Intelligent Network Detection Method Applicable to Digitalization

Abstract

The present invention provides an intelligent network detection method applicable to digitization, which relates to transportation technology. An abnormal target is identified according to the speed identification data of a detection device, and speed anomaly information is sent to a time period analysis module for speed timing analysis to determine a detection target. Based on the abnormal speed of the detection target, the intersection point of a control device and the detection target is determined. According to the occupied lane of the detection target, the hovering parameters of the control device at the intersection point are determined, and the control device is controlled to go to the intersection point based on the hovering parameters. The control device is positioned above the detection target according to the real-time shooting data of the control device, and the calibration speed of the detection target is determined based on the real-time speed of the control device. According to the comparison result between the calibration speed and the minimum standard speed of the occupied lane, a speed suppression reminder message is generated. Based on the control device transmitting the speed suppression reminder message, continuous monitoring and timely warning can be carried out on the speed-suppressing vehicles on the highway lane, improving road safety.

Description

Technical Field

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

[0002] With the acceleration of the urbanization process and the continuous growth of traffic demand, urban traffic problems have become increasingly prominent. Among them, the phenomenon of slow driving on highways is one of the problems. Slow driving behavior not only causes traffic congestion, 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 highways, it mainly relies on speed measurement cameras. However, speed measurement cameras are usually installed at specific positions on highways and cannot continuously monitor vehicles suspected of slow driving. When a speed measurement camera detects that a vehicle may have slow driving behavior, it usually first sends the captured vehicle information, including license plate number, speed data, etc., to the control center of the traffic management department. Subsequently, the traffic management department will dispatch traffic management personnel to the scene. The whole process may take a long time, resulting in the inability to promptly warn slow driving vehicles, which may affect road safety.

[0004] Therefore, how to continuously monitor slow driving vehicles on highway lanes and give timely warnings to improve road safety has become an urgent problem to be solved. Summary of the Invention

[0005] The present invention provides an intelligent network detection method suitable for digitization, which can continuously monitor slow driving vehicles on highway lanes and give timely warnings to improve road safety.

[0006] In a first aspect of the present invention, there is provided an intelligent network detection method suitable for digitization, including:

[0007] Mark abnormal targets according to the speed recognition data of the detection device, and send speed anomaly information to the time period analysis module for speed timing analysis to determine abnormal targets that meet the slow driving conditions as detection targets;

[0008] 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;

[0009] 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;

[0010] Generate a speed reduction reminder message based on the comparison result between the proofreading speed and the minimum standard speed of the occupied lane, and convey the speed reduction reminder message based on the control device.

[0011] Optionally, in a possible implementation manner of the first aspect, identify abnormal targets based on the speed identification data of the detection device, and send speed anomaly information to the time period analysis module for speed timing analysis. Determine the abnormal targets that meet the speed reduction conditions as detection targets, including:

[0012] Based on the detection device, obtain the driving speeds of vehicles in each lane, and mark the vehicles with driving speeds less than the minimum standard speed of the corresponding lane as abnormal targets. The speed identification data includes the driving speeds of each vehicle in each lane;

[0013] Obtain the abnormal identification time of the abnormal target, and send the speed anomaly information obtained according to the abnormal identification time to the time period analysis module;

[0014] Using the speed anomaly information as the starting time, extend backward by a preset detection duration to obtain an abnormal analysis time period. Determine the lane where the abnormal target is located as the identification lane, and obtain the driving speeds of each vehicle identified by the time period analysis module in the identification lane during the abnormal analysis time period;

[0015] Determine the vehicles with driving speeds less than the minimum standard speed of the identification lane as blocked vehicles. When the number of the blocked vehicles is greater than or equal to the abnormal speed reduction number, determine that the abnormal target meets the speed reduction conditions, and determine the abnormal target as a detection target.

[0016] Optionally, in a possible implementation manner of the first aspect, 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, including:

[0017] Determine the predicted driving distance of the detection target corresponding to the preset intersection duration according to the abnormal speed. The preset intersection duration is greater than the preset detection duration corresponding to the time period analysis module;

[0018] Retrieve the traffic layout map, determine the position point corresponding to the detection device marking the detection target in the traffic layout map as the starting position point, and determine the road line where the starting position point is located in the traffic layout map as the detection road line;

[0019] Obtain the driving direction of the detection target on the detection road line, and determine the position point at the predicted driving distance from the starting position point in the driving direction as the prediction point. The prediction point is located at the center position of the detection road line;

[0020] Starting from the predicted point, determine the route segment of the detection road line in the driving direction as the verification road segment corresponding to the detection target, and obtain the detection device closest to the predicted point located in the verification road segment as the control device;

[0021] Obtain multiple lane layout points corresponding to the occupied lane at the predicted point, determine the center point of the lane layout points as the intersection point, obtain the lane width corresponding to the occupied lane, and determine the hovering height according to the lane width. The hovering parameter includes the hovering height.

[0022] Optionally, in a possible implementation manner of the first aspect, obtaining multiple lane layout points corresponding to the occupied lane 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 lane, and determining the hovering height according to the lane width includes:

[0023] Retrieve the lane layout map corresponding to the detection road line, use the position point corresponding to the predicted point in the lane layout map as the coordinate origin, the driving direction as the first coordinate direction, and the vertical direction of the driving direction as the second coordinate direction to construct a coordinate system;

[0024] Determine the coordinate axis corresponding to the second coordinate direction as the target axis, obtain the position points on the target axis in the occupied lane as lane layout points, and determine the center point of the multiple lane layout points as the intersection point;

[0025] Obtain the lane width of the occupied lane in the second coordinate direction, traverse multiple preset width intervals based on the lane width, and determine the preset height corresponding to the preset width interval where the lane width is located as the hovering height.

[0026] Optionally, in a possible implementation manner of the first aspect, 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 includes:

[0027] Obtain the first shooting data of the control device at the intersection point and identify the vehicle contour in the first shooting data;

[0028] Determine the feature similarity between the detection contour of the detection target and each vehicle contour, and obtain the vehicle contour with the feature similarity greater than the similarity threshold as the tracking contour;

[0029] 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;

[0030] 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.

[0031] 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:

[0032] 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;

[0033] 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;

[0034] 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;

[0035] 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.

[0036] 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:

[0037] 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;

[0038] Count the number of target pixels of the target pixel points. When the number of target pixels is greater than or equal to the pixel number threshold, determine that the relative position relationship between the tracking contour and the corresponding vehicle contour is a side-by-side relationship, and determine the corresponding vehicle contour as a side-by-side contour;

[0039] Obtain the contour ratios of the tracking contour and the side-by-side contour in the shooting frame of the control device, and adjust the tracking height of the control device according to the contour ratios until the adjustment of the tracking height stops when the contour ratios are within the optimal ratio range;

[0040] If both the tracking contour and the side-by-side contour are in a side-by-side relationship within the calibration time period, generate a side-by-side warning message and broadcast the side-by-side warning message based on the control device;

[0041] If the number of target pixels of the tracking contour and the side-by-side contour is less than the pixel number threshold within the calibration time period, control the control device to move back above the detection target, adjust the tracking height to the initial value, and determine the real-time speed of the control device within the calibration time period as the calibration speed of the detection target.

