to keep tracking the monitored vehicle, and the angle adjustment direction refers to the direction in which the shooting angle of the control device is adjusted, for example, it can be from top to bottom.

[0101] S332: When the shooting angle of the control device is adjusted to a bird's-eye view angle, the adjustment of the shooting angle is stopped, and the center point of the tracking contour in the second shooting data corresponding to the bird's-eye view angle is obtained as a positioning point.

[0102] Specifically, when the shooting angle of the control device is adjusted to a bird's-eye view angle, it can be considered that the tracking contour has reached directly below the control device. At this time, the adjustment of the shooting angle can be stopped, and the second shooting data of the control device shooting the tracking contour in real time at the bird's-eye view angle can be obtained, and the center point of the tracking contour in the second shooting data can be determined as the positioning point. The control device can then be controlled to track the detection target in real time based on the positioning point. Among them, the bird's-eye view angle refers to the angle of the control device when shooting from a bird's-eye view, and the positioning point refers to the center point of the tracking contour.

[0103] S333: The center point of the second shooting data is matched with the actual position point of the control device, and the real-time shooting data is processed in coordinates with the center point as the coordinate origin.

[0104] Specifically, the center point corresponding to the second shooting data can be obtained, and the position point of the control device in the actual environment, that is, the actual position point, can be determined according to the GPS on the control device. After obtaining the center point of the second shooting data and the actual position point corresponding to the control device, a corresponding relationship between the center point and the actual position point can be established. In this process, it usually means that the center point is regarded as a virtual coordinate origin, and the actual position point of the control device has a fixed offset relative to this origin. By calculating the horizontal and vertical distances from each pixel point in the real-time shooting data to the center point, each pixel position in the real-time shooting data is converted into a coordinate relative to the center point, so that the real-time shooting data can be converted into coordinate data in a coordinate system with the center point as the origin, thereby realizing coordinate processing of the real-time shooting data.

[0105] The actual location point refers to the actual location point of the control device.

[0106] S334, obtaining the positioning coordinates of the positioning point in the second shooting data, actually converting the positioning coordinates to obtain a real-time position point, and controlling the control device to move based on the real-time position point and the tracking height.

[0107] Specifically, after the real-time shooting data is processed in coordinates, the coordinates of the positioning point corresponding to the tracking contour in the second shooting data, i.e., the positioning coordinates, can be obtained. By using the correspondence between the center point and the actual position point and converting the pixel distance into the actual distance, the positioning coordinates relative to the center point can be converted into the position point in the actual environment, i.e., the real-time position point, and the control equipment is controlled to go to the real-time position point corresponding to the detection target, and the detection target is followed in real time according to the corresponding tracking height. Among them, the positioning coordinates are the coordinates corresponding to the specified site in the second shooting data, and the real-time position point refers to the position point corresponding to the positioning coordinates in reality.

[0108] S34, identifying the relative position relationship between the tracking contour and the remaining vehicle contours within a preset range. When the relative position relationship is a parallel relationship, updating the tracking height of the control device, and determining the calibration speed of the detection target according to the real-time speed of the control device within the calibration time period.

[0109] In actual applications, on the highway, if vehicles are traveling side by side, the distance between them will become smaller. In an emergency, such as an obstacle suddenly appears in front or emergency braking is required, the avoidance space between the two vehicles will become very limited, which may cause the driver to be unable to respond in time, thereby causing an accident. In addition, if there is a vehicle traveling side by side with the detection target, the corresponding vehicle is likely to speed up, which may further reduce the traffic efficiency of the highway and may increase the risk of rear-end collisions with vehicles behind. Therefore, in order to avoid the above situation, when the control equipment detects a vehicle traveling side by side with the detection target, it can warn it.

[0110] Specifically, during the process of real-time video acquisition of the tracking contour, the control device can identify the remaining vehicle contours within a preset range around the tracking contour, and can identify the relative position relationship between the remaining vehicle contours and the tracking contour. If the relative position relationship between the vehicle contour and the tracking contour is a parallel relationship, it can be considered that there may be a vehicle traveling parallel to the detection target at this time. In order to be able to perform more accurate image acquisition of vehicles that may be traveling parallel, the hovering height of the control device can be updated to obtain a new tracking height. At the new tracking height, the control device can capture images of vehicles traveling parallel to the detection target with the best shooting angle, and if it is subsequently found that the vehicle continues to travel parallel, it can be warned.