[0042] Optionally, in a possible implementation manner of the first aspect, obtaining the contour ratios of the tracking contour and the side-by-side 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 stops when the contour ratios are within the optimal ratio range, includes:

[0043] Respectively obtain the first extreme point and the second extreme point of the tracking contour and the corresponding vehicle contour in the side-by-side recognition direction and the moving direction, determine the central coordinate of the first extreme point as the first coordinate, and determine the central coordinate of the second extreme point as the second coordinate;

[0044] Determine the position points corresponding to the first coordinate and the second coordinate as the adjustment position points, and move the control device to the adjustment position points;

[0045] Obtain the shooting interface of the control device at the adjustment position points. When the tracking contour and the side-by-side contour are completely within the shooting frame of the shooting interface, obtain the contour ratios of the tracking contour and the side-by-side contour;

[0046] If the contour ratio is less than the minimum value of the optimal ratio range, perform a downward adjustment on the tracking height until the adjustment of the tracking height stops when the contour ratio is within the optimal ratio range;

[0047] If the contour ratio is greater than the maximum value of the optimal ratio range, perform an upward adjustment on the tracking height until the adjustment of the tracking height stops when the contour ratio is within the optimal ratio range.

[0048] Optionally, in a possible implementation manner of the first aspect, after generating a speed suppression reminder message based on the comparison result of the proofreading speed and the standard speed and transmitting the speed suppression reminder message based on the control device, the following steps are further included:

[0049] If the proofreading speed of the detection target is less than the minimum standard speed within the warning time period, generate violation information corresponding to the detection target and send it to the terminal corresponding to the traffic control personnel;

[0050] Obtain the first position point of the control device when responding to the end information of the warning time period, determine the initial position point of the control device, and obtain the first distance between the first position point and the initial position point;

[0051] Determine the first endurance distance corresponding to the remaining power of the control device. If the first endurance distance is greater than the first distance, control the control device to return to the initial position point;

[0052] If the first endurance distance is less than the first distance, obtain the second position points of the other detection devices, obtain the second distances between the first position point and each of the second position points, and determine the detection device that meets the position swapping condition of the control device as the target device according to the second distance and the first endurance distance;

[0053] Control the target device to move to the initial position point of the control device, and control the control device to move to the second position point of the target device.

[0054] Optionally, in a possible implementation manner of the first aspect, if the first endurance distance is less than the first distance, obtain the second position points of the other detection devices, obtain the second distances between the first position point and each of the second position points, and determine the detection device that meets the position swapping condition of the control device as the target device, including:

[0055] Determine the detection devices with the second distance less than the first endurance distance as the first devices to be screened, and determine the third distances from the second position points of each of the first devices to be screened to the initial position point;

[0056] Obtain the second endurance distances corresponding to the remaining power of each of the first devices to be screened, and determine the first devices to be screened with the second endurance distance greater than the third distance as the second devices to be screened;

[0057] Determine that the second device to be screened closest to the control device meets the position swapping condition of the control device, and determine the corresponding second device to be screened as the target device.

[0058] In a second aspect of the present invention, there is provided an intelligent network detection system suitable for digitization, including:

[0059] A marking module, configured to identify an abnormal target with data marking according to the speed of a detection device, and send speed abnormal information to a time period analysis module for speed timing analysis to determine an abnormal target meeting the speed pressing condition as a detection target;

[0060] 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 hovering parameters of the control device at the intersection point according to the occupied lane of the detection target;

[0061] A control module, configured 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 real-time shooting data of the control device, and determine a calibration speed of the detection target based on the real-time speed of the control device;

[0062] A generation module, configured to generate a speed pressing reminder message according to a comparison result between the calibration speed and the minimum standard speed of the occupied lane, and convey the speed pressing reminder message based on the control device.

[0063] The beneficial effects of the present invention are as follows:

[0064] 1. When the speed monitoring device on the highway of the present invention identifies an abnormal target suspected of speed pressing, it can immediately dispatch a drone to continuously monitor the driving speed of the abnormal target in real time, can timely and accurately identify speed pressing vehicles on the highway, and warn them to leave the corresponding lane, thereby improving the road traffic efficiency, reducing traffic hazards caused by speed pressing, and improving road safety.

[0065] 2. After the present invention identifies an abnormal target with a driving speed lower than the minimum standard speed corresponding to the lane, it can analyze the vehicle speeds of the vehicles after the abnormal target through the time period analysis module, and judge whether the abnormal target really has a speed pressing behavior by analyzing whether the abnormal target affects the driving speeds of the subsequent vehicles, can improve the accuracy in identifying speed pressing vehicles, and can timely warn speed pressing vehicles, improving road safety.

[0066] 3. When the present invention dispatches a drone to recheck the speed of a detection target, it can predict the driving distance and location of the detection target after a period of time according to the abnormal speed corresponding to the detection target, so as to be able to dispatch the drone to reach the corresponding position in advance and hover waiting, ensuring that it can immediately follow when the detection target arrives, and continuously monitoring the driving speed of the detection target in real time, improving the timeliness and accuracy in monitoring the driving speed of the detection target.

[0067] 4. When the present invention controls the control device to identify the detection target at the intersection, the shooting angle of the control device can be dynamically adjusted in real time according to the vehicle speed of the detection target, ensuring that the control device can capture and record the detection target in motion in real time and accurately.

[0068] 5. When the detection target reaches directly below the control device, the control device can immediately follow the detection target and can perform real-time shooting on the detection target to obtain real-time shooting data. By performing coordinate processing on 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. Through the real-time position point, the control device can be more accurately positioned above the detection target, and thus the detection target can be more precisely tracked in real time, realizing a more accurate review of the driving speed of the detection target.

[0069] 6. After the control device, i.e., the drone, completes the warning task, the present invention can obtain the remaining battery life corresponding to the remaining power of the control device, and determine 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 sufficient to return, other detection devices can be searched for position swapping. By comparing the second distance between the control device and each of the other detection devices, the first remaining battery life corresponding to the control device, and the second remaining battery life corresponding to the other detection devices, the optimal target device for position swapping can be determined, thereby reducing the power consumption of the control device and enabling the control device to continuously monitor the speeds of the subsequent vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 is a schematic flowchart of a digital intelligent network detection method provided by an embodiment of the present invention;

[0071] Figure 2 is a schematic diagram of determining a verification road section provided by an embodiment of the present invention;

[0072] Figure 3 is a schematic diagram of a juxtaposed contour provided by an embodiment of the present invention;

[0073] Figure 4 is a schematic structural diagram of a digital intelligent network detection system provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0074] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0075] The following uses specific embodiments to elaborate on the technical solutions of the present invention in detail. These several specific embodiments may be combined with each other, and for the same or similar concepts or processes, they may not be repeated in some embodiments.

[0076] See Figure 1 , which 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 this application may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, the user equipment may include but is not limited to computers, smart phones, personal digital assistants (Personal Digital Assistant, abbreviated as: PDA), and the above-mentioned electronic devices, etc. The network equipment may include but is not limited to a single network server, a server group composed of multiple network servers, or a cloud composed of a large number of computers or network servers based on cloud computing. Among them, cloud computing is a type of distributed computing, which is composed of a group of loosely coupled computers to form a super virtual computer. This embodiment does not make any restrictions on this. It includes steps S1 to S4, specifically as follows:

[0077] S1, identify abnormal targets based on the speed identification data of the detection device, and send speed anomaly information to the time period analysis module for speed timing analysis to determine the abnormal targets that meet the speed suppression condition as detection targets.

[0078] Among them, the detection device refers to a device for monitoring the speed of vehicles on a highway. For example, it can be a laser speedometer with an image acquisition function. The speed identification data refers to the data obtained by the detection device to identify the driving speed of vehicles in the corresponding lane, including the driving speeds corresponding to the vehicles in each lane. The abnormal target refers to a vehicle whose driving speed is lower than the minimum limit speed corresponding to the lane. The speed anomaly 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 speeds of the remaining vehicles within a period of time after an abnormal target is found. The speed timing analysis refers to the process of analyzing the speeds of the remaining vehicles in the same lane as the abnormal target and behind the abnormal target. The speed suppression condition refers to multiple vehicles in the same lane as the abnormal target and behind the abnormal target, whose speeds are all low within a period of time. The detection target refers to an abnormal target that meets the speed suppression condition.

[0079] In practical applications, speed suppression behavior is one of the important causes of highway traffic congestion. Speed suppression behavior not only reduces the traffic efficiency of the road but also may increase the risk of traffic accidents. When the speed monitoring device on the highway identifies an abnormal target with suspected speed suppression, this solution can immediately dispatch a drone to further verify the speed of the abnormal target, can accurately identify the speed-suppressing vehicles on the highway in a timely manner, and warn them to leave the corresponding lane, which can effectively reduce the traffic congestion caused by speed-suppressing vehicles, thereby improving the traffic efficiency of the road and reducing the traffic hazards caused by speed suppression.

[0080] Specifically, there are multiple lanes on a highway. Each lane may have a different minimum limit speed according to its design function and safety considerations. For example, the innermost lane is usually called the fast lane, and its corresponding minimum limit speed may be higher than that of the outer lane. Therefore, the minimum limit speeds of different lanes may be different. Multiple speed identification devices, that is, detection devices, are installed on each lane. For example, they can be laser speedometers. The detection devices on the corresponding lanes can detect and record the speeds of the vehicles driving on that lane to obtain the corresponding speed identification data. By analyzing the speed identification data, when it is found that the driving speed of a vehicle in its lane is lower than the minimum limit speed corresponding to that lane, it can be considered that the corresponding vehicle may have a speed suppression suspicion, and the corresponding vehicle can be marked as an abnormal target.

[0081] After obtaining the abnormal target, the moment information when the speed of the abnormal target is recognized can be obtained, that is, the speed anomaly information. By sending the speed anomaly information to the time period analysis module that can analyze the speed information of the remaining vehicles, the time period analysis module analyzes the speed of the remaining vehicles in the same lane as the abnormal target and behind the abnormal target, that is, conducts speed timing analysis, and can judge whether the abnormal target really has a speed suppression behavior. If it is detected that the speeds of the remaining 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 it is continuously found that the speeds of other vehicles behind it are very low, then it can be considered that the low speeds of these vehicles are very likely due to the speed suppression 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 a speed suppression behavior, and it can be considered that the abnormal target meets the speed suppression condition. Therefore, it can be determined as the detection target.

[0082] On the basis of the above embodiment, the specific implementation manner of step S1 may be:

[0083] S11, based on the detection device, obtain the driving speeds of the vehicles in each lane, and mark the vehicles whose driving speeds are lower than the minimum standard speed of the corresponding lane as abnormal targets. The speed recognition data includes the driving speeds of the vehicles in each lane.

[0084] Specifically, the driving speeds of the vehicles corresponding to each lane can be obtained through the detection device on the lane, and the minimum limit speed corresponding to each lane, that is, the minimum standard speed, can be obtained. If the driving speed of the vehicle is lower than the minimum standard speed corresponding to the lane where it is located, the corresponding vehicle can be marked as an abnormal target.

[0085] Among them, the driving speed refers to the speed corresponding to the vehicle when it travels to the detection device, and the minimum standard speed refers to the minimum limit speed of the lane.

[0086] S12, obtain the abnormal recognition moment of the abnormal target, and send the speed anomaly information obtained according to the abnormal recognition moment to the time period analysis module.

[0087] In practical applications, when the detection device recognizes the speed of the abnormal target, it will record the moment when the speed is recognized, that is, the abnormal recognition moment. According to the abnormal recognition moment, the speed anomaly information corresponding to the abnormal target can be obtained, and the speed anomaly information can be sent to the time period analysis module to facilitate the subsequent time period analysis module to analyze the speeds of the remaining vehicles. Among them, the abnormal recognition moment refers to the moment when the speed of the abnormal target is recognized.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] Among them, a blocked vehicle refers to a vehicle whose driving speed is lower than the corresponding minimum standard speed of the identified lane during the abnormal analysis period. The speed reduction of the blocked vehicle may be caused by the low-speed driving of an abnormal target ahead. The abnormal speed reduction quantity refers to the quantity threshold of blocked vehicles that can be used to determine whether the abnormal target meets the speed reduction condition. The detection target refers to an abnormal target that requires further speed detection.

[0093] Through the above implementation manners, the accuracy of identifying speed-reducing vehicles can be improved.

[0094] S2. 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.

[0095] Among them, the abnormal speed refers to the driving speed of the detection target identified by the detection device. The control device refers to a device that can verify the speed of the detection target. For example, it can be a drone. Subsequently, the control device can give a warning to the detection target with a speed-reducing behavior. The intersection point refers to the position point when the control device follows the detection target on the lane where the detection target is located, the corresponding position point when starting to follow the detection target. The occupied lane refers to the lane where the detection target is located. The hovering parameters refer to parameters such as the flight height when the control device hovers at the intersection point.

[0096] After obtaining the detection target, in order to further verify whether the detection target actually has a speed-reducing behavior, this solution can dispatch a drone, that is, the control device, to track the detection target, so as to obtain the real-time driving speed of the detection target, realize the review of the driving speed of the detection target, and improve the accuracy of speed reduction detection. Specifically, the driving speed of the detection target identified by the detection device, that is, the abnormal speed, can be obtained. According to the abnormal speed, the position point that the detection target can reach after a period of time can be judged, and the corresponding position point can be determined as the position point corresponding to the intersection of the control device and the detection target, that is, the intersection point. After obtaining the intersection point, the control device closest to the detection target can be dispatched to hover at the intersection point and wait for the detection target. When the detection target reaches the intersection point, the control device can immediately follow the detection target, so as to review the driving speed of the detection target and judge whether it actually has a speed-reducing behavior. When the control device hovers at the intersection point, since 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, so as to clearly photograph the detection target, the occupied lane where the detection target is located can be obtained, and the hovering height and other hovering parameters of the control device can be determined according to the width of the occupied lane where the detection target is located.

[0097] In some embodiments, the specific implementation manner of step S2 may be:

[0098] S21. Determine a predicted travel distance of the detection target corresponding to a preset intersection duration according to the abnormal speed, where the preset intersection duration is greater than a preset detection duration corresponding to the time period analysis module.