[0111] In actual applications, the control device does not always track the detection target in real time, but rather reviews the driving speed of the detection target within a pre-configured calibration time period. Since the real-time speed corresponding to the control device can be obtained within the calibration time period, and the control device tracks the detection target in real time, the real-time speed corresponding to the control device is almost consistent with the calibration speed of the detection target. Therefore, the calibration speed corresponding to the detection target can be determined based on the real-time speed of the control device within the calibration time period.

[0112] Among them, the relative position relationship refers to the spatial position relationship that can be used to describe the tracking contour and the contours of other vehicles. The parallel relationship refers to the relative position relationship between vehicles traveling side by side in the same lane. The tracking height refers to the flight height after adjusting the hovering height of the control equipment when a vehicle traveling side by side with the detection target is detected.

[0113] In some embodiments, the specific implementation of step S34 may be: S341, determining a direction in the second shooting data that is perpendicular to the moving direction of the tracking contour as a parallel identification direction, and obtaining target pixel points having the same coordinate values ​​as the tracking contour and other vehicle contours in the parallel identification direction.

[0114] Specifically, when judging the relative position relationship between the remaining vehicle contours and the tracking contour, the moving direction of the tracking contour can be obtained in the second shooting data, and the direction perpendicular to the moving direction can be determined as the parallel identification direction. In the second shooting data, multiple pixel points corresponding to the tracking contour and multiple pixel points corresponding to the remaining vehicle contours can be obtained, and the coordinate values ​​corresponding to each pixel point can be obtained. If the tracking contour and the remaining vehicle contours have pixel points with the same coordinate values ​​in the parallel identification direction, the corresponding pixel points can be determined as target pixel points. For example, when the parallel identification direction is consistent with the x-axis direction, if the tracking contour and the remaining vehicle contours have pixel points with the same x-axis coordinate values ​​in the parallel identification direction, the pixel points with the same x-axis coordinate values ​​can be determined as target pixel points.

[0115] The moving direction refers to the direction of the tracking contour during the movement, the parallel identification direction refers to the direction perpendicular to the moving direction, and the target pixel point refers to the pixel point with the same coordinate value as the tracking contour and the other vehicle contours in the parallel identification direction.

[0116] S342, counting the number of target pixels of the target pixel point, and when the number of target pixels is greater than or equal to a pixel number threshold, determining that the relative position relationship between the tracking contour and the corresponding vehicle contour is a parallel relationship, and determining that the corresponding vehicle contour is a parallel contour.

[0117] Specifically, the number of target pixels, i.e., the number of target pixels, can be counted. If the number of target pixels is greater than or equal to a pre-configured pixel number threshold, it can be considered that the relative position relationship between the tracking contour and the corresponding vehicle contour is a parallel relationship, see Figure 3 , is a schematic diagram of a parallel profile provided by an embodiment of the present invention, such as Figure 3 As shown in , in the parallel identification direction, the number of target pixel points with the same coordinate values ​​as the vehicle contour on its right in the parallel identification direction is significantly greater than the pixel number threshold. It can be considered that the relative position relationship between the vehicle contour on the right side of the tracking contour and the tracking contour is a parallel relationship, and therefore the corresponding vehicle contour can be determined as a parallel contour.

[0118] Among them, the target pixel number refers to the number of target pixel points, and the pixel number threshold refers to the threshold used to determine whether two vehicle contours can form a parallel relationship. If the target pixel number is greater than the pixel number threshold, it can be considered that the relative position relationship of the corresponding vehicle contours is a parallel relationship, and the parallel contour refers to the vehicle contour that is parallel to the tracking contour.

[0119] S343, obtaining the contour ratios of the tracking contour and the parallel contour in the shooting frame of the control device, and adjusting the tracking height of the control device according to the contour ratios until the adjustment of the tracking height is stopped when the contour ratio is within the optimal ratio interval.

[0120] Specifically, when there are parallel contours, in order to ensure that the control device can completely capture the tracking contour and the parallel contour, the proportion of the tracking contour and the parallel contour in the shooting frame of the control device can be obtained, that is, the contour proportion. According to the contour proportion of the tracking contour and the parallel contour in the shooting frame, the tracking height of the control device is adjusted accordingly. When the contour proportion is in the optimal proportion interval, it can be considered that the control device is shooting the tracking contour and the parallel contour with the best shooting angle. At this time, the adjustment of the tracking height of the control device can be stopped. Among them, the shooting frame refers to the area frame in the shooting interface of the control device. The shooting frame can ensure that the tracking contour and the parallel contour are located in the central area of ​​the shooting interface. The contour proportion refers to the proportion of the tracking contour and the parallel contour in the shooting frame of the control device. The optimal proportion interval refers to the optimal proportion range that the tracking contour and the parallel contour should occupy in the shooting picture.

[0121] In some embodiments, the specific implementation of step S343 may be: S3431, respectively obtain the first extreme point and the second extreme point of the tracking contour and the corresponding vehicle contour in the parallel identification direction and the moving direction, determine the center coordinates of the first extreme point as the first coordinate, and determine the center coordinates of the second extreme point as the second coordinate.

[0122] Specifically, the extreme points of the contour points of the tracking contour and the corresponding parallel contour in the parallel identification direction, i.e., the first extreme points, including the first maximum point and the first minimum point, can be obtained, and the extreme points of the contour points of the tracking contour and the corresponding parallel contour in the moving direction, i.e., the second extreme points, including the second maximum point and the second minimum point, can be obtained. By performing mean calculation on the first maximum point and the first minimum point in the parallel identification direction, the coordinate value of the center coordinate of the first extreme point in the parallel identification direction, i.e., the first coordinate, can be obtained. By performing mean calculation on the second maximum point and the second minimum point in the moving direction, the coordinate value of the center coordinate of the second extreme point in the moving direction, i.e., the second coordinate, can be obtained. Among them, the first extreme point includes the maximum point and the minimum point of the tracking contour and the corresponding parallel contour in the parallel identification direction, the second extreme point includes the maximum point and the minimum point of the tracking contour and the corresponding parallel contour in the moving direction, the first coordinate refers to the center coordinate corresponding to the first extreme point, and the second coordinate refers to the center coordinate corresponding to the second extreme point.

[0123] S3432: Determine that the position point corresponding to the first coordinate and the second coordinate is an adjustment position point, and move the control device to the adjustment position point.

[0124] Specifically, a corresponding position point can be determined based on the first coordinate and the second coordinate, the position point can be converted into an actual position point, and can be determined as an adjustment position point. Then, the control device can be controlled to move to the adjustment position point to shoot the tracking contour and the parallel contour together.

[0125] S3433, obtaining a shooting interface of the control device when adjusting the position point, and when the tracking contour and the parallel contour are completely located in the shooting frame of the shooting interface, obtaining contour proportions of the tracking contour and the parallel contour.

[0126] Specifically, when the control device moves to the adjustment position point, the shooting interface of the control device at the adjustment position point can be obtained. If the tracking contour and the parallel contour are both completely located in the shooting frame in the shooting interface, in order to ensure that the control device can shoot the tracking contour and the parallel contour with the best shooting angle, the proportion occupied by the tracking contour and the parallel contour in the shooting frame can be obtained, that is, the contour ratio. The tracking height of the control device is adjusted accordingly according to the contour ratio to ensure that the tracking contour and the parallel contour are located in the best position of the shooting picture.

[0127] If the tracking contour and the parallel contour are not completely within the shooting frame of the shooting interface, it can be considered that the shooting interface of the control device cannot completely capture the tracking contour and the parallel contour. The tracking height of the control device can be increased first until the shooting interface of the control device can completely capture the tracking contour and the parallel contour, and stop adjusting the tracking height. At this time, the center point of the overall contour corresponding to the tracking contour and the parallel contour in the shooting interface can be obtained, and the center point of the shooting interface is controlled to be aligned with the center point of the overall contour, thereby ensuring that the control device can capture the complete tracking contour and the parallel contour.

[0128] Among them, the shooting interface refers to the real-time picture area captured by the control device. In the shooting interface, there is usually a virtual shooting frame, which is used to define the range of the shooting subject to ensure that the tracking outline and the parallel outline can be located in the appropriate position in the picture.

[0129] S3434: If the contour ratio is less than the minimum value of the optimal ratio interval, the tracking height is lowered and adjusted until the contour ratio is within the optimal ratio interval and the tracking height is stopped from being adjusted.