[0099] The preset intersection duration refers to the pre-configured duration from when the detection device identifies the detection target to when the control device is expected to intersect with the detection target. The predicted travel distance refers to the distance that the detection target may travel within the preset intersection duration.

[0100] After obtaining the abnormal speed corresponding to the detection target, in order to more accurately determine the position point where the control device follows the detection target, after the detection device identifies the detection target, the position point that the detection target may reach after a period of time can be predicted. Thus, the control device can be dispatched to wait at the corresponding position point for the detection target. When the detection target intersects with the control device, the control device can immediately follow the detection target. Specifically, a preset intersection duration can be preset, that is, starting from the moment when the detection device identifies the detection target, after the preset intersection duration, the control device may intersect with the detection target. By multiplying the abnormal speed of the detection target by the pre-configured preset intersection duration, the distance that the detection target can travel within the preset intersection duration after the detection device identifies the detection target can be determined, that is, the predicted travel distance. For example, when the abnormal speed is 60 km / h, that is, 16.67 m / s, and the preset intersection duration is 60 seconds, through calculation, the predicted travel distance is approximately 1000 meters. Subsequently, based on the predicted travel distance, the position point that the detection target can reach after the preset intersection duration, that is, the intersection point, can be determined.

[0101] After obtaining the intersection point, based on the current position point of the control device and the intersection point, combined with the path optimization algorithm, the optimal flight route can be planned for the control device, so that it can reach the intersection point in the shortest time, and the flight speed of the control device during the flight process is adjusted in real time to ensure that the duration for the control device to reach the intersection point is shorter than the preset intersection duration, 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 suppression behavior detection.

[0102] In practical applications, only after determining a detection target that is suspected of speed suppression and is the leading vehicle within a preset detection duration will a control device be dispatched to continuously and real-time monitor the driving speed of the detection target. Therefore, the preset intersection duration will be greater than the preset detection duration. For example, when the preset detection duration is 30 seconds, the preset intersection duration can be 60 seconds. It is possible to calculate the distance that the detection target may travel 60 seconds after the detection device identifies the detection target, that is, the preset travel distance. Based on the preset travel distance of the detection target, it is possible to determine the position point that the detection target may reach 60 seconds later, and thus a control device can be dispatched to wait for the detection target at the corresponding position point.

[0103] S22. Retrieve the traffic layout map, and determine the position point corresponding to the detection device that marks the detection target in the traffic layout map as the starting position point, and determine the road line where the starting position point is located in the traffic layout map as the detection road line.

[0104] Specifically, a traffic layout map containing multiple traffic road lines can be retrieved. In the retrieved traffic layout map, the position points corresponding to each detection device in the traffic layout map are pre-configured. It is possible to obtain the position point corresponding to the detection device that marks the detection target in the traffic layout map, and this 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.

[0105] 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 where the detection device that marks the detection target is located in the traffic layout map. The road line refers to each highway in the traffic layout map, and the detection road line refers to the road line where the starting position point is located.

[0106] S23. Obtain the driving direction of the detection target on the detection road line, and determine the position point at a predicted travel distance from the starting position point in the driving direction as the prediction point, and the prediction point is located at the center position of the detection road line.

[0107] In practical applications, each lane on a highway usually has a pre-configured driving direction. When obtaining the driving direction of a 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. Usually, the driving direction of the detection target is the same as that of the lane it is in. That is to say, if the detection target is located in a highway lane driving northward, then its driving direction on the corresponding detection road line should also be northward. In terms of 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 central position of the detection road line. Based on the prediction point, the position point where the control device should hover can be roughly determined, and subsequently, the intersection point where the control device hovers can be more accurately determined according to the prediction point.

[0108] Among them, the driving direction refers to the forward direction during the driving process of the detection target, the prediction point refers to the point that can roughly determine the position point where the control device should go, and the central position refers to the middle position of the detection road line.

[0109] S24. Taking the prediction point as the starting point, determine the route segment of the detection road line in the driving direction as the verification road segment corresponding to the detection target, and obtain the detection device located on the verification road segment and closest to the prediction point as the control device.

[0110] Specifically, refer to Figure 2 , which is a schematic diagram for determining the verification road segment provided by an embodiment of the present invention. As shown in Figure 2 , in the traffic layout diagram, the road line where the starting position point is located can be determined as the detection road line, that is, Figure 2 the middle road line in Figure 2 . On the detection road line, the prediction point can be determined as the starting point. As shown in

[0111] S25. Obtain multiple lane layout points corresponding to the occupied lane at the prediction point, determine the center point of the lane layout points as the intersection point, obtain the lane width corresponding to the occupied lane, and determine the hovering height according to the lane width. The hovering parameter includes the hovering height.

[0112] After obtaining the prediction point, multiple lane layout points corresponding to the occupied lane where the detection target is located at the prediction 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, so as to obtain more accurate data, the hovering height of the control device can be determined according to the lane width corresponding to the occupied lane where the detection target is located.

[0113] Among them, the lane layout point refers to multiple points corresponding to the occupied lane at the prediction point, and the lane width refers to the width corresponding to the occupied lane.

[0114] Through the above implementation method, it can be ensured that when the detection target arrives, the control device can immediately follow for speed verification, improving the timeliness and accuracy of verifying the driving speed of the detection target.

[0115] In some embodiments, the specific implementation manner of step S25 may be:

[0116] S251, retrieve the lane layout map corresponding to the detection road line, use the position point corresponding to the prediction point in the lane layout map 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.

[0117] Among them, the lane layout map refers to the layout map 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.

[0118] Specifically, when determining the intersection point, the lane layout map corresponding to the detection 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 prediction 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.

[0119] S252, determine the coordinate axis corresponding to the second coordinate direction as the target axis, obtain the position points on the target axis in the occupied lane as lane layout points, and determine the center point of the multiple lane layout points as the intersection point.

[0120] Specifically, the axis corresponding to the second coordinate direction can be determined as the target axis. There are multiple position points of the occupied lane on the target axis, and the corresponding multiple position points can be determined as lane layout points. The center point of the multiple lane layout points can be obtained and determined as the intersection point. Herein, the target axis refers to the axis corresponding to the second coordinate direction.

[0121] S253. Obtain the lane width of the occupied lane in the second coordinate direction, traverse multiple preset width intervals based on the lane width, and determine the preset height corresponding to the preset width interval where the lane width is located as the hovering height.

[0122] Specifically, when obtaining the lane width of the occupied lane in the second coordinate direction, the maximum coordinate value and the minimum coordinate value of 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 lane. For example, when the second coordinate direction is consistent with the x-axis direction, the maximum coordinate value and the minimum coordinate value of the lane layout points 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 lane in the second coordinate direction can be obtained.

[0123] After obtaining the lane width corresponding to the occupied lane, the pre-configured height comparison table can be retrieved. In the height comparison table, there are multiple preset width intervals, and each preset width interval has a corresponding preset height. By traversing the 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. This hovering height can not only capture the lane where the detection target is located, but also capture the lanes adjacent to the occupied lane where the detection lane is located, so as to determine whether there are vehicles traveling side by side with the detection target. If so, the driving speeds of the other vehicles traveling side by side can be monitored together to determine whether there is also a speed-pressing behavior. If so, a warning can also be given to them.