[0130] Specifically, if the contour ratio is lower than the minimum value of the optimal ratio interval, it can be said that the proportion of the tracked contour and the parallel contour in the shooting picture is too small. At this time, the tracking height of the control device can be reduced, so as to increase the proportion of the tracked contour and the parallel contour in the shooting picture. When the contour ratio is in the optimal ratio interval, the adjustment of the tracking height can be stopped. Among them, the minimum value of the optimal ratio interval refers to the minimum value of the optimal ratio range that the tracked contour and the parallel contour should occupy in the shooting picture.

[0131] S3435: If the contour ratio is greater than the maximum value of the optimal ratio interval, the tracking height is adjusted upward until the contour ratio is within the optimal ratio interval and the tracking height is stopped from being adjusted.

[0132] Specifically, if the contour ratio is greater than the maximum value of the optimal ratio interval, it can be said that the proportion of the tracked contour and the parallel contour in the shooting picture is too large. At this time, the tracking height of the control device can be increased, so as to reduce the proportion of the tracked contour and the parallel contour in the shooting picture. When the contour ratio is in the optimal ratio interval, the adjustment of the tracking height can be stopped. Among them, the maximum value of the optimal ratio interval refers to the maximum value of the optimal ratio range that the tracked contour and the parallel contour should occupy in the shooting picture.

[0133] S344: If the tracking contour and the parallel contour are both in a parallel relationship within the calibration time period, a parallel warning message is generated, and the parallel warning message is broadcast based on the control device.

[0134] Specifically, if the tracking profile and the parallel profile always maintain a parallel relationship within the calibration period, it can be considered that the vehicle corresponding to the parallel profile and the detection target corresponding to the tracking profile are traveling in parallel, and a parallel warning message can be generated at this time, and the parallel warning message can be broadcasted to the vehicles traveling in parallel through the control device. The parallel warning message refers to the information for warning the vehicles traveling in parallel.

[0135] S345, if the target pixel number of the tracking contour and the parallel contour within the calibration time period is less than the pixel number threshold, the control device is controlled to move again above the detection target, and the tracking height is adjusted to the initial value, and the real-time speed of the control device within the calibration time period is determined as the calibration speed of the detection target.

[0136] Specifically, if the number of target pixels is less than the pixel number threshold during the calibration period, it can be considered that the vehicle corresponding to the parallel profile during the calibration period is only a vehicle passing by the detection target, and not a vehicle traveling parallel to the detection target. At this time, the control device can be controlled to move again above the detection target, and the tracking height can be readjusted to the height when hovering at the intersection, that is, the initial value, and the real-time speed of the control device during the calibration period can be determined as the real-time moving speed of the detection target, that is, the calibration speed. Among them, the initial value is the height value of the control device when it hovers at the intersection.

[0137] Through the above implementation, vehicles traveling in parallel can be monitored and warned, which can improve the safety of vehicle traffic.

[0138] S4, generating speed reduction reminder information according to the comparison result between the calibration speed and the minimum standard speed of the occupied lane, and transmitting the speed reduction reminder information based on the control device.

[0139] Specifically, after obtaining the calibration speed, the calibration speed can be compared with the minimum standard speed corresponding to the occupied lane. If the calibration speed is lower than the minimum standard speed, it can be considered that the detection target does have speed reduction behavior, and corresponding speed reduction reminder information can be generated. The control equipment can convey the speed reduction reminder information accordingly. For example, it can broadcast speed reduction reminder information such as "You are currently driving at a low speed, please leave the current lane as soon as possible" to the detection target.

[0140] The comparison result refers to the result of comparing the calibration speed with the minimum standard speed, and the speed pressure reminder information refers to the information for reminding the detection target that has speed pressure behavior.

[0141] Based on the above steps, this solution also includes the following embodiments: A1, if the proofreading speed of the detection target is less than the minimum standard speed during the warning time period, then the violation information corresponding to the detection target is generated and sent to the corresponding terminal of the traffic control personnel.

[0142] In actual applications, the control equipment can warn the detection targets that have speeding behavior within a pre-configured warning time period. If the proofreading speed of the detection target is always lower than the minimum standard speed within the warning time period, it can be considered that the corresponding detection target has not adjusted the driving speed accordingly. At this time, it can be considered that the detection target has violated the regulations, and violation information corresponding to the detection target can be generated. The violation information can include information such as the license plate number corresponding to the detection target, and the violation information corresponding to the detection target can be sent to the terminal corresponding to the traffic control personnel on the highway. The traffic control personnel may subsequently take action on the detection target.

[0143] Among them, the warning time period refers to the time period during which the control equipment warns the detection target, the violation information refers to the information indicating that the calibrated vehicle has violated the regulations, and the traffic control personnel can be traffic police on the highway.

[0144] A2, obtaining a first position point of the control device when responding to the end information of the warning time period, determining an initial position point of the control device, and obtaining a first distance between the first position point and the initial position point.

[0145] After the control device completes the warning of the detection target, the control device can return home. However, when returning home, the current remaining power of the control device may not be sufficient to support the control device to return to the initial position. At this time, it can be judged whether the control device can return to the initial position according to the cruising distance corresponding to the current remaining power of the control device. Specifically, after the warning time period of the control device ends, the control device can send a corresponding end message, and the position point corresponding to the end message response of the control device, that is, the first position point, can be obtained, and the initial position point corresponding to the control device can be obtained. The longitude and latitude coordinates corresponding to the first position point and the initial position point can be obtained, and the interval distance between the first position point and the initial position point, that is, the first spacing, can be obtained according to the longitude and latitude coordinates between the two points.

[0146] Among them, the end information refers to information that can indicate that the warning time period has ended, the first position point refers to the position point where the control device is located when the warning time period ends, and the first spacing refers to the interval distance between the first position point and the initial position point.

[0147] A3, determining a first cruising distance corresponding to the remaining power of the control device, and if the first cruising distance is greater than the first distance, controlling the control device to return to the initial position point.

[0148] Specifically, the current remaining power of the control device can be obtained. According to factors such as the battery capacity and energy consumption rate of the control device, the distance that the control device can continue to fly under the remaining power can be obtained, that is, the first endurance distance. If the first endurance distance is greater than the first distance, it can be considered that the current remaining power of the control device is sufficient to support its return to the initial position point, so the control device can be controlled to return to the initial position point. Among them, the remaining power refers to the current remaining power of the control device, and the first endurance distance refers to the maximum distance that can be continuously flown under the current remaining power of the control device.

[0149] A4: If the first cruising distance is less than the first spacing, obtain the second position points of the remaining detection devices, obtain the second spacing between the first position point and each of the second position points, and determine the detection device that meets the position exchange conditions of the control device as the target device based on the second spacing and the first cruising distance.

[0150] When the remaining power of the control device is insufficient to support its return to the initial position, a suitable detection device can be found to exchange positions with the control device to ensure that both can reach their respective target positions within the range of their remaining power. Specifically, when the first cruising range is less than the first spacing, the position points corresponding to the remaining detection devices, i.e., the second position points, can be obtained, and the interval distance between the first position point and the remaining second position points, i.e., the second spacing, can be obtained. By comparing the second spacing with the first cruising range, the detection device that meets the position exchange conditions of the control device can be determined, and it can be determined as the target device.

[0151] Among them, the second position point refers to the position point corresponding to the remaining detection devices, the second spacing refers to the interval distance between the first position point and the remaining second position points, the position exchange condition refers to the condition set to ensure that the control device and a detection device can reach their respective target positions within their remaining power range, and the target device refers to the detection device that can exchange positions with the control device.

[0152] Based on the above embodiment, the specific implementation of step A4 may be: A41, determining that the detection device whose second distance is smaller than the first cruising distance is the first device to be screened, and determining the third distance from the second position point to the initial position point of each of the first devices to be screened.

[0153] Specifically, if the second distances corresponding to the remaining detection devices are smaller than the first cruising distance, it can be considered that the first cruising distance corresponding to the remaining power of the control device is sufficient to support the control device to reach the position point corresponding to the corresponding detection device. At this time, the detection device whose second distance is smaller than the first cruising distance can be determined as the first device to be screened. In order to determine whether the first screening device can reach the initial position point corresponding to the control device, the third distance between the second position point and the initial position point corresponding to each first screening device can be obtained. According to the comparison results of the cruising distance corresponding to each first screening device and the third distance, it can be determined whether the first screening device can exchange positions with the control device.

[0154] Among them, the first screening device refers to a detection device whose second spacing is smaller than the first endurance distance, and the third spacing refers to the interval distance between the second position point corresponding to the first screening device and the initial position point.

[0155] A42, obtaining a second cruising distance corresponding to the remaining power of each first device to be screened, and determining that the first device to be screened whose second cruising distance is greater than the third distance is the second device to be screened.