[0124] Through the above implementation manner, 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-pressing behavior analysis.

[0125] S3. 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.

[0126] 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 actually has a speed suppression 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 following the detection target. Since the control device tracks the detection target in real time, the speed of the control device can be equal 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.

[0127] Among them, the real-time shooting data refers to the video data obtained by the control device through real-time video acquisition. The real-time speed refers to the moving speed of the control device. The calibration speed refers to the moving speed of the detection target.

[0128] Based on the above embodiments, the specific implementation manner of step S3 can be:

[0129] S31. Obtain the first shooting data of the control device at the intersection point, and identify the vehicle contour in the first shooting data.

[0130] Specifically, when the control device reaches the intersection point and hovers at the corresponding hovering height, the control device can perform real-time image acquisition on the vehicles on the occupied lane at the corresponding hovering position point, and the shooting angle during the real-time image acquisition can be pre-configured. For example, the pre-configured best shooting angle can be 45 degrees obliquely downward. Thus, multiple image data, that is, the first shooting data, captured by the control device at the intersection point can be obtained. By identifying the vehicle contour in the first shooting data, the vehicle contour corresponding to the detection target can be identified. Among them, the first shooting data refers to the 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.

[0131] S32. Determine the feature similarity between the detection contour of the detection target and each vehicle contour, and obtain the vehicle contour with the feature similarity greater than the similarity threshold as the tracking contour.

[0132] In practical applications, the detection device can capture an image corresponding to the detection target and extract the detection contour corresponding to the detection target from the image. Due to the shooting height and shooting angle of the detection device, which may be different from the hovering height and shooting angle of the control device, when the shooting height and shooting angle are different, directly comparing the contour similarity between the detection contour and each vehicle contour may lead to inaccurate recognition results. Since each vehicle has its unique features, such as the license plate numbers and body decorations of different vehicles may all be different, there is sufficient difference between different vehicles, so that the detection target can be identified by comparing the similarity between these features.

[0133] Specifically, features corresponding to the detection target can be extracted from the detection contour, such as license plate numbers, the shapes and positions of body decorations, etc. At the same time, corresponding features can be extracted from each vehicle contour, and the extracted features should be of the same type as those extracted from the detection contour for subsequent comparison. Compare the features of the detection target with the features of each vehicle contour. The comparison method depends on the type of features. For example, for license plate numbers, a string matching algorithm can be used, and for shape features, a shape matching algorithm can be used for feature comparison. 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 the tracking contour. Subsequently, the control device can perform real-time video acquisition on the tracking contour.

[0134] Among them, the detection contour refers to the contour corresponding to the detection target, the feature similarity refers to the degree of similarity between the features of the detection contour and the features of the vehicle contour, and 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 with a feature similarity greater than the similarity threshold.

[0135] Through the above implementation methods, the accuracy of identifying the detection target can be improved.

[0136] S33. Obtain the second shooting data of the control device for the tracking contour, 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. The real-time shooting data includes the first shooting data and the second shooting data.

[0137] Specifically, after obtaining the tracking contour, the control device can perform real-time video acquisition on the tracking contour, and the shooting angle during video acquisition can be adjusted in real time according to the position of the tracking contour. When the tracking contour reaches below the control device, that is, when the shooting angle of the control device is a top-down view, the control device can immediately move following the detection target, and during the movement, it can also perform real-time video acquisition on the detection target from a top-down shooting angle to obtain corresponding second shooting data, and can determine the real-time position point of the detection target according to the second shooting data acquired in real time. According to the real-time position point of the detection target, the control device can be positioned above the detection target to achieve real-time following of the detection target, so that the driving speed of the detection target can be more accurately verified.

[0138] Among them, the second shooting data refers to the data obtained by the control device performing real-time video acquisition on the detection target when following the detection target, and the real-time position point refers to the point corresponding to the real-time position of the detection target.

[0139] In some embodiments, "obtaining the second shooting data of the control device for the tracking contour, 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" in step S33 includes the following steps:

[0140] S331, determining the angular change rate corresponding to the abnormal speed of the detection target, and adjusting the shooting angle of the control device according to the angle adjustment direction and the angular change rate after identifying the tracking contour.

[0141] After identifying the tracking contour, the tracking contour is in a continuous moving state 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 vehicle speed of the detection target. Specifically, different vehicle speeds have pre-configured angular change rates. According to the abnormal speed corresponding to the detection target, the angular change rate corresponding to the abnormal speed can be obtained. The faster the abnormal speed, the larger the corresponding angular change rate can be. In the pre-configured angle adjustment direction, for example, it can be the direction from top to bottom, and the shooting angle of the control device can be dynamically adjusted in real time according to the corresponding angular change rate to ensure that the control device can capture the tracking contour in real time.

[0142] In the process of dynamically adjusting the shooting angle of the control device in real time, it is necessary to ensure that the control device can identify the tracking contour in real time, and the tracking contour needs to be kept in the central area of the second shooting data. If the tracking contour is not recognized, 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 yet, and a new change in the shooting angle occurs, 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 caught up in time, which will also cause the loss of the tracking contour. At this time, the angle change rate of the control device can be adjusted accordingly.

[0143] When adjusting the angle change rate, it can be determined according to the position of the tracking contour in multiple image frames corresponding to the second shooting data.

[0144] Specifically, in some embodiments, the angle change rate can be adjusted in the following ways:

[0145] Obtain multiple image frames corresponding to the second shooting data, and determine the image frames with tracking contours as target image frames.

[0146] Specifically, since the second shooting data is composed of multiple image frames, multiple image frames corresponding to the second shooting data can be obtained. If there is a tracking contour in the image frame, the corresponding image frame can be determined as the target image frame. Here, the image frame refers to multiple video frames that make up the second shooting data, and the target image frame refers to the image frame with a tracking contour.

[0147] Obtain the center points of each of the target image frames, and determine the area within the preset range of the center point as the central area.

[0148] Specifically, the center points corresponding to each target image frame can be obtained. Taking the center point as the reference point, the area within the preset range of the center point can be determined as the central area. Here, the preset range refers to the pre-configured range, and the central area refers to the area within the preset range of the center point.

[0149] Obtain the contour center point of the tracking contour. If the contour center point is located within the central area, do not adjust the angle change rate.

[0150] Specifically, the center point of the tracking contour can be obtained. If the center point of the tracking contour is located within the central area, then the angle change rate does not need to be adjusted.

[0151] If the center point of the contour is not within the central region, determine the preset division direction, generate a division line passing through the center point of the target image frame according to the preset division direction, and divide the target image frame into an upper half and a lower half based on the division line.

[0152] Specifically, if the center point of the traced contour is not within the central region, the direction for 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. Through the division line, the target image frame can be divided into two equal upper and lower parts, namely the upper half and the lower half. Among them, the preset division direction refers to the direction for dividing the target image frame that is pre-configured. For example, it can be the 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.

[0153] If the center point of the contour is located in the upper half of the target image frame, reduce and adjust the angular change rate until the center point of the contour is within the central region, and then stop reducing and adjusting the angular change rate.

[0154] If the center point of the traced contour is located in the upper half of the target image frame, it can be considered that the angular change rate is too fast. The angular change rate can be adjusted smaller until the center point of the traced contour is within the central region, and then stop adjusting the angular change rate smaller.

[0155] If the center point of the contour is located in the lower half of the target image frame, increase and adjust the angular change rate until the center point of the contour is within the central region, and then stop increasing and adjusting the angular change rate.

[0156] If the center point of the traced contour is located in the lower half of the target image frame, it can be considered that the angular change rate is too slow. The angular change rate can be adjusted larger until the center point of the traced contour is within the central region, and then stop increasing and adjusting the angular change rate.

[0157] Among them, the angular change rate can represent the speed of change of the shooting angle of the shooting lens of the control device in order to maintain the tracking of the monitored vehicle. The angular adjustment direction refers to the direction for adjusting the shooting angle of the control device. For example, it can be the direction from top to bottom.

[0158] S332, when the shooting angle of the control device is adjusted to the overhead shooting angle, stop adjusting the shooting angle, and obtain the center point of the traced contour in the second shooting data corresponding to the overhead shooting angle as the positioning point.

[0159] Specifically, when the shooting angle of the control device is adjusted to the downward shooting angle, it can be considered that the tracking contour has reached directly below the control device at this time. At this time, the adjustment of the shooting angle can be stopped, and the second shooting data of the control device for real-time shooting of the tracking contour can be obtained at the downward shooting angle. Moreover, the center point of the tracking contour in the second shooting data can be determined as the positioning point, and subsequently, the control device can be controlled to perform real-time tracking of the detection target based on this positioning point. Among them, the downward shooting angle refers to the angle when the control device conducts downward shooting, and the positioning point refers to the center point of the tracking contour.

[0160] S333. Corresponding the center point of the second shooting data with the actual position point of the control device, and performing coordinate transformation on the real-time shooting data with the center point as the coordinate origin.

[0161] 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 regarding the center point 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 can be 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, realizing the coordinate transformation of the real-time shooting data.

[0162] Among them, the actual position point refers to the position point of the control device in reality.

[0163] S334. Obtain the positioning coordinates of the positioning point in the second shooting data, perform actual conversion on the positioning coordinates to obtain the real-time position point, and control the control device to move based on the real-time position point and the tracking height.

[0164] Specifically, after performing coordinate transformation on the real-time shooting data, the coordinates corresponding to the positioning point of the tracking contour in the second shooting data, that is, the positioning coordinates, can be obtained. Using the corresponding relationship between the center point and the actual position point, by converting the pixel distance into the actual distance, this positioning coordinate relative to the center point can be converted into the position point in the actual environment, that is, the real-time position point. Control the control device to go to the real-time position point corresponding to the detection target and perform real-time following of the detection target according to the corresponding tracking height. Among them, the positioning coordinates refer to the coordinates corresponding to the positioning point in the second shooting data, and the real-time position point refers to the position point corresponding to the positioning coordinates in reality.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] In some embodiments, the specific implementation of step S34 may be as follows:

[0171] S341, determine the direction perpendicular to the moving direction of the tracking contour in the second captured data as the parallel recognition direction, and obtain the target pixel points where the coordinates of the tracking contour and the other vehicle contours are the same in the parallel recognition direction.

[0172] Specifically, when determining the relative position relationship between the other vehicle contour and the tracking contour, the moving direction of the tracking contour can be obtained in the second captured data, and the direction perpendicular to the moving direction can be determined as the parallel recognition direction. In the second captured data, multiple pixel points corresponding to the tracking contour and multiple pixel points corresponding to the other vehicle contours can be obtained, and the coordinate values corresponding to each pixel point can be obtained. If there are pixel points with the same coordinate values in the parallel recognition direction between the tracking contour and the other vehicle contours, the corresponding pixel points can be determined as target pixel points. For example, when the parallel recognition direction is consistent with the x-axis direction, if there are pixel points with the same x-axis coordinate values in the parallel recognition direction between the tracking contour and the other vehicle contours, the pixel points with the same x-axis coordinate values can be determined as target pixel points.

[0173] Wherein, the moving direction refers to the direction of the tracking contour during the movement, the parallel recognition direction refers to the direction perpendicular to the moving direction, and the target pixel points refer to the pixel points where the coordinates of the tracking contour and the other vehicle contours are the same in the parallel recognition direction.

[0174] S342, count the number of target pixels of the target pixel points. When the number of target pixels is greater than or equal to the pixel number threshold, determine that the relative position relationship between the tracking contour and the corresponding vehicle contour is a parallel relationship, and determine the corresponding vehicle contour as a parallel contour.

[0175] Specifically, the number of target pixel points, that is, the number of target pixels, can be counted. If the number of target pixels is greater than or equal to the 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. Refer to Figure 3 , which is a schematic diagram of a parallel contour provided by an embodiment of the present invention. As shown in Figure 3 , in the parallel recognition direction, the number of target pixel points with the same coordinate values in the parallel recognition direction between the tracking contour and the vehicle contour on its right 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. Therefore, the corresponding vehicle contour can be determined as a parallel contour.

[0176] Among them, the number of target pixels refers to the number of target pixel points, and the pixel number threshold refers to the threshold used to determine whether the relative positions of two vehicle contours can form a side-by-side relationship. If the number of target pixels is greater than the pixel number threshold, it can be considered that the relative position relationship of the corresponding vehicle contours is a side-by-side relationship. The side-by-side contour refers to the vehicle contour that is side by side with the tracked contour.

[0177] S343. Obtain the contour ratios of the tracked contour and the side-by-side contour in the shooting frame of the control device, and adjust the tracking height of the control device according to the contour ratios until the adjustment of the tracking height stops when the contour ratios are within the optimal ratio range.

[0178] Specifically, when there is a side-by-side contour, in order to ensure that the control device can completely capture the tracked contour and the side-by-side contour, the ratios of the tracked contour and the side-by-side contour in the shooting frame of the control device can be obtained, that is, the contour ratios. According to the contour ratios of the tracked contour and the side-by-side contour in the shooting frame, the tracking height of the control device is adjusted accordingly. When the contour ratios are within the optimal ratio range, it can be considered that at this time the control device captures the tracked contour and the side-by-side contour from the best shooting perspective, and 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. Through the shooting frame, it can be ensured that the tracked contour and the side-by-side contour are located in the central area of the shooting interface. The contour ratio refers to the ratio of the tracked contour and the side-by-side contour in the shooting frame of the control device. The optimal ratio range refers to the optimal ratio range that the tracked contour and the side-by-side contour should occupy in the shooting picture.

[0179] In some embodiments, the specific implementation manner of step S343 may be:

[0180] S3431. Respectively obtain the first extreme point and the second extreme point of the tracked contour and the corresponding vehicle contour in the side-by-side recognition direction and the moving direction, determine the central coordinate of the first extreme point as the first coordinate, and determine the central coordinate of the second extreme point as the second coordinate.

[0181] Specifically, the extreme points of the contour points of the tracking contour and the corresponding juxtaposed contour in the juxtaposed recognition direction, that is, 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 juxtaposed contour in the moving direction, that is, the second extreme points, including the second maximum point and the second minimum point, can be obtained. By calculating the mean value of the first maximum point and the first minimum point in the juxtaposed recognition direction, the coordinate value of the center coordinate of the first extreme point in the juxtaposed recognition direction, that is, the first coordinate, can be obtained. By calculating the mean value of 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, that is, 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 juxtaposed contour in the juxtaposed recognition direction, the second extreme point includes the maximum point and the minimum point of the tracking contour and the corresponding juxtaposed 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.