[0156] Specifically, the remaining power of each first screening device can be obtained, and the second endurance distance corresponding to each first screening device can be obtained based on the remaining power. If the second endurance distance of the first screening device is greater than the third spacing, it can be considered that the corresponding first screening device can return to the initial position point corresponding to the control device, and the corresponding first screening device can be determined as the second screening device, and the second screening device can be screened again later. Among them, the second endurance distance refers to the endurance distance corresponding to the remaining power of the first screening device, and the second screening device refers to the first screening device whose second endurance distance is greater than the third spacing.

[0157] A43, determining that the second device to be screened that is closest to the control device meets the position exchange condition of the control device, and determining the corresponding second device to be screened as the target device.

[0158] Specifically, since there may be multiple second screening devices, it can be determined that the second screening device with a distance component from the control device meets the position exchange condition of the control device, and the corresponding second screening device can be determined as the target device.

[0159] A5, controlling the target device to move to an initial position point of the control device, and controlling the control device to move to a second position point of the target device.

[0160] Specifically, after obtaining a target device that can exchange positions with the control device, the target device can be controlled to move to an initial position point corresponding to the control device, and the control device can be controlled to move to a second position point corresponding to the target device, thereby realizing position exchange between the control device and the target device.

[0161] Through the above implementation, it can be ensured that the control device and the remaining detection devices can reach their respective target locations within the cruising range corresponding to their remaining power.

[0162] See also Figure 4 , is a structural diagram of a digital intelligent network detection system provided by an embodiment of the present invention, and the data processing system based on the digital intelligent network detection system includes: A marking module is used to mark abnormal targets according to the speed recognition data of the detection device, and send the speed abnormality information to the time period analysis module for speed timing analysis, and determine the abnormal targets that meet the speed pressure conditions as detection targets; A determination module, configured to determine an intersection point between a control device and the detection target based on the abnormal speed of the detection target, and determine a hovering parameter of the control device at the intersection point according to the occupied lane of the detection target; A control module, used to control the control device to go to the intersection point based on the hovering parameters, locate the control device above the detection target according to the real-time shooting data of the control device, and determine the calibration speed of the detection target based on the real-time speed of the control device; A generation module is used to generate speed reduction reminder information based on the comparison result between the calibration speed and the minimum standard speed of the occupied lane, and to convey the speed reduction reminder information based on the control device.

[0163] Figure 4 The apparatus of the embodiment shown can be used to perform Figure 1 The implementation principles and technical effects of the steps in the method embodiment shown are similar and will not be repeated here.

[0164] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A digital intelligent network detection method, characterized in that: include: Mark abnormal targets according to the speed recognition data of the detection device, and send the speed abnormality information to the time period analysis module for speed timing analysis, and determine the abnormal targets that meet the speed pressure conditions as detection targets; Based on the abnormal speed of the detection target, determine the intersection point of the control device and the detection target, and determine the hovering parameters of the control device at the intersection point according to the occupied lane of the detection target; Controlling the control device to go to the intersection point based on the hovering parameters, positioning the control device above the detection target according to the real-time shooting data of the control device, and determining the calibration speed of the detection target based on the real-time speed of the control device; According to the comparison result between the proofreading speed and the minimum standard speed of the occupied lane, speed reduction reminder information is generated, and the speed reduction reminder information is communicated based on the control device.

2. The method according to claim 1, characterized in that The abnormal targets are marked according to the speed recognition data of the detection device, and the speed abnormality information is sent to the time period analysis module for speed timing analysis, and the abnormal targets that meet the speed reduction conditions are determined as detection targets, including: Based on the detection device obtaining the driving speed of the vehicle in each lane, marking the vehicle whose driving speed is less than the minimum standard speed of the corresponding lane as an abnormal target, the speed identification data includes the driving speed of each vehicle in each lane; Acquire the abnormal identification time of the abnormal target, obtain the speed abnormality information according to the abnormal identification time and send it to the time period analysis module; Taking the speed abnormality information as the starting time, the preset detection time is extended to obtain the abnormal analysis period, determining the lane where the abnormal target is located as the identification lane, and obtaining the driving speed of each vehicle in the identification lane identified by the period analysis module during the abnormal analysis period; Determine that a vehicle whose driving speed is less than the minimum standard speed of the identified lane is an obstructed vehicle. When the number of the obstructed vehicles is greater than or equal to the number of abnormal speed reductions, determine that the abnormal target meets the speed reduction condition, and determine that the abnormal target is a detection target.

3. The method according to claim 1, characterized in that Based on the abnormal speed of the detection target, determining the intersection point of the control device and the detection target, and determining the hovering parameters of the control device at the intersection point according to the occupied lane of the detection target, including: Determine, according to the abnormal speed, a predicted travel distance of the detection target corresponding to a preset intersection time, wherein the preset intersection time is greater than a preset detection time corresponding to a time period analysis module; Retrieving a traffic layout map, determining a position point corresponding to the detection device marking the detection target in the traffic layout map as a starting position point, and determining a road line where the starting position point in the traffic layout map is located as a detection road line; Acquire the driving direction of the detection target on the detection road line, determine a position point at a predicted driving distance from the starting position point in the driving direction as a prediction point, and the prediction point is located at the center of the detection road line; Taking the predicted point as a starting point, determining a route segment of the detection road line in the driving direction as a verification road segment corresponding to the detection target, and acquiring a detection device located on the verification road segment and closest to the predicted point as a control device; Acquire multiple lane layout points corresponding to the occupied road at the predicted point, determine the center point of the lane layout points as the intersection point, acquire the lane width corresponding to the occupied road, determine the hovering height according to the lane width, and the hovering parameters include the hovering height.

4. The method according to claim 3, characterized in that Acquiring a plurality of lane layout points corresponding to the occupied road at the predicted point, determining the center point of the lane layout points as the intersection point, acquiring the lane width corresponding to the occupied road, and determining the hovering height according to the lane width, including: Retrieving a lane layout diagram corresponding to the detected road line, taking the position point corresponding to the predicted point in the lane layout diagram as the coordinate origin, the driving direction as the first coordinate direction, and the direction perpendicular to the driving direction as the second coordinate direction, to construct a coordinate system; Determine the coordinate axis corresponding to the second coordinate direction as the target axis, obtain the position point on the target axis in the occupied lane as the lane layout point, and determine the center point of multiple lane layout points as the intersection point; The lane width of the occupied lane in the second coordinate direction is obtained, and a plurality of preset width intervals are traversed based on the lane width, and a preset height corresponding to the preset width interval where the lane width is located is determined as the hovering height.

5. The method according to claim 1, characterized in that Controlling the control device to go to the intersection point based on the hovering parameter, positioning the control device above the detection target according to the real-time shooting data of the control device, and determining the calibration speed of the detection target based on the real-time speed of the control device, including: Acquire first photographing data of the control device at the intersection, and identify the vehicle outline in the first photographing data; Determine the feature similarity between the detection contour of the detection target and each of the vehicle contours, and obtain the vehicle contour whose feature similarity is greater than a similarity threshold as the tracking contour; Acquire second shooting data of the tracking contour by the control device, determine the real-time position point of the detection target based on the second shooting data, and position the control device above the detection target according to the real-time position point, wherein the real-time shooting data includes the first shooting data and the second shooting data; Identify the relative position relationship between the tracking profile and other vehicle profiles within a preset range. When the relative position relationship is a parallel relationship, update the tracking height of the control device, and determine the calibration speed of the detection target according to the real-time speed of the control device within the calibration time period.

6. The method according to claim 5, characterized in that Acquiring second photographing data of the tracking contour by the control device, determining the real-time position point of the detection target based on the second photographing data, and positioning the control device above the detection target according to the real-time position point, including: Determine the angle change rate corresponding to the abnormal speed of the detection target, and when the tracking profile is identified, adjust the shooting angle of the control device according to the angle adjustment direction and the angle change rate; When the shooting angle of the control device is adjusted to a bird's-eye view angle, the adjustment of the shooting angle is stopped, and the center point of the tracking contour in the second shooting data corresponding to the bird's-eye view angle is obtained as the positioning point; The center point of the second shooting data corresponds to the actual position point of the control device, and the real-time shooting data is processed in coordinates with the center point as the coordinate origin; The positioning coordinates of the positioning point in the second shooting data are obtained, the positioning coordinates are actually converted into a real-time position point, and the control device is controlled to move based on the real-time position point and the tracking height.