[0182] S3432. Determine the position points corresponding to the first coordinate and the second coordinate as the adjustment position points, and move the control device to the adjustment position points.

[0183] Specifically, according to the first coordinate and the second coordinate, the corresponding position points can be determined, the position points can be converted into the position points in reality, and they can be determined as the adjustment position points. Then, the control device can be controlled to move to the adjustment position points to take pictures of the tracking contour and the juxtaposed contour together.

[0184] S3433. Obtain the shooting interface of the control device at the adjustment position points. When the tracking contour and the juxtaposed contour are completely located within the shooting frame of the shooting interface, obtain the contour occupancy ratios of the tracking contour and the juxtaposed contour.

[0185] Specifically, when the control device moves to the adjustment position points, the shooting interface of the control device at the adjustment position points can be obtained. If both the tracking contour and the juxtaposed contour can be completely located within the shooting frame in the shooting interface, in order to ensure that the control device can take pictures of the tracking contour and the juxtaposed contour from the best shooting perspective, the ratio occupied by the tracking contour and the juxtaposed contour within the shooting frame, that is, the contour occupancy ratio, can be obtained. The tracking height of the control device can be adjusted accordingly according to the contour occupancy ratio to ensure that the tracking contour and the juxtaposed contour are located at the best positions in the shooting picture.

[0186] If the tracking contour and the juxtaposed 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 juxtaposed contour. First, the tracking height of the control device can be increased until the shooting interface of the control device can completely capture the tracking contour and the juxtaposed contour, and then the adjustment of the tracking height is stopped. At this time, the overall contour center point of the tracking contour and the juxtaposed contour corresponding to the whole in the shooting interface can be obtained, and the center point of the shooting interface is controlled to align with the overall contour center point, so as to ensure that the control device can capture the complete tracking contour and juxtaposed contour.

[0187] 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 main shooting range to ensure that the tracking contour and the juxtaposed contour can be located at the appropriate positions in the picture.

[0188] S3434, if the contour ratio is less than the minimum value of the optimal ratio range, the tracking height is adjusted downward until the tracking height adjustment is stopped when the contour ratio is within the optimal ratio range.

[0189] Specifically, if the contour ratio is lower than the minimum value of the optimal ratio range, it can be shown that the proportion of the tracking contour and the juxtaposed 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 tracking contour and the juxtaposed contour in the shooting picture. When the contour ratio is within the optimal ratio range, the adjustment of the tracking height can be stopped. Among them, the minimum value of the optimal ratio range refers to the minimum value of the optimal ratio range that the tracking contour and the juxtaposed contour should occupy in the shooting picture.

[0190] S3435, if the contour ratio is greater than the maximum value of the optimal ratio range, the tracking height is adjusted upward until the tracking height adjustment is stopped when the contour ratio is within the optimal ratio range.

[0191] Specifically, if the contour ratio is greater than the maximum value of the optimal ratio range, it can be shown that the proportion of the tracking contour and the juxtaposed 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 tracking contour and the juxtaposed contour in the shooting picture. When the contour ratio is within the optimal ratio range, the adjustment of the tracking height can be stopped. Among them, the maximum value of the optimal ratio range refers to the maximum value of the optimal ratio range that the tracking contour and the juxtaposed contour should occupy in the shooting picture.

[0192] S344, if the tracking contour and the juxtaposed contour are in a juxtaposed relationship during the calibration time period, a juxtaposed warning message is generated, and the juxtaposed warning message is broadcast based on the control device.

[0193] Specifically, if the tracking profile and the parallel profile always maintain a parallel relationship during 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 driving side by side. At this time, a parallel warning message can be generated, and the parallel warning message can be broadcast to the vehicles driving side by side through the control device. Among them, the parallel warning message refers to the message for warning the vehicles driving side by side.

[0194] S345. If the number of target pixels of the tracking profile and the parallel profile is less than the pixel number threshold during the calibration period, control the control device to move back above the detection target, adjust the tracking height to the initial value, and determine the real-time speed of the control device during the calibration period as the calibration speed of the detection target.

[0195] 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 just a vehicle passing by the detection target, rather than a vehicle driving side by side with the detection target. At this time, the control device can be controlled to move back above the detection target, and the tracking height can be readjusted to the height when hovering at the intersection point, 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 when the control device hovers at the intersection point.

[0196] Through the above implementation manners, the vehicles driving side by side can be monitored and warned, which can improve the safety of vehicle passing.

[0197] S4. Generate a speed-pressure reminder message according to the comparison result between the calibration speed and the minimum standard speed of the occupied lane, and convey the speed-pressure reminder message based on the control device.

[0198] 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 less than the minimum standard speed, it can be considered that the detection target indeed has a speed-pressure behavior, and a corresponding speed-pressure reminder message can be generated, and the control device can convey the speed-pressure reminder message accordingly. For example, speed-pressure reminder messages such as "Your current driving speed is low. Please leave the current lane as soon as possible" can be broadcast to the detection target.

[0199] Among them, the comparison result refers to the result after comparing the calibration speed with the minimum standard speed, and the speed-pressure reminder message refers to the message for reminding the detection target with a speed-pressure behavior.

[0200] Based on the above steps, the present solution further includes the following embodiments:

[0201] A1. If the calibration speed of the detection target is less than the minimum standard speed during the warning time period, generate the violation information corresponding to the detection target and send it to the terminal corresponding to the traffic control personnel.

[0202] In practical applications, the control device can warn the detection target with speed-pressing behavior during a pre-configured warning time period. If the calibration speed of the detection target is always less than the minimum standard speed during the warning time period, it can be considered that the corresponding detection target has not adjusted its driving speed accordingly. At this time, it can be considered that the detection target has a violation behavior, and the 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. Subsequently, the traffic control personnel may handle the detection target.

[0203] Among them, the warning time period refers to the time period during which the control device warns the detection target, and the violation information refers to the information indicating that the calibrated vehicle has a violation behavior. The traffic control personnel can be the traffic police on the highway.

[0204] A2. Obtain the first position point when the control device responds to the end information of the warning time period, determine the initial position point of the control device, and obtain the first distance between the first position point and the initial position point.

[0205] After the control device completes the warning of the detection target, the control device can return. However, when returning, the remaining power of the control device may not be sufficient to support the control device to return to the initial position point. At this time, it can be judged whether the control device can return to the initial position point according to the remaining power corresponding to the remaining power of the control device. Specifically, after the warning time period of the control device ends, the control device can send the corresponding end information, and the position point corresponding to the response of the end information of the control device can be obtained, that is, the first position point, 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 distance, can be obtained according to the longitude and latitude coordinates between the two points.

[0206] Among them, the end information refers to the 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 at the end of the warning time period, and the first distance refers to the interval distance between the first position point and the initial position point.

[0207] A3. Determine the first cruising range corresponding to the remaining power of the control device. If the first cruising range is greater than the first distance, control the control device to return to the initial position point.