7. The method according to claim 5, characterized in that Identify the relative position relationship between the tracking profile and other vehicle profiles within a preset range, and when the relative position relationship is a parallel relationship, update the tracking height of the control device, and determine the calibration speed of the detection target according to the real-time speed of the control device within the calibration time period, including: Determine a direction in the second shooting data that is perpendicular to the moving direction of the tracking contour as a parallel identification direction, and obtain target pixel points having the same coordinate values ​​as the tracking contour and other vehicle contours in the parallel identification direction; Counting the number of target pixels of the target pixel point, and when the number of target pixels is greater than or equal to a pixel number threshold, determining that the relative position relationship between the tracking contour and the corresponding vehicle contour is a parallel relationship, and determining that the corresponding vehicle contour is a parallel contour; Obtaining contour proportions of the tracking contour and the parallel contour in the shooting frame of the control device, and adjusting the tracking height of the control device according to the contour proportions until the adjustment of the tracking height is stopped when the contour proportions are within an optimal proportion interval; If the tracking profile and the parallel profile are both in a parallel relationship within the calibration time period, generating parallel warning information, and broadcasting the parallel warning information based on the control device; If the target pixel number of the tracking contour and the parallel contour is less than the pixel number threshold within the calibration time period, the control device is controlled to move again above the detection target, and the tracking height is adjusted to the initial value, and the real-time speed of the control device within the calibration time period is determined as the calibration speed of the detection target.

8. The method according to claim 7, characterized in that Obtaining contour proportions of the tracking contour and the parallel contour in the shooting frame of the control device, and adjusting the tracking height of the control device according to the contour proportions until the adjustment of the tracking height is stopped when the contour proportions are within an optimal proportion interval, including: Respectively obtaining a first extreme point and a second extreme point of the tracking contour and the corresponding vehicle contour in a parallel identification direction and a moving direction, determining the central coordinate of the first extreme point as a first coordinate, and determining the central coordinate of the second extreme point as a second coordinate; Determine a position point corresponding to the first coordinate and the second coordinate as an adjustment position point, and move the control device to the adjustment position point; Acquire a shooting interface of the control device when adjusting the position point, and when the tracking contour and the parallel contour are completely located in the shooting frame of the shooting interface, acquire contour proportions of the tracking contour and the parallel contour; If the contour ratio is less than the minimum value of the optimal ratio interval, the tracking height is lowered and adjusted until the contour ratio is within the optimal ratio interval and the tracking height is stopped from being adjusted; If the contour ratio is greater than the maximum value of the optimal ratio interval, the tracking height is adjusted upward until the contour ratio is within the optimal ratio interval, at which time the tracking height is stopped from being adjusted.

9. The method according to claim 1, characterized in that: After generating a pressure speed reminder message based on the comparison result between the calibration speed and the standard speed, and transmitting the pressure speed reminder message based on the control device, the method further includes: If the proofreading speed of the detection target is less than the minimum standard speed during the warning time period, the violation information corresponding to the detection target is generated and sent to the terminal corresponding to the traffic control personnel; Acquire a first position point of the control device when responding to the end information of the warning time period, determine an initial position point of the control device, and acquire a first distance between the first position point and the initial position point; Determine a first cruising distance corresponding to the remaining power of the control device, and if the first cruising distance is greater than the first distance, control the control device to return to the initial position point; If the first cruising range is less than the first spacing, obtaining the second position points of the remaining detection devices, obtaining the second spacings between the first position point and each of the second position points, and determining the detection device that meets the position exchange condition of the control device as the target device according to the second spacing and the first cruising range; The target device is controlled to move to an initial position point of the control device, and the control device is controlled to move to a second position point of the target device.

10. The method according to claim 9, characterized in that If the first cruising range is less than the first spacing, obtaining the second position points of the remaining detection devices, obtaining the second spacings between the first position point and each of the second position points, and determining the detection device that meets the position exchange condition of the control device as the target device according to the second spacing and the first cruising range, including: Determine the detection device whose second distance is smaller than the first endurance distance as the first device to be screened, and determine the third distance from the second position point to the initial position point of each of the first devices to be screened; Obtain a second cruising distance corresponding to the remaining power of each first device to be screened, and determine that the first device to be screened whose second cruising distance is greater than the third distance is the second device to be screened; It is determined that the second device to be screened that is closest to the control device meets the position exchange condition of the control device, and the corresponding second device to be screened is determined as the target device.

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