[0208] Specifically, the current remaining power of the control device can be obtained. According to factors such as the battery capacity and power consumption rate of the control device, the distance that the control device can continuously fly with the remaining power can be obtained, that is, the first endurance distance. If the first endurance distance is greater than the first spacing, it can be considered that the current remaining power of the control device is sufficient to support it to return to the initial position point. Therefore, 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 with the current remaining power of the control device.

[0209] A4. If the first endurance distance is less than the first spacing, obtain the second position points of the other 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 swapping condition of the control device as the target device according to the second spacing and the first endurance distance.

[0210] When the remaining power of the control device is not enough to support it to return to the initial position point, a suitable detection device can be found to swap positions with the control device to ensure that both can reach their respective target positions within their remaining power ranges. Specifically, when the first endurance distance is less than the first spacing, the position points corresponding to the other detection devices, that is, the second position points, can be obtained, and the interval distance between the first position point and the other second position points, that is, the second spacing, can be obtained. By comparing the second spacing with the first endurance distance, the detection device that meets the position swapping condition of the control device can be determined and can be determined as the target device.

[0211] Among them, the second position point refers to the position points corresponding to the other detection devices, the second spacing refers to the interval distance between the first position point and the other second position points, the position swapping condition refers to the condition set to ensure that both the control device and a certain detection device can reach their respective target positions within their remaining power ranges, and the target device refers to the detection device that can swap positions with the control device.

[0212] Based on the above embodiments, the specific implementation manner of step A4 can be:

[0213] A41. Determine the detection devices with the second spacing less than the first endurance distance as the first devices to be screened, and determine the third spacing from the second position points of each of the first devices to be screened to the initial position point.

[0214] Specifically, if the second spacing corresponding to the remaining detection devices is less than the first endurance distance, it can be considered that the first endurance 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 with the second spacing less than the first endurance 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 spacing between the second position point corresponding to each first screening device and the initial position point can be obtained. According to the comparison result between the endurance distance corresponding to each first screening device and the third spacing, it can be determined whether the first screening device can exchange positions with the control device.

[0215] Among them, the first screening device refers to the detection device with the second spacing less 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.

[0216] A42. Obtain the second endurance distance corresponding to the remaining power of each first device to be screened, and determine the first device to be screened with the second endurance distance greater than the third spacing as the second device to be screened.

[0217] Specifically, the remaining power of each first screening device can be obtained. According to the remaining power, the second endurance distance corresponding to each first screening device can be obtained. 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. Subsequently, the second screening device can be screened again. 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 with the second endurance distance greater than the third spacing.

[0218] A43. Determine that the second device to be screened closest to the control device meets the position exchange condition of the control device, and determine the corresponding second device to be screened as the target device.

[0219] Specifically, since there may be multiple second screening devices, it can be determined that the second screening device closest to 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.

[0220] A5. Control the target device to move to the initial position point of the control device, and control the control device to move to the second position point of the target device.

[0221] Specifically, after obtaining the target device that can exchange positions with the control device, the target device can be controlled to move to the initial position point corresponding to the control device, and the control device can be controlled to move to the second position point corresponding to the target device, so as to realize the position exchange between the control device and the target device.

[0222] Through the above implementation manner, it can be ensured that the control device and the remaining detection devices can reach their respective target positions within the endurance distance corresponding to their remaining battery power.

[0223] See Figure 4 , which is a schematic structural diagram of an intelligent network detection system applicable to digitization provided by an embodiment of the present invention. The data processing system based on the intelligent network detection system applicable to digitization includes:

[0224] A marking module, configured to identify abnormal targets according to the speed identification data of the detection device, and send speed abnormal information to the time period analysis module for speed timing analysis, and determine the abnormal targets that meet the speed suppression condition as detection targets;

[0225] A determination module, configured to determine the intersection point of the control device and the detection target based on the abnormal speed of 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;

[0226] A control module, configured 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;

[0227] A generation module, configured to generate a speed suppression reminder message according to the comparison result between the calibration speed and the minimum standard speed of the occupied lane, and convey the speed suppression reminder message based on the control device.

[0228] Figure 4 The device in the embodiment shown can correspondingly be used to execute Figure 1 the steps in the method embodiment shown, and its implementation principle and technical effect are similar, and will not be elaborated here.

[0229] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A digital intelligent transportation network detection method, characterized in that: include: The abnormal vehicles are marked according to the speed identification 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 vehicles that meet the speed reduction conditions are determined as detection vehicles, 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 vehicle, the speed identification data includes the driving speed of each vehicle in each lane; Acquire the abnormal identification time of the abnormal vehicle, obtain 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 vehicle 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 a blocked vehicle, and when the number of the blocked vehicles is greater than or equal to the number of abnormal speed reductions, determine that the abnormal vehicle meets the speed reduction condition, and determine that the abnormal vehicle is a detection vehicle; Based on the abnormal speed of the detection vehicle, determining the intersection point of the control device and the detection vehicle, and determining the hovering parameters of the control device at the intersection point according to the occupied lane of the detection vehicle; Control the control device to go to the intersection point based on the hovering parameters, position the control device above the detection vehicle according to the real-time shooting data of the control device, and determine the calibration speed of the detection vehicle 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: Based on the abnormal speed of the detection vehicle, determining the intersection point of the control device and the detection vehicle, and determining the hovering parameters of the control device at the intersection point according to the occupied lane of the detection vehicle, including: Determine, according to the abnormal vehicle speed, a predicted travel distance of the detected vehicle 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 vehicle 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 vehicle 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 vehicle, 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 lane 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 lane, determine the hovering height according to the lane width, and the hovering parameters include the hovering height.

3. The method according to claim 2, characterized in that Acquiring a plurality of lane layout points corresponding to the occupied lane at the predicted point, determining a center point of the lane layout points as an intersection point, acquiring a lane width corresponding to the occupied lane, and determining a 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 a coordinate axis corresponding to the second coordinate direction as a target axis, obtain a position point in the occupied lane located on the target axis 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.

4. 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 vehicle according to the real-time shooting data of the control device, and determining the calibration speed of the detection vehicle 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 profile of the detected vehicle and each of the vehicle profiles, and obtain the vehicle profile whose feature similarity is greater than a similarity threshold as the tracking profile; Acquire second photographing data of the tracking contour by the control device, determine the real-time position point of the detection vehicle based on the second photographing data, and locate the control device above the detection vehicle according to the real-time position point, wherein the real-time photographing data includes the first photographing data and the second photographing 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 vehicle according to the real-time speed of the control device within the calibration time period.

5. The method according to claim 4, characterized in that Acquiring second photographing data of the tracking contour by the control device, determining the real-time position point of the detection vehicle based on the second photographing data, and positioning the control device above the detection vehicle according to the real-time position point, including: Determine the angle change rate corresponding to the abnormal speed of the detected vehicle, 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.

6. The method according to claim 4, 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 vehicle 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 profile and the corresponding vehicle profile is a parallel relationship, and determining that the corresponding vehicle profile is a parallel profile; 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 vehicle, 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 to be the calibration speed of the detection vehicle.

7. The method according to claim 6, 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.

8. 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 calibrated speed of the detected vehicle is less than the minimum standard speed during the warning time period, the violation information corresponding to the detected vehicle 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.

9. The method according to claim 8, 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